Guidance is one of the key problems in the research of intelligent vehicles. This paper, proposed a magnetic guidance method for intelligent vehicle based on EKF (Extended Kalman Filter), which fuses magnetic sensors with encoders. Anisotropic Magnetoresistive (AMR) sensors are used instead of Hall-effect sensors in the proposed magnetic sensing system due to their high sensitivity and low cost. An EKF is applied to eliminate the cumulative error with the dead-reckoning method. Two types of field experiments have been performed on the roads, and results demonstrate the effectiveness and reliability of the proposed method.
Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles
2006 IEEE Intelligent Vehicles Symposium ; 169-175
2006-01-01
1276067 byte
Conference paper
Electronic Resource
English
Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles
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