Experimental Validation of Vehicle Velocity, Attitude and IMU Bias Estimation

Abstract This paper proposes an estimation method for the three dimensional velocity, and the roll and pitch angles of a land vehicle. The usage of low-cost sensors is required for applications in production vehicles. The proposed estimation method uses a low-cost inertial measurement unit (IMU) of which the biases are estimated. A nonlinear system is used to create an observer for simultaneous state and parameter estimation. Experimental results show the potential of this approach in a real world environment.