Accurate Attitude Estimation of a Moving Land Vehicle Using Low-Cost MEMS IMU Sensors

  title={Accurate Attitude Estimation of a Moving Land Vehicle Using Low-Cost MEMS IMU Sensors},
  author={Hamad Ahmed and Muhammad Tahir},
  journal={IEEE Transactions on Intelligent Transportation Systems},
This paper presents a novel Kalman filter for the accurate determination of a vehicle’s attitude (pitch and roll angles) using a low-cost MEMS inertial measurement unit (IMU) sensor, comprising a tri-axial gyroscope and a tri-axial accelerometer. Currently, vehicles deploy expensive gyroscopes for attitude determination. A low-cost MEMS gyro cannot be used because of the drift problem. Typically, an accelerometer is used to correct this drift by measuring the attitude from gravitational… CONTINUE READING


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