An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors

@inproceedings{Shi2018AnIY,
  title={An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors},
  author={Gang Shi and Xisheng Li and Zhengfu Jiang},
  booktitle={Sensors},
  year={2018}
}
This paper presents a linear Kalman filter for yaw estimation of land vehicles using magnetic angular rate and gravity (MARG) sensors. A gyroscope measurement update depending on the vehicle status and constraining yaw estimation is introduced. To determine the vehicle status, the correlations between outputs from different sensors are analyzed based on the vehicle kinematic model and Coriolis theorem, and a vehicle status marker is constructed. In addition, a two-step measurement update method… CONTINUE READING

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