Extended Kalman filter for vehicle tracking using road surface vibration measurements

@article{Hostettler2012ExtendedKF,
  title={Extended Kalman filter for vehicle tracking using road surface vibration measurements},
  author={Roland Hostettler and Wolfgang Birk and Magnus Lundberg Nordenvaad},
  journal={2012 IEEE 51st IEEE Conference on Decision and Control (CDC)},
  year={2012},
  pages={5643-5648}
}
This paper addresses a novel method for vehicle tracking using an extended Kalman filter and measurements of road surface vibrations from a single accelerometer. First, a measurement model for vibrations caused by vehicular road traffic is developed. Then the identifiability of the involved parameters is analyzed. Finally, the measurement model is combined with a constant speed motion model and the Kalman filter is derived. Simulation and measurement results indicate that the approach is… CONTINUE READING

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