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Authors: Yasmine Sheila Antille ; Etienne Gubler and Juan-Mario Gruber

Affiliation: Institute of Embedded Systems, Zurich University of Applied Sciences, Winterthur, Switzerland

Keyword(s): Sensor Fusion, Ground Speed, Autonomous Driving, Driverless, Inertial Measurement Unit, Global Positioning System, Kalman Filter.

Abstract: In this paper a Ground Speed Measuring System which can measure the ground speed over the ground in three dimensions is proposed. The system uses two Kalman filters to compute the final ground speed based on the readings from its various sensors. The proposed solution combines state of the art techniques from different fields of sensor technology and will be incorporated into the high-performance driverless vehicle after completion of this project. The findings and learnings of developing this system are discussed and an evaluation of the module is presented. In the end, the system can accurately estimate a test vehicle’s ground speed during system field tests.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Antille, Y. S., Gubler, E. and Gruber, J.-M. (2021). Ground Speed Measuring System for Autonomous Vehicles. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 661-668. DOI: 10.5220/0010543106610668

@conference{icinco21,
author={Yasmine Sheila Antille and Etienne Gubler and Juan{-}Mario Gruber},
title={Ground Speed Measuring System for Autonomous Vehicles},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={661-668},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010543106610668},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Ground Speed Measuring System for Autonomous Vehicles
SN - 978-989-758-522-7
IS - 2184-2809
AU - Antille, Y.
AU - Gubler, E.
AU - Gruber, J.
PY - 2021
SP - 661
EP - 668
DO - 10.5220/0010543106610668
PB - SciTePress

- Science and Technology Publications, Lda.
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