FAIL OPERATIONAL VEHICLE SPEED ESTIMATION THROUGH DATA FUSION OF 6-DOF IMU, GPS, AND RADAR

摘要

A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.

主权项

1. A method for providing a redundant estimation of speed of a mobile platform, said method comprising:
providing sensor output signals from a plurality of primary sensors; providing inertial measurement signals from an inertial measurement unit; estimating the speed in a primary module using the primary sensor signals; buffering estimated speed values from the primary mode for a predetermined period of time; determining that one or more of the primary sensors or the primary module has failed; and estimating the speed in a secondary module using the buffered speed values and the inertial measurement signals if the primary sensors or the primary module has failed.