Calibration Architecture for the Nonlinear Wheel Odometry Model with Integrated Noise Compensation
Fazekas, Máté and Gáspár, Péter (2025) Calibration Architecture for the Nonlinear Wheel Odometry Model with Integrated Noise Compensation. In: Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics. ICINCO International Conference on Informatics in Control, Automation and Robotic . SCITEPRESS - Science and Technology Publications, Lisboa, pp. 325-332. ISBN 9789897587702 10.5220/0013720800003982
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Abstract
In the motion estimation of self-driving vehicles, the three main requirements are accuracy, robustness, and cost-effectiveness. The generally applied sensors and methods are the GNSS, inertial, and visual-odometry, but the contradictory requirements demand the integration of new ideas. The wheel odometry could be an adequate choice since the method is robust and cost-effective, but the accuracy of the estimation is limited by the parameter uncertainty, thus a calibration method should be included as well. However, the general parameter identification of a nonlinear model in the presence of noise has not been solved yet. The presented method is based on the assumption that noisy, but several measurements of GNSS and IMU sensors are available in a self-driving vehicle. In the proposed architecture, nonlinear least squares and optimal control techniques are combined in a unique way to compensate for the noise of the orientation and wheel rotation signals to achieve unbiased model calib ration. The performance of the developed algorithm and the accuracy of parameter estimation are demonstrated with detailed validation and a test with a real vehicle.
| Item Type: | Book Section |
|---|---|
| Subjects: | Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány |
| Divisions: | Systems and Control Lab |
| SWORD Depositor: | MTMT Injector |
| Depositing User: | MTMT Injector |
| Date Deposited: | 18 Dec 2025 08:58 |
| Last Modified: | 18 Dec 2025 08:58 |
| URI: | https://eprints.sztaki.hu/id/eprint/11011 |
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