利用多个扩展卡尔曼滤波器提高自动赛车的定位稳健性

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-07-30 DOI:10.1177/09544070241266281

Krisztián Enisz, István Szalay, Ernő Horváth

{"title":"利用多个扩展卡尔曼滤波器提高自动赛车的定位稳健性","authors":"Krisztián Enisz, István Szalay, Ernő Horváth","doi":"10.1177/09544070241266281","DOIUrl":null,"url":null,"abstract":"In this paper, we introduce a vehicle localization method designed for the SZEnergy race car, which competes in the Shell Eco-marathon. The proposed method comprises four different extended Kalman filter-based localization algorithms and a selection algorithm that determines the most suitable one based on vehicle speed, GNSS availability, and signal quality. The low-speed Kalman filters are based on a kinematic vehicle model while the high-speed variants are based on a dynamic vehicle model. Several measurements were performed during test maneuvers to evaluate the performance of the filters. The proposed method succesfully handles sensor miscalibration and GNSS outages.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":null,"pages":null},"PeriodicalIF":16.4000,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Localization robustness improvement for an autonomous race car using multiple extended Kalman filters\",\"authors\":\"Krisztián Enisz, István Szalay, Ernő Horváth\",\"doi\":\"10.1177/09544070241266281\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we introduce a vehicle localization method designed for the SZEnergy race car, which competes in the Shell Eco-marathon. The proposed method comprises four different extended Kalman filter-based localization algorithms and a selection algorithm that determines the most suitable one based on vehicle speed, GNSS availability, and signal quality. The low-speed Kalman filters are based on a kinematic vehicle model while the high-speed variants are based on a dynamic vehicle model. Several measurements were performed during test maneuvers to evaluate the performance of the filters. The proposed method succesfully handles sensor miscalibration and GNSS outages.\",\"PeriodicalId\":1,\"journal\":{\"name\":\"Accounts of Chemical Research\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":16.4000,\"publicationDate\":\"2024-07-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Accounts of Chemical Research\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1177/09544070241266281\",\"RegionNum\":1,\"RegionCategory\":\"化学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CHEMISTRY, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/09544070241266281","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

摘要

在本文中，我们介绍了一种专为参加壳牌环保马拉松赛的 SZEnergy 赛车设计的车辆定位方法。所提出的方法包括四种不同的基于卡尔曼滤波器的扩展定位算法，以及一种根据车速、GNSS 可用性和信号质量确定最合适算法的选择算法。低速卡尔曼滤波器基于运动车辆模型，而高速变体则基于动态车辆模型。为了评估滤波器的性能，我们在测试过程中进行了多次测量。所提出的方法成功地处理了传感器误判和全球导航卫星系统中断问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Localization robustness improvement for an autonomous race car using multiple extended Kalman filters

In this paper, we introduce a vehicle localization method designed for the SZEnergy race car, which competes in the Shell Eco-marathon. The proposed method comprises four different extended Kalman filter-based localization algorithms and a selection algorithm that determines the most suitable one based on vehicle speed, GNSS availability, and signal quality. The low-speed Kalman filters are based on a kinematic vehicle model while the high-speed variants are based on a dynamic vehicle model. Several measurements were performed during test maneuvers to evaluate the performance of the filters. The proposed method succesfully handles sensor miscalibration and GNSS outages.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.