Fusion of OBD and GNSS Measurements of Speed
Wahlstrom, J; Skog, I; Nordstrom, RL; et al.Handel, P
Date: 27 February 2018
Journal
IEEE Transactions on Instrumentation and Measurement
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publisher DOI
Abstract
There are two primary sources of sensor measurements for driver behavior profiling within insurance telematics and fleet management. The first is the on-board diagnostics system, typically found within most modern cars. The second is the global navigation satellite system, whose associated receivers commonly are embedded into smartphones ...
There are two primary sources of sensor measurements for driver behavior profiling within insurance telematics and fleet management. The first is the on-board diagnostics system, typically found within most modern cars. The second is the global navigation satellite system, whose associated receivers commonly are embedded into smartphones or off-the-shelf telematics devices. In this paper, we present maximum likelihood and maximum a posteriori estimators for the problem of fusing speed measurements from these two sources to jointly estimate a vehicle's speed and the scale factor of the wheel speed sensors. In addition, we analyze the performance of the estimators by use of the Cramér-Rao bound, and discuss the estimation of model parameters describing measurement errors and vehicle dynamics. Last, simulations and real-world data are used to show that the proposed estimators yield a substantial performance gain compared to when employing only one of the two measurement sources.
Computer Science
Faculty of Environment, Science and Economy
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