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dc.contributor.authorWahlstrom, J
dc.contributor.authorSkog, I
dc.contributor.authorHandel, P
dc.contributor.authorNehorai, A
dc.date.accessioned2020-07-22T13:07:26Z
dc.date.issued2016-07-07
dc.description.abstractIn this paper, we address the problem of using inertial measurements to position a smartphone with respect to a vehicle-fixed accelerometer. Using rigid body kinematics, this is cast as a nonlinear filtering problem. Unlike previous publications, we consider the complete three-dimensional kinematics, and do not approximate the angular acceleration to be zero. The accuracy of an estimator based on the unscented Kalman filter is compared with the Cramer-Rao bound. As is illustrated, the estimates can be expected to be better in the horizontal plane than in the vertical direction of the vehicle frame. Moreover, implementation issues are discussed and the system model is motivated by observability arguments. The efficiency of the method is demonstrated in a field study which shows that the horizontal RMSE is in the order of 0.5 [m]. Last, the proposed estimator is benchmarked against the state-of-the-art in left/right classification. The framework can be expected to find use in both insurance telematics and distracted driving solutions.en_GB
dc.identifier.citationVol. 1, pp. 139 - 147en_GB
dc.identifier.doi10.1109/tiv.2016.2588978
dc.identifier.urihttp://hdl.handle.net/10871/122078
dc.language.isoenen_GB
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_GB
dc.rights© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_GB
dc.subjectCentripetal accelerationen_GB
dc.subjectdriver distractionen_GB
dc.subjectinertial sensorsen_GB
dc.subjectinsurance telematicsen_GB
dc.subjectnonlinear filteringen_GB
dc.titleIMU-based smartphone-to-vehicle positioningen_GB
dc.typeArticleen_GB
dc.date.available2020-07-22T13:07:26Z
dc.identifier.issn2379-8858
dc.descriptionThis is the author accepted manuscript. The final version is available from the publisher via the DOI in this recorden_GB
dc.identifier.journalIEEE Transactions on Intelligent Vehiclesen_GB
dc.rights.urihttp://www.rioxx.net/licenses/all-rights-reserveden_GB
dcterms.dateAccepted2016-06-28
rioxxterms.versionAMen_GB
rioxxterms.licenseref.startdate2016-06-28
rioxxterms.typeJournal Article/Reviewen_GB
refterms.dateFCD2020-07-22T13:05:25Z
refterms.versionFCDAM
refterms.dateFOA2020-07-22T13:07:29Z
refterms.panelBen_GB


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