dc.contributor.author | Wahlstrom, J | |
dc.contributor.author | Skog, I | |
dc.contributor.author | Handel, P | |
dc.contributor.author | Nehorai, A | |
dc.date.accessioned | 2020-07-22T13:07:26Z | |
dc.date.issued | 2016-07-07 | |
dc.description.abstract | In 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.citation | Vol. 1, pp. 139 - 147 | en_GB |
dc.identifier.doi | 10.1109/tiv.2016.2588978 | |
dc.identifier.uri | http://hdl.handle.net/10871/122078 | |
dc.language.iso | en | en_GB |
dc.publisher | Institute 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.subject | Centripetal acceleration | en_GB |
dc.subject | driver distraction | en_GB |
dc.subject | inertial sensors | en_GB |
dc.subject | insurance telematics | en_GB |
dc.subject | nonlinear filtering | en_GB |
dc.title | IMU-based smartphone-to-vehicle positioning | en_GB |
dc.type | Article | en_GB |
dc.date.available | 2020-07-22T13:07:26Z | |
dc.identifier.issn | 2379-8858 | |
dc.description | This is the author accepted manuscript. The final version is available from the publisher via the DOI in this record | en_GB |
dc.identifier.journal | IEEE Transactions on Intelligent Vehicles | en_GB |
dc.rights.uri | http://www.rioxx.net/licenses/all-rights-reserved | en_GB |
dcterms.dateAccepted | 2016-06-28 | |
rioxxterms.version | AM | en_GB |
rioxxterms.licenseref.startdate | 2016-06-28 | |
rioxxterms.type | Journal Article/Review | en_GB |
refterms.dateFCD | 2020-07-22T13:05:25Z | |
refterms.versionFCD | AM | |
refterms.dateFOA | 2020-07-22T13:07:29Z | |
refterms.panel | B | en_GB |