Vehicle Orientation Estimation by Using Magnetometer and Inertial Sensors

3축 자기장 센서 및 관성센서를 이용한 차량 방위각 추정 방법

  • Received : 2015.12.08
  • Accepted : 2016.03.07
  • Published : 2016.07.01


The vehicle attitude and sideslip is critical information to control the vehicle to prevent from unintended motion. Many of estimation strategy use bicycle model or IMU integration, but both of them have limits on application. The main purpose of this paper is development of vehicle orientation estimator which is robust to various vehicle state and road shape. The suggested estimator use 3-axis magnetometer, yaw rate sensor and lateral acceleration sensor to estimate three Euler angles of vehicle. The estimator is composed of two individual observers: First, comparing the known magnetic field and gravity with measured value, the TRIAD algorithm calculates optimal rotational matrix when vehicle is in static or quasi-static condition. Next, merging 3-axis magnetometer with inertial sensors, the extended Kalman filter is used to estimate vehicle orientation under dynamic condition. A validation through simulation tools, Carsim and Simulink, is performed and the results show the feasibility of the suggested estimation method.


Vehicle dynamics;Euler angle estimation;Sideslip estimation;Sensor fusion;Attitude estimation


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Supported by : 정보 통신 기술진흥센터, 한국연구재단