2018/09/17 by Shah, Het, Haldar, Siddhant, Ner, Rohit +2
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.1809.06472
This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for simple assembly-disassembly from tyre rims. The sensor design and data flow are explained. Algorithms and filters for pre-processing and processing the data are detailed. Comparison with a real optical encoder proves the accuracy of the proposed sensor. Finally, it is shown that factor graph-based localization is possible with the developed sensor.