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arXiv · 1809.06472

Ground vehicle odometry using a non-intrusive inertial speed sensor

Het Shah·Siddhant Haldar·Rohit Ner·Siddharth Jha·Debashish Chakravarty
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Abstract

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.

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Het Shah, Siddhant Haldar, Rohit Ner, Siddharth Jha, Debashish Chakravarty. 2018-09-17. Ground vehicle odometry using a non-intrusive inertial speed sensor. https://arxiv.org/abs/1809.06472

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