Ground vehicle odometry using a non-intrusive inertial speed sensor
For ground vehicle odometry, this provides a practical alternative to traditional speed sensors with easier installation, but the improvement is incremental.
The paper presents a non-intrusive inertial speed sensor for ground vehicles that can replace conventional speedometers, demonstrating accuracy comparable to an optical encoder and enabling factor graph-based localization.
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.