Dynamic sensor zeroing algorithm of 6D IMU mounted on ground vehicles

The main focus of this paper is to compensate the steady state offset error of the 6D IMU which provides the measurements that include the vehicle linear accelerations and angular rates of all three axes. Additionally, the sensor compensation algorithm exploits the wheel speed data and the steering angle information, since they are already available in most of the modern mass production vehicles. These inputs are combined with the inverse vehicle kinematics to estimate the steady state offset error of each sensor inputs as it is done in a disturbance observer, and the raw sensor measurements are compensated by the estimated offset errors. The stability of the error dynamics regarding the integrated signal processing system is verified, and finally, the performance of the system is tested via experiments based on a real production SUV.