Kalman filter Based Vehicle Running Data Estimation

The terrain of undulation might lead to change the slope of a route. During a vehicle moving in different section of such route, the attitude of the vehicle might fluctuate respectively. It is a novel principle of using the attitude data of pitch to determine a vehicle’s position. This paper presents a method based on DTW (Dynamic Time Warping), which augments the location algorithm based on accumulating data from IMU (Inertial Measurement Unit). This method is designed to recognize a match between pitch angle sequence by time and a digital map storing undulatory characters of a route. The effectiveness of the presented method is validated by estimating errors of distance accumulated in periods.