Real-Time Offset Error Compensation of 6D IMU Mounted on Ground Vehicles Using Disturbance Observer

This paper mainly deals with the offset error compensation algorithm related with the 6D IMU (inertial measurement unit) that measures the linear accelerations and angular velocities about the longitudinal, lateral, and vertical axis of ground vehicles. It is assumed that the independent wheel speed data and steering wheel angle information are provided for the sensor compensation algorithm. Using a disturbance observer, through designing a linear model and inverse model of the vehicle motion, the offset errors of the accelerometers are estimated. The stability of the entire compensational system is verified, and finally, the performance of the suggested algorithm is tested based on a well-known vehicle dynamics simulation tool, CarSim.