TY - GEN
T1 - Single-sensor motion and orientation tracking in a moving vehicle
AU - Karatas, Cagdas
AU - Liu, Luyang
AU - Gruteser, Marco
AU - Howard, Richard
N1 - Funding Information:
This material is based in part upon work supported by the National Science Foundation under Grant Nos. CNS-1329939, and CNS-1409811.
PY - 2018/6/26
Y1 - 2018/6/26
N2 - Given the increasing popularity of mobile and wearable devices, this paper explores the potential use of inertial sensors that are widely available on mobile and wearable devices for vehicle and driver tracking. Such a capability would enable novel classes of mobile safety and assisted driving applications without relying on information or sensors in the vehicle. Although inertial sensors have been widely used in motion tracking, existing approaches cannot distinguish the motion of the vehicle and the device's motion in the vehicle. Additionally, the noise exerted from the electronic components in the vehicle and the ferromagnetic frame of the vehicle distorts the inertial sensor readings. This paper introduces a method to separately estimate the orientation of both the vehicle and the sensor by tracking the earth's magnetic field and the electromagnetic distortion from the vehicle, as measured by a magnetometer in addition to a gyroscope and an accelerometer. Specifically, the vehicle noise is used to estimate the orientation of the sensor within the vehicle while the earth's magnetic field combined with vehicle noise is used to estimate the vehicle's heading. Our on-road experiments show that the technique is able to estimate the sensor orientation with a mean error of 5.61° for the yaw angle and 3.73° for the pitch angle, as well as able to estimate the vehicle heading with a mean error of 4.12°.
AB - Given the increasing popularity of mobile and wearable devices, this paper explores the potential use of inertial sensors that are widely available on mobile and wearable devices for vehicle and driver tracking. Such a capability would enable novel classes of mobile safety and assisted driving applications without relying on information or sensors in the vehicle. Although inertial sensors have been widely used in motion tracking, existing approaches cannot distinguish the motion of the vehicle and the device's motion in the vehicle. Additionally, the noise exerted from the electronic components in the vehicle and the ferromagnetic frame of the vehicle distorts the inertial sensor readings. This paper introduces a method to separately estimate the orientation of both the vehicle and the sensor by tracking the earth's magnetic field and the electromagnetic distortion from the vehicle, as measured by a magnetometer in addition to a gyroscope and an accelerometer. Specifically, the vehicle noise is used to estimate the orientation of the sensor within the vehicle while the earth's magnetic field combined with vehicle noise is used to estimate the vehicle's heading. Our on-road experiments show that the technique is able to estimate the sensor orientation with a mean error of 5.61° for the yaw angle and 3.73° for the pitch angle, as well as able to estimate the vehicle heading with a mean error of 4.12°.
KW - Driver Activity Tracking
KW - Driver Safety
KW - IMU Sensors
KW - Orientation Estimation
KW - Smartphone-based sensing
KW - Wearable computing
UR - http://www.scopus.com/inward/record.url?scp=85050192299&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050192299&partnerID=8YFLogxK
U2 - 10.1109/SAHCN.2018.8397116
DO - 10.1109/SAHCN.2018.8397116
M3 - Conference contribution
AN - SCOPUS:85050192299
T3 - 2018 15th Annual IEEE International Conference on Sensing, Communication, and Networking, SECON 2018
SP - 1
EP - 9
BT - 2018 15th Annual IEEE International Conference on Sensing, Communication, and Networking, SECON 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th Annual IEEE International Conference on Sensing, Communication, and Networking, SECON 2018
Y2 - 11 June 2018 through 13 June 2018
ER -