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.
Cite
@article{arxiv.1809.06472,
title = {Ground vehicle odometry using a non-intrusive inertial speed sensor},
author = {Het Shah and Siddhant Haldar and Rohit Ner and Siddharth Jha and Debashish Chakravarty},
journal= {arXiv preprint arXiv:1809.06472},
year = {2018}
}