Learning Car Speed Using Inertial Sensors for Dead Reckoning Navigation
Abstract
A deep neural network (DNN) is trained to estimate the speed of a car driving in an urban area using as input a stream of measurements from a low-cost six-axis inertial measurement unit (IMU). Three hours of data was collected by driving through the city of Ashdod, Israel in a car equipped with a global navigation satellite system (GNSS) real time kinematic (RTK) positioning device and a synchronized IMU. Ground truth labels for the car speed were calculated using the position measurements obtained at the high rate of 50 Hz. A DNN architecture with long short-term memory layers is proposed to enable high-frequency speed estimation that accounts for previous inputs history and the nonlinear relation between speed, acceleration and angular velocity. A simplified aided dead reckoning localization scheme is formulated to assess the trained model which provides the speed pseudo-measurement. The trained model is shown to substantially improve the position accuracy during a 4 minutes drive without the use of GNSS position updates.
Cite
@article{arxiv.2205.07883,
title = {Learning Car Speed Using Inertial Sensors for Dead Reckoning Navigation},
author = {Maxim Freydin and Barak Or},
journal= {arXiv preprint arXiv:2205.07883},
year = {2022}
}
Comments
4 pages. Accepted to IEEE Sensors Letters (22 August 2022)