The aim of this paper is to present the kinematic transformations of the vehicle motion parameters measured by different sets of sensors, especially IMU (Inertial Measurement Unit), optical gauge or GPS receiver. It is of great importance in vehicle dynamics research, experimental verification of simulation programs and reconstruction of vehicle accidents based on time histories recorded by the UDS-AT (manufactured by Siemens VDO Automotive) or EDR (Event Data Recorder). Although the theory of spatial kinematics seems to be widely available, it is often trivialized, especially when the transformations are not presented in the software documentation delivered together with the measurement equipment. This paper covers theory (in a clear and concise vector-matrix notation), discussion, example and some hints concerning the boundary conditions of integration. The waveforms most reliable are those that are derived from the kinematic transformations of the raw data: for position — from GPS, for velocity — from GPS or an optical gauge, for orientation — from the gyro sensors, for acceleration — from the acceleration and gyro sensors.
[1]
Rafał Stanisław Jurecki,et al.
Driver’s reaction time in a simulated, complex road incident
,
2014
.
[2]
Terry D. Day,et al.
An Overview of the HVE Vehicle Model
,
1995
.
[3]
Wojciech Wach,et al.
Uncertainty in Calculations Using Lambourn's Critical Speed Procedure
,
2013
.
[4]
Zbigniew Lozia,et al.
Possible Errors Occurring During Accident Reconstruction Based on Car “Black Box” Records
,
2002
.
[5]
Sridhar Kota,et al.
Virtual Prototyping and Motion Simulation with ADAMS
,
2001,
Journal of Computing and Information Science in Engineering.
[6]
Zbigniew Lozia,et al.
Accident Reconstruction Based on EDR Records - Simulation and Experimental Study
,
2007
.
[7]
M Gidlewski,et al.
Analysis of motion of the body of a motor car hit on its side by another passenger car
,
2016
.
[8]
K. Siczek,et al.
New high precision method for determining vehicle crash velocity based on measurements of body deformation
,
2016
.