IR 센서를 이용한 이동플랫폼의 차체경사각 추정

Gyroscope, accelerometer and tilt sensors have been used for detecting the tilt of a vehicle in the industry. In the case of a gyroscope, its response is fast but the signals need to be integrated. This makes some bias errors such as quantization error and drift error. In the case of a tilt sensor, the response time is slow. In this paper, the inclination of a mobile platform will be estimated using the IR sensors installed at the bottom of a vehicle instead of expensive gyroscope and accelerometer. Experimental results are provided.