Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada.
Saudi Ministry of Education, Riyadh 14811, Saudi Arabia.
Sensors (Basel). 2021 Feb 13;21(4):1327. doi: 10.3390/s21041327.
Various high budget industries that utilize wheel-based vehicles rely on wheel odometry as an integral aspect of their navigation process. This research introduces a low-cost alternative for typical wheel encoders that are typically used to determine the on-track speed of vehicles. The proposed system is referred to as an Accelerometer-based Wheel Odometer for Kinematics determination (AWOK). The AWOK system comprises just a single axis accelerometer mounted radially at the center of any given wheel. The AWOK system can provide direct distances instead of just velocities, which are provided by typical wheel speedometers. Hence, the AWOK system is advantageous in comparison to typical wheel odometers. Besides, the AWOK system comprises a simple assembly with a highly efficient data processing algorithm. Additionally, the AWOK system provides a high capacity to handle high dynamics in comparison to similar approaches found in previous related work. Furthermore, the AWOK system is not affected by the inherited stochastic errors in micro-machined electro-mechanical systems (MEMS) inertial sensors, whether short-term or long-term errors. Above all, the AWOK system reported a relative accuracy of 0.15% in determining the distance covered by a car.
各种依赖轮式车辆的高预算行业都将轮式里程计作为其导航过程的一个重要组成部分。本研究提出了一种低成本的替代方案，用于替代典型的车轮编码器，这些编码器通常用于确定车辆的轨道速度。该系统被称为基于加速度计的运动学车轮里程计（AWOK）。AWOK 系统仅包含一个单轴加速度计，安装在任意给定车轮的中心径向位置。AWOK 系统可以提供直接的距离，而不仅仅是速度，这是典型的车轮速度计提供的。因此，与典型的车轮里程计相比，AWOK 系统具有优势。此外，AWOK 系统包含一个简单的组件和一个高效的数据处理算法。此外，与之前相关工作中发现的类似方法相比，AWOK 系统在处理高动态方面具有更高的能力。此外，AWOK 系统不受微机电系统（MEMS）惯性传感器中固有随机误差的影响，无论是短期还是长期误差。最重要的是，AWOK 系统在确定汽车行驶的距离方面报告了 0.15%的相对精度。
