Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Sensor name</td><td class="align_center">Velocity</td><td class="align_center">Yaw rate</td><td class="align_center">Others</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Wheel speed sensor (WSS)</td><td class="align_center">Directly</td><td class="align_center">Derived from the differential of left and right wheel speed</td><td class="align_center">—</td></tr><tr><td class="align_left">Steering angle sensor (SAS)</td><td class="align_center">—</td><td class="align_center">Derived from kinematic model</td><td class="align_center">Can estimate the side slip by kinematic relationship</td></tr><tr><td class="align_left">Yaw rate sensor (YRS)</td><td class="align_center"> </td><td class="align_center">Directly</td><td class="align_center"> </td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Relationship of the vehicle dynamic sensors and navigation information for DR.

Journal of Sensors

tab1

Table 1

Table 1: Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages 