基于智能手机精确车辆速度估算研究

摘要

With the development of the smartphone,this paper aimed at estimating the vehicle speed using the smartphone’s accelerator sensor.However,it found that there is deviation between the measurement value of the smartphone ’s accelerator sensor and the ground truth value through the practice test.Firstly,it theoretically analyzed the influence of the error of phone’s accelerator on the vehicle speed estimation.Secondly,it proposed a smartphone sensor error distribution determination algorithm under the vehicle motion condition.Finally,it proposed Kalman filter based smartphone sensor error correction meth-od.After that,it could obtain the vehicle speed estimation with more accuracy.The experimental results show that the smart-phone sensor error correction method can correct the smartphone accelerator sensor error with a high accuracy and the vehicle speed estimation error is less than 2.1 m/s.%随着智能手机的普及，旨在利用智能手机加速度传感器估算车辆速度，通过实际的测量，发现用手机加速度传感器测得的数据与真实值存在明显误差。从理论上分析手机加速度传感器误差对车辆速度估算的影响，提出一种车辆在运动状态下，手机传感器误差分布确定的算法，提出了基于卡尔曼滤波算法手机传感器误差矫正的方法。通过矫正后的数据，获得了更高精度的车辆速度估计值。实验结果表明，该手机传感器误差矫正方法在车辆运动状态下能较好地矫正手机加速度传感器误差，并且车辆速度估计误差在2．1 m／s以下。