A Kalman Filter for Odometry Using a Wheel Mounted Inertial Sensor

Bernd Gersdorf, Udo Frese

In: Jean-Louis Ferrier, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek (editor). ICINCO 2013. International Conference on Informatics in Control, Automation and Robotics (ICINCO-13) 10th July 29-31 Reykjavik Iceland Pages 388-395 1 ISBN 978-989-8565-70-9 SCITEPRESS - Science and Technology Publications 2013.


This paper describes an Extended Kalman Filter for a wheel mounted inertial measurement unit using two accelerometers and a single gyroscope as a substitute for classical odometry sensing. The sensor can be mounted with minimal effort on existing wheeled vehicles. It is highly robust against vibration while rolling on uneven terrain and can cope with higher speeds even when the measurement range is partially exceeded. It has been developed as a component of a GPS based urban navigation assistant for elderly people using walkers, wheelchairs, or tricycles as an add-on device.


German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz