Abstract
A method used to detect anomaly and estimate the state of vehicle in driving was proposed. The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added, which refer to that once the vehicle encounters the faults that could not be controlled, the constraint conditions are violated. Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward. So the stability of the whole vehicle could be judged by the velocity errors of the vehicle. Conclusions were validated through the vehicle experiment. This method is based on GPS/INS integrated navigation system, and can provide foundation for fault detections in unmanned autonomous vehicles.
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Foundation item: Projects(90820302, 60805027) supported by the National Natural Science Foundation of China; Project(200805330005) supported by Research Fund for Doctoral Program of Higher Education of China; Projects(2009FJ4030) supported by Academician Foundation of Hunan Province, China; Project supported by the Freedom Explore Program of Central South University, China
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Ren, Xp., Cai, Zx., Chen, Bf. et al. Anomaly detection method based on kinematics model and nonholonomic constraint of vehicle. J. Cent. South Univ. Technol. 18, 1128–1132 (2011). https://doi.org/10.1007/s11771-011-0813-4
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DOI: https://doi.org/10.1007/s11771-011-0813-4