Sensorfusion av GPS och IMU för en racingtillämpning
AIMS AB is a Swedish company that develops and sells inertial sensor systems. A new product is under research which basically is an aided inertial navigation system where unwanted drift is eliminated. This can be done by integrating a GPS reciever into the system and fuse measurement data from GPS and IMU. Such a product is useful in racing, where engineers always are searching for the optimal performance and the shortest lap times. Today the only feedback the engineers and mechanics get from their work is the driver?s comments and lap times. It would be of great help if it was possible to see the behaviour of the car directly in technical terms. The focus of this master thesis is fusing a GPS receiver and an IMU using an Extended Kalman Filter (EKF). The main task of the EKF is to estimate the errors of the intertial measurements and correct the measurements to eliminate drift in velocity and position. To verify the system, data collection was done togheter with the team G2 Racing and Tony Ring. The measurements were done in Tony?s Ferrari F430 Pista during two days at the Paul Ricard circuit in southern France. From the results possibilites to further estimate interesting entities were evaluated.