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Sensors 2018, 18(1), 212; doi:10.3390/s18010212

Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles

1
Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China
2
School of Computer Science & Electronic Engineering, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK
*
Author to whom correspondence should be addressed.
Received: 28 October 2017 / Revised: 4 January 2018 / Accepted: 9 January 2018 / Published: 13 January 2018
(This article belongs to the Special Issue Mechatronic Systems for Automatic Vehicles)
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Abstract

Articulated wheel loaders used in the construction industry are heavy vehicles and have poor stability and a high rate of accidents because of the unpredictable changes of their body posture, mass and centroid position in complex operation environments. This paper presents a novel distributed multi-sensor system for real-time attitude estimation and stability measurement of articulated wheel loaders to improve their safety and stability. Four attitude and heading reference systems (AHRS) are constructed using micro-electro-mechanical system (MEMS) sensors, and installed on the front body, rear body, rear axis and boom of an articulated wheel loader to detect its attitude. A complementary filtering algorithm is deployed for sensor data fusion in the system so that steady state margin angle (SSMA) can be measured in real time and used as the judge index of rollover stability. Experiments are conducted on a prototype wheel loader, and results show that the proposed multi-sensor system is able to detect potential unstable states of an articulated wheel loader in real-time and with high accuracy. View Full-Text
Keywords: articulated heavy vehicles; multi-sensor system; attitude and heading reference systems; rollover stability; vehicle safety articulated heavy vehicles; multi-sensor system; attitude and heading reference systems; rollover stability; vehicle safety
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Zhu, Q.; Xiao, C.; Hu, H.; Liu, Y.; Wu, J. Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles. Sensors 2018, 18, 212.

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