{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T15:40:12Z","timestamp":1785512412074,"version":"3.56.0"},"reference-count":42,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2020,12,22]],"date-time":"2020-12-22T00:00:00Z","timestamp":1608595200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100006764","name":"Technische Universit\u00e4t Berlin","doi-asserted-by":"publisher","award":["the Open Access Publication Fund of TU Berlin"],"award-info":[{"award-number":["the Open Access Publication Fund of TU Berlin"]}],"id":[{"id":"10.13039\/501100006764","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Multi-modal sensor fusion has become ubiquitous in the field of vehicle motion estimation. Achieving a consistent sensor fusion in such a set-up demands the precise knowledge of the misalignments between the coordinate systems in which the different information sources are expressed. In ego-motion estimation, even sub-degree misalignment errors lead to serious performance degradation. The present work addresses the extrinsic calibration of a land vehicle equipped with standard production car sensors and an automotive-grade inertial measurement unit (IMU). Specifically, the article presents a method for the estimation of the misalignment between the IMU and vehicle coordinate systems, while considering the IMU biases. The estimation problem is treated as a joint state and parameter estimation problem, and solved using an adaptive estimator that relies on the IMU measurements, a dynamic single-track model as well as the suspension and odometry systems. Additionally, we show that the validity of the misalignment estimates can be assessed by identifying the misalignment between a high-precision INS\/GNSS and the IMU and vehicle coordinate systems. The effectiveness of the proposed calibration procedure is demonstrated using real sensor data. The results show that estimation accuracies below 0.1 degrees can be achieved in spite of moderate variations in the manoeuvre execution.<\/jats:p>","DOI":"10.3390\/s21010007","type":"journal-article","created":{"date-parts":[[2020,12,22]],"date-time":"2020-12-22T20:39:29Z","timestamp":1608669569000},"page":"7","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Novel IMU Extrinsic Calibration Method for Mass Production Land Vehicles"],"prefix":"10.3390","volume":"21","author":[{"given":"Vicent","family":"Rodrigo Marco","sequence":"first","affiliation":[{"name":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany"},{"name":"Research and Development, Daimler AG, 71059 Sindelfingen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jens","family":"Kalkkuhl","sequence":"additional","affiliation":[{"name":"Research and Development, Daimler AG, 71059 Sindelfingen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J\u00f6rg","family":"Raisch","sequence":"additional","affiliation":[{"name":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thomas","family":"Seel","sequence":"additional","affiliation":[{"name":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"15971","DOI":"10.1016\/j.ifacol.2017.08.1751","article-title":"Advanced vehicle state estimation: A tutorial and comparative study","volume":"50","author":"Farrell","year":"2017","journal-title":"IFAC-Pap. 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