Lever Arm Compensation for a Motorcycle Trajectory Reconstruction System

An approach has been proposed in a previous work, to reconstruct motorcycle trajectories, based on INS / Odometer data fusion. A wheel model was proposed to improve the estimation of the traveled distance from the odometer and CAHRS algorithm was used to better estimate the orientation of the motorcycle from inertial and magnetic data. In this paper, the influence of the different sensors' position is studied and an error compensation model of the "lever arm" effect is proposed in order to improve the accuracy of the reconstructed trajectory.