{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T16:15:49Z","timestamp":1761581749592,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2018,9,27]],"date-time":"2018-09-27T00:00:00Z","timestamp":1538006400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a linear Kalman filter for yaw estimation of land vehicles using magnetic angular rate and gravity (MARG) sensors. A gyroscope measurement update depending on the vehicle status and constraining yaw estimation is introduced. To determine the vehicle status, the correlations between outputs from different sensors are analyzed based on the vehicle kinematic model and Coriolis theorem, and a vehicle status marker is constructed. In addition, a two-step measurement update method is designed. The method treats the magnetometer measurement update separately after the other updates and eliminates its impact on attitude estimation. The performances of the proposed algorithm are tested in experiments and the results show that: the introduced measurement update is an effective supplement to the magnetometer measurement update in magnetically disturbed environments; the two-step measurement update method makes attitude estimation immune to errors induced by magnetometer measurement update, and the proposed algorithm provides more reliable yaw estimation for land vehicles than the conventional algorithm.<\/jats:p>","DOI":"10.3390\/s18103251","type":"journal-article","created":{"date-parts":[[2018,9,28]],"date-time":"2018-09-28T02:54:54Z","timestamp":1538103294000},"page":"3251","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3879-0111","authenticated-orcid":false,"given":"Gang","family":"Shi","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China"},{"name":"College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China"},{"name":"Shengli College, China University of Petroleum, Dongying 257061, China"}]},{"given":"Xisheng","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China"},{"name":"Beijing Engineering Research Center of Industrial Spectrum Imaging, Beijing 10083, China"}]},{"given":"Zhengfu","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,9,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1109\/TITS.2003.821292","article-title":"Research advances in intelligent collision avoidance and adaptive cruise control","volume":"4","author":"Vahidi","year":"2003","journal-title":"IEEE Trans. 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