Sensor fusion

This page documents the sensor fusion configuration.

Configuration file fields

This section is autogenerated from the Rule Schema file.

Configuration explained

This section contains additional information and examples.

The CANedge2 supports automotive sensor-fusion, combining GNSS and IMU data for improved navigation performance - particularly in places with poor GNSS signal conditions.

Warning

Example

In this example, two CANedge devices are installed in a passenger car with the IMU-alignment angles carefully configured. One device is configured with sensor-fusion disabled (off) and the other with sensor-fusion enabled (on).

To demonstrate the effect of sensor-fusion, the vehicle is driven through an underground garage (no GNSS signal). Below Figure illustrates how the device with sensor-fusion enabled (on) is able to estimate (dead-reckoning) the route through the garage without any GNSS signal. Contrarily, the device with sensor-fusion disabled (off) is not able to generate any positioning data while inside the garage.

../../_images/sensor_fusion.png

Position of garage marked by a black rectangle. Vehicle enters garage from the left and exits to the right.

1

Applications with dynamics equivalent to those of a passenger car

2

The sensor-fusion result can be degraded if the device is misaligned a few degrees and can fail completely if the misalignment reaches tens of degrees. If an accurate configuration cannot be provided, the result of sensor-fusion can be worse compared to leaving the feature disabled.