Speed-Sensor Identification and Error Modeling from OBD-II for Automotive Navigation
How to determine which wheel-speed or vehicle-speed sensor a land vehicle uses by reading its standardized OBD-II speed messages, and how to model that sensor type's error characteristics for navigation. Different vehicles quantize and derive speed differently, producing distinct error variances; identifying the sensor and modeling its errors lets an integrator fuse OBD-II speed with inertial, GNSS, and camera measurements to improve state estimation, especially in GNSS-denied environments.
2501.00242
A study of how land vehicles derive forward speed and why the resulting measurements carry vehicle-specific error characteristics that matter for navigation. It contrasts the standardized OBD-II diag…