Motion analysis on racing bicycle by using inertial sensor information

Abstract

In order to measure the kinematics of racing bicycle in indoor track, extended Kalman filter method was implemented. Bicycle model was modeled as symbolic formula by using variables considering the road-tire contact condition and the 3 dimensional track shape. Measurement function is derived as symbolic formula by the variables. To verify the Kalman filter system, simulation data was used as measured data and filter was tried by 9 noise parameter sets. It found to be that The filter could reproduced the true motion with an error within a problem-free range under valid noise parameter setting.