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Toe Angle Measurement for z-Axis Calibrations of the Toe Sensor Based on MCU

Jieh-Shian Young and Hong-Yi Hsu
Institute of Vehicle Engineering National Changhua University of Education Changhua, Taiwan
Abstract—This study aims at developing an alternative approach to the toe angle inspection system for the vehicle wheel alignments. It will apply the inertial sensor, including accelerometers and gyro, to implementing the MCU-based toe angle inspection system instead of the current commercial measures which adopt the computation vision-based techniques. The inspection system by the proposed approach is much cheaper and more convenient than those by the computer vision-based ones. The coordinate transformations from a vehicle to the inspection system are built in order to obtain the relation between the x-axis of the inspection system and that of the vehicle. The orientations of the wheel can be evaluated through the data including 3 axial accelerations and Euler angles acquired from the inertial sensor. Therefore, the toe angle can be calculated by the orientations of the wheels and the vehicle through some vector operations. This paper proposes an approach to calibrating the z-axis of the inspection system (sensor) from the misalignments to the based axes of the equipped gyro. The proposed approach is practical and feasible in application from the off-line authentication. The algorithm according to the proposed approach is also provided. This study will be expected to facilitate the toe angle inspection through the z-axis calibrations for the system. The integration of the toe angle and camber angle inspections form the proposed approach will achieve the goal to develop a wheel alignment inspection system that is affordable and more convenient to operate without downgrade of the precision. Besides, the evaluated results of camber angle inspections can be transmitted via the media such as RS232, Bluetooth, Wi-Fi, etc.
Index Terms—coordinate transformation, inertial sensor, toe angle, wheel alignment

Cite: Jieh-Shian Young and Hong-Yi Hsu, "Toe Angle Measurement for z-Axis Calibrations of the Toe Sensor Based on MCU," International Journal of Electronics and Electrical Engineering, Vol. 6, No. 4, pp. 61-64, December 2018. doi: 10.18178/ijeee.6.4.61-64
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