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Autonomous vehicle operation is dependent upon accurate position estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer. The IMU provides vehicle orientation in 3D space in terms of yaw, roll and pitch. Out of which, yaw is a major parameter to control the ground vehicle’s lateral position during navigation. The accelerometer is responsible for attitude (roll-pitch) estimates and magnetometer is responsible for yaw estimates. However, the magnetometer is prone to environmental magnetic disturbances which induce errors in the measurement.

The effects of an oxidation catalytic converter (OCC), an emulsified fuel, and their combined effects on particle number and volume concentrations compared to those obtained when using a basefuel were studied. Particle size and particulate emission measurements were conducted at three operating conditions; idle (850 rpm, 35 Nm), Mode 11 (1900 rpm, 277 Nm) and Mode 9 (1900 rpm, 831 Nm) of the EPA 13 mode cycle. The individual effects of the emulsified fuel and the OCC as well as their combined effects on particle number and volume concentrations were studied at two different particle size ranges; the nuclei (less than or equal to 50 nm) and accumulation (greater than 50 nm) modes. An OCC loaded with 10 g/ft3 platinum metal (OCC1) and a 20% emulsified fuel were used for this study and a notable influence on the particle size with respect to number and volume distributions was observed.

A study was conducted to assess the effects of a water-diesel fuel emulsion with and without an oxidation catalytic converter (OCC) on steady-state heavy-duty diesel engine emissions. Two OCCs with different metal loading levels were used in this study. A 1988 Cummins L10-300 heavy-duty diesel engine was operated at the rated speed of 1900 rpm and at 75% and 25% load conditions (EPA modes 9 and 11 respectively) of the 13 mode steady-state test as well as at idle. Raw exhaust emissions' measurements included total hydrocarbons (HC), oxides of nitrogen (NOx) and nitric oxide (NO). Diluted exhaust measurements included total particulate matter (TPM) and its primary constituents, the soluble organic (SOF), sulfate (SO42-) and the carbonaceous solids (SOL) fractions. Vapor phase organic compounds (XOC) were also analyzed. The SOF and XOC samples were analyzed for selected polynuclear aromatic hydrocarbons (PAHs).