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GPS Base Sideslip Estimation
People
Sponsors
Robert Bosch Corporation
Description
Vehicle sideslip is an important parameter for stability control systems. Sideslip is the angle between the velocity vector and the longitudinal axis of the vehicle. Normally this angle has to be estimated using vehicle models or direct integration of inertial navigation system (INS) sensors. The global positioning system (GPS) provides a unique alternative to estimating sideslip because it can give the vehicles absolute velocity (both magnitude and direction). Combining this measurement with those obtained from the INS sensors gives a high update estimate of vehicle sideslip.
PhD Dissertation
- "State and Parameter Estimation for Vehicle Dynamics
Control Using GPS"
December 2004 [pdf]
Results
Publications
Estimation of Vehicle Roll and Road Bank Angle
People
Description
This work developed a new method for identifying
road bank and vehicle roll separately using a disturbance
observer and a vehicle dynamic model. It has been
previously shown that vehicle states and parameters of a
vehicle model can be precisely estimated using measurements
from Global Positioning System (GPS) and Inertial Navigation
System (INS) sensors. Based on these results, a dynamic model,
which includes vehicle roll as a state and road bank as a
disturbance, is first introduced. A disturbance observer is then
implemented from the vehicle model using estimated vehicle
states. Experimental results verify that the estimation scheme
is giving appropriate estimates of the vehicle roll and road
bank angles separately.
Publications
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