Naslov
Adaptive EKF-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and GPS

Autori
Hrgetić, Mario ; Deur, Joško ; Pavković, Danijel ; Barber Phil

Izvornik
SAE International journal of passenger cars. Mechanical systems (1946-3995) 4 (2011), 1; 700-712

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
sideslip; estimation; GPS; inertial; sensor fusion; Kalman filter

Sažetak
This paper presents an adaptive extended Kalman filter(EKF)-based sideslip angle estimator, which utilizes a sensor fusion concept that combines the high-rate inertial sensors measurements with the low-rate GPS velocity measurements. The sideslip angle estimation is based on a vehicle kinematic model relying on the lateral accelerometer and yaw rate gyro measurements. The vehicle velocity measurements from lowcost, single antenna GPS receiver are used for compensation of potentially large drift-like estimation errors caused by inertial sensors offsets. Adaptation of EKF state covariance matrix ensures a fast convergence of inertial sensors offsets estimates, and consequently a more accurate sideslip angle estimate. By using a detailed simulation analysis, it is found out that the main sources of estimation errors include inaccuracies of pre-estimated vehicle longitudinal velocity obtained from nondriven wheel speed sensors, the GPS velocity signal latency, and the road bank-related disturbances. Several compensation methods are proposed to suppress the influence of these errors.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo

POVEZANOST RADA