Adaptive EKF-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and GPS (CROSBI ID 173625)
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Podaci o odgovornosti
Hrgetić, Mario ; Deur, Joško ; Pavković, Danijel ; Barber Phil
engleski
Adaptive EKF-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and GPS
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.
sideslip; estimation; GPS; inertial; sensor fusion; Kalman filter
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Podaci o izdanju
4 (1)
2011.
700-712
objavljeno
1946-3995
1946-4002
10.4271/2011-01-0953
Povezanost rada
Elektrotehnika, Strojarstvo