Adaptive EKF-Based Vehicle State Estimation With Online Assessment of Local Observability

@article{Katriniok2016AdaptiveEV,
  title={Adaptive EKF-Based Vehicle State Estimation With Online Assessment of Local Observability},
  author={Alexander Katriniok and Dirk Abel},
  journal={IEEE Transactions on Control Systems Technology},
  year={2016},
  volume={24},
  pages={1368-1381}
}
In this paper, an extended Kalman filter-based estimator adopting a dynamic vehicle model for determining the vehicle's longitudinal and lateral velocity as well as the yaw rate is proposed. Two additional adaptation states are introduced to scale longitudinal and lateral tire forces if necessary to account for uncertainties in the tire/road contact. As excitation plays a vital role as far as observability is concerned, the suggested approach assesses local observability online and keeps an… CONTINUE READING

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