Integrating Inertial Sensors with GPS for Vehicle Dynamics Control

  title={Integrating Inertial Sensors with GPS for Vehicle Dynamics Control},
  author={Jihan Ryu and J. Christian Gerdes},
ABSTRACT This paper demonstrates a method of estimating several key vehicle states – sideslip angle, longitudinal velocity, roll and grade – by combining automotive grade inertial sensors with a Global Positioning System (GPS) receiver. Kinematic Kalman filters that are independent of uncertain vehicle parameters integrate the inertial sensors with GPS to provide high update estimates of the vehicle states and the sensor biases. Using a twoantenna GPS system, the effects of pitch and roll on… CONTINUE READING
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