Unscented Kalman Filter for Vehicle State Estimation

  title={Unscented Kalman Filter for Vehicle State Estimation},
  author={S. N. Antonov and Achim Fehn and Andreas Kugi},
Vehicle Dynamics Control (VDC) systems require the information about system variables, which cannot be directly measured, e.g., the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilize an Unscented Kalman Filter (UKF) for estimation purposes, since it is based on a numerically efficient nonlinear stochastic estimation technique. A planar… CONTINUE READING
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