Road vehicle state estimation using low-cost GPS/INS

被引：71

作者：

Leung, King Tin ^{[1
]}

Whidborne, James F. ^{[1
]}

Purdy, David ^{[2
]}

Barber, Phil ^{[3
]}

机构：

[1] Cranfield Univ, Sch Engn, Cranfield MK43 0AL, Beds, England

[2] Cranfield Univ, Dept Engn Syst & Management, Shrivenham, England

[3] Jaguar Land Rover, Coventry, W Midlands, England

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2011年 / 25卷 / 06期

基金：

英国工程与自然科学研究理事会;

关键词：

GPS; INS; Kalman filter; State estimation; Low-cost; IPG CarMaker; PASSENGER VEHICLES; KALMAN FILTER; FATAL CRASHES; SIDESLIP;

D O I：

10.1016/j.ymssp.2010.08.003

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Assuming known vehicle parameters, this paper proposes an innovative integrated Kalman filter (IKF) scheme to estimate vehicle dynamics, in particular the sideslip, the heading and the longitudinal velocity. The IKF is compared with the 2DoF linear bicycle model, the triple Kalman filter (KF) and a model-based KF (MKF) in a simulation environment. Simulation results show that the proposed IKF is superior to other KF designs (both Kinematic KF and MKF) on state estimation when tyre characteristics are within the linear region (i.e. manoeuvres below 55 kph). (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1988 / 2004

页数：17