NDLI: Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness

Content Provider	IEEE Xplore Digital Library
Author	Bevly, D.M. Ryu, J. Gerdes, J.C.
Copyright Year	2000
Abstract	This paper details a unique method for estimating key vehicle states-body sideslip angle, tire sideslip angle, and vehicle attitude-using Global Positioning System (GPS) measurements in conjunction with other sensors. A method is presented for integrating Inertial Navigation System sensors with GPS measurements to provide higher update rate estimates of the vehicle states. The influence of road side-slope and vehicle roll on estimating vehicle sideslip is investigated. A method using one GPS antenna that estimates accelerometer errors occurring from vehicle roll and sensor drift is first developed. A second method is then presented utilizing a two-antenna GPS system to provide direct measurements of vehicle roll and heading, resulting in improved sideslip estimation. Additionally, it is shown that the tire sideslip estimates can be used to estimate the tire cornering stiffnesses. The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	483
Ending Page	493
Page Count	11
File Size	1482943
File Format	PDF
ISSN	15249050
Volume Number	7
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Tires Antenna measurements State estimation Sensor systems Road vehicles Position measurement Inertial navigation Accelerometers Goniometers sideslip estimation Global Positioning System (GPS)/Inertial Navigation System (INS) vehicle state estimation GPS sideslip measurements roll estimation
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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