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Vehicle Sideslip Estimation Using Unscented Kalman Filter, AHRS and GPS

[+] Author Affiliations
Theunis R. Botha, Pieter S. Els

University of Pretoria, Pretoria, Gauteng, South Africa

Paper No. DETC2012-70875, pp. 651-659; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 1st Biennial International Conference on Dynamics for Design; 14th International Conference on Advanced Vehicle Technologies
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4505-9
  • Copyright © 2012 by ASME


A vehicle’s sideslip angle is an important parameter for both vehicle control and tyre property estimation. This paper details the method of determining a vehicles sideslip angle using an Attitude Heading Reference System (AHRS) and a Global Position System (GPS) in conjunction with the Unscented Kalman Filter (UKF). The addition of a single GPS antenna and the AHRS provides the ability to directly estimate the sideslip angle. Incorporating this direct measurement, as well as the summation of the gravity and gyro-compensated lateral acceleration to provide lateral velocity, allows the continuous and drift free estimation of the sideslip angle. The method is evaluated in simulation, using a validated non-linear full vehicle ADAMS model with added sensor noise. The estimated sideslip angle compares well against the simulated vehicle’s sideslip angle.

Copyright © 2012 by ASME



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