High accuracy multisensor road vehicle state estimation

This paper describes the theoretical development and evaluation of a multisensor navigation system for high speed road vehicles. The particular contributions of the theoretical work are in the designing the nonlinear process model that is able to cope with vehicle slip using multisensor data from inertial sensors, odometry and the D-GPS. The algorithm was evaluated using a vehicle dynamics simulator built to allow the simulation of a wide variety of driving scenarios. The simulation results indicate that the scheme is able to significantly reduce the errors in vehicle position and orientation estimates. Besides, the results also show that the scheme allows slip angle estimation (which is of importance in itself), and accelerometer bias estimation