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

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