Vehicle sideslip angle estimation by fusing inertial measurement unit and global navigation satellite system with heading alignment

Xin Xia,Lu Xiong,Yishi Lu,Letian Gao,Zhuoping Yu

Mechanical Systems and Signal Processing（2021）

引用 43|浏览17

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摘要

•We estimate sideslip angle by a kinematic-model-based method by fusing IMU and GNSS.•A robust regression method is applied to align the heading offset of the GNSS.•An adaptive Kalman filter is used to fuse IMU and GNSS to estimate sideslip angle.

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关键词

Sideslip angle estimation,Heading alignment,Velocity estimation,Robust regression,Kalman filter,Information fusion

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