In-car positioning and navigation technologies: a survey
IEEE Transactions on Intelligent Transportation Systems
GPS multipath mitigation for urban area using omnidirectional infrared camera
IEEE Transactions on Intelligent Transportation Systems
Robust sideslip estimation using GPS road grade sensing to replace a pitch rate sensor
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
INS/GPS integration system with DCM based orientation measurement
ICIC'09 Proceedings of the 5th international conference on Emerging intelligent computing technology and applications
Vision-IMU integration using a slow-frame-rate monocular vision system in an actual roadway setting
IEEE Transactions on Intelligent Transportation Systems
Creating enhanced maps for lane-level vehicle navigation
IEEE Transactions on Intelligent Transportation Systems
Improved ultra wideband-based tracking of twin-receiver automated guided vehicles
Integrated Computer-Aided Engineering - Anniversary Volume: Celebrating 20 Years of Excellence
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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