roll and bank estimation using gps/ins and suspension deflections

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ID: 185693
2015
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Abstract
This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.
Reference Key
brown2015electronicsroll Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Lowell S. Brown;David M. Bevly
Journal biology bulletin of the academy of sciences of the ussr
Year 2015
DOI
10.3390/electronics4010118
URL
http://www.mdpi.com/2079-9292/4/1/118
Keywords
state estimation gps vehicle dynamics rollover extended kalman filter (ekf)electronics

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