<abstract xmlns="http://www.w3.org/1999/xhtml"><p> With the development of the vehicle industry, controlling stability has become more and more important. Techniques of evaluating vehicle stability are in high demand. Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) is a very practical method to get high-precision measurement data. Usually, the Kalman filter is used to fuse the data from GPS and INS. In this paper, a robust method is used to measure vehicle sideslip angle and yaw rate, which are two important parameters for vehicle stability. First, a four-wheel vehicle dynamic model is introduced, based on sideslip angle and yaw rate. Second, a double level Kalman filter is established to fuse the data from Global Positioning System and Inertial Navigation System. Then, this method is simulated on a sample vehicle, using Carsim software to test the sideslip angle and yaw rate. Finally, a real experiment is made to verify the advantage of this approach. The experimental results showed the merits of this method of measurement and estimation, and the approach can meet the design requirements of the vehicle stability controller.</p></abstract>

With the development of the vehicle industry, controlling stability has become more and more important. Techniques of evaluating vehicle stability are in high demand. Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) is a very practical method to get high-precision measurement data. Usually, the Kalman filter is used to fuse the data from GPS and INS. In this paper, a robust method is used to measure vehicle sideslip angle and yaw rate, which are two important parameters for vehicle stability. First, a four-wheel vehicle dynamic model is introduced, based on sideslip angle and yaw rate. Second, a double level Kalman filter is established to fuse the data from Global Positioning System and Inertial Navigation System. Then, this method is simulated on a sample vehicle, using Carsim software to test the sideslip angle and yaw rate. Finally, a real experiment is made to verify the advantage of this approach. The experimental results showed the merits of this method of measurement and estimation, and the approach can meet the design requirements of the vehicle stability controller.

A Robust Method of Vehicle Stability Accurate Measurement Using GPS and INS

College of Power and Energy, Harbin Engineering University, Harbin 150001, China

Heilongjiang Institute of Technology, Harbin 150050, China

Measurement Science Review

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"A Robust Method of Vehicle Stability Accurate Measurement Using GPS and INS"}

With the development of the vehicle industry, controlling stability has become more and more important. Techniques of evaluating vehicle stability are in high...

A Robust Method of Vehicle Stability Accurate Measurement Using GPS and INS

Published Online: Dec 30, 2015

Page range: 294 - 303

Received: Feb 10, 2015

Accepted: Dec 01, 2015

DOI: https://doi.org/10.1515/msr-2015-0040

Keywords
Vehicle stability, Kalman filter, data fusion, sideslip angle, GPS/INS

© by Zhibin Miao

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A Robust Method of Vehicle Stability Accurate Measurement Using GPS and INS

Published Online: Dec 30, 2015

Page range: 294 - 303

Received: Feb 10, 2015

Accepted: Dec 01, 2015

DOI: https://doi.org/10.1515/msr-2015-0040

KeywordsVehicle stability, Kalman filter, data fusion, sideslip angle, GPS/INS

© by Zhibin Miao

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Vehicle stability, Kalman filter, data fusion, sideslip angle, GPS/INS