Sideslip Angle Estimation Based on GPS and Magnetometer Measurements

This paper proposes a cost-effective method to estimate the vehicle sideslip angle on various frictional surfaces on banked roads. This paper demonstrates that the vehicle sideslip can be estimated by combining measurements of Global Positioning System (GPS), Inertial Measurement Unit (IMU), and a magnetometer in the Kalman filter framework. Among all the measurements, the magnetometer is the most vulnerable to exogenous disturbances. To reject them, a stochastic filter is designed and integrated into the Kalman filter framework. Significant delays in GPS measurements are addressed by “measurement shifting”. The performance and accuracy of the proposed method are verified by comprehensive simulations and experiments