In this article, two kinematics-based observers are proposed to estimate the vehicle roll and pitch angles by using an inertial measurement unit. The observers are mathematically proven to be stable if the vehicle yaw rate is not zero. With a design variation of the observer gains, the estimated roll or pitch angle is shown to further asymptotically converge to the true value, eliminating possible errors caused by the biases of the acceleration signals. Simulation results show that accurate estimation of both pitch and roll angles can be achieved without the help of external sensors such as global positioning systems, either by using the accelerometer-based reference pitch or roll angle as the maneuver varies, or by using an observer with zero steady-state error property.


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    Titel :

    Estimation of land vehicle roll and pitch angles


    Beteiligte:
    Eric Tseng, H. (Autor:in) / Xu, Li (Autor:in) / Hrovat, Davor (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 45 , 5 ; 433-443


    Erscheinungsdatum :

    01.05.2007




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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