Yaw rate measurement information is necessary for directional stability control systems as well as other vehicle control applications. Typically, rate gyros are used to measure the yaw rate. However, the cost of the rate gyros is more expensive compared with other sensors such as accelerometers. A new estimation algorithm to estimate the yaw rate of the vehicle using two accelerometers that are installed along the centerline of the vehicle is presented. According to the analysis, the effect of the tilt, generated either by rolling motion or by super-elevation, on the proposed algorithm is negligible. From the simulation studies, it was found that the sensor noise is the dominant source of the estimation error. Even though, under the adverse effect of the noise, the estimation error was bounded by 1 %. Therefore, it can be concluded that the proposed algorithm provides accurate and smooth estimation of the yaw rate. In the future, study of robustness to the model parameter uncertainties needs to be performed since the proposed algorithm is a model-based estimation algorithm. Also, experimental validation needs to be performed.
Measuring yaw rate with accelerometers
Messung der Gierrate mit Beschleunigungssensoren
2001
8 Seiten, 15 Bilder, 1 Tabelle, 4 Quellen
Conference paper
English
Measuring Yaw Rate with Accelerometers
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