Vehicle sideslip angle estimation using fusion of a kinematic approach and GPS measurements

The paper presents an algorithm for vehicle sideslip angle estimation. The proposed approach fuses a kinematic estimator bases on high-frequency inertial sensors measurements with an observer relying on low-rate GPS velocity measurements. Specifically, the vehicle velocity measured by the low-cost GPS is used to compensate potentially large drift of the kinematic estimator based on the inertial sensors. On this purpose, the estimates obtained from the GPS and the inertial sensors are fuzzified depending on driving condition and GPS signal availability. The algorithm is evaluated on a wide range of tests carried out on ordinary roads and including a large variety of working conditions, such as banked and sloped roads.