In this paper, we address the enhanced state estimation and prediction system for automobile applications by fusing relatively low-cost and noisy Inertial Navigation System (INS) sensing with Global Positioning System (GPS) measurements. An unscented Kalman filter is used to merge multi-rate measurements from GPS and INS sensors together with a high-fidelity vehicle-dynamics model for state-predictions. The high-fidelity motion model (including suspension-effects) for the vehicle motion trajectory on uneven terrain is captured by a 20-state system of nonlinear differential equations. Computer simulation results illustrate the effectiveness of sensor-fusion (building upon the merger of an inexpensive INS sensing with GPS based measurements) to accurately estimate the full system-state. The relative ease of implementation, accuracy and predictive performance with low-cost sensing will facilitate its use in various electronic control and safety-systems, such as Electronic Stability Program, Anti-lock Brake Systems, and the Lateral Dynamic Stability Control.
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ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 17–20, 2014
Buffalo, New York, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4634-6
PROCEEDINGS PAPER
Enhanced Full-State Estimation and Dynamic-Model-Based Prediction for Road-Vehicles
Aliakbar Alamdari,
Aliakbar Alamdari
SUNY at Buffalo, Buffalo, NY
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Venkat N. Krovi
Venkat N. Krovi
SUNY at Buffalo, Buffalo, NY
Search for other works by this author on:
Aliakbar Alamdari
SUNY at Buffalo, Buffalo, NY
Javad Sovizi
SUNY at Buffalo, Buffalo, NY
Venkat N. Krovi
SUNY at Buffalo, Buffalo, NY
Paper No:
DETC2014-34453, V003T01A018; 8 pages
Published Online:
January 13, 2015
Citation
Alamdari, A, Sovizi, J, & Krovi, VN. "Enhanced Full-State Estimation and Dynamic-Model-Based Prediction for Road-Vehicles." Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices. Buffalo, New York, USA. August 17–20, 2014. V003T01A018. ASME. https://doi.org/10.1115/DETC2014-34453
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