0
TECHNICAL PAPERS

Integrating Inertial Sensors With Global Positioning System (GPS) for Vehicle Dynamics Control

[+] Author and Article Information
Jihan Ryu, J. Christian Gerdes

Department of Mechanical Engineering, Design Division, Stanford University, Stanford, CA 94305-4021, USA

J. Dyn. Sys., Meas., Control 126(2), 243-254 (Aug 05, 2004) (12 pages) doi:10.1115/1.1766026 History: Received July 01, 2003; Revised November 24, 2003; Online August 05, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Nishio, A., et al., 2001, “Development of Vehicle Stability Control System Based on Vehicle Sideslip Angle Estimation,” SAE Paper No. 2001-01-0137.
Kimbrough, S., 1991, “Coordinated Braking and Steering Control for Emergency Stops and Accelerations,” Proc. of ASME WAM, Atlanta, GA, pp. 229–244.
Fukada,  Y., 1999, “Slip-Angle Estimation for Vehicle Stability Control,” Veh. Syst. Dyn., 32(4), pp. 375–388.
Yih, P., Ryu, J., and Gerdes, J. C., 2003, “Modification of Vehicle Handling Characteristics via Steer-by-wire,” Proc. of American Control Conf., Denver, CO, pp. 2578–2583.
Farrelly, J., and Wellstead, P., 1996, “Estimation of Vehicle Lateral Velocity,” Proc. of IEEE Conf. on Control Applications, pp. 552–557.
Ungoren, A. Y., Peng, H., and Tseng, H. E., 2002, “Experimental Verification of Lateral Speed Estimation Methods,” Proc. of AVEC 2002-Int. Symp. on Advanced Vehicle Control, Hiroshima, Japan, pp. 361–366.
Berman, Z., and Powell, J. D., 1998, “The Role of Dead Reckoning and Inertial Sensors in Future General Aviation Navigation,” Proc. of IEEE Position Location and Navigation Symp., pp. 510–517.
Da, R., Dedes, G., and Shubert, K., 1996, “Design and Analysis of a High-Accuracy Airbone GPS/INS System,” Proc. of Int. Technical Meeting of the Satellite Division of the Institute of Navigation (ION GPS-96), pp. 955–964.
Gebre-Egziabher, D., Hayward, R. C., and Powell, J. D., 1998, “A Low-Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Application,” Proc. of IEEE Position Location and Navigation Symp., pp. 518–525.
Gebre-Egziabher,  D., Powell,  J. D., and Enge,  P., 2001, “Design and Performance Analysis of a Low-Cost Aided Dead Reckoning Navigation System,” Gyroscopy and Navigation, 4(35), pp. 83–92.
Bevly, D. M., et al., 2000, “The Use of GPS Based Velocity Measurements for Improved Vehicle State Estimation,” Proc. of American Control Conf., Chicago, IL, pp. 2538–2542.
Masson, A., Burtin, D., and Sebe, M., 1996, “Kinematic DGPS and INS Hybridization for Precise Trajectory Determination,” Proc. of Int. Technical Meeting of the Satellite Division of the Institute of Navigation (ION GPS-96), pp. 965–973.
Bevly, D. M., Sheridan, R., and Gerdes, J. C., 2001, “Integrating INS Sensors with GPS Velocity Measurements for Continuous Estimation of Vehicle Sideslip and Tire Cornering Stiffness,” Proc. of American Control Conf., Arlington, VA, pp. 25–30.
Tseng,  H. E., 2000, “Dynamic Estimation of Road Bank Angle,” Veh. Syst. Dyn., 4(4–5), pp. 307–328.
Bae, H. S., Ryu, J., and Gerdes, J. C., 2001, “Road Grade and Vehicle Parameter Estimation for Longitudinal Control Using GPS,” Proc. of IEEE Conf. on Intelligent Transportation Systems, Oakland, California, pp. 166–171.
IntegriNautics, AutoFarm GPS Precision Farming, http://www.integrinautics.com/AutoFarm/systems.html.
Dixon, J. C., 1996, Tires, Suspension and Handling, Society of Automotive Engineers, Inc., Warrendale, PA.
Milliken, W. F., and Milliken, D. L., 1995, Race Car Vehicle Dynamics, Society of Automotive Engineers, Inc., Warrendale, PA.
Ryu, J., Rossetter, E. J., and Gerdes, J. C., 2002, Proc. of AVEC 2002—Int. Symp. on Advanced Vehicle Control, Hiroshima, Japan, pp. 373–380.
Chen, B., and Peng, H., 1999, “Rollover Warning of Articulated Vehicles Based on a Time-to-Rollover Metric,” ASME Dynamic Systems and Control Division (Publication) DSC-Vol. 67 IMECE, pp. 247–254.
Gillespie, T. D., 1992, Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, Inc., Warrendale, PA.
Gelb, A., et al., 1974, Applied Optimal Estimation, The M.I.T. Press, Cambridge, MA.
Stengel, R. F., 1994, Optimal Control and Estimation, Dover Publications, Inc., Mineola, NY.

Figures

Grahic Jump Location
Yaw Rate and Sideslip Angle Estimates
Grahic Jump Location
Longitudinal Accelerometer Bias and Grade Estimates
Grahic Jump Location
Lateral Accelerometer Bias and Roll Angle
Grahic Jump Location
Roll Center Model with Grade and Bank Angle
Grahic Jump Location
Comparison of Sideslip Angle Estimates
Grahic Jump Location
Longitudinal Velocity Estimates
Grahic Jump Location
Estimated Accelerometer Biases
Grahic Jump Location
Estimated Yaw Gyro Bias and Yaw Rate
Grahic Jump Location
Estimated Yaw Gyro Sensitivity and Bias
Grahic Jump Location
Estimated Accelerometer Biases with New Yaw Angle Estimation
Grahic Jump Location
Longitudinal Accelerometer Bias and Lateral Acceleration
Grahic Jump Location
Lateral Accelerometer Bias and Lateral Acceleration
Grahic Jump Location
Estimated Cross-coupling Coefficient and Lateral Accelerometer Sensitivity
Grahic Jump Location
Estimated Accelerometer Biases after the Compensation
Grahic Jump Location
Wheelbase Filtering Mechanism
Grahic Jump Location
Measurement Residual vs. Estimated 3σ Bounds

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In