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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
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References

Figures

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

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