Sideslip estimation algorithm comparison between Euler angles and quaternion approaches with black box vehicle model

摘要

A black-box sideslip angle estimation scheme is presented in this paper. Here, two rotation approaches are considered and further compared while developing the complete algorithm. On the one hand the well known Euler angles and on the other hand an unitary quaternion approach. Both schemes, use measurements from an Inertial Measurement Unit as input without requiring further information about the vehicle. Extended Kalman Filter is used to estimate the stochastic states and provide robustness while improving algorithm's precision. The estimation response accuracy, robustness and performance is validated through real-time experiments with different road conditions and a wide speed range (20-190 km/h) without requiring further filter tunning. Moreover, the estimation scheme is able to provide the roll and pitch angles of the car.