Sideslip estimation of Formula Student prototype through GPS/INS fusion

摘要

This paper describes the design and tuning of a sideslip estimator, based on data from an inertial measurement unit (IMU), a global positioning system (GPS), wheel encoders, and from the underlying dynamic model of a car. The estimates of position, velkocity, and rate gyro bias terms are also provided as by-products of the proposed methodology. A non-linear dynamic model of a car and realistic models for the sensors are both developed and implemented on a realistic simulation environment to illustrate the performance of the proposed solution. Validation on a Formula Student prototype is underway but the methodology proposed can be applied to all vehicles moving in two dimensions.