This paper describes an estimator architecture for a Formula Student Prototype, based on data from an inertial measurement unit (IMU), a global positioning system (GPS), and from the underlying dynamic model of the car. A non-linear dynamic model of the car and realistic models for the sensors are presented. The estimates of attitude, rate-gyro bias, position, velocity and sideslip are based on Kalman filtering techniques. The resulting system is validated on a Formula Student prototype and assessed given ground truth data obtained by a set of differential GPS receivers installed onboard.
CITATION STYLE
Antunes, A., Cardeira, C., & Oliveira, P. (2018). Application of Sideslip Estimation Architecture to a Formula Student Prototype. In Advances in Intelligent Systems and Computing (Vol. 694, pp. 409–421). Springer Verlag. https://doi.org/10.1007/978-3-319-70836-2_34
Mendeley helps you to discover research relevant for your work.