VehicleStateEstimationofSkidSteeredWheeledVehicleBasedonExtendedKalmanFilter

VehicleStateEstimationofSkidSteeredWheeledVehicleBasedonExtendedKalmanFilter.pdf
Inthispaper,anextentKalmanfilterbasedonadynamicmodelofskid-steeredwheeledvehicleisproposedtoestimateandupdatestateparametersofvehicleinreal-time.Thestateofthevehiclewillbemoreaccurateanalysed,andthismethodofobservingandestimatingthestateparametersofskid-steeredwheeledvehiclecanbeappliedinvariousfields.First,a3-degree-of-freedomvehicledynamicsmodelandatiremodelof6×6-wheelskid-steeredvehicleareestablished.Then,anextendedKalmanfilter-basedestimatorispresented.Itwasusedtoestimatethevehicle'syawrate,thesideslipangle,andthelongitudinalspeedaswellasthevelocitydifferencebetweentheleft-sidewheelsandtheright-sidewheels,longitudinalaccelerationandthelateralaccelerationareproposed.Finally,thesimulationexperimentsofTruckSimandMatlab/Simulinkareusedtoverifytheproposedalgorithm.Thesimulationandexperimentalresultsshowthatthedevelopedobservercanreliablyestimatevehiclestates.
作者：PEIWeiyaLIXueyuanWANGLeiLIShichao
作者单位：BeijingInstituteofTechnology
母体文献：2018中国汽车工程学会年会论文集
会议名称：2018中国汽车工程学会年会  
会议时间：2018年11月1日
会议地点：上海
主办单位：中国汽车工程学会
语种：chi
分类号：
关键词：skid-steeredvehicle  extendedkalmanfilter  vehiclestateestimation
在线出版日期：2021年9月26日
基金项目：
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VehicleStateEstimationofSkidSteeredWheeledVehicleBasedonExtendedKalmanFilter.pdf

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