sensors parameters measured update

rate comments on error methods to derive other parameters

gyroscope roll, pitch, yaw 100 hz
large error in kalman filter it is all
accelerometer angular accelerations 100 hz
in all INS/GPS most done and it can be used
GPS velocity , position 10 hz
max sensors on flat roads only
throttle potentiometer torque input information linear

brake potentiometer brake torque linear

suspension potentiometer forces in suspension linear

IR sensor tyre surface temperature no

idea
rotatory potentiometer steering angle linear

wheel speed sensor individual wheel speed no

idea slip ratio (wheel longitudanl speed and omega
must have same update rate)

NO INS/GPS SENSOR SIGNAL CAN BE

INTEGRATED OR DIFFERENTIATED FOR ESTIMATION

vehicle sideslip BETA it can be estimated using model based

estimator
tyre paramters it can be done using acceleromater on
each individual tyre

phidot or euler roll rate = [1 sin(phi)tan(theta) cos(phi)tan(theta);

pitch 0 cos(phi) -sin(phi) ;
yaw 0 sin(phi)sec(theta) cos(phi)sec(theta);]*[pm,qm,rm]'

intergrate above equation to get euler angles

the velocities measured from sensor (b-frame) ane transformed to (v-frame)
xeddot = Axcos(psi) - Aysin(psi)
yeddot = Axsin(psi) + Aycos(psi)

integrate these and BETA = atan(yedot/xedot)