Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness

This paper details a unique method for measuring key vehicle states-body sideslip angle, and tire sideslip angle-using GPS velocity information in conjunction with other sensors. A method for integrating inertial navigation system (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented. Additionally, it is shown that the tire sideslip estimates can be used to estimate the tire cornering stiffnesses. The experimental results for the GPS velocity-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems