Linear Kinematic Model-Based Least Squares Methods for Parameter Estimation of a Car-Trailer System Considering Sensor Noises

In this research we present linear model-based least squares methods to estimate actual trailer parameters (trailer and hitch lengths). We provide several closed form linear regression models using forward kinematics of the car-trailer system. Combined least squares methods are proposed to consider sensor noises applying linear model-based least squares estimation methods. We demonstrate four linear models, three least squares methods, and three different sensor data. We then evaluate proposed linear model-based least squares estimation methods in simulation.