Kalman Filtering for Monitoring and Control Driveline in Applications 2003-01-1280
Ricardo Driveline & Transmission Systems have investigated the application of controllable driveline elements for vehicle stability control. As a part of an internally funded research programme, observer design for vehicle state and parameter estimation has been considered in order to allow reconstruction of non-measurable system information and rejection of measurement noise.
The study examining the application of state-space observers for vehicle state estimation is described in this paper. Specifically, an extended Kalman filter is applied to estimate inertial navigation measurements and tyre force information.
Results, based on measurements from a complex multi-body vehicle model, indicate that the investigated state-space observer provides an effective basis for vehicle monitoring and control. Moreover, it is shown that this observer assures effective performance despite parametric and structural uncertainty.