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Electronics 2015, 4(1), 118-149; doi:10.3390/electronics4010118

Roll and Bank Estimation Using GPS/INS and Suspension Deflections

GPS & Vehicle Dynamics Lab, Auburn University, 1418 Wiggins Hall, Auburn, AL 36849, USA
This paper is an extended version of our paper published in Brown, L.S.; Dawkins, J.J.; Hill, R.S.; Bevly, D.M. Road Bank Estimation on Uneven Terrain for Unmanned Ground Vehicles. Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2010.
Author to whom correspondence should be addressed.
Academic Editor: Vicente Milanés
Received: 25 September 2014 / Accepted: 16 January 2015 / Published: 29 January 2015
(This article belongs to the Special Issue Intelligent and Cooperative Vehicles)
View Full-Text   |   Download PDF [19409 KB, uploaded 29 January 2015]   |  


This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank. View Full-Text
Keywords: road bank; rollover; relative roll; state estimation; suspension deflections; vehicle dynamics; INS/GNSS; GPS; extended Kalman filter (EKF) road bank; rollover; relative roll; state estimation; suspension deflections; vehicle dynamics; INS/GNSS; GPS; extended Kalman filter (EKF)

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Brown, L.S.; Bevly, D.M. Roll and Bank Estimation Using GPS/INS and Suspension Deflections. Electronics 2015, 4, 118-149.

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