Fast identification of a detailed two-track model with onboard sensors and GPS

  • Jakob Bechtloff
Conference paper
Part of the Proceedings book series (PROCEE)


This contribution investigates the sensor fusion of a three antenna GPS-system (position, velocity, yaw, pitch and roll angles) and an inertial measurement unit (IMU, angular velocities and accelerations) to get a three dimensional motion estimation of a vehicle. To handle the different delays of GPS measurements and the nonlinearities in the measured system a Sequential Enhanced Kalman Filter is used. Bias and gain errors of the IMU are estimated to allow a precise calibration of angular velocities and accelerations.


Inertial Measurement Unit Sensor Fusion Rear Axle Track Model Side Slip Angle 
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Copyright information

© Springer Fachmedien Wiesbaden 2014

Authors and Affiliations

  • Jakob Bechtloff
    • 1
  1. 1.Institute of Automatic Control and Mechatronics (iat)TU DarmstadtDarmstadtGermany

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