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Estimation of Vehicle Attitude Using Three-Axis Acceleration and Two-Axis Angular Velocity
Published May 20, 2009 by Society of Automotive Engineers of Japan in Japan
Event: JSAE Spring Conference
Three-axis acceleration, yaw velocity and roll velocity can be measured using two electronic stability control (ESC) sensors, which are orientated at 90 degrees to each other. In this paper, a vehicle attitude observer using this arrangement is proposed. The proposed method compensates for the zero drift of in-vehicle sensors and accurately estimates the vehicle attitude.