A Novel Kalman Filter Based Road Grade Estimation Method

2020-01-0563

04/14/2020

Event
WCX SAE World Congress Experience
Authors Abstract
Content
This paper presents a novel Kalman filter based road grade estimation method using measurements from an accelerometer, a gyroscope and a velocity sensor. The accelerometer measures the longitudinal proper acceleration of the vehicle, and the accelerometer measurement is almost drift free but it is heavily corrupted by the accelerometer noise. The gyroscope measures the pitch rate of the vehicle, and the gyroscope measurement is quite clean but it is substantially disturbed by the gyroscope bias. The velocity sensor measures the longitudinal velocity of the vehicle, and the velocity sensor measurement is also considerably corrupted by the measurement noise. The developed Kalman filter based estimation method uses the models of the sensors and their outputs, and fuses the sensor measurements to optimally estimate the road grade. The simulation results show that the developed method is very effective in producing an accurate road grade estimate.
Meta TagsDetails
DOI
https://doi.org/10.4271/2020-01-0563
Pages
4
Citation
Gokcek, C., "A Novel Kalman Filter Based Road Grade Estimation Method," SAE Technical Paper 2020-01-0563, 2020, https://doi.org/10.4271/2020-01-0563.
Additional Details
Publisher
Published
Apr 14, 2020
Product Code
2020-01-0563
Content Type
Technical Paper
Language
English