Estimation of Sideslip Angles of a Volvo A25E Articulated All-Wheel Drive Hauler Based on GPS/INS Measurements

We describe an off-line estimator for the sideslip angles of an articulated off-road vehicle based on measurements from Global Positioning System (GPS) and Inertial Navigation System (INS). The current implementation is a proof of concept and the intention is to develop a system that can be used as a reference for on-line estimators. By comparing measurements from two GPS/INS units, mounted on the front and rear part of the vehicle, it is possible to estimate the sideslip angles of both the front and rear part. The method has been tested on a Volvo A25E articulated all-wheel drive hauler equipped with two high precision GPS/INS units (NovAtel's SPAN-CPT). Tests have been performed when driving on asphalt, gravel and snow. The results from the tests are discussed.