Robust Vehicle Sideslip Angle Estimation Through a Disturbance Rejection Filter That Integrates a Magnetometer With GPS

This paper presents a novel method that estimates the vehicle sideslip angle for a wide range of surface frictions and road bank angles by combining measurements of a magnetometer, Global Positioning System (GPS), and inertial measurement unit (IMU). To reject disturbances in the magnetometer, a new stochastic filter is designed and integrated on the Kalman filter framework. The significant latency in a low-cost GPS velocity measurement is addressed by “measurement shifting,” and biases in the IMU measurements are estimated through state augmentation. Dual Kalman filters are employed in the sensor fusing framework. A comprehensive simulation study was conducted to prove the feasibility of the method. Finally, the performance and accuracy are verified through extensive experiments.