期刊
VEHICLE SYSTEM DYNAMICS
卷 49, 期 1-2, 页码 399-418出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423110903406656
关键词
parameter estimation; state estimation; Kalman filter; dual extended Kalman filter; articulated vehicle
资金
- Engineering and Physical Sciences Research Council [EP/D004152/1] Funding Source: researchfish
- EPSRC [EP/D004152/1] Funding Source: UKRI
This article discusses algorithms to estimate parameters and states of articulated heavy vehicles. First, 3- and 5-degrees-of-freedom linear vehicle models of a tractor semitrailer are presented. Vehicle parameter estimation methods based on the dual extended Kalman filter and state estimation based on the Kalman filter are presented. A program of experimental tests on an instrumental heavy goods vehicle is described. Simulation and experimental results showed that the algorithms generate accurate estimates of vehicle parameters and states under most circumstances.
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