A new application of the Extended Kalman Filter to the estimation of roll angles of a motorcycle with Inertial Measurement Unit
| Autor: | Romualdi Lorenzo, Mancinelli Nicolò, de Felice Alessandro, Sorrentino Silvio |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | FME Transactions, Vol 48, Iss 2, Pp 255-265 (2020) |
| Druh dokumentu: | article |
| ISSN: | 1451-2092 2406-128X |
| Popis: | The capability of providing a real-time reliable measure of the actual roll angle is of great importance for the racing motorcycle dynamics. This study presents a method based on an Extended Kalman Filter (EKF) for the estimation of the actual roll angle of a motorcycle equipped with an Inertial Measurement Unit (IMU), with the advantage of not needing the development and implementation of a complete motorcycle model. Measured data which, depending on the additional instrumentation available on the motorcycle, do not form a complete set of input data for the estimation algorithm, induce the introduction of approximations affecting the accuracy of the results. A thorough error analysis is carried out by means of numerical simulations along with experimental validations. As a result, a novel approximate form for the kinematical model of the IMU is developed, yielding an overall good accuracy in the roll angle estimates. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
|