rate comments on error methods to derive other parameters
gyroscope roll, pitch, yaw 100 hz large error in kalman filter it is all accelerometer angular accelerations 100 hz in all INS/GPS most done and it can be used GPS velocity , position 10 hz max sensors on flat roads only throttle potentiometer torque input information linear
brake potentiometer brake torque linear
suspension potentiometer forces in suspension linear
IR sensor tyre surface temperature no
idea rotatory potentiometer steering angle linear
wheel speed sensor individual wheel speed no
idea slip ratio (wheel longitudanl speed and omega must have same update rate)
NO INS/GPS SENSOR SIGNAL CAN BE
INTEGRATED OR DIFFERENTIATED FOR ESTIMATION
vehicle sideslip BETA it can be estimated using model based
estimator tyre paramters it can be done using acceleromater on each individual tyre
phidot or euler roll rate = [1 sin(phi)tan(theta) cos(phi)tan(theta);