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GPS-enhanced vehicle velocity estimation

  • US 9,285,485 B2
  • Filed: 11/12/2009
  • Issued: 03/15/2016
  • Est. Priority Date: 11/12/2009
  • Status: Expired due to Fees
First Claim
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1. A method of estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS), the method comprising the steps of:

  • measuring an absolute speed and a course heading angle of the vehicle using the single-antenna GPS;

    measuring yaw rates of the vehicle independently of the GPS;

    calculating an integrated yaw rate of the vehicle as a function of the measured yaw rates over a period of time;

    determining a yaw angle as a function of an initialized yaw angle and the integrated yaw rate;

    calculating a side slip angle as a function of the yaw angle and the course heading angle provided by the GPS;

    determining the vehicle velocity as a function of the absolute speed and the side slip angle; and

    providing the vehicle velocity to a vehicle dynamic control application.

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