@inproceedings{anderson_estimation_2004,
	title = {Estimation of slip angles using a model based estimator and {GPS}},
	volume = {3},
	url = {https://ieeexplore.ieee.org/document/1383774/;jsessionid=08EFFBA0BED0504BCE3CD0264B7D0F3D},
	doi = {10.23919/ACC.2004.1383774},
	abstract = {This paper demonstrates a method for estimating key vehicle states and sensor biases using Global Positioning System (GPS) and an Internal Navigation System (INS). Two Kalman filters, a model based filter and a kinematic filter, are used to integrate the INS sensors with GPS heading and velocity to provide a high update rate of the vehicle states and sensor biases. Additional key vehicle parameters, such as tire-cornering stiffness, are identified and used to correct the model based estimator. The vehicle estimated states compare favorable with values predicted with a theoretical model.},
	urldate = {2024-06-20},
	booktitle = {Proceedings of the 2004 {American} {Control} {Conference}},
	author = {Anderson, R. and Bevly, D.M.},
	month = jun,
	year = {2004},
	note = {ISSN: 0743-1619},
	keywords = {Bicycles, Equations, Filters, Global Positioning System, Kinematics, Roads, State estimation, Tires, Vehicles, Velocity measurement},
	pages = {2122--2127 vol.3},
}

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