A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter

This paper proposes a novel algorithm to identify three inertial parameters: sprung mass, yaw moment of inertia, and longitudinal position of the center of gravity. A four-wheel nonlinear vehicle model with roll dynamics and a correlation between the inertial parameters is used for a dual unscented Kalman filter to simultaneously identify the inertial parameters and the vehicle state. A local observability analysis on the nonlinear vehicle model...