Improve the accuracy of vehicle velocity estimation based on low-cost GPS/IMU by GPS course angle

Vehicle velocity is an important parameter for vehicle dynamics control. Global Positioning System (GPS) and inertial measurement unit (IMU) information can be used for velocity estimation by taking advantage of each other through fusion. However, if GPS velocity is used as the only measurement like classic GPS/INS, it will cause a large velocity estimation error or even divergence. This paper, from the perspective of system observability, proves that the GPS course angle (GCA) plays an important role in vehicle velocity estimation based on low-cost GPS/IMU. Firstly, construct the velocity estimation algorithm in the vehicle coordinate system directly. Then, according to the characteristics of different working conditions, the observability of the system without GCA is fully analyzed from the Lie derivative-based observability proof and the observability basic definition. The results show that the weak observability of the yaw angle is the most serious threat in vehicle velocity estimation. After fusing the GCA, the yaw angle potential divergence can be suppressed and the estimation accuracy of velocity will be improved. Even though roll and pitch are still unobservable under some conditions after augmenting GCA, the error propagation analysis shows that their estimation errors have little effect on velocity estimation, so the accurate estimation of velocity can be guaranteed. Finally, the indispensable of GCA in velocity estimation based on low-cost GPS/IMU is verified by Carsim-Simulink joint simulations and vehicle tests.