Study on the Possibility to Estimate the Vehicle Side Slip Using Two Independent GPS Receivers

Slip angle is the difference between the direction a vehicle is travelling and the longitudinal plane of the vehicle body. Knowing vehicle sideslip angle accurately is critical for active safety systems such as Electronic Stability Program (ESP). Vehicle sideslip angle can be measured using optical speed sensors, inertial sensors and/or dual-antenna GPS receivers. These systems are expensive and their use is limited for many users. The goal of this paper is to analyze the possibility to estimate the vehicle sideslip angle, in real-time, by using two low-cost single-antenna GPS receivers.