Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

The distributed drive articulated steering vehicle (DDASV) has a broad application prospect in the field of special operations. It is essential to obtain accurate vehicle states for better effect of active control. DDASV dynamic model is presented. To improve robustness, an adaptive strong tracking algorithm is applied to the singular value decomposition unscented Kalman filter (SVDUKF). Divided by yaw rate sensors and the tire models, two multistage estimators are established for DDASVs. Stable steering condition is simulated to investigate the influence on the estimated accuracy about the sensors and tire models. The velocities and tire forces are the key parameters to be estimated. The performance of each estimator regarding the practicability and accuracy is compared. The results show that all estimators are practicable. However, the accuracy of the estimated velocities based on yaw rate sensors is better and the transient tire model can improve the accuracy of estimated lateral forces more effectively for the estimator established with yaw rate sensors.