A Novel FuzzyAdaptive Extended Kalman Filter for RealTime Attitude Estimation of Mobile Robots This paper proposes a novel fuzzyadaptive extended Kalman filter (FAEKF) for the realtime attitude estimation of agile mobile platforms equipped with magnetic, angular rate, and gravity (MARG) sensor arrays. The filter structure employs both a quaternionbased EKF and an adaptive extension, in which novel measurement methods are used to calculate the magnitudes of system vibrations, external accelerations, and magnetic distortions. These magnitudes, as external disturbances, are incorporated into a sophisticated fuzzy inference machine, which executes fuzzy IFTHEN rulesbased adaption laws to consistently modify the noise covariance matrices of the filter, thereby providing accurate and robust attitude results. A sixdegrees of freedom (6 DOF) test bench is designed for filter performance evaluation, which executes various dynamic behaviors and enables measurement of the true attitude angles (ground truth) along with the raw MARG sensor data. The tuning of filter parameters is performed with numerical optimization based on the collected measurements from the test environment. A comprehensive analysis highlights that the proposed adaptive strategy significantly improves the attitude estimation quality. Moreover, the filter structure successfully rejects the effects of both slow and fast external perturbations. The FAEKF can be applied to any mobile system in which attitude estimation is necessary for localization and external disturbances greatly influence the filter accuracy.

A Novel Roll and Pitch Estimation Approach for a Ground Vehicle Stability Improvement Using a Low Cost IMU Onboard attitude estimation for a ground vehicle is persuaded by its application in active antiroll bar design. Conventionally, the attitude estimation problem for a ground vehicle is a complex one, and computationally, its solution is very intensive. Lateral load transfer is an important parameter which should be taken in account for all roll stability control systems. This parameter is directly related to vehicle roll angle, which can be measured using devices such as dual antenna global positioning system (GPS) which is a costly technique, and this led to the current work in which we developed a simple and robust attitude estimation technique that is tested on a ground vehicle for roll mitigation. In the first phase Luenberger and Sliding mode observer is implemented using simplest roll dynamics model to measure the roll angle of a vehicle and the validation of results is carried using commercial software, CarSimxc2xae (CarSim, Ann Arbor, MI, USA). In the second phase of research, complementary and Kalman filters have been designed for attitude estimation. In the third phase, a lowcost inertial measurement unit (IMU) is mounted on a vehicle, and both the complementary filter (CF) and Kalman filter (KF) are applied independently to measure the data for both smooth and uneven terrains at four different frequencies. We compared the simulated and realtime results of roll and pitch angles obtained using the complementary and Kalman filters. Using the proposed method, the achieved root mean square error (RMSE) is less than 0.73 degree for pitch and 0.68 degree for roll, with a sample time of 2 ms. Thus, a warning signal can be generated to mitigate roll over. Hence, we claim that our proposed method can provide a lowcost solution to the rollover problem for a road vehicle.