Track Estimation: High-Gain Observer vs. Algebraic Derivative Methods

In this paper track estimation algorithms for a multiple articulated vehicle are examined to be used in advanced steering control systems. Therefore a high-gain observer based track estimator is designed for different sensor configurations. The results of an observability analysis are used for the observer design. The accuracy can be improved by the sensor fusion. Furthermore this approach utilizes the existing sensor redundancy for improved fault tolerance. An alternative approach is the use of algebraic derivative methods using the time-derivative estimation of measurement signals.