This work deals with the real-time estimation of the lean angle of high-performance motorbikes. The estimate is obtained through measurements provided by an onboard inertial sensor and a GNSS receiver. A two-stage state observer, implementing a kinematic model developed under the novel assumption of coordinated manoeuvre, processes these measurements. A theoretical analysis demonstrates the observer's stability, while a covariance analysis assesses the estimate's accuracy and error bounds. Finally, experimental results obtained on race-track tests and numerical comparisons, with competitive approaches, in simulated realistic scenarios show the superior performance of the proposed estimator.
Cite
@article{arxiv.2302.06265,
title = {High-Performance Motorbike Lean Angle Estimation},
author = {Nicola Mimmo and Matteo Zanzi},
journal= {arXiv preprint arXiv:2302.06265},
year = {2023}
}