Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

Figure 2

The architecture of the hybrid Kalman filter, where    is the model mixing probability;     and    are the estimation states and the covariance matrices for    at time ;    is for    at time ;    is the likelihood function for    at time ;    and    are the estimation states and the covariance matrices for    at time ;   is the measurement at time ;   and are the combined state estimate and its covariance.