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Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness

David M. Bevly, Jihan Ryu, J. Christian Gerdes. Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness. IEEE Transactions on Intelligent Transportation Systems, 7(4):483-493, 2006. [doi]

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