Current GPS sensing technology enables estimation of road
grade and, consequently simple treatment of parameter
estimation from a static mass balance. An on-line recursive
parameter estimation scheme based on this idea has been
developed and demonstrated experimentally with a
passenger vehicle. Both methods for estimating road grade
from GPS produced a rapidly converging mass estimate that
fell within ±2% of the measured value. As a future step,
this system will be implemented in a heavy truck and the
estimates incorporated into a longitudinal control scheme
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