{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T10:19:00Z","timestamp":1770459540444,"version":"3.49.0"},"reference-count":24,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2021,10,5]],"date-time":"2021-10-05T00:00:00Z","timestamp":1633392000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["TRA2017-86488-R"],"award-info":[{"award-number":["TRA2017-86488-R"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Currently, the interest in creating autonomous driving vehicles and progressively more sophisticated active safety systems is growing enormously, being a prevailing importance factor for the end user when choosing between either one or another commercial vehicle model. While four-wheelers are ahead in the adoption of these systems, the development for two-wheelers is beginning to gain importance within the sector. This makes sense, since the vulnerability for the driver is much higher in these vehicles compared to traditional four-wheelers. The particular dynamics and stability that govern the behavior of single-track vehicles (STVs) make the task of designing active control systems, such as Anti-lock Braking System (ABS) systems or active or semi-active suspension systems, particularly challenging. The roll angle can achieve high values, which greatly affects the general behavior of the vehicle. Therefore, it is a magnitude of the utmost importance; however, its accurate measurement or estimation is far from trivial. This work is based on a previous paper, in which a roll angle estimator based on the Kalman filter was presented and tested on an instrumented bicycle. In this work, a further refinement of the method is proposed, and it is tested in more challenging situations using the multibody model of a motorcycle. Moreover, an extension of the method is also presented to improve the way noise is modeled within this Kalman filter.<\/jats:p>","DOI":"10.3390\/s21196626","type":"journal-article","created":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T21:37:49Z","timestamp":1633901869000},"page":"6626","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Roll Angle Estimation of a Motorcycle through Inertial Measurements"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0073-6793","authenticated-orcid":false,"given":"Diego","family":"Maceira","sequence":"first","affiliation":[{"name":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, 15403 A Coru\u00f1a, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5118-7141","authenticated-orcid":false,"given":"Alberto","family":"Luaces","sequence":"additional","affiliation":[{"name":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, 15403 A Coru\u00f1a, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3537-9597","authenticated-orcid":false,"given":"Urbano","family":"Lugr\u00eds","sequence":"additional","affiliation":[{"name":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, 15403 A Coru\u00f1a, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7901-8278","authenticated-orcid":false,"given":"Miguel \u00c1.","family":"Naya","sequence":"additional","affiliation":[{"name":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, 15403 A Coru\u00f1a, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3024-911X","authenticated-orcid":false,"given":"Emilio","family":"Sanjurjo","sequence":"additional","affiliation":[{"name":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, 15403 A Coru\u00f1a, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,5]]},"reference":[{"key":"ref_1","first-page":"390","article-title":"Rider control identification in bicycling using lateral force perturbation tests","volume":"227","author":"Schwab","year":"2013","journal-title":"Proc. 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