This paper proposes to take benefit of the simultaneous use of a state observation technique and of an observability/identifiability characterization software to give an integrated answer to the state estimation of nonlinear models. The whole methodology is applicable without any approximation. We motivate and illustrate it on a real system for the estimation of the tyre-slip angle of an automotive.

A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. An odometric technique using the four ABS sensors is presented. Due to the redundancy of the measurements, the precision is better than the one of differential odometry using the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying thus the data fusion process and improving the quality of its results.