Many contemporary technical elements (such as railings, light switches, power sockets, security cameras, etc.) have a very different aesthetic from the historical interiors to which they are added. Their placement in historical architectural interiors raises the question of their visibility and their power to disrupt the visual unity of an indoor space. Using logical argumentation and knowledge from the psychology of perception, a phenomenon from the discipline of architecture — the phenomenon of the perception of these elements — was analysed. Logical analysis showed that these additions do not disturb the harmony of the interior and that it does not lose its historical character. The conclusion is that their presence in the field of vision is not a radical interference with the monument.

This paper presents a novel sideslip angle estimator based on the pseudo-multi-sensor fusion method. The

kinematics-based and dynamics-based sideslip angle estimators are designed for sideslip angle estimation.

Also, considering the influence of ill-conditioned matrix and model uncertainty, a novel sideslip angle estimator

is proposed based on the wheel speed coupling relationship using a modified recursive least squares

algorithm. In order to integrate the advantages of above three sideslip angle estimators, drawing lessons

from the multisensory information fusion technology, a novel thinking of sideslip angle estimator design is

presented through information fusion of pseudo-multi-sensors. Simulations and experiments were carried

out, and effectiveness of the proposed estimation method was verified.