  Due to geometrical errors and possible misalignment of the sensors, wheel
speed measurements provided by incremental encoders in road vehicles are
usually affected by significant periodic noises. This paper presents an online
wheel speed filtering procedure, based on a model of the sensor, aimed at
processing the speed measurement to make it suitable for advanced vehicle
dynamics applications. In particular, differently from low-pass and notch
filtering, this strategy is reliable for the cycling cadence estimation from
the wheel speed on bicycles. Experimental data are used to show the
effectiveness of the proposed approach.
