基于多GPS的汽车动态参数测试系统的研究

发布时间：2018-05-06 10:06

本文选题：汽车动态参数 + 多GPS　；参考：《西华大学》2013年硕士论文

【摘要】：汽车动态参数是汽车运行状态的直接体现，它不仅在汽车性能分析评价中具有重要的意义，同时它还是汽车上一些关键电控装置，如ESP等的控制参数。一直以来对汽车各种动态参数的测量不仅是测试系统开发方面的需求，也是汽车性能提升的关键，由于传感器技术或成本方面的限制，对汽车各种动态参数的直接测量也有一定的限制。因此研究低成本、高精度、高可靠性的汽车动态参数的测量方法具有重要的现实意义及理论价值。本文旨在利用GPS信号作为基本参数将多GPS之间的关系进行拓展，研究基于单一GPS信号的汽车动态参数的测量方法。首先系统地研究了多GPS的架构以及多GPS测量定位参数与汽车关键动态参数之间关系，为了有效的消除GPS定位误差，利用多GPS架构之间的几何约束关系，提出了一种测量数据矫正方法。该方法分为初始矫正及实时矫正两个模块，可以有效的保证多GPS之间的相对位置和汽车运行轨迹的精确性。基于多GPS架构，用三个GPS构成了汽车关键动态参数的测量系统。为验证测量的正确性，在测试系统硬件中植入了姿态航向参考系统（陀螺仪），在此基础上还建立了多种多GPS构架分析，如直角三角形、等边三角形，并考虑不同边长等因素的影响。利用LabVIEW软件平台进行了汽车动态参数测量系统的开发。该软件设计中主要包含了：串口通信、数据采集矫正方法及基于GPS的汽车定位参数计算等关键模块。该系统根据单一GPS信号进行了汽车运行轨迹、车速、横摆角速度、质心侧偏角、侧向加速度以及转向半径等关键动态参数的测量。最后利用实车进行了验证工作，根据汽车操纵性评价的国家标准，利用多GPS架构的测量系统进行了稳态回转、蛇形及转向轻便性三个试验。在测试系统中还采集了陀螺仪的数据，作为比较多GPS构架所测量的动态参数的基准。通过实车测试完成了汽车行驶轨迹、车速、横摆角速度、质心侧偏角、侧向加速度以及转弯半径等汽车关键动态参数的测量。通过测量结果对比，表明了当前开发的多GPS架构的汽车动态参数测量系统不仅能完成汽车上关键动态参数的测量，还具有单一数据融合度好、精度高和可靠性强等特点。对多GPS架构的汽车动态参数测量的数据处理方法以及多GPS布置形式等的研究，为后续应用提供了可靠地依据，，为进一步的汽车性能评价及控制系统开发打下了一定的基础。
[Abstract]:The vehicle dynamic parameter is the direct embodiment of the vehicle running state. It is not only of great significance in the analysis and evaluation of the vehicle performance, but also the control parameter of some key electronic control devices on the vehicle, such as ESP and so on. The measurement of vehicle dynamic parameters is not only the requirement of the development of the test system, but also the key to improve the performance of the vehicle, because of the limitation of sensor technology or cost. The direct measurement of vehicle dynamic parameters also has some limitations. Therefore, it is of great practical significance and theoretical value to study the measurement method of automobile dynamic parameters with low cost, high precision and high reliability. The purpose of this paper is to extend the relationship between multiple GPS by using GPS signal as the basic parameter, and to study the measurement method of vehicle dynamic parameters based on single GPS signal. Firstly, the architecture of multiple GPS and the relationship between the measurement parameters of multiple GPS and the key dynamic parameters of vehicle are systematically studied. In order to eliminate the positioning error of GPS effectively, the geometric constraint relationship between multiple GPS structures is used. A correction method of measurement data is proposed. This method can be divided into two modules: initial correction and real time correction, which can effectively guarantee the relative position between multiple GPS and the accuracy of vehicle track. Based on multiple GPS architecture, the measurement system of key dynamic parameters of automobile is constructed with three GPS. In order to verify the correctness of the measurement, the attitude heading reference system (gyroscope) is implanted in the hardware of the test system. On the basis of this, many kinds of GPS frame analysis are established, such as right triangle, equilateral triangle, etc. And consider the influence of different side length and other factors. The vehicle dynamic parameter measurement system is developed by using LabVIEW software platform. The software design includes several key modules, such as serial communication, data acquisition and correction, and vehicle positioning parameter calculation based on GPS. Based on a single GPS signal, the key dynamic parameters, such as vehicle track, vehicle speed, yaw velocity, centroid deflection angle, lateral acceleration and steering radius, are measured. According to the national standards of vehicle maneuverability evaluation, three tests of steady state rotation, snake shape and steering portability are carried out by using multi- measurement system. The data of gyroscope are also collected in the test system, which can be used as the datum of dynamic parameters measured by more GPS frames. The key dynamic parameters of the vehicle, such as track, speed, yaw velocity, centroid angle, lateral acceleration and turning radius, are measured by real vehicle test. Through the comparison of the measurement results, it is shown that the vehicle dynamic parameter measurement system with multiple GPS architecture can not only measure the key dynamic parameters on the vehicle, but also has the characteristics of good integration of single data, high precision and high reliability. The research on the data processing method of vehicle dynamic parameter measurement based on multiple GPS architecture and the layout of multiple GPS provides a reliable basis for the subsequent application and lays a foundation for the further development of vehicle performance evaluation and control system.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4;U467.4

【参考文献】