车辆稳态回转试验侧倾角解算算法研究

发布时间：2018-03-21 17:01

  本文选题：稳态回转　切入点：积分漂移　出处：《仪表技术与传感器》2016年09期 　论文类型：期刊论文

【摘要】：车辆操纵稳定性试验中要对动态倾角进行实时检测。汽车在稳态回转中仅使用Kalman滤波对陀螺仪输出的角速度进行处理无法满足试验要求。针对MEMS陀螺仪在积分时易产生较大的积分漂移,加速度计对非重力加速度敏感,文中在姿态解算过程中引入了GPS车速信息,并对Kalman滤波的角速度进行修正。修正结果与单纯使用卡尔曼滤波后的角速度进行对比,实车试验结果表明文中算法解算精度较高,具有一定的应用参考价值。
[Abstract]:In the vehicle handling and stability test, the dynamic inclination angle should be measured in real time. Only the Kalman filter can not be used to process the angular velocity of the gyroscope output in the steady state gyroscope. The MEMS gyroscope can not meet the test requirements when it is integrated. It is easy to produce large integral drift, The accelerometer is sensitive to non-gravity acceleration. In this paper, the GPS speed information is introduced into the attitude calculation process, and the angular velocity of the Kalman filter is modified. The experimental results show that the accuracy of the algorithm is high, and it has a certain reference value.
【作者单位】： 河南科技大学机电工程学院;河南林业职业学院信息与艺术设计系;
【基金】：国家自然科学基金项目(51175148)
【分类号】：U467
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本文编号：1644751