| 基于自适应Kalman滤波的汽车横摆角速度软测量算法 |
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| 引用本文： | 高越,高振海,李向瑜. 基于自适应Kalman滤波的汽车横摆角速度软测量算法[J]. 江苏大学学报(自然科学版), 2005, 26(1): 24-27 |
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| 作者姓名： | 高越 高振海 李向瑜 |
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| 作者单位： | 吉林大学汽车动态模拟国家重点实验室,吉林,长春,130025;吉林大学汽车工程学院,吉林,长春,130025 |
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| 基金项目： | 高等学校骨干教师计划基金资助项目(GG-580-10183-1995) |
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| 摘 要： | 利用参数软测量技术，提出了基于自适应Kalman滤波和汽车两自由度动力学模型的横摆角速度软测量算法．该算法实现了横摆角速度的线性最小均方误差估计，且可对汽车行驶过程中的系统噪声和观测噪声统计特性进行在线估计．仿真与场地试验结果对比验证了该算法的有效性，同时软测量技术的采用也为汽车状态参数测量提供了一条可行的、准确且低成本的研究思路。
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| 关 键 词： | 汽车 横摆角速度 软测量 自适应滤波 状态估计 |
| 文章编号： | 1671-7775(2005)01-0024-04 |
| 修稿时间： | 2004-09-08 |
Soft measurement method for vehicle yaw rate based on adaptive Kalman filter |
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| GAO Yue,GAO Zhen-hai,LI Xiang-yu. Soft measurement method for vehicle yaw rate based on adaptive Kalman filter[J]. Journal of Jiangsu University:Natural Science Edition, 2005, 26(1): 24-27 |
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| Authors: | GAO Yue GAO Zhen-hai LI Xiang-yu |
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| Abstract: | With soft measurement technique, the soft measurement algorithm of vehicle yaw rate is proposed based on adaptive Kalman filter and two-degree-of-freedom vehicle dynamic model. This algorithm can realize linear minimum mean square error estimation of yaw rate, and on-line estimate statistical characteristic of system noise and observation noise during vehicle running. The contrastive results of simulation and field experiment verify the effectiveness of this algorithm. The technique provides a feasible, accurate and low-cost way for the measurement of vehicle state parameter. |
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| Keywords: | vehicle yaw rate soft measurement adaptive filter state estimation |
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