| 采用双天线GPS/INS系统的汽车侧偏角和轮胎侧偏刚度估测法 |
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| 引用本文： | 胡晓清,尚修香. 采用双天线GPS/INS系统的汽车侧偏角和轮胎侧偏刚度估测法[J]. 河北科技大学学报, 2011, 32(1): 92-97 |
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| 作者姓名： | 胡晓清 尚修香 |
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| 作者单位： | 1. 徐州空军学院军交系,江苏徐州,221000
2. 徐州空军学院四站系,江苏徐州,221000 |
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| 摘 要： | 介绍了测姿原理,分析了采用单天线GPS/INS组合测量方式的运动学卡尔曼滤波器在车辆侧倾和传感器发生漂移时存在的加速度偏差测量的延时问题,提出了直接测量车辆侧倾角和传感器漂移的双天线GPS/INS测量方法,并利用该测量方法对车辆和轮胎的侧偏角以及轮胎的侧偏刚度进行了估测.测试结果表明:采用双天线GPS方法测量的侧偏角和...
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| 关 键 词： | GPS/INS 汽车状态估测 车辆侧偏角 轮胎侧偏刚度 侧倾角 |
| 收稿时间： | 2010-08-30 |
| 修稿时间： | 2010-11-05 |
Estimation of sideslip angle and tire cornering stiffness of vehicle with two-antenna GPS/INS measurement system |
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| HU Xiao-qing and SHANG Xiu-xiang. Estimation of sideslip angle and tire cornering stiffness of vehicle with two-antenna GPS/INS measurement system[J]. Journal of Hebei University of Science and Technology, 2011, 32(1): 92-97 |
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| Authors: | HU Xiao-qing and SHANG Xiu-xiang |
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| Affiliation: | 1.Military Traffic Department,Xuzhou Air Force College,Xuzhou Jiangsu 221000,China;2.Four Station Department,Xuzhou Air Force College,Xuzhou Jiangsu 221000,China) |
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| Abstract: | This paper presents the theory of measuring attitudes and analyses the lag of acceleration bias measurement when the vehicle rolls and the sensor drifts,using kinematic Kalman filter with one-antenna GPS/INS measurement system,then brings forward the way to measure directly the vehicle sideslip angle and sensor drift with tow-antenna GPS/INS measurement system,which is used to estimate the vehicle sideslip angle,tire slip angle and tire cornering stiffness.The result of experiment shows that the estimation of slip angles and tire cornering stiffness with two-antenna GPS/INS measurement well match the theoretical value,which means the two-antenna GPS/INS measurement as a direct measure method has high estimation accuracy.It can be confirmed that the technology shows unique superiority in the application of future vehicle security systems. |
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| Keywords: | GPS/INS state estimation of vehicle sideship angle of vehicle tire cornering stiffness roll angle |
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