本文選題：穩(wěn)態(tài)回轉(zhuǎn)　切入點：積分漂移　出處：《儀表技術(shù)與傳感器》2016年09期 　論文類型：期刊論文

【摘要】：車輛操縱穩(wěn)定性試驗中要對動態(tài)傾角進(jìn)行實時檢測。汽車在穩(wěn)態(tài)回轉(zhuǎn)中僅使用Kalman濾波對陀螺儀輸出的角速度進(jìn)行處理無法滿足試驗要求。針對MEMS陀螺儀在積分時易產(chǎn)生較大的積分漂移,加速度計對非重力加速度敏感,文中在姿態(tài)解算過程中引入了GPS車速信息,并對Kalman濾波的角速度進(jìn)行修正。修正結(jié)果與單純使用卡爾曼濾波后的角速度進(jìn)行對比,實車試驗結(jié)果表明文中算法解算精度較高,具有一定的應(yīng)用參考價值。
[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.
【作者單位】： 河南科技大學(xué)機電工程學(xué)院;河南林業(yè)職業(yè)學(xué)院信息與藝術(shù)設(shè)計系;
【基金】：國家自然科學(xué)基金項目(51175148)
【分類號】：U467
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本文編號：1644751