一种低成本动态车载导航坡度识别方法  

A Low-cost Dynamic Method for Slope Estimation in Vehicle Navigation System

作　　者：高婷婷[1] 张海[1] 刘倩[1] 周艳丽[1] 

机构地区：[1]北京航空航天大学控制一体化技术国家级重点实验室,北京100191

出　　处：《系统仿真技术》2009年第4期226-231,共6页System Simulation Technology

基　　金：国家"八六三"高技术研究发展计划资助项目(2007AA11Z217);国家科技支撑计划资助项目(2006BAJ18B04-06);北京市教育委员会共建项目建设计划资助项目(XK100060422)

摘　　要：针对车载导航系统对行驶过程中道路坡度、相对高度变化识别的需要,提出了1种基于里程仪、单轴加速度计的坡度与相对高度估计算法,克服了传统倾角仪无法在加速运动下测量的不足,能够满足车辆任意运动状态下的测量要求,并在此基础上设计了与倾角仪测量简单融合算法与坡度行车判别策略,可以实现坡度行车的准确快速判断与测量,为复杂情况下车载导航仪道路自动判断提供有力支持。To meet the need for calculating road slop and relative altitude changes while moving in vehicle navigation system,this paper proposes a new estimation algorithm for slope and relative altitude based on odometer and single-axis accelerometer.This algorithm overcomes the drawback of traditional inclinometer which cannot function when accelerating,thus it is able to measure road slop in any state of movement.The method also designs a simple fusion algorithm of inclinometer measurement and strategy on slope driving discrimination on this basis.It enables fast,precise measurement and judgment when driving on a slope,therefore provides strong support for road auto-judgment of vehicle navigation system during complex circumstances.

关 键 词：车载导航系统 单轴加速度计 里程仪 坡度识别 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]