基于差动里程仪的车辆侧滑角测量及精度分析  

Side-slip angle measurement and accuracy analysis based on differential odometer

作　　者：贾继超[1] 马戎[1] 吴训忠[2] 姚军军 

机构地区：[1]西北工业大学自动化学院,西安710129 [2]空军工程大学工程学院,西安710038 [3]驻012基地军事代表室,汉中723100

出　　处：《中国惯性技术学报》2011年第4期440-442,共3页Journal of Chinese Inertial Technology

基　　金：国防科技重点预研基金资助项目(51309060401)

摘　　要：侧滑角信号用于修正各类战车上诸如航炮、导弹发射器等的射击方位,其测量准确性对于车载武器的射击准确度有很大的影响。车辆在有坡度路面上行驶时,若利用水平路面上的侧滑角模型求取侧滑角会带来较大误差。推导了车辆在有坡度路面上行驶时的侧滑角模型,给出了基于差动里程仪的侧滑角测定方案,分析了里程仪测速误差引起的侧滑角误差,分析结果表明:在现有里程仪测量精度条件下,侧滑角测量精度可以满足战车对侧滑角的精度要求。Side-slip angle signal is used to correct fire azimuth of aircraft gun,missile launcher,etc on various chariot.The measurement accuracy of side-slip angle has great influence on fire accuracy of vehicular weapons.If side-slip angle model of level road is utilized when vehicle travels on gradient road,there will be a great error.In this paper,the side-slip angle model on gradient road is deduced,and the side-slip angle measurement scheme based on differential odometer is given.The side-slip angle error caused by odometer measurement error is analyzed.Analysis results show that the side-slip angle measurement accuracy can satisfy the navigation requirements of fighting vehicle.

关 键 词：车辆运动模型 坡度 差动里程仪 侧滑角 精度分析 

分 类 号：U666.1[交通运输工程—船舶及航道工程]