高分辨率光电里程仪的蠕滑效应研究  

Creep Behavior Analysis of High Resolution Odometer

作　　者：张金红[1] 杨洪友[1] 陈璞[1] 吉翠萍[1] 

机构地区：[1]中航工业西安飞行自动控制研究所,陕西西安710065

出　　处：《测控技术》2012年第1期101-104,108,共5页Measurement & Control Technology

摘　　要：为进一步提高里程仪在地面车系统中的定位性能,对工程实践中遇到的蠕滑效应进行了理论研究。首先,建立了地面车动力学模型,分析了蠕滑效应的成因和存在形式,给出了地面车仿真力学编排;其次,对"加速-匀速-减速"这个典型过程进行了计算机仿真,根据仿真结果分析了蠕滑效应的影响因素,建立了蠕滑模型;最后,对该模型的补偿效果进行了验证,可将里程仪定位误差从0.3 m提高到0.02 m以下。To improve the performance of high resolution odometer in vehicle navigation system,the creep behavior was analyzed in theory.Firstly,based on Newtonian mechanics,a dynamic model for land vehicle was established.The creep phenomenon might not only exist in shift and braking,but also in normal running with changefully velocity.Secondly,the accelerated and decelerate process was simulated.According to the simulation results,the most important influence factors to creep behavior were found.And the compensation model was set up.Lastly,the compensation model was verified,and it has practical significance to improve the positioning precision.

关 键 词：地面车定位 高分辨率光电里程仪 蠕滑 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]