车辆导航系统横摆角速度传感器零点偏移的自动校正  

Automatic Correction for the Zero Offset of Yaw Rate Sensor in Vehicle Navigation System

作　　者：李江涛[1] 杨殿阁[1] 杨扬[1] 张涛[1] 连小珉[1] 

机构地区：[1]清华大学汽车工程系,汽车安全与节能国家重点实验室,北京100084

出　　处：《汽车工程》2015年第9期1065-1070,共6页Automotive Engineering

基　　金：国家863计划项目(2012AA111901)资助

摘　　要：本文中提出了一种在车辆正常行驶时动态自动校正横摆角速度传感器零点偏移的方法,该方法利用卫星定位信息和车速识别行驶车辆的静止或直线行驶两种可校正行驶工况,并在该工况下利用横摆角速度传感器的测量值校正其零点偏移。采用坏点清空的单队列从卫星定位点中提取连续好点序列,针对该好点序列采用最小二乘直线拟合和标准差条形分布直行判据识别直线行驶工况。结果表明,本方法能在车辆行驶中正确地自动识别可校正工况,校正后的零点偏移精度满足汽车导航系统的应用要求。A dynamic automatic correction method for the zero offset of yaw rate sensor during the normal driving of vehicle is proposed in this paper. The method uses satellite positioning information and vehicle speed to identify two correctable driving conditions of running vehicle： standstill and straight-line driving, and the values measured by yaw rate sensor are used to correct zero offset in those conditions. Then the successive valid point series are extracted from satellite positioning points by using single array with invalid points cleared, and with these valid point series, the straight-line driving condition is identified by using least square line fitting and the straight-line driving criterion with standard deviation strip distribution. The results show that the method proposed can automatically and correctly identify correctable conditions during vehicle driving, with the accuracy of zero offset after correction meeting the application requirements of vehicle navigation system.

关 键 词：汽车导航 横摆角速度传感器 零点偏移 自动校正 直线行驶 

分 类 号：U463.67[机械工程—车辆工程]