车辆稳态回转试验侧倾角解算算法研究  

Research on Algorithm of Calculating Roll in Vehicle Steady State Cornering Test

作　　者：赵书尚[1] 赵殿锋[1] 刘斌 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南林业职业学院信息与艺术设计系,河南洛阳471003

出　　处：《仪表技术与传感器》2016年第9期98-100,111,共4页Instrument Technique and Sensor

基　　金：国家自然科学基金项目(51175148)

摘　　要：车辆操纵稳定性试验中要对动态倾角进行实时检测。汽车在稳态回转中仅使用Kalman滤波对陀螺仪输出的角速度进行处理无法满足试验要求。针对MEMS陀螺仪在积分时易产生较大的积分漂移,加速度计对非重力加速度敏感,文中在姿态解算过程中引入了GPS车速信息,并对Kalman滤波的角速度进行修正。修正结果与单纯使用卡尔曼滤波后的角速度进行对比,实车试验结果表明文中算法解算精度较高,具有一定的应用参考价值。The dynamic inclination should be detected in the vehicle handling stability test in real time. When the automobile under steady turning, using Kalman filter solely to dispose angular velocity that generated by gyroscope cannot meet the demands of the experiment. On account of the integral drift and the accelerometer are sensitive to the non-acceleration of gravity, the speed of auto that created by GPS was introduced, and the angular velocity in the Kalman filter was corrected. The amended result gets superior precision than using Kalman filter solely to dispose angular velocity, this method is valuable to apply and reference.

关 键 词：稳态回转 积分漂移 惯性元件 全球定位系统 卡尔曼滤波 侧倾角 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]