车载组合式惯导测试系统的设计  

Vehicle Integrated INS Test System Design

作　　者：郭一鸣 夏金玲 赵智杰 班亚弼 Guo Yiming;Xia Jinling;Zhao Zhijie;Ban Yabi(Automobile&Traffic Engineering College,Liaoning University of Technology,Liaoning Jinzhou 121001)

机构地区：[1]辽宁工业大学汽车与交通工程学院

出　　处：《汽车实用技术》2019年第24期65-66,共2页Automobile Applied Technology

基　　金：2019年辽宁工业大学大学生创新创业项目（201910154040基于EKF的车载组合式惯导测试系统的设计）

摘　　要：文章组建了组合式惯导实际的测试系统,采用MATLAB软件验证的EKF控制算法的有效性,通过传感器实测车辆运行数据输入以嵌入式C语言编写EKF的算法程序,通过STM32单片机运行EKF算法进行实际的车辆运行状态参数的准确输出,理论与实际结合完成了测试系统设计,保证了动态测试的准确性,实车运动参数可以为后期电控系统的控制提供更加精确的数据。因此,具有很好的推广价值。In this paper,the actual test system of the combined inertial navigation system is established.The validity of EKF control algorithm verified by MATLAB software is used.The algorithm program of EKF is written in embedded C language through the input of measured vehicle operation data of sensors.The EKF algorithm is run by STM32 single-chip microcomputer to output the actual vehicle operation state parameters accurately.The design of the test system is completed by combining theory with practice.The accuracy of the dynamic test is verified.The real vehicle motion parameters can provide more accurate data for the later control of the electronic control system.Therefore,it has a good promotion value.

关 键 词：组合式惯导 嵌入式C语言 EKF STM32单片机 状态参数 

分 类 号：U467[机械工程—车辆工程]