里程仪测距纵坡度及加减速模型研究(英文)

Longitudinal Gradient and Acceleration Model of Odometer Distance Measurement

针对轮式车辆导航特点,综合车辆载荷转移和轮胎滑动两方面,提出了计算半径的概念,建立能同时补偿路面纵坡度和车辆加速度对里程仪测距影响的误差模型,跑车试验表明:纵坡度角每增加1°里程仪计算刻度系数约减小1.0762×10-3mm,加速度每增加1m/s2里程仪计算刻度系数约减小6.295×10-3mm,经过路面纵坡度和车辆加速度补偿,里程仪测距精度可以提高一个量级。

Based on wheeled vehicle navigation characteristics,vehicle load transfer and wheel slip are analyzed when the road longitudinal gradient or vehicle acceleration changes,the conception of computational tire radius is put forward and longitudinal gradient and acceleration model of odometer distance measurement is established.The experimental results show odometer computational calibration factor approximately decreases 1.0762×10-3mm when longitudinal gradient angle increases 1°,odometer computational calibration factor approximately decreases 6.295×10-3mm when acceleration increases 1 m/s2.By the model compensation,the distance measurement accuracy of odometer is raised nearly one order of magnitude.