加减速过程中车载航位推算误差补偿技术研究

Research on Error Compensation Technology for Vehicular Dead Reckoning System During Accelerating or Decelerating

研究轮式车辆加减速过程中带来的两种效应,即车辆载荷的转移及轮胎的滑动,并分析其对车辆航位推算的影响,综合这两种效应带来的影响,提出了轮胎计算半径的概念,建立了加减速过程中的误差补偿模型。跑车实验表明,经过误差补偿距离精度由3‰提高到0.5‰,精度提高近1个数量级。

Two kinds of phenomena of the load transfer and the wheel slip caused by the vehicular accelerating or decelerating have been investigated in this paper.The effects of these two kinds of phenomena on the vehicle navigation have been analyzed.Based on the analysis of the synthetical effect,the conception of the computational tire radius was proposed and the error compensation model for vehicle accelerating and decelerating has been established.The racing car experimental results showed that the distance accuracy has been increased to 0.5‰ from 3‰ through the compensation.By this method,the navigation accuracy has been increased nearly one order of magnitude.