基于多传感器的智能车辆姿态解算方法

Intelligent Vehicle Attitude Calculation Method Based on Multi-Sensor

针对智能车辆主动环境感知的需求,提出了一种采用三轴加速度计、三轴磁强计和三轴陀螺仪组合进行车辆姿态解算的方法。首先以旋转矢量法为陀螺仪的车辆姿态解算方法,作为扩展卡尔曼滤波的状态方程,用于车辆姿态的预测;其次以高斯牛顿法为加速度计和磁强计的车辆姿态解算方法,作为扩展卡尔曼滤波的观测方程,用于车辆姿态校正;然后在此基础上构建扩展卡尔曼滤波传播方程,采用扩展卡尔曼滤波进行多传感器信息融合,得到车辆的姿态解算结果;最后通过构建实车测试环境对解算方法有效性进行验证。实验结果表明,通过基于多传感器的车辆姿态解算方法解算得到的车辆姿态角稳定、准确,能够满足智能车辆行为参数估计的实际需求。

To meet the demand of intelligent vehicle active environment perception,a method for vehicle attitude calculation is presented which is based on the combined use of the three-axis accelerometer,three-axis magnetometer and three axis gyroscope.Firstly,the rotating vector method is taken as vehicle attitude calculation method of gyroscope,which can be used to predict the attitude of the vehicle as the state equation of extended Kalman filter.Secondly,the Gauss Newton method is taken as vehicle attitude calculation method of accelerometer and magnetometer,which can be used to correct vehicle attitude as observation equation of extended Kalman filter.Thirdly,the propagation equation of extended Kalman filter is constructed,and the calculation results of vehicle attitude are obtained by multi-sensor information fusion.Finally,the effectiveness of the calculation method is verified by building a real test environment.The experimental results show that the method proposed can obtain the vehicle attitude angle stably and accurately,which is able to meet the practical requirements for the parameter estimation of intelligent vehicle behavior.