多GPS架构下汽车实时横摆角速度的测量方法

Measurement Method for Real-Time Yaw Rate of Vehicle under Multi GPS Architecture

通过多GPS架构之间的几何约束关系,有效的保证多GPS之间的相对位置及由GPS测量的汽车运行轨迹的精确性,再通过多GPS在汽车运行轨迹上记录的坐标值计算得到汽车运行过程中的实时横摆角速度值。并同步利用IMU设备测试汽车运行过程中的横摆角速度,与GPS数据计算得到的横摆角速度进行对比分析。结果表明,在此种动态数据处理方法下计算得到的横摆角速度精度得到提高并满足汽车性能道路试验要求。

Based on multi GPS architecture, a dynamic processing method of test data is proposed. The geometric constraints between multi GPS architecture effectively guarantee the relative position between GPS and the accuracy of GPS measurement by automobile running track. Through the coordinates of multi GPS in automobile running track recorded on the value calculated by the vehicle in the running process, the real-time yaw rate value is gotten. And synchronously using IMU equipment to test the yaw rate of the vehicle rtmning process, and the calculation of the angular velocity of the GPS data is compared and analyzed. The results show that the accuracy of the yaw rate can be improved by the method of dynamic data processing, and it can meet the requirements of vehicle performance test.