To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motio...To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied. According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS. Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration. Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.展开更多
Taking the steady motion status as a starting point,according to the modeling of actual state of theoretical analysis,a predigested model of supercavity vehicle was established,and relationship expressions of these an...Taking the steady motion status as a starting point,according to the modeling of actual state of theoretical analysis,a predigested model of supercavity vehicle was established,and relationship expressions of these angles were obtained when the movement of supercavity vehicle was stable.A theoretical analysis on the stability of underwater high-speed movement in the movement simulation program was conducted and the simulation results were given.Then the force status of the supercavity vehicle was elicited from the results.The finite element analysis was carried out based on the stability at all angles obtained from simulation results.Taking a pilot model as example,the Monte Carlo method was adopting to analyze the reliability with the given state of force and displacement.The result indicates that this method is feasible.展开更多
A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajec...A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.展开更多
Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal ve...Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.展开更多
文摘To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied. According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS. Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration. Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.
文摘Taking the steady motion status as a starting point,according to the modeling of actual state of theoretical analysis,a predigested model of supercavity vehicle was established,and relationship expressions of these angles were obtained when the movement of supercavity vehicle was stable.A theoretical analysis on the stability of underwater high-speed movement in the movement simulation program was conducted and the simulation results were given.Then the force status of the supercavity vehicle was elicited from the results.The finite element analysis was carried out based on the stability at all angles obtained from simulation results.Taking a pilot model as example,the Monte Carlo method was adopting to analyze the reliability with the given state of force and displacement.The result indicates that this method is feasible.
基金Projects(90820302, 60805027, 61175064) supported by the National Natural Science Foundation of ChinaProject(2011ssxt231) supported by the Master Degree Thesis Innovation Project Foundation of Central South University, China+1 种基金Project(200805330005) supported by the Research Fund for the Doctoral Program of Higher Education, ChinaProject(2011FJ4043) supported by the Academician Foundation of Hunan Province, China
文摘A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.
基金Supported by the National Natural Science Foundation of China under Grant Nos.60634010 and 60776829the State Key Laboratory of Rail Traffic Control and Safety (Contract No.RCS2008ZZ001 and RCS2010ZZ001),Beijing Jiaotong University
文摘Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.
