摘要
推导了ABS里程计的数学模型,针对其非线性特点给出了扩展式卡尔曼滤波算式。基于各传感器工作原理分析了系统的采样规律。应用多传感器信息融合理论构建了联邦滤波器定位系统结构。跑车实验表明,无论在GPS卫星短暂屏蔽还是较长时间无卫星信号情况下,系统均能正常有效工作,可满足实际定位导航的要求。
In order to provide real localizing information continuely, the existing land vehicle localizing systems were made up of GPS and DR. Nowaday more and more modern vehicles were assisted with ABS system. So a new localizing system using GPS-DR, ABS-DR is described. A new odemetric technique using ABS sensor is presented and its mathematics model is induced. Due to the redundancy of measurements the precision is better than the original ones. The system sampling is performed when necessary and a new GPS data come again. Experiment have proven the new idea is practical and valuable.
出处
《传感技术学报》
EI
CAS
CSCD
北大核心
2006年第2期415-418,共4页
Chinese Journal of Sensors and Actuators
基金
湖南省教育厅科技项目资助(02GKY3100)
