CN106526644A - Method of calculating relative angle variation between carrier parts - Google Patents
Method of calculating relative angle variation between carrier parts Download PDFInfo
- Publication number
- CN106526644A CN106526644A CN201610881387.5A CN201610881387A CN106526644A CN 106526644 A CN106526644 A CN 106526644A CN 201610881387 A CN201610881387 A CN 201610881387A CN 106526644 A CN106526644 A CN 106526644A
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- Prior art keywords
- carrier
- variable quantity
- measurement
- angle variable
- gyroscope
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a method of calculating a relative angle variation between carrier parts, which accurately calculates the rotating angle of a wheel through dual-antenna satellite direction finding and gyro angular velocity measurement. The method comprises the following steps: A, a dual-antenna satellite directional receiver is arranged on one part in two or more than two parts of the carrier, and the rest parts in need of measurement of the carrier are provided with sensors; B, a group of angular velocity variations is measured for each part of the carrier; and C, the measurement result of each part obtained in the step B is processed to calculate the relative angle variation between the two or more than two parts of the carrier. The real-time rotating angle of the wheel is accurately calculated through measuring the directional angle of the dual-antenna satellite and the angular velocity of the gyro, the precision and the reliability are higher, the dual-antenna satellite direction finding has higher anti-interference performance and robustness, the method of the invention can be used for all types of steering vehicles, and the system mounting time and the mounting cost can be greatly reduced.
Description
Technical field
The present invention relates to vehicle control system field, more particularly to the satellite fix orientation used in vehicle control system and
Angular rate sensor field.
Background technology
In field of vehicle control, double antenna satellite direction-finding receiver is generally used for determining the direction of automobile body, determines car
The real time position of pace and measuring vehicle.Angular rate sensor is generally used for the accurate measurement of Vehicular turn and behaviour
Control.
Specifically, double antenna satellite orientation receiver is generally used for calculating advance attitude, the speed of vehicle, to car
Carry out High Precision Monitor and control.Gyroscope is typically used to provide to the measuring and calculating around specific rotating rate of shaft, be can be used to
Help guides and navigates wheel vehicle.By double antenna satellite orientation receiver institute's measuring car body data and the surveyed wheel data of gyroscope
Feed back in vehicle control system, the system can be adjusted to vehicle traveling operation, to improve intact stability.
Vehicle control system generally comprises car-mounted computer, some vehicle sensors.Vehicle computing machine monitoring vehicle movement
State and perform associated vehicle operative algorithm.Vehicle sensors can be by surveyed data feedback to car-mounted computer, vehicle computing
Machine judges that vehicle can operate vehicle to improve the algorithm of intact stability when being in irregular operating state.
But, the vehicle sensors of currently available technology are not used to calculate vehicle wheel rotation angle.
The content of the invention
In order to solve above-mentioned technical problem, the present invention provides a kind of side for calculating relative angle variable quantity between carrier part
Method, by using the direction finding of double antenna satellite and gyroscope angular velocity measurement, the accurate rotational angle for calculating wheel.
A kind of method for calculating relative angle variable quantity between carrier part, the method includes the steps of：
A：Double antenna satellite orientation receiver is installed on a part of the carrier, measurement remaining is needed in the carrier
Install sensor on part；
B：One group of angle variable quantity is measured to each part of the carrier；
C：In process step B, the measurement result of each part of gained is to calculate two and two or more part of the carrier
Relative angle variable quantity, specific formula for calculation is as follows：
Such as formula（GS1）In：For start before measuring measured by last moment double antenna satellite orientation receiver with just
The north to angle,For terminate before measurement measured by last moment double antenna satellite orientation receiver with the positive north
To angle.Certain part of the carrier for being provided with double antenna satellite orientation receiver measured by the measurement period
Partial angle variable quantity.T1 is to start last moment before measuring.T2 is last moment before terminating measurement.For sensor t1 to the t2 time periods magnitude of angular velocity.For the integral result of t1 to t2 time period angular velocity values, i.e.,
For certain a part of angle variable quantity of the carrier of install sensor.It is to be calculated using measured result in step B
Two parts of the carrier between angle variable quantity.
The carrier can occur the remainder of relative motion comprising a main part and at least one with main part.
The sensor be can angular velocity value and accekeration gyroscope.
Step A is further comprising the steps of：
A1., vehicle with main body and at least one controllable wheel that lands is provided；
A2., gyroscope 1 is provided and is installed at least one wheel, and the gyroscope 1 is used for measurement and puts down parallel to selecting for ground
Face；
A3., second gyroscope 2 is provided, and the gyroscope is used for measuring and estimating caused by the biasing due to gyroscope 1
Integrator offset and drift rate.
Step B is further comprising the steps of：
Kalman filter is carried out to measured value when B1. measuring angular speed of wheel value using the gyroscope 1 reduces random drift
Error, wave filter are as follows：
。
Step C is further comprising the steps of：
C1. the measured value based on gained in step A3, estimates and compensates deviation and the drift of integrator using feedback compensator
Rate, to obtain the angular velocity measurement value of higher precision.
The present invention can be during vehicle movement by measuring the angle of double antenna satellite orientation and the angle of gyroscope
Speed accurately calculates the real-time rotational angle of wheel.Compared with prior art, double antenna satellite orientation possess higher precision with
Confidence level, and double antenna satellite direction finding compares conventional angle measurement and possesses higher anti-interference and robustness, and the present invention can
For all types of steering vehicles, set-up time and the installation cost of system is greatly reduced.
Description of the drawings
Fig. 1 illustrates the basic structure schematic diagram of the vehicle with main body and four ground wheels, and two of which front-wheel is this
Invention is measuring the wheel of rotational angle.
1 vehicle in figure, 2 main bodys, 3,4,5,6 is wheel, 7 steering angles, 8 yaw angles, 9, direct north, 10 flight path sides
To, 11,12 be antenna, 13 sensors, 14 double antenna satellite orientation receivers.
Fig. 2 is illustrated with main body, controllable front-wheel, and the basic structure schematic diagram of the vehicle including the present invention, wherein double
Antenna satellite orientation receiver is arranged on vehicle body, and sensors A is arranged on certain front-wheel.
In figure 11,12 be antenna, 9 direct norths, 13 sensors As, 15 sensors A connection cables, 16 double antenna satellites
Direction-finding receiver connection cable, 17 represent controller or double antenna satellite orientation receiver or sensor B, 18 trajectories.
Fig. 3 illustrates vehicle basic exercise model for the purpose of the present invention.
Fig. 4 illustrates that how to locate reason sensors A, B and double antenna satellite orientation receiver for the purpose of the present invention are obtained
Measurement result to obtain the steering angle of controllable tireEstimated value block diagram.
Fig. 5 illustrates the controller circuitry figure with the feedback compensator including kalman wave filters.
Specific embodiment
Although the present invention will be described with reference to example, it should be appreciated that these examples are not by present invention limitation.Conversely, this
Invention is intended to cover be included in various replacements, modification and the equivalents of the present invention being defined by the appended claims.Additionally,
In detailed description of the invention below, many concrete details are elaborated, to provide thorough understanding of the present invention.So
And, it will be obvious to one skilled in the art that this can be put into practice in the case where not having these concrete details
It is bright.Well-known method, program, part, circuit are not all described in detail, for avoiding unnecessary obscuring the present invention's
All many-sides.
One in the present invention implements in example, and Fig. 1 illustrates the vehicle 1 with main body 2 and four ground wheels 3,4,5,6
Basic structure schematic diagram.Two of which front-wheel 3 and 4 is realized turning to by automatic steering system.Sensors A is connected to vehicle 1
Controllable ground wheel 3.Sensors A is configured to measure the selected plane parallel to ground.The selected plane is and controllable ground
The rotating shaft of wheel 3 substantially orthogonal to plane.To the place plane of accurately measurement tyre rotation.Double antenna satellite orientation is received
Machine is attached to the main body 2 of vehicle 1.Double antenna satellite orientation receiver be arranged on select plane in and be configured to measure this select
Plane.The plane is almost parallel with the measurement plane of sensors A.
In above-mentioned example, automatic steering system can use AF300 automatic steering systems.AF300 automatic steering systems are to connect
Be connected to tractor hydraulic power steering system and be automatically straight line, curve and make the steering assistance device of tractor steering.Operation
The field computer of the software of AF300 can perform various operations, including record holdings, crime scene sketch, variable bit rate manage, it is smooth
The conventional agricultural operation such as soil, soil sample.
With reference to Fig. 1, the yaw angle 8 of the main body 2 of vehicle 1 is the angle between the trajectory 10 of direct north 9 and vehicle 1
Degree.The axis of controllable front-wheel 3 is from 10 slip-angle steering angle 7 of course bearing.Rate of change 7 He of the automatic steering system using steering angle
The rate of change of yaw angle 8 is used as the input signal in its loop system.
In above-mentioned example, in order to measure steering angle rate of change 9, sensors A is employed, and in order to measure yaw angle change
Speed 8, employs double antenna satellite orientation receiver.
Fig. 2 represents the sensor mount point in Fig. 1 in more detail.Including main body, controllable front-wheel and including controller
In interior automatic steering system.Double antenna direction-finding receiver is arranged in main body, and sensor is arranged on front-wheel to measure front-wheel
Slewing rate.
In above-mentioned example, sensors A is configured to measurement, i.e., sensors A be configured to measure ground
Wheel turns to angular speed and adds the yawrate of main body to add the biasing of sensors A.
Double antenna satellite orientation receiver is configured to measurement, i.e., double antenna satellite orientation receiver be configured to measurement
The yawrate of main body.
With reference to Fig. 3, the absolute steering angle that second sensor B estimates vehicle according to the kinematics model of vehicle is can select
, and adopt feedback compensator（Do not mark）Come according to sensor B obtain absolute steering angle estimation compensation integrator it is inclined
Difference and drift rate.
For angular speed, the second absolute measurement B is needed come the performance degradation in terms of preventing about resolution ratio and noise.
If wheel measured value is L, the main body yawrate of vehicle causes the absolute steering angle of vehicle front-wheel
For：
The wherein main body yawrate of vehicleIt is derived in Kalman filter.Speed V is then oriented by double antenna
Receiver is exported.
Block diagram shown in Fig. 4 illustrates how to locate what reason sensors A, sensor B and double antenna satellite orientation receiver were obtained
Measurement result, to obtain controllable wheel steering angleEstimated value.With integrator I1 and I2, the measurement obtained by sensors A
As a result estimate was integrated to the time, by the result after sensors A measured value integration at subtracter 2 and double antenna satellite
To receiver obtain measurement result make the difference, to measure the relative motion between two sub-components, wherein with because sensor it is inclined
Put the fuzzy integral device deviation and drift rate for causing.From for the angle of engineering, the maximum time of integration is that sensor is missed to system
/ 10th of difference budget, the error budget are the upper limits of biasing.For example, if forming 0.1 degree of error in seconds,
The time of integration should equally be the magnitude of several seconds.Sensor B is for steering angle estimation resultOne group of correction data is provided, is used
In border being arranged to uncertain, and perform robust control.Specifically, sensor B is used for estimating integrator offset and going back
Selectively can be used for estimating the biased error of sensor.For example, the estimated value of the absolute steering angle of equation 1 can be used to carry
For one group of correction data.Feedback oscillator K1 and K2 are included to form closed feedback loop.
As shown in figure 5, controller is the feedback compensator comprising kalman wave filters.Sensor B is for filtering to kalman
Ripple device provides Absolute Calibration, and the wave filter is configured with the number of degrees of sensors A and double antenna satellite orientation receiver to carry
For the estimated value of steering angle.
Sensors A can be realized by using inertial sensor or gyro sensor.Second sensor B can be used
Realize with the inertial sensor or gyro sensor of the same model of sensors A.
Claims (6)
1. a kind of method for calculating relative angle variable quantity between carrier part, is characterized in that, comprise the steps of：
A：Double antenna satellite orientation receiver is installed on a part of the carrier, measurement remaining is needed in the carrier
Install sensor on part；
B：One group of angle variable quantity is measured to each part of the carrier；
C：In process step B, the measurement result of each part of gained is to calculate two and two or more part of the carrier
Relative angle variable quantity, specific formula for calculation is as follows：
Such as formula（GS1）In：For starting to measure measured by front last moment double antenna satellite orientation receiver and positive north
The angle in direction,For terminating measured by front last the moment double antenna satellite orientation receiver of measurement and direct north
Angle；The a certain portions of the carrier for being provided with double antenna satellite orientation receiver measured by the measurement period
The angle variable quantity for dividing；T1 be start measure before last moment, t2 be terminate measurement before last moment；
For sensor t1 to the t2 time periods magnitude of angular velocity；For the integral result of t1 to t2 time period angular velocity values, as pacify
Certain a part of angle variable quantity of the carrier of dress sensor；It is using the calculated institute of measured result in step B
State the angle variable quantity between two parts of carrier.
2. a kind of method for calculating relative angle variable quantity between carrier part according to claim 1, its feature
It is：The carrier can occur the remainder of relative motion comprising a main part and at least one with main part.
3. a kind of method for calculating relative angle variable quantity between carrier part according to claim 1, its feature
It is：The sensor be can angular velocity value and accekeration gyroscope.
4. a kind of method for calculating relative angle variable quantity between carrier part according to claim 1, its feature
It is：Step A is further comprising the steps of：
A1., vehicle with main body and at least one controllable wheel that lands is provided；
A2., gyroscope 1 is provided and is installed at least one wheel, and the gyroscope 1 is used for measurement and puts down parallel to selecting for ground
Face；A3., second gyroscope 2 is provided, and the gyroscope is used for measuring and estimating caused by the biasing due to gyroscope 1
Integrator offset and drift rate.
5. a kind of method for calculating relative angle variable quantity between carrier part according to claim 1, its feature
It is：Step B is further comprising the steps of：
Kalman filter is carried out to measured value when B1. measuring angular speed of wheel value using the gyroscope 1 reduces random drift
Error, wave filter are as follows：
。
6. a kind of method for calculating relative angle variable quantity between carrier part according to claim 1, its feature
It is：Step C is further comprising the steps of：
C1. the measured value based on gained in step A3, using feedback compensator, estimates and compensates deviation and the drift of integrator
Shifting rate, to obtain the angular velocity measurement value of higher precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610881387.5A CN106526644A (en) | 2016-10-10 | 2016-10-10 | Method of calculating relative angle variation between carrier parts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610881387.5A CN106526644A (en) | 2016-10-10 | 2016-10-10 | Method of calculating relative angle variation between carrier parts |
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| CN201610881387.5A Pending CN106526644A (en) | 2016-10-10 | 2016-10-10 | Method of calculating relative angle variation between carrier parts |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990420A (en) * | 2017-05-05 | 2017-07-28 | 苍穹数码技术股份有限公司 | A kind of directional reference ejector being arranged on carrier and method |
| CN106996767A (en) * | 2017-04-10 | 2017-08-01 | 南京农业大学 | A kind of independent navigation tractor steering angle wireless measuring system and method |
| CN107869112A (en) * | 2017-11-17 | 2018-04-03 | 中铁重工有限公司 | A kind of traction system and method for larger radius of curvature bridge |
| CN111024032A (en) * | 2019-12-24 | 2020-04-17 | 浙江中星光电子科技有限公司 | Antenna surface azimuth angle obtaining method and device |
| CN112781543A (en) * | 2020-12-30 | 2021-05-11 | 潍柴动力股份有限公司 | Wheel corner measuring method and device for agricultural machinery |
| CN114771656A (en) * | 2022-05-11 | 2022-07-22 | 山东理工大学 | Method and system for measuring steering angle of front wheel of tractor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106996767A (en) * | 2017-04-10 | 2017-08-01 | 南京农业大学 | A kind of independent navigation tractor steering angle wireless measuring system and method |
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| CN107869112A (en) * | 2017-11-17 | 2018-04-03 | 中铁重工有限公司 | A kind of traction system and method for larger radius of curvature bridge |
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| CN111024032A (en) * | 2019-12-24 | 2020-04-17 | 浙江中星光电子科技有限公司 | Antenna surface azimuth angle obtaining method and device |
| CN112781543A (en) * | 2020-12-30 | 2021-05-11 | 潍柴动力股份有限公司 | Wheel corner measuring method and device for agricultural machinery |
| CN114771656A (en) * | 2022-05-11 | 2022-07-22 | 山东理工大学 | Method and system for measuring steering angle of front wheel of tractor |
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