CN206540555U - Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro - Google Patents
Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro Download PDFInfo
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- CN206540555U CN206540555U CN201720254771.2U CN201720254771U CN206540555U CN 206540555 U CN206540555 U CN 206540555U CN 201720254771 U CN201720254771 U CN 201720254771U CN 206540555 U CN206540555 U CN 206540555U
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Abstract
The utility model discloses the front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro, mainly by that can be installed on the single shaft MEMS gyro of wheel of vehicle, can be installed on two GNSS receivers and navigation control computer composition of car body both sides.The straight line of described two GNSS receivers at a certain distance between car body both sides, installation site is perpendicular to the axis of vehicle headstock to the tailstock；Single shaft MEMS gyro, on wheel, sensitive axes are perpendicular to ground.Double GNSS antenna systems that the utility model is used can eliminate or reduce atmosphere error, ionospheric error；The utility model uses the movable information of single shaft MEMS gyro acquisition system, reduces system cost, simplifies system installation process.
Description
Technical field
The utility model belongs to Navigation Control and position tracking field, and more particularly to a kind of MEMS inertia measurement devices are with defending
The method of star alignment system integrated navigation angle measurement.
Background technology
The agri-vehicle controlled by automatic pilot is the necessaries of efficient, accurate farmland operation.With manpower operation's phase
Than the vehicle of automatic pilot control can complete more accurately to drive, and repeat to feel exhausted during operation.Therefore,
Automatic Pilot agri-vehicle can effectively improve farmland operation efficiency, reduce operating cost.
In automated driving system, wheel is that progress wagon control is essential relative to the rotational angle of vehicle body
Information.Although the mechanical angle sensor used in existing automated driving system can provide satisfactory angle letter
Breath, but install, overhaul and Renewal process complexity, expend time and manpower.Institute in Chinese Patent Application No. 200680045195.5
The use Inertial Measurement Unit stated（IMU）As angular transducer, vehicle wheel rotation angle is calculated by algorithm, but system is in vehicle
Be respectively mounted inertia measurement device on main body and wheel, add system cost, and inertia device by body oscillating influenceed compared with
Greatly, there is lever arm error between gps antenna computing speed and actual calculating speed so that system accuracy is affected.
The content of the invention
In order to solve the above-mentioned technical problem, the deficiencies in the prior art are overcome, the utility model proposes a kind of cheap, simple
Double GNSS systems and single MEMS gyro composition system, complete measurement of the wheel relative to main body corner in automated driving system
Problem.
The utility model solves the technical solution that its technical problem used：
Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro, it is mainly by that can be installed on wheel of vehicle
Single shaft MEMS gyro, can be installed on two GNSS receivers and navigation control computer composition of car body both sides；It is described two
The straight line of GNSS receiver at a certain distance between car body both sides, installation site is perpendicular to vehicle headstock into the tailstock
Axis；Single shaft MEMS gyro, on wheel, sensitive axes are perpendicular to ground.
One group of motion information data is measured to each part of system using single shaft MEMS gyro and two GNSS receivers,
Motion information data to every part is carried out between athletic posture information and main body and rotating mechanism that information processing obtains main body
Angular motion information.
GNSS antenna and single shaft MEMS gyro complete the collection of each motion parts data, and navigation control computer was to GNSS days
The speed that line is resolved carries out substituting into kalman filter models after lever arm error compensation, and estimation obtains wheel turning relative to main body
Dynamic angle.
The motion information data includes：The motion linear velocity of double GNSS antenna systematic survey system bodies, course angle letter
Breath, latitude and longitude information etc., motion parts MEMS gyro measures the rotational angular velocity of correlation subsystem.
Described information processing includes exporting double GNSS antenna systems in the letter such as movement rate, course angle and longitude and latitude of main body
The processing of breath；Motion subsystem install MEMS gyro carry out data processing after integration obtain rotational angle information, and with it is double
GNSS output informations are combined Kalman filtering and are corrected, and export high-precision corner information.
Further, described pair of GNSS receiver positioning carries out positions calculations using pseudorange Relative Difference, it is ensured that two
GNSS receiver observes same group of satellite, and the location data of two GNSS receivers so is carried out into calculus of differences, can be gone
Remove or reduce atmosphere error, ionospheric error, the shared error, the higher system motion speed of output accuracy such as satellite orbital error
The information such as degree, course angle and longitude and latitude.
Further, the processing that DATA REASONING is carried out using single shaft MEMS gyro, is that gyro data navigates with double GNSS
The angular speed obtained to angle differential, which subtracts each other, obtains processing of the motion subsystem relative to the rotation angular speed of main body, by place
Relative rotation angular speed after reason, which is integrated, to be obtained relatively rotating angle, then by between bulk motion and relative rotation
Motion model, sets up the state equation and measurement equation of Kalman filter, and it is measurement to choose course angle input, turns to relative
Angle error is estimated, and relative rotation output result is corrected.
Further, the velocity information needed during the survey calculation is the speed that vehicle fixes wheel shaft, and GNSS antenna
There is lever arm between fixed wheel shaft, when Vehicular turn, by the presence of lever arm causes speed and the institute of GNSS antenna measurement
Need have velocity error caused by lever arm between speed, it is therefore desirable to which lever arm error is compensated.
Compared with existing utility model, major advantage of the present utility model is：
1）Double GNSS antenna systems that the utility model is used can eliminate or reduce atmosphere error, ionospheric error,
The shared error such as satellite orbital error, the higher system motion velocity information of output accuracy.And system is exported by corresponding algorithm
The information such as course, the roll of main body of uniting, the attitude information exported than inertial navigation system has higher precision, and guarantor is provided for Navigation Control
Barrier.
2）The utility model uses the movable information of single shaft MEMS gyro acquisition system, reduces system cost, simplifies
System installation process.Meanwhile, the posture and movable information of vehicle body are obtained by double GNSS antenna systems, reduce vehicle movement
During vibrate influence to data, improve the precision of system perspective output.
3）Velocity error caused by compensate for the lever arm in GNSS antenna speed, improves the input essence of Kalman filter
Degree, and then improve the angle result precision of final output.
Brief description of the drawings
Fig. 1 is that the vehicle that the utility model can be applied to simplifies structural representation.
Fig. 2 is the utility model wheel relative rotation data processing principle block diagram.
Embodiment
As shown in figure 1, the structure of an example of the utility model patent mainly includes：Installed in vehicle body both sides
GNSS antenna（1）And GNSS antenna（2）, the single shaft MEMS gyro on fore wheel structure（3）, and corresponding hardware circuit
And navigational computer.GNSS antenna（1）With（2）Baseline between car body both sides, installation site is separately mounted to arrive perpendicular to headstock
The axis of the tailstock；Dual-antenna system is responsible for receiving the information such as speed, the position of bulk motion, and determines appearance algorithm by double GNSS
Calculate the course angle of carrier.Single shaft MEMS gyro 3 is arranged on wheel steering part, with vehicle wheel rotation, sensitive axes perpendicular to
Ground, measures vehicle wheel rotation angular speed.
Shown in Fig. 2 is the data process diagram of the accurate estimated result of the front wheel angle in the utility model patent.
Handled for the information that each sensor is collected, to single shaft MEMS gyro（3）Collection angular speed is integrated
Rotational angle of the wheel in inertial system can be obtained, double GNSS systems are subtracted with this result（1,2）The car body course heading of resolving becomes
Change can obtain angle of the wheel relative to vehicle body；Due to gyro zero partially, integral result exist with time integral error, it is necessary to
Processing is filtered by Kalman filter, steering angle is carried out to estimate to obtain precise results.
The quantity of state of Kalman filter is turns to angular error calculation and gyro zero partially, and gyro zero is single order Markov partially
Process；The wheel that observed quantity selects to be calculated by vehicle kinematics is relative to the rotational angle of main body and turning for integral and calculating
To the difference of angle；The error of angle calculation is estimated by above-mentioned model, angle is corrected.
GNSS antenna（1）And GNSS antenna（2）The dual-antenna system of composition receives satellite-signal, and vehicle is obtained by resolving
The information such as propulsion linear velocity, motion course angle, the vehicle roll angle of main body.The course angle letter that double GNSS systems are exported
Breath, which carries out differential, can obtain the steering angular velocity of headstock；
Single shaft MEMS gyro（3）Measurement data is turning velocity of the wheel of vehicle in inertial system, includes the steering of headstock
The relative rotation speed of speed and wheel relative to vehicle body.Navigation control computer is divided the information of the sensor
Analysis is handled, and is calculated by corresponding algorithm and is obtained rotational angle of the wheel of vehicle relative to main body.
Due to vehicle kinematics calculate wheel of vehicle corner when, it is necessary to speed be vehicle fix wheel shaft speed, but
There is lever arm between GNSS antenna installation site and fixing axle, vehicle causes velocity error when rotating, so needing to compensate GNSS
Velocity error caused by antenna to the lever arm between fixing axle.
The output angular speed for the single shaft MEMS gyro installed on wheelFor course angle rate of changeAnd front-drive
Speed：
The rotational angle for obtaining front-wheel is integrated by the single shaft MEMS gyro output result installed to front-wheel,
For course angle angle changing,For front-wheel relative vehicle body rotation angle.
By obtaining angle of rotation as difference to gyro data integral result and the course angle angle changing of dual-antenna system output
Degree
.Meanwhile, the information such as speed and wheelbase for being exported using dual-antenna system real time differential system calculates the exhausted of front-wheel
To steering angle.Main body course angle rate of changeWith front-wheel absolute steering angleBetween relation be represented by：
Wherein,For vehicle wheelbase,For course angle rate of change, the course angular data that can be exported by dual-antenna system is real
Shi Weifen is obtained.SpeedNeed to carry out lever arm error compensation, GNSS antenna when calculating（1）With the lever arm at fixing axle center, the vehicle course angle and roll angle information differential exported by double GNSS systems obtain vehicle in the corresponding direction
Angular speedAnd angular speed, it is considered to the change of the angle of pitch is ignored in actual operating conditions, vehicle travel process.Vehicle
Carrier is tied to navigation system（Department of Geography）Between coordinate conversion matrix be：
Vehicle rotates angular speed：；
The velocity error then caused by lever arm。
The speed that GNSS antenna is measured according to motion course angle Directional Decomposition to due east and due north both direction, i.e.,, then the speed Jing Guo lever arm error compensation be.Finally will
Speed synthesizes on the angular direction of course and obtains final velocity information。
By the parameters described by said process, system equation is set up, by Kalman filter, to angleEnter
Row optimal estimation, obtains the higher vehicle wheel rotation angle information of precision.
The content not being described in detail in the utility model specification belongs to existing known to professional and technical personnel in the field
Technology.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as protection domain of the present utility model.
Claims (6)
1. the front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：It is main by that can be installed on car
The single shaft MEMS gyro of wheel, can be installed on two GNSS receivers and navigation control computer composition of car body both sides；
Straight line of two GNSS receivers between car body both sides, installation site is perpendicular to the axis of vehicle headstock to the tailstock；
Single shaft MEMS gyro, on wheel, sensitive axes are perpendicular to ground.
2. the front-wheel angle measuring system according to claim 1 based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：
One group of motion information data is measured to each part of system using single shaft MEMS gyro and two GNSS receivers, to every part
Motion information data carry out information processing obtain main body athletic posture information and main body and rotating mechanism between relative angle
Movable information；GNSS antenna and single shaft MEMS gyro complete the collection of each motion parts data, and navigation control computer is to GNSS
The speed that antenna is resolved carries out substituting into kalman filter models after lever arm error compensation, and estimation obtains wheel relative to main body
Rotational angle.
3. the front-wheel angle measuring system according to claim 2 based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：
The motion information data includes the motion linear velocity of double GNSS antenna systematic survey system bodies, course angle information, longitude and latitude
Information, motion parts MEMS gyro measures the rotational angular velocity of correlation subsystem.
4. the front-wheel angle measuring system according to claim 2 based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：
Described information processing includes the information processing that double GNSS antenna systems are exported with movement rate, course angle and the longitude and latitude of main body；
Motion subsystem install MEMS gyro carry out data processing after integration obtain rotational angle information, and with double GNSS output informations
It is combined Kalman filtering to be corrected, exports high-precision corner information.
5. the front-wheel angle measuring system according to claim 1 based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：
Described pair of GNSS receiver positioning carries out positions calculations using pseudorange Relative Difference, it is ensured that two GNSS receivers observe same
Group satellite.
6. the front-wheel angle measuring system according to claim 2 based on double GNSS antennas and single shaft MEMS gyro, it is characterized in that：
The processing that DATA REASONING is carried out using single shaft MEMS gyro, is the angle that gyro data is obtained with double GNSS course heading differential
Speed, which is subtracted each other, obtains processing of the motion subsystem relative to the rotation angular speed of main body, by the relative rotation angle speed after processing
Rate, which is integrated, to be obtained relatively rotating angle, then by the motion model between bulk motion and relative rotation, sets up karr
The state equation and measurement equation of graceful wave filter, it is measurement to choose course angle input, and relative rotation error is estimated, and
Relative rotation output result is corrected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720254771.2U CN206540555U (en) | 2017-03-16 | 2017-03-16 | Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720254771.2U CN206540555U (en) | 2017-03-16 | 2017-03-16 | Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063241A (en) * | 2017-03-16 | 2017-08-18 | 上海联适导航技术有限公司 | Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro |
| CN109374315A (en) * | 2018-12-18 | 2019-02-22 | 中国科学院自动化研究所 | Acquisition methods, control method, system, the device of the instantaneous slippage rate of wheel of vehicle |
| CN113126136A (en) * | 2019-12-31 | 2021-07-16 | 上海司南卫星导航技术股份有限公司 | Front-wheel-sensor-free automatic driving system based on motor steering wheel |
| CN116699509A (en) * | 2023-06-08 | 2023-09-05 | 上海联适导航技术股份有限公司 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
-
2017
- 2017-03-16 CN CN201720254771.2U patent/CN206540555U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063241A (en) * | 2017-03-16 | 2017-08-18 | 上海联适导航技术有限公司 | Front-wheel angle measuring system based on double GNSS antennas and single shaft MEMS gyro |
| CN107063241B (en) * | 2017-03-16 | 2023-08-25 | 上海联适导航技术股份有限公司 | Front wheel angle measurement system based on double GNSS antennas and single-axis MEMS gyroscope |
| CN109374315A (en) * | 2018-12-18 | 2019-02-22 | 中国科学院自动化研究所 | Acquisition methods, control method, system, the device of the instantaneous slippage rate of wheel of vehicle |
| CN109374315B (en) * | 2018-12-18 | 2019-09-10 | 中国科学院自动化研究所 | Acquisition methods, control method, system, the device of the instantaneous slippage rate of wheel of vehicle |
| CN113126136A (en) * | 2019-12-31 | 2021-07-16 | 上海司南卫星导航技术股份有限公司 | Front-wheel-sensor-free automatic driving system based on motor steering wheel |
| CN116699509A (en) * | 2023-06-08 | 2023-09-05 | 上海联适导航技术股份有限公司 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | "change of name, title or address" |
Address after: 201702 Room 401, building 1, Beidou Industrial Park, 99 Lane 215, Gaoguang Road, Xujing Town, Qingpu District, Shanghai Patentee after: Shanghai Lianshi Navigation Technology Co.,Ltd. Patentee after: University OF SCIENCE AND TECHNOLOGY BEIJING Address before: 201702 Beidou innovation base, No.99, Lane 215, Gaoguang Road, Xujing Town, Qingpu District, Shanghai Patentee before: SHANGHAI LIANSHI NAVIGATION TECHNOLOGY Co.,Ltd. Patentee before: University OF SCIENCE AND TECHNOLOGY BEIJING |
|
| CP03 | "change of name, title or address" |