CN114771656A - Method and system for measuring steering angle of front wheel of tractor - Google Patents

Method and system for measuring steering angle of front wheel of tractor Download PDF

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Publication number
CN114771656A
CN114771656A CN202210510255.7A CN202210510255A CN114771656A CN 114771656 A CN114771656 A CN 114771656A CN 202210510255 A CN202210510255 A CN 202210510255A CN 114771656 A CN114771656 A CN 114771656A
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China
Prior art keywords
tractor
front wheel
steering
value
steering angle
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CN202210510255.7A
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Chinese (zh)
Inventor
杜娟
印祥
金诚谦
马文鹏
周鹏
耿端阳
杨腾祥
倪有亮
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Shandong University of Technology
Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
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Shandong University of Technology
Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
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Priority to CN202210510255.7A priority Critical patent/CN114771656A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car

Abstract

The invention relates to a method for measuring the steering angle of a front wheel of a tractor, which relates to the technical field of automatic navigation of agricultural machinery, and comprises the following steps: acquiring a course angle measured value of a tractor and current position information of the tractor; calculating the actual turning radius of the positioning antenna according to the position information; determining the actual steering radius of a front wheel steering shaft of the tractor according to the actual steering radius of the positioning antenna; determining a steering angle calculation value of a front wheel of the tractor according to the actual steering radius of a steering shaft of the front wheel of the tractor; determining an average error value of the tractor in a set period according to the calculated steering angle value of the front wheel of the tractor and the measured course angle value; and correcting the calculated steering angle value of the front wheel of the tractor according to the average error value. According to the course angle acquired by the gyroscope and the global position information acquired by the double-antenna RTK-GNSS positioning and orienting receiver, the accurate measurement of the steering angle of the front wheel of the tractor during automatic navigation in the field can be effectively realized.

Description

Method and system for measuring steering angle of front wheel of tractor
Technical Field
The invention relates to the technical field of automatic navigation of agricultural machinery, in particular to a method and a system for measuring a steering angle of a front wheel of a tractor.
Background
With the improvement of the modern technology level and the requirement of the times for the modernization of agricultural rural areas, the modernization and intellectualization of agricultural machinery is one of important development directions. The improvement of the navigation precision of the tractor as an important agricultural machine is a very important technical problem. And the accuracy of the measurement of the steering angle of the front wheel of the tractor is one of important factors influencing the navigation accuracy of the tractor. Install the gyroscope of tractor front wheel steering column department because of the great often measuring accuracy of automobile body shake is not high, in addition, drift phenomenon often appears when the gyroscope uses, leads to steering angle information to appear the deviation easily and then influence the navigation accuracy.
Disclosure of Invention
The invention aims to provide a method and a system for measuring the steering angle of a front wheel of a tractor, which can improve the accuracy of measuring the steering angle of the front wheel of the tractor.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a method for measuring a steering angle of a front wheel of a tractor, which comprises the following steps:
acquiring a course angle measured value of the tractor; the measured course angle value is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor;
acquiring current position information of a tractor; the position information is determined by a double-antenna RTK-GNSS positioning and orienting receiver arranged at any position of a tractor body;
calculating the actual turning radius of the positioning antenna according to the position information;
determining the actual steering radius of a front wheel steering shaft of the tractor according to the actual steering radius of the positioning antenna;
determining a steering angle calculation value of the front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor;
determining an average error value of the tractor in a set period according to the calculated steering angle value of the front wheel of the tractor and the measured course angle value;
and correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
Optionally, the calculating an actual turning radius of the positioning antenna according to the position information specifically includes:
fitting the circle center of the movement track of the tractor based on a least square method to obtain the fitted circle center coordinate of the movement track of the tractor;
and determining the actual turning radius of the positioning antenna according to the position information and the fitted circle center coordinate.
Optionally, a specific formula for fitting the center of the movement locus of the tractor based on the least square method is as follows:
Figure BDA0003637458680000021
actual turning radius R of the positioning antennaGNSSThe calculation formula of (c) is:
Figure BDA0003637458680000022
wherein, ai、bi、ciAre all least squares parameters, xiAbscissa, y, of i-th position information collected for a dual antenna RTK-GNSS positioning and orientation receiveri(u) ordinate of i th position information collected for dual antenna RTK-GNSS positioning directional receiver1,u2) And m is the number of the position information collected by the double-antenna RTK-GNSS positioning and orientation receiver.
Alternatively, the specific formula for calculating the actual steering radius R' of the tractor front wheel steering shaft is:
Figure BDA0003637458680000023
wherein R isGNSSIn order to position the actual turning radius of the antenna, d is the distance between the position of the positioning antenna and the central axis of the tractor, u is the longitudinal distance between the positioning antenna and the rear wheel of the tractor, l is the wheelbase between the front wheel and the rear wheel of the tractor, and s is the wheelbase between the rear wheel of the tractor.
Alternatively, the specific formula for determining the calculated steering angle of the front wheels of the tractor is as follows:
Figure BDA0003637458680000024
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003637458680000025
the calculated value of the steering angle of the front wheel of the tractor is l, the wheel base of the front wheel and the rear wheel of the tractor and the actual steering radius of the steering shaft of the front wheel of the tractor.
Optionally, calculating an average error value D of the tractor over a set periodkThe concrete formula of (1) is as follows:
Figure BDA0003637458680000031
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003637458680000032
calculating the steering angle of the front wheel of the tractor in a set period, K being the total step length of the tractor in the set period, j being the signal acquisition number of the gyroscope in the set period, N representing the travel of the tractorThe step size of (a) is determined,
Figure BDA0003637458680000033
and the heading angle information collected by the gyroscope in a set period.
Optionally, a specific formula for correcting the calculated steering angle of the front wheel of the tractor according to the average error value is as follows:
Figure BDA0003637458680000034
wherein the content of the first and second substances,
Figure BDA0003637458680000035
correction value for steering angle of front wheel of tractor, j is signal collection number of gyroscope in set period, DkThe average error value of the tractor in a set period.
In order to achieve the purpose, the invention also provides the following technical scheme:
the invention provides a tractor front wheel steering angle measuring system, which comprises:
the course angle measurement value acquisition module is used for acquiring a course angle measurement value of the tractor; the course angle measurement value is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor;
the position information acquisition module is used for acquiring the current position information of the tractor; the position information is determined by a double-antenna RTK-GNSS positioning and orientation receiver arranged at any position of the tractor body;
the actual turning radius determining module of the positioning antenna is used for calculating the actual turning radius of the positioning antenna according to the position information;
the actual steering radius determining module is used for determining the actual steering radius of the tractor front wheel steering shaft according to the actual steering radius of the positioning antenna;
the steering angle calculation value determining module of the front wheel of the tractor is used for determining the steering angle calculation value of the front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor;
the average error value determining module is used for determining the average error value of the tractor in a set period according to the steering angle calculation value of the front wheel of the tractor and the course angle measurement value;
and the correcting module is used for correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a method for measuring the steering angle of a front wheel of a tractor, which comprises the following steps: acquiring a course angle measured value of the tractor and current position information of the tractor; calculating the actual steering radius of the positioning antenna according to the position information; determining the actual steering radius of a front wheel steering shaft of the tractor according to the actual steering radius of the positioning antenna; determining a steering angle calculation value of a front wheel of the tractor according to the actual steering radius of a steering shaft of the front wheel of the tractor; determining an average error value of the tractor in a set period according to the steering angle calculation value of the front wheel of the tractor and the course angle measurement value; and correcting the steering angle calculation value of the front wheel of the tractor according to the average error value. According to the course angle acquired by the gyroscope and the global position information acquired by the double-antenna RTK-GNSS positioning and orienting receiver, the accurate measurement of the steering angle of the front wheel of the tractor during automatic navigation in the field can be effectively realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a flow chart of a method for measuring the steering angle of the front wheels of a tractor according to the present invention;
FIG. 2 is a schematic steering view of the tractor of the present invention;
fig. 3 is a schematic block diagram of a measuring system for the steering angle of the front wheel of the tractor according to the present invention.
Description of the symbols:
the device comprises a course angle measured value acquisition module-1, a position information acquisition module-2, a positioning antenna actual steering radius determination module-3, a tractor front wheel steering shaft actual steering radius determination module-4, a tractor front wheel steering angle calculation value determination module-5, an average error value determination module-6 and a correction module-7.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for measuring the steering angle of a front wheel of a tractor, which are used for fusing the course angle acquired by a gyroscope and global position information acquired by a double-antenna RTK-GNSS positioning and orientation receiver and effectively improving the measurement precision of the steering angle of the front wheel of the tractor during automatic navigation in the field.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in figure 1, the invention relates to a method for measuring the steering angle of a front wheel of a tractor, which comprises the following steps:
s1: acquiring a course angle measured value of the tractor; the measured course angle value is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor.
S2: acquiring current position information of a tractor; the position information is determined by a dual-antenna RTK-GNSS positioning and orientation receiver installed at any position of the tractor body.
S3: and calculating the actual turning radius of the positioning antenna according to the position information.
S4: and determining the actual steering radius of the steering shaft of the front wheel of the tractor according to the actual steering radius of the positioning antenna.
S5: and determining a steering angle calculation value of the front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor.
S6: and determining an average error value of the tractor in a set period according to the steering angle calculation value of the front wheel of the tractor and the course angle measurement value. The set period refers to a period of time during which the tractor corresponding to the information to be calculated travels.
S7: and correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
When the agricultural machinery runs, the course angle information acquired by the gyroscope is fused with the position information acquired by the double-antenna RTK-GNSS positioning and orienting receiver, and then the correction value for compensating the drift of the gyroscope in a period of time can be calculated.
Further, step S3 specifically includes:
s31: and fitting the circle center of the movement track of the tractor based on a least square method to obtain the fitted circle center coordinate of the movement track of the tractor. The turning schematic diagram of the tractor is shown in fig. 2, wherein the O point is a fitted circle center coordinate of the motion track of the tractor. The gyroscope is installed at the steering shaft of the front wheel of the tractor, the positioning antenna is installed at the top end of the tractor body and located at the point P in the figure 2, and the double-antenna RTK-GNSS positioning and orientation receiver is located at any position of the tractor body.
S32: and determining the actual turning radius of the positioning antenna according to the position information and the fitted circle center coordinate.
Specifically, in step S31, the specific formula for fitting the center of the movement locus of the tractor based on the least square method is as follows:
Figure BDA0003637458680000061
actual turning radius R of the positioning antennaGNSSThe calculation formula of (2) is as follows:
Figure BDA0003637458680000062
least squares parameter ai、bi、ciThe calculation formulas of (A) and (B) are respectively as follows:
Figure BDA0003637458680000063
wherein, ai、bi、ciAre all least squares parameters, xiAbscissa, y, of the i-th position information collected for a dual antenna RTK-GNSS positioning directional receiveri(u) ordinate of i-th position information acquired for a dual antenna RTK-GNSS positioning directional receiver1,u2) And m is the number of the position information collected by the double-antenna RTK-GNSS positioning and orientation receiver.
Further, in step S4, the concrete formula for calculating the actual steering radius R' of the steering shaft of the front wheels of the tractor is as follows:
Figure BDA0003637458680000064
the tractor is shown in figure 2 with a steering schematic view, wherein RGNSSIn order to position the actual turning radius of the antenna, d is the distance between the position of the positioning antenna and the central axis of the tractor, u is the longitudinal distance between the positioning antenna and the rear wheel of the tractor, l is the wheel base between the front wheel and the rear wheel of the tractor, and s is the wheel base between the rear wheel of the tractor.
Further, in step S5, the specific formula for determining the calculated steering angle of the front wheels of the tractor is:
Figure BDA0003637458680000065
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003637458680000071
the calculated value of the steering angle of the front wheel of the tractor is l, the wheel base of the front wheel and the rear wheel of the tractor and the actual steering radius of the steering shaft of the front wheel of the tractor.
Further, in step S6, an average error value D of the tractor in a set period is calculatedkThe concrete formula of (2) is as follows:
Figure BDA0003637458680000072
wherein the content of the first and second substances,
Figure BDA0003637458680000073
the calculated value of the steering angle of the front wheel of the tractor in a set period, K is the total step length of the tractor in the set period, j is the signal acquisition number of the gyroscope in the set period, N represents the step length of the tractor,
Figure BDA0003637458680000074
and the heading angle information collected by the gyroscope in a set period.
Further, in step S7, the concrete formula for correcting the calculated steering angle of the tractor front wheels according to the average error value is as follows:
Figure BDA0003637458680000075
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003637458680000076
for correcting the steering angle of the front wheels of the tractor, j being the number of signal acquisitions of the gyroscope within a set period, DkThe average error value of the tractor in a set period.
In the navigation process of the agricultural machine, the steps are repeated along with the advance of the vehicle body, the error of the gyroscope is corrected all the time, and finally the measurement of the steering angle of the front wheel of the tractor is realized.
In order to achieve the purpose, the invention also provides the following technical scheme:
as shown in fig. 3, the present invention is a tractor front wheel steering angle measuring system, comprising: the device comprises a navigation angle measurement value acquisition module 1, a position information acquisition module 2, an actual steering radius determination module 3 of a positioning antenna, an actual steering radius determination module 4 of a steering shaft of a front wheel of a tractor, a steering angle calculation value determination module 5 of the front wheel of the tractor, an average error value determination module 6 and a correction module 7.
The course angle measurement value acquisition module 1 is used for acquiring a course angle measurement value of the tractor; the measured course angle value is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor.
The position information acquisition module 2 is used for acquiring the current position information of the tractor; the position information is determined by a dual antenna RTK-GNSS positioning and orientation receiver mounted at any position on the tractor body.
And the actual turning radius determining module 3 is used for calculating the actual turning radius of the positioning antenna according to the position information.
And the actual steering radius determining module 4 is used for determining the actual steering radius of the tractor front wheel steering shaft according to the actual steering radius of the positioning antenna.
And the calculated steering angle value determining module 5 of the front wheel of the tractor is used for determining the calculated steering angle value of the front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor.
And the average error value determining module 6 is used for determining the average error value of the tractor in a set period according to the steering angle calculation value of the front wheel of the tractor and the course angle measurement value.
And the correction module 7 is used for correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A method of measuring a steering angle of a front wheel of a tractor, the method comprising:
acquiring a course angle measured value of the tractor; the measured value of the course angle is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor;
acquiring current position information of a tractor; the position information is determined by a double-antenna RTK-GNSS positioning and orienting receiver arranged at any position of a tractor body;
calculating the actual turning radius of the positioning antenna according to the position information;
determining the actual steering radius of a front wheel steering shaft of the tractor according to the actual steering radius of the positioning antenna;
determining a steering angle calculation value of a front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor;
determining an average error value of the tractor in a set period according to the calculated steering angle value of the front wheel of the tractor and the measured course angle value;
and correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
2. The method for measuring the steering angle of the front wheel of the tractor according to claim 1, wherein the calculating the actual steering radius of the positioning antenna according to the position information specifically comprises:
fitting the circle center of the movement track of the tractor based on a least square method to obtain a fitted circle center coordinate of the movement track of the tractor;
and determining the actual turning radius of the positioning antenna according to the position information and the fitted circle center coordinate.
3. The method for measuring the steering angle of the front wheel of the tractor according to claim 2, wherein a concrete formula for fitting the center of the motion track of the tractor based on the least square method is as follows:
Figure FDA0003637458670000011
actual turning radius R of the positioning antennaGNSSThe calculation formula of (c) is:
Figure FDA0003637458670000012
wherein, ai、bi、ciAre all least squares parameters, xiAbscissa, y, of the i-th position information collected for a dual antenna RTK-GNSS positioning directional receiveriOrdinate of i-th position information acquired for a dual antenna RTK-GNSS positioning directional receiver, (u)1,u2) And m is the number of the position information collected by the double-antenna RTK-GNSS positioning and orientation receiver.
4. The method for measuring the steering angle of the front wheel of the tractor according to claim 1, wherein the concrete formula for calculating the actual steering radius R' of the steering shaft of the front wheel of the tractor is as follows:
Figure FDA0003637458670000021
wherein R isGNSSFor locating the actual turning radius of the antennaD is the distance between the position of the positioning antenna and the central axis of the tractor, u is the longitudinal distance between the positioning antenna and the rear wheel of the tractor, l is the wheelbase between the front wheel and the rear wheel of the tractor, and s is the wheelbase between the rear wheel of the tractor.
5. The method for measuring the steering angle of the front wheel of the tractor according to claim 1, wherein the specific formula for determining the calculated value of the steering angle of the front wheel of the tractor is as follows:
Figure FDA0003637458670000022
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003637458670000023
and l is the wheelbase of the front wheel and the rear wheel of the tractor and the actual steering radius of the steering shaft of the front wheel of the tractor.
6. The tractor front wheel steering angle measuring method according to claim 1, wherein an average error value D of the tractor over a set period is calculatedkThe concrete formula of (2) is as follows:
Figure FDA0003637458670000024
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003637458670000025
the calculated value of the steering angle of the front wheel of the tractor in a set period, K is the total running step length of the tractor in the set period, j is the signal acquisition number of the gyroscope in the set period, N represents the running step length of the tractor,
Figure FDA0003637458670000026
and the heading angle information collected by the gyroscope in a set period.
7. The tractor front wheel steering angle measurement method according to claim 1, wherein the calculation value of the steering angle of the tractor front wheel is corrected according to the average error value by the following formula:
Figure FDA0003637458670000027
wherein the content of the first and second substances,
Figure FDA0003637458670000028
correcting the steering angle of the front wheel of the tractor, wherein j is the signal acquisition number of the gyroscope in a set period, DkThe average error value of the tractor in a set period.
8. A tractor front wheel steering angle measurement system, the system comprising:
the course angle measurement value acquisition module is used for acquiring a course angle measurement value of the tractor; the measured course angle value is acquired by a gyroscope arranged at the steering shaft of the front wheel of the tractor;
the position information acquisition module is used for acquiring the current position information of the tractor; the position information is determined by a double-antenna RTK-GNSS positioning and orientation receiver arranged at any position of the tractor body;
the actual turning radius determining module of the positioning antenna is used for calculating the actual turning radius of the positioning antenna according to the position information;
the actual steering radius determining module is used for determining the actual steering radius of the tractor front wheel steering shaft according to the actual steering radius of the positioning antenna;
the steering angle calculation value determining module of the front wheel of the tractor is used for determining the steering angle calculation value of the front wheel of the tractor according to the actual steering radius of the steering shaft of the front wheel of the tractor;
the average error value determining module is used for determining the average error value of the tractor in a set period according to the steering angle calculation value of the front wheel of the tractor and the course angle measurement value;
and the correcting module is used for correcting the steering angle calculation value of the front wheel of the tractor according to the average error value.
CN202210510255.7A 2022-05-11 2022-05-11 Method and system for measuring steering angle of front wheel of tractor Pending CN114771656A (en)

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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
CN109724596A (en) * 2018-12-07 2019-05-07 江苏大学 A kind of intelligent tractor localization method based on least square method and Kalman filtering
CN209382078U (en) * 2019-01-08 2019-09-13 吉林大学 A kind of multi-axle steering control system suitable for semitrailer
CN110530361A (en) * 2019-08-26 2019-12-03 青岛农业大学 A kind of steering angle estimator based on agricultural machinery double antenna GNSS automated navigation system
WO2020090863A1 (en) * 2018-10-30 2020-05-07 東京計器株式会社 Error correction apparatus
CN114245782A (en) * 2019-08-09 2022-03-25 日本电产株式会社 Electric power steering apparatus, control apparatus used in electric power steering apparatus, and control method

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2139698Y (en) * 1992-10-07 1993-08-04 林武 Steering detecting device for car
CN105372078A (en) * 2015-11-27 2016-03-02 首都师范大学 Roller tractor turning control method and device
CN106526644A (en) * 2016-10-10 2017-03-22 上海联适导航技术有限公司 Method of calculating relative angle variation between carrier parts
CN106502252A (en) * 2016-12-05 2017-03-15 聊城大学 The tractor navigation control system of Multi-sensor Fusion and its positioning, control method
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
WO2020090863A1 (en) * 2018-10-30 2020-05-07 東京計器株式会社 Error correction apparatus
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CN209382078U (en) * 2019-01-08 2019-09-13 吉林大学 A kind of multi-axle steering control system suitable for semitrailer
CN114245782A (en) * 2019-08-09 2022-03-25 日本电产株式会社 Electric power steering apparatus, control apparatus used in electric power steering apparatus, and control method
CN110530361A (en) * 2019-08-26 2019-12-03 青岛农业大学 A kind of steering angle estimator based on agricultural machinery double antenna GNSS automated navigation system

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