Method for dynamic estimation of vehicle running gradient and relative height

Abstract

The invention discloses a method for dynamic estimation of vehicle running gradient and relative height. In the method, based on a uniaxial accelerometer and an odometer hardware, an algorithm is used to calculate road grade and vehicle running relative height information, the uniaxial accelerometer is used to measure acceleration accy in the vehicle longitudinal axis direction; the odometer is used to accurately measure vehicle running speed, thus providing the vehicle with vehicle acceleration information a, and according to the geometric relationship between accy and a, gradient value and height change value can be obtained, then whether the vehicle runs upslope and downslope can be identified according to height change and restricting rules. In the process of concrete implementation, installation error of the uniaxial accelerometer, noise processing of acceleration data, alignment of data of two types of sensors and upslope and downslope identification rules are taken into consideration. The method features high measurement accuracy, improvement of stability and reliability of a system, realization of real-time measurement of vehicle running gradient and height, very high sensibility and response speed, small power dissipation, quick startup, simpleness and practicability.

Description

technical field [0001] The invention belongs to the technical field of vehicle navigation, and in particular relates to a method for dynamically detecting the slope and height of a vehicle running road in a navigation system. Background technique [0002] In the existing vehicle navigation system, the altitude information can be obtained through GPS, but due to the limitation of the measurement characteristics of the GPS system, the error of the altitude information is very large, so the altitude information directly output by the GPS receiver cannot meet the requirements of the vehicle's uphill and downhill judgment and driving The need for relative height change estimation. [0003] At present, there are two main methods for measuring the inclination angle (that is, the slope of the road): the traditional bubble-type frame (strip) level: its detection method is still "the bubble moves, and the naked eye distinguishes it". This original detection method has many shortcomin...

AI Technical Summary

Problems solved by technology

This original detection method has many shortcomings, such as the measurement value is easy for people, the function is single, and the measurement range is small; the other is the inclinometer based on the acceleration sensor: it is different from the traditional bubble type frame (bar) level Compared with electronic detection, high measurement accuracy, large measurement range, easy to use and carry, etc., but this method cannot realize angle measurement under accelerated motion, and its application is greatly limited

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