Method for dynamic estimation of vehicle running gradient and relative height

A technology of dynamic estimation and relative height, applied in the field of vehicle navigation, which can solve the problems of inability to realize angle measurement, small measurement range, and single function.

Inactive Publication Date: 2009-12-09
BEIHANG UNIV
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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 traditiona

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  • Method for dynamic estimation of vehicle running gradient and relative height
  • Method for dynamic estimation of vehicle running gradient and relative height
  • Method for dynamic estimation of vehicle running gradient and relative height

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Embodiment Construction

[0067] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0068] In order to improve the accuracy of vehicle up and down slope estimation results, this method considers the compensation of installation angle, the denoising processing of acceleration data and the fusion processing of information. The method flow provided by the present invention is as follows figure 1 As shown, it is realized through the following steps:

[0069] Step 1. Roughly mark the equipment installation angle α.

[0070] After the accelerometer is processed and installed on the vehicle, there is usually an equipment installation angle α. The equipment installation angle α refers to the comprehensive installation angle, that is, the angle between the installation plane of the inertial device and the horizontal plane. The installation angle α must be calibrated before the slope calculation, so that the angle can be compensated during th...

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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...

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Application Information

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IPC IPC(8): G01C9/00G01C5/00
Inventor 张海高婷婷沈晓蓉范耀祖周艳丽刘倩张晓鸥
Owner BEIHANG UNIV
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