Automobile dynamic parameter measuring method based on double global positioning and inertia measurement

Abstract

The invention relates to an automobile dynamic parameter measuring method based on double global positioning and inertia measurement, and belongs to the technical field of automobile parameter testing. Two global positioning modules and an inertia measurement module are arranged on an automobile body, and are used to together finish measurements of a side slip angle beta of the automobile body, aside acceleration ay 1 which is caused by a swerving of the automobile body, a heading angle psi of the automobile body, a side dip angle phi of the automobile body, a lateral acceleration ay1 at thecentroid position of the automobile body, a longitudinal acceleration aX at the centroid position of the automobile body, a yaw rate r at the centroid position of the automobile body and a side dip angle p at the centroid position of the automobile body. According to the automobile dynamic parameter measuring method based on the double global positioning and inertia measurement, measured dynamic parameters can be used as reference variables of a control of preventing automobile rollover, and the safety of automobile operation can be improved.

Description

technical field [0001] The invention relates to a method for measuring vehicle dynamics parameters based on dual global positioning and inertial measurement, and belongs to the technical field of vehicle parameter testing. Background technique [0002] The measurement and acquisition of vehicle motion state information is a basic problem in the research and design of vehicle handling stability, and it is also a necessary condition for realizing electronic control of vehicle stability. There is a need for a method and device for measuring important parameters of the vehicle's motion state that are fast, easy to operate, and have a wide range of applications with sufficient accuracy and confidence. The inertial measurement unit based on micromechanical sensor (hereinafter referred to as MEMS) technology is an inertial sensor used to measure the motion attitude of a moving body, and it is widely used in the fields of aviation, navigation and land navigation. [0003] IMU has t...

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Problems solved by technology

[0003] IMU has the advantages of autonomy, strong anti-interference ability, and high short-term accuracy. The disadvantage is that the inherent drift error of the gyro makes the long-term accuracy not high; GPS has the advantages of all-weather, global and high-precision navigation or attitude measurement, and high long-term measurement accuracy. Because the error does not accumulate over time, the update rate of system information is low, and it is susceptible to electromagnetic interference. In complex road sections, such as high buildings, boulevards, bridges, and tunnels, it is easy to cause signal loss, that is, there are "blind spots"

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