Method for estimating attitude angles of rescuing and obstacle-clearing vehicle

Abstract

The invention discloses a method for estimating the attitude angles of a rescuing and obstacle-clearing vehicle. According to the method, the rescuing and obstacle-clearing vehicle is subjected to dynamics modeling according to the work characteristics of the rescuing and obstacle-clearing vehicle; the estimated values of the attitude angles, such as side rake angle, pitch angle and the like, of the rescuing and obstacle-clearing vehicle are obtained by a recursive least-square method, and can be applied to attitude monitoring and dangerous attitude early warning of the rescuing and obstacle-clearing vehicle, so the method has the significant advantages of high precision, low cost, high real-time property and the like.

Description

technical field [0001] The invention relates to a method for estimating the attitude angle of a rescue wrecker, the purpose of which is to perform dynamic modeling on the rescue wrecker according to its working characteristics, and obtain the rescue by using the recursive least squares method with a variable forgetting factor Estimated values ​​of attitude angles such as roll angle and pitch angle of the wrecker. These estimated values ​​can be used for attitude monitoring and dangerous attitude warning of rescue wreckers. They have significant advantages such as high precision, low cost, and good real-time performance. They belong to rescue wreckers security warning field. Background technique [0002] According to the statistics of relevant departments, in recent years, the accidents of overturning rescue wreckers have occurred frequently, and there are often failures to safely rescue the rescued vehicles, and the rescue wreckers themselves have rollover or tipping acciden...

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Problems solved by technology

However, in fact, the direct integration method will lead to large drift due to sensor errors and inevitable numerical calculation errors, especially when using low-cost MEMS (Micro-Electro-Mechanic System, Micro-Electro-Mechanical System) sensors on board

[0004] As for the rescue wrecker, only the boom is used to carry out the rescue work, and the body and the ground are in a relatively static state, so this working characteristic can be used to further simplify the dynamic equation reasonably, real-time , Accurately estimate the attitude angles such as the roll angle and pitch angle of the rescue wrecker, and monitor the attitude of the rescue wrecker, but there is no relevant research so far

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