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Kalman filtering-based method for estimating attitude angle of rescue wrecker

A technology of Kalman filtering and wreckers, applied in the direction of measuring angles, measuring devices, instruments, etc.

Inactive Publication Date: 2014-09-10
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In these cases, the pitch angle and roll angle are relatively large, and it is impossible to perform approximately equal processing. The above method will be limited in practical application

Method used

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  • Kalman filtering-based method for estimating attitude angle of rescue wrecker
  • Kalman filtering-based method for estimating attitude angle of rescue wrecker
  • Kalman filtering-based method for estimating attitude angle of rescue wrecker

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] In recent years, in order to solve the problem of wrecking and rescue after road traffic accidents, my country's rescue wreckers have developed rapidly. At the same time, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year, and there are often situations where accidents occur when the rescued vehicles cannot be safely rescued. The reason is that, in addition to the subjective factors such as operators' illegal operations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to provide accurate attitude information and safety warnings for the driver. factor. The patent "A Rescue Wrecker Attitude Angle Estimation Method" (public number: CN103616013A) proposes a Rescue Wrecker Attitude Angle Estimation Method based on Recursive Least Squares (RLS), which fills the gap in this field in China , has th...

Embodiment 2

[0076]In order to test the effect of the method for estimating the roll angle and pitch angle of the rescue wrecker based on the Kalman filter proposed by the present invention, a simulation test is carried out in Matlab.

[0077] In order to verify the applicability of the method of the present invention to large-angle pitch and roll angles, the pitch and roll angles are selected to be 30° and -30°, respectively. The measurement noises of the longitudinal acceleration and the lateral acceleration are Gaussian white noise with a mean value of 0 and a standard deviation of 50 mg.

[0078] Table 1 and figure 1 , figure 2 The results of simulation experiments are given. Table 1 lists the comparison of the statistical results of calculating the roll angle and pitch angle of the vehicle using the direct measurement method and the method of the present invention, and the errors in the table are all relative to the set values. In addition, it should be pointed out that: the direc...

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Abstract

The invention discloses a Kalman filtering-based method for estimating an attitude angle of a rescue wrecker. A kinetic model of the rescue wrecker is built, a computing formula of a roll angle and a pitch angle is simplified according to the working characteristics, and the estimated values of the roll angle and the pitch angle of the rescue wrecker are obtained by use of a Kalman filtering algorithm. According to the method, few sensors are used, the relatively large roll angle and the relatively large pitch angle can be estimated under a complex rescue environment, and the method has the remarkable advantages of high precision, low cost, good real-time performance, wide application range and the like, and can be used for posture monitoring and dangerous posture prewarning of the rescue wrecker.

Description

technical field [0001] The present invention relates to a method for estimating the attitude angle of a rescue wrecker, in particular to a method for estimating the attitude angle of a rescue wrecker based on Kalman filtering. Wrecker safety early warning field. Background technique [0002] In recent years, in order to solve the problem of wrecking and rescue after road traffic accidents, my country's rescue wreckers have developed rapidly. At the same time, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year, and there are often situations where accidents occur when the rescued vehicles cannot be safely rescued. The reason is that, in addition to the subjective factors such as operators' illegal operations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to provide accurate attitude information...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C1/00
Inventor 李旭徐启敏宋翔
Owner SOUTHEAST UNIV
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