Kalman filtering based method for estimating roll angle and pitching angle of vehicle

A technology of Kalman filtering and pitch angle, applied in the field of vehicle positioning and navigation

Active Publication Date: 2014-09-24
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In these cases, the pitch angle and roll angle are relatively large, and it is impossible to pe

Method used

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  • Kalman filtering based method for estimating roll angle and pitching angle of vehicle
  • Kalman filtering based method for estimating roll angle and pitching angle of vehicle
  • Kalman filtering based method for estimating roll angle and pitching angle of vehicle

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Embodiment Construction

[0045] Intelligent Transportation Systems (Intelligent Transportation Systems, ITS) has been paid more and more attention by developed countries such as Europe, Japan, and the United States, and has become a research hotspot. The development of intelligent vehicles and vehicle autonomous driving systems is the best choice to achieve safe and efficient autonomous driving by improving the vehicle's own intelligence. An important basis for the development of intelligent transportation systems is to obtain accurate and reliable vehicle positioning information in real time. In order to make up for the inability of GPS to locate when the antenna is blocked, the development of GPS / INS integrated navigation system has attracted extensive attention of scholars at home and abroad.

[0046] Due to the existence of the longitudinal and transverse slope of the road and the movement of the vehicle suspension, there will be a certain roll angle and pitch angle in the driving process of the f...

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Abstract

The invention discloses a Kalman filtering based method for estimating roll angle and pitching angle of a vehicle. Aiming at four-wheel land vehicles, the method establishes a kinematic model conforming to the driving characteristics of the vehicles, and further realizes real-time and accurate estimation of roll angle and pitching angle of the vehicles by a Kalman filtering method. The method provided by the invention is also applicable for estimation of large roll angle and pitching angle, meets application requirements under complicated conditions, and only requires a low cost vehicle sensor. The estimated roll angle and pitching angle information is key parameters for vehicle integrated navigation and positioning.

Description

technical field [0001] The invention relates to a method for estimating vehicle roll angle and pitch angle based on Kalman filtering, which aims to provide vehicle attitude angle estimation with high precision, low cost, high real-time performance and wide application range for vehicle integrated navigation and positioning, and belongs to automobile Locate the navigation field. Background technique [0002] Intelligent Transportation Systems (Intelligent Transportation Systems, ITS) has been paid more and more attention by developed countries such as Europe, Japan, and the United States, and has become a research hotspot. The development of intelligent vehicles and vehicle autonomous driving systems is the best choice to achieve safe and efficient autonomous driving by improving the vehicle's own intelligence. An important basis for the development of intelligent transportation systems is to obtain accurate and reliable vehicle positioning information in real time. In orde...

Claims

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Application Information

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IPC IPC(8): G01C1/00G01C9/00
CPCG01C1/00G01C9/00
Inventor 李旭徐启敏宋翔
Owner SOUTHEAST UNIV
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