Method for estimating attitude angle of rescuing wrecker based on robust filtering

A robust filtering and wrecker technology, applied in navigation computing tools and other directions, can solve problems such as accuracy degradation, unsatisfactory estimation results, divergence, etc., and achieve low cost and easy large-scale promotion

Inactive Publication Date: 2016-05-11
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the actual application process, uncertain nonlinear noise will change the noise statistical characteristics of the MEMS acceleration sensor, thus making the preset noise model inaccurate
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Method used

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  • Method for estimating attitude angle of rescuing wrecker based on robust filtering
  • Method for estimating attitude angle of rescuing wrecker based on robust filtering
  • Method for estimating attitude angle of rescuing wrecker based on robust filtering

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Embodiment 1

[0048] In recent years, my country's rescue wrecker industry has developed rapidly. However, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year. The reason is that, in addition to the subjective factors such as operators' violation of regulations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to be unable to provide accurate attitude information and safety warnings for the driver. factor. The patent "A Method for Estimating Attitude Angle of Rescue Wrecker Vehicle Based on Kalman Filter" (Patent No.: 201410279302) proposes a method for estimating pitch angle and roll angle of rescue wrecker vehicle based on Kalman filter. In the complex rescue environment, the estimation problem of pitch angle and roll angle of large angle. This method replaces a complete six-dimensional inertial measurement un...

Embodiment 2

[0086] For checking the present invention proposes based on H ∞ The effect of the estimation method of the pitch angle and roll angle of the rescue wrecker with robust filtering is simulated in Matlab.

[0087] In order to verify the applicability of the method of the present invention for estimating the large-angle pitch angle and roll angle when the statistical characteristics of the interference signal cannot be known exactly, the H ∞ Filtering and direct measurement method, Kalman filtering method were simulated and compared. The pitch and roll angles are selected to be 35° and -35°, respectively. In the simulation, the measurement noise of longitudinal acceleration and lateral acceleration is set to a standard deviation of 0.05m / s 2 The colored noise, the distribution of the colored noise conforms to the second-order moving average model. Set H ∞ The gamma value in filtering is 1.3.

[0088] Table 1 and figure 2 , image 3 The results of simulation experiments are...

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Abstract

The invention discloses a method for estimating an attitude angle of a rescuing wrecker based on robust filtering. The method comprises the following steps: firstly, constructing a kinematic model of the rescuing wrecker according to the working characteristics of the rescuing wrecker, and then utilizing a robust filtering algorithm to acquire accurate estimated values of a pitch angle and a lateral inclination angle of the rescuing wrecker, on the basis of the model. According to the method provided by the invention, the pitch angle and the lateral inclination angle of the rescuing wrecker under the working condition of higher gradient can be estimated under the condition that the statistical properties of the interference signal cannot be accurately known. The method has the advantages of high precision, low cost, excellent instantaneity, wide application scope, etc., and can be used for monitoring the posture of the rescuing wrecker and early warning for the dangerous posture.

Description

technical field [0001] The invention relates to a method for estimating the attitude angle of a rescue wrecker, in particular to a method based on H ∞ A method for estimating the attitude angle of rescue wrecker vehicles based on robust filtering aims to provide attitude monitoring and warning of dangerous attitudes for rescue wreckers, and belongs to the field of early warning of rescue wrecker vehicles. Background technique [0002] In recent years, my country's rescue and wrecker vehicles have developed rapidly. However, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year. The reason is that, in addition to the subjective factors such as operators' violation of regulations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to be unable to provide accurate attitude information and safety warnings...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李旭蒋荣陈伟徐启敏
Owner SOUTHEAST UNIV
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