Front wheel angle measuring system based on double GNSS antennas and uniaxial MEMS gyroscope

Abstract

The invention discloses a front wheel angle measuring system based on double GNSS antennas and a uniaxial MEMS gyroscope. The system is mainly composed of a uniaxial MEMS gyroscope which can be mounted on a wheel of a vehicle, two GNSS receivers which can be mounted on two sides of the vehicle body and a navigation control computer. A group of moving information data is measured for each part of the system by using the uniaxial MEMS gyroscope and the two GNSS receivers, and information on moving data of each part is processed to obtain moving gesture information of a main body and related angular moving information between the main body and a rotating mechanism; and the GNSS antennas and the uniaxial MEMS gyroscope collect moving part data, and the navigation control computer substitutes the speed resolved by the GNSS antennas after error compensation of a lever arm into a Kalman filter model to estimate the rotating angle of the wheel relative to the main body. The double GNSS antenna system can eliminate or reduce atmospheric errors and ionospheric errors. The moving information of the system is collected by using the uniaxial MEMS gyroscope, so that the system cost is lowered and the system mounting process is simplified.

Description

technical field [0001] The invention belongs to the field of navigation control and position tracking, in particular to a method for combining navigation and angle measurement of a MEMS inertial measurement device and a satellite positioning system. [0002] technical background [0003] Farm vehicles controlled by autopilot are essential for efficient and precise farm work. Compared with human operations, the vehicle controlled by the autopilot can complete more precise driving and will not feel tired when performing repeated operations. Therefore, self-driving agricultural vehicles can effectively improve the efficiency of farmland operations and reduce operating costs. [0004] In an automatic driving system, the rotation angle of the wheels relative to the vehicle body is essential information for vehicle control. Although the mechanical angle sensor used in the existing automatic driving system can provide angle information that meets the requirements, the installation...

AI Technical Summary

Problems solved by technology

Although the mechanical angle sensor used in the existing automatic driving system can provide angle information that meets the requirements, the installation, maintenance and replacement process is complicated, time-consuming and labor-intensive

Chinese patent application No. 200680045195.5 uses an inertial measurement unit (IMU) as an angle sensor to calculate the wheel rotation angle through an algorithm, but the system installs inertial measurement devices on the vehicle body and wheels separately, which increases the system cost, and the inertial devices are affected The vibration of the vehicle body is greatly affected, and there is a lever arm error between the GPS antenna solution speed and the actual calculation speed, which affects the system accuracy

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