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

An antenna system and gyroscope technology, applied in radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., can solve problems such as complicated installation, maintenance and replacement process, time-consuming and manpower-consuming, and increased system cost, etc., to achieve The effect of simplifying the installation process, reducing system cost, and reducing atmospheric errors

Pending Publication Date: 2017-08-18
SHANGHAI ALLYNAV TECH CO LTD
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  • Application Information

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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 an

Method used

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

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[0021] Such as figure 1 As shown, the structure of an example of the invention patent mainly includes: GNSS antennas (1) and GNSS antennas (2) installed on both sides of the vehicle body, a single-axis MEMS gyroscope (3) installed on the front wheel structure, and Corresponding hardware circuit and navigation computer. GNSS antennas (1) and (2) are installed on both sides of the car body, and the baseline between the installation positions is perpendicular to the central axis from the front to the rear of the car; the dual antenna system is responsible for receiving information such as the speed and position of the main body's movement, and through dual GNSS The attitude determination algorithm calculates the heading angle of the carrier. The single-axis MEMS gyroscope 3 is installed on the wheel steering component and rotates with the wheel, the sensitive axis is perpendicular to the ground, and the angular rate of the wheel rotation is measured.

[0022] figure 2 Shown is th...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/47G01S19/40G01S19/53
CPCG01C21/165G01S19/40G01S19/47G01S19/53Y02T10/40
Inventor 缪存孝楚焕鑫徐纪洋马飞李晓宇
Owner SHANGHAI ALLYNAV TECH CO LTD
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