Vehicle front wheel rotation tracking system and algorithm thereof

Abstract

The invention provides a vehicle front wheel rotation tracking system. The system comprises a main single-axis gyro, a subsidiary single-axis gyro, a GNSS receiver and a CPU processor, the main single-axis gyro is used for measuring the rotational angular velocity of a vehicle main body, the subsidiary single-axis gyro is used for measuring the angular velocity of a front wheel supporting position, the GNSS receiver is used for acquiring the forward velocity of a vehicle in real time, the CPU processor is used for acquiring and synchronizing the observation angular velocities and the GNSS velocities of the main single-axis gyro and the subsidiary single gyro and running a vehicle front wheel rotation tracking algorithm. The system replaces a conventional mechanical angle sensor having thedisadvantages of needing of a mounting bracket, zero calibration and easy wearing, and provides the front wheel rotation angle and angular velocity for automatic driving and control of agricultural machines, engineering vehicles and other wheeled vehicles.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a vehicle front wheel rotation tracking system and algorithm. Background technique [0002] With the development of sensor and control technology and the national promotion of Beidou navigation and positioning industry, a technological change of automatic driving is being set off in the fields of precision agriculture and digital construction. Rotational angular velocity is an important parameter for vehicle control. At present, there are two main tracking schemes for vehicle front wheel angle and rotational angular velocity: mechanical angle sensor scheme and single-axis gyro scheme based on vehicle kinematics model. [0003] The basic principle of the mechanical angle sensor is as follows: There is a hole on the mechanical angle sensor for use with the drive shaft. The mechanical angle sensor divides a week into n parts. When the shaft rotates 1 / n times, The angle sensor counts ...

AI Technical Summary

Problems solved by technology

However, the use of mechanical angle sensors has the following limitations: 1. The installation bracket needs to be customized according to the usage scenario; 2. Zero calibration is required before use, and the quality of the calibration directly affects the absolute accuracy of angle measurement; 3. Because the mechanical angle sensor is The contact mechanical structure inevitably produces wear and tear during use, and requires regular inspection, calibration and replacement; 4. In general, mechanical angle sensors can only provide angle output, but not angular velocity output

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