A method for tracking the front wheel rotation of a vehicle

Abstract

The invention provides a vehicle front wheel rotation tracking system, which includes a main single-axis gyro, a sub-uniaxial gyro, a GNSS receiver and a CPU processor. The main single-axis gyro is used to measure the rotational angular velocity of the vehicle body. The single-axis gyro is used to measure the angular velocity of the front wheel support position, the GNSS receiver is used to obtain the forward speed of the vehicle in real time, and the CPU processing is used to obtain the observed angular velocity and GNSS speed of the main single-axis gyro and sub-uniaxial gyro Synchronization with vehicles, as well as the operation of the vehicle front wheel rotation tracking algorithm, the invention replaces the traditional mechanical angle sensors that require mounting brackets, zero calibration and easy wear, and provides automatic driving for wheeled vehicles such as agricultural machinery and engineering vehicles. And control provides front wheel turning angle and angular velocity.

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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