缪存孝,楚焕鑫,孙志辉,徐纪洋,马飞.基于双GNSS天线及单陀螺的车轮转角测量系统[J].农业机械学报,2017,48(9):17-23.
MIAO Cunxiao,CHU Huanxin,SUN Zhihui,XU Jiyang,MA Fei.Wheel Turning Angle Measurement System Based on Double GNSS Antennas and Single Gyro[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):17-23.
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基于双GNSS天线及单陀螺的车轮转角测量系统   [下载全文]
Wheel Turning Angle Measurement System Based on Double GNSS Antennas and Single Gyro   [Download Pdf][in English]
投稿时间:2017-03-24  
DOI:10.6041/j.issn.1000-1298.2017.09.002
中文关键词:  车轮转角  双GNSS天线  单轴MEMS陀螺  卡尔曼滤波
基金项目:国家自然科学基金项目(61603035)
作者单位
缪存孝 北京科技大学 
楚焕鑫 北京科技大学 
孙志辉 北京科技大学 
徐纪洋 上海联适导航技术有限公司 
马飞 上海联适导航技术有限公司 
中文摘要:针对农业机械自动导航中,传统绝对角度传感器连接件多、安装复杂且容易出现故障,而陀螺测量前轮转角虽然安装容易,但陀螺零偏等仪器误差造成测量误差随时间累积的问题,提出了基于双GNSS天线和单轴MEMS陀螺组合测角系统,该系统通过双GNSS天线解算的航向角、速度等信息计算观测量,通过卡尔曼滤波器对陀螺计算的角度进行实时校正,提高了车轮转角的测量精度。实车试验结果表明,该系统具有较好的合理性和准确性,车轮转角测量结果与绝对角度传感器输出结果比较:直线试验误差在0.5°以内,曲线试验误差在1°以内,满足了农业机械自动导航的测角精度要求。
MIAO Cunxiao  CHU Huanxin  SUN Zhihui  XU Jiyang  MA Fei
University of Science and Technology Beijing,University of Science and Technology Beijing,University of Science and Technology Beijing,Shanghai AllyNav Technology Co., Ltd. and Shanghai AllyNav Technology Co., Ltd.
Key Words:wheel turning angle  double GNSS antennas  uniaxial MEMS gyro  Kalman filter
Abstract:For the problem that the traditional angle sensor’s complex mechanical structure and prone to failure and the gyro bias cause the error accumulates over time in automatic driving system, a wheel turning angle measurement system based on double GNSS antennas and single gyro was proposed. The system’s sensors mainly included two GNSS antennas and a MEMS gyro. The double GNSS antennas were mounted on both side of the vehicle and provided the speed, attitude angle, latitude and longitude of the vehicle. The single MEMS gyro was mounted on the wheel and the angular rate was measured. An algorithm used the above data was designed to integrate the angular rate to obtain the steering angle. In order to solve the problem that the error accumulates over time, a Kalman filter based on the vehicle dynamics model was designed to calibrate the error of integration of the gyro data. At the same time, the lever-arm compensation algorithm was used to solve the speed error caused by lever-arm. The straight line experiment was carried out to verify the effectiveness of the system and the curve line experiment was carried out to verify the effectiveness of the lever-arm compensation algorithm. Compared the steering angle of the proposed system with the Hall effect angular sensor, the average error of the straight line experiment was -0.064°and the error variance was 0.309°and the cure line experiment’s mean error was 0.299°and the error variance was 1.009°. The result of the experiments showed that this system could replace the traditional angle sensor and it was easy to install and overhaul.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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