摘要
利用惯性导航技术进行汽车运动学的参数的辨识等相关研究中车载惯性单元的建模与仿真是一个关键问题。在该问题的解决中提出了一种基于整车动力学模型和惯性器件数学模型相结合的车载惯性单元仿真模型。其中在车辆轨迹仿真模块中结合实际驾驶经验对汽车的运动形式进行合理简化。最后通过捷联惯导姿态算法,验证了该模型能够满足车载惯性器件的仿真需求。
Modeling and simulation of vehicle inertial measurement unit is one of key issues in vehicle dynam- ics parameters identification and its related researches which based on inertial navigation technology. To solve this problem, a vehicle inertial sensor simulation model was proposed. It combines a whole vehicle dynamics model and an inertial sensor mathematical model. First, motion equations of the vehicle trajectory simulation module were simplified through considering the actual driving experience. Then a simulation data generator of vehicle inertial measurement unit was designed. Finally, the proposed model was verified by performing strap- down inertial attitude algorithm simulation.
出处
《组合机床与自动化加工技术》
北大核心
2009年第9期15-18,21,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
西安科技大学培养基金(200630)
关键词
惯性测量单元
整车动力学模型
惯性器件仿真
车辆姿态
惯性导航
inertial measurement unit
whole vehicle dynamics model
the inertial sensor simulator
vehicle attitude
inertial navigation
