摘要
为解决履带车辆运动轨迹分析所需的高精度定位问题,以履带车辆主动轮转速为输入,通过转向运动学分析、连续转向过程中的坐标转换、滑移滑转相对偏移量引入等手段,构建了一种求解履带车辆连续运动轨迹的方法。试验验证结果表明:采用该方法求解的定位精度小于0.2 m,能满足履带车辆运动轨迹分析的基本要求。
In order to solve the problem of high-precision location of moving tracked vehicles,taking the driving wheel rotational speed as basic input data,through steering kinesiology analysis,continuous coor-dinate transformation in steering and relative offset calculation of slip,an calculation method for continu-ous moving path of tracked vehicles is constructed.Experiments indicate that the mean error between the location precision by above method is less than 0.2 m,which can meet the basic requirements for vehicle moving path analysis.
出处
《装甲兵工程学院学报》
2015年第1期51-53,共3页
Journal of Academy of Armored Force Engineering
关键词
运动轨迹
主动轮转速
履带车辆
moving path
driving wheel rotational speed
tracked vehicle
