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CN108663036B - Method for tracking rotation of front wheel of vehicle - Google Patents

Method for tracking rotation of front wheel of vehicle Download PDF

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Publication number
CN108663036B
CN108663036B CN201810293967.1A CN201810293967A CN108663036B CN 108663036 B CN108663036 B CN 108663036B CN 201810293967 A CN201810293967 A CN 201810293967A CN 108663036 B CN108663036 B CN 108663036B
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front wheel
gyroscope
axis gyroscope
vehicle
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CN108663036A (en
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邓海峰
王杰俊
沈雪峰
杨尹
沈礼伟
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Nanjing Gallop Sky Electronic Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles

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Abstract

The invention provides a vehicle front wheel rotation tracking system which comprises a main single-shaft gyroscope, a sub single-shaft gyroscope, a GNSS receiver and a CPU (central processing unit), wherein the main single-shaft gyroscope is used for measuring the rotation angular velocity of a vehicle body, the sub single-shaft gyroscope is used for measuring the angular velocity of a front wheel supporting position, the GNSS receiver is used for acquiring the advancing speed of a vehicle in real time, and the CPU is used for acquiring and synchronizing the observed angular velocity of the main single-shaft gyroscope, the sub single-shaft gyroscope and the GNSS speed and operating a vehicle front wheel rotation tracking algorithm.

Description

Method for tracking rotation of front wheel of vehicle
Technical Field
The invention relates to the field of data processing, in particular to a vehicle front wheel rotation tracking system and an algorithm.
Background
With the development of sensors and control technologies and the popularization of the Beidou navigation and positioning industry by the state, the technical change of automatic driving is being raised in the fields of precision agriculture, digital construction and the like, in the automatic driving process of a vehicle, the corner and the rotating angular velocity of a front wheel are important parameters for vehicle control, and the current tracking scheme of the corner and the rotating angular velocity of the front wheel of the vehicle mainly comprises a mechanical angle sensor scheme and a single-shaft gyro scheme based on a vehicle kinematic model.
The basic principle of the mechanical angle sensor is as follows: the mechanical angle sensor is provided with a hole for matching with the transmission shaft, the mechanical angle sensor equally divides a circle into n parts, and the angle sensor counts once when the shaft rotates by 1/n circle; as the shaft rotates in a forward direction, the count increases; when the shaft rotates reversely, the count is reduced; when recounting is needed, the counter can be reset; the mechanical angle sensor calculates the rotating angle by means of the counting mode. However, the use of mechanical angle sensors has the following limitations: 1. the mounting bracket needs to be customized according to the use scene; 2. zero calibration is needed before use, and the calibration quality directly influences the absolute precision of angle measurement; 3. because the mechanical angle sensor is a contact type mechanical structure, abrasion is inevitably generated in the use process, and the mechanical angle sensor needs to be regularly checked, calibrated and replaced; 4. typically, mechanical angle sensors can only provide an angular output, but not an angular velocity output.
Disclosure of Invention
In order to solve the defects, the invention provides a vehicle front wheel rotation tracking system and an algorithm, which replace the traditional mechanical angle sensor needing a mounting bracket, zero calibration and easy abrasion and provide the front wheel rotation angle and the angular speed for the automatic driving and control of wheel type carriers such as agricultural machinery, engineering vehicles and the like.
The invention provides a vehicle front wheel rotation tracking system which comprises a main single-axis gyroscope, a sub single-axis gyroscope, a GNSS receiver and a CPU processor, wherein the main single-axis gyroscope is used for measuring the rotation angular velocity of a vehicle body, the sub single-axis gyroscope is used for measuring the angular velocity of a front wheel supporting position, the GNSS receiver is used for acquiring the advancing speed of a vehicle in real time, and the CPU processor is used for acquiring and synchronizing the main single-axis gyroscope, the sub single-axis gyroscope, the GNSS receiver and the CPU processor and running a vehicle front wheel rotation tracking algorithm.
The vehicle front wheel turning tracking system described above, wherein said main single-axis gyro is mounted at a vehicle center position for measuring a turning angular velocity of the vehicle body and calculating a front wheel turning angular velocity using the angular velocity and an angular velocity measured by a single-axis gyro mounted on a vehicle front wheel; and then the angular velocity is combined with a vehicle kinematics model to calculate the rotation angle of the front wheel.
In the vehicle front wheel turning tracking system, the sub single-axis gyro is mounted on a vehicle front wheel support, measures the magnitude of the angular velocity at the front wheel support position, and calculates the front wheel turning angular velocity using the angular velocity and the measured value of the single-axis gyro mounted on the vehicle main body.
Another aspect of the present invention provides a method for tracking the turning of a front wheel of a vehicle, comprising the steps of:
finishing initialization of a GNSS receiver, and transmitting speed information and PPS signals output by the GNSS receiver into a CPU processor;
finishing initialization of the main single-axis gyroscope and the sub single-axis gyroscope and performing zero offset compensation on output;
time synchronization is carried out on the GNSS speed information and the angular speed information of the main single-axis gyroscope and the sub single-axis gyroscope according to the PPS signal of the GNSS receiver and the clock of the CPU processor;
calculating the rotation angular velocity of the front wheel according to the angular velocities output by the main single-axis gyroscope and the sub single-axis gyroscope;
step (5) updating Kalman filter time;
judging whether the GNSS speed is updated, if not, measuring and updating by using a front wheel rotating angular speed wa calculated according to the angular speed output by the main single-axis gyroscope and the sub single-axis gyroscope, and if so, calculating a front wheel rotating angle W according to a vehicle kinematic model and measuring and updating by using W;
and (7) judging whether the vehicle is in a static state or not according to the GNSS speed, and adaptively updating the zero offset of the main single-axis gyroscope and the sub single-axis gyroscope if the vehicle is in the static state.
The method described above, wherein the step (2) specifically includes: finishing the initialization of the main single-axis gyroscope and the sub single-axis gyroscope, wherein the angular speed output of the gyroscope contains a zero offset item b, so that the average value of a section of static output is taken as the zero offset of the gyroscope output, the calculation of the zero offset is finished in the initialization process, and the zero offset compensation is carried out on the gyroscope output;
Figure GDA0003244621020000031
Figure GDA0003244621020000032
outputting the gyro angular velocity;
Figure GDA0003244621020000033
a true angular velocity; b: zero bias of the gyroscope; w: the gyroscope measures noise.
The method described above, wherein the step (4) specifically includes: calculating the rotation angular velocity of the front wheel according to the angular velocities output by the main single-axis gyroscope and the sub single-axis gyroscope;
Figure GDA0003244621020000034
and wa: front wheel turning angular velocity;
Figure GDA0003244621020000035
zero-bias angular speed output of the front-wheel single-shaft gyroscope;
Figure GDA0003244621020000036
and outputting the zero-bias angular speed of the main control gyroscope.
The method described above, wherein the step (5) specifically includes: updating Kalman filter time;
updating an equation according to the angle:
Figure GDA0003244621020000037
w: the rotation angle of the front wheel;
discretizing equation 3:
Wk＝Wk-1+(wa-bBA) dt + w (equation 4)
bBA: residual zero offset after zero offset compensation is carried out on the gyro of A, B; dt: a sampling interval;
selecting W, wa and bBAAs state space of the filter: x ═ W wa bBA]' the state transition matrix of the Kalman filter can be extracted according to equation 4:
Figure GDA0003244621020000038
the corresponding system transfer noise matrix:
Figure GDA0003244621020000041
qwaand q isbCan be selected according to the sensor specification, qWIt can be chosen empirically, and then the following Kalman equation of state:
xk＝Fxk-1+ Q (formula 5)
If the wheel turning speed wa is taken as observation, a design matrix is available: h1＝[0 1 0]If the wheel rotation angle W is used as observation, a design matrix is provided: h2＝[1 0 0]Then, the following Kalman measurement equation is used:
zk＝H1,2xk+ R (equation 6)
R can be given from the sensor specifications and calculated from the law of error propagation.
The method described above, wherein the step (6) specifically includes: judging whether the GNSS speed is updated, if not, measuring and updating by using a front wheel rotating angular speed wa calculated according to the angular speeds output by the main single-axis gyroscope and the sub single-axis gyroscope, and if the GNSS speed is updated, calculating a front wheel rotating angle W according to a vehicle kinematics model (formula 7) and measuring and updating by using W;
Figure GDA0003244621020000042
the invention has the following beneficial effects: 1. the invention adopts the design scheme of the single-shaft gyroscope to replace the traditional mechanical angle sensor scheme, avoids the work of customizing a bracket, zero calibration, periodic calibration and the like, and is easy to install and maintain; 2. the method adopts a data fusion technology based on a Kalman filter, fuses the angular velocity integral result of the single-axis gyroscope and the vehicle kinematic model calculation result, fully exerts the advantages of good dynamic property and high short-term precision of the gyroscope, and estimates the whole zero-offset term, thereby improving the estimation precision of the wheel rotation angular velocity; 3. the method fully utilizes the speed information of the GNSS to judge the motion state of the carrier, thereby carrying out self-adaptive compensation on the zero offset of the main gyroscope and the sub gyroscope; 4. the invention can simultaneously output the front wheel rotation angle and the front wheel rotation angular speed, and can provide more control parameters for a control algorithm, thereby improving the control effect.
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The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a layout of a vehicle front wheel steering tracking arrangement according to the present invention;
FIG. 2 is a schematic diagram of a vehicle front wheel steering tracking algorithm of the present invention;
FIG. 3 is a flow chart of an implementation of a vehicle front wheel steering angle tracking algorithm in accordance with the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
In the present invention, first, the following will be explained: the single-shaft gyroscope can measure the angular velocity rotating around the output shaft of the single-shaft gyroscope, integrates the angular velocity to obtain the rotating angle of the wheel, and has the characteristics of high short-term precision and good dynamic property. The single-axis gyroscope scheme based on the vehicle kinematics model utilizes the single-axis gyroscope to track the rotation dynamics of the front wheel, calculates the absolute value of the rotation angle of the front wheel according to the vehicle kinematics model, and utilizes a Kalman filter to fuse the angular velocity data measured by the single-axis gyroscope and the angular data calculated by the kinematics model to realize the tracking of the rotation angle and the rotation angular velocity of the front wheel.
Kalman filtering is a filtering algorithm proposed by r.e.kalman, which is a recursive linear minimum variance estimation that characterizes the various physical quantities of the system by "states" and describes the dynamical model of the system by "state equations" and "measurement equations". Because the single-axis gyroscope can only measure the relative angle of the rotation of the front wheel, and because the angular velocity measured by the single-axis gyroscope has system error and random noise, the angular error can be accumulated along with the integration time; the front wheel rotation angle calculated according to the vehicle kinematics model is large in noise, low in frequency and unreliable in value under the low-speed condition, so that the single-axis gyro data and the vehicle kinematics model data are integrated by adopting a Kalman filtering information fusion technology, and the performance of the single-axis gyro data and the performance of the vehicle kinematics model data are complementary and make up for the deficiencies of each other.
Referring to fig. 1-3, the invention provides a front wheel turning tracking system of a vehicle, a main single-axis gyroscope, a sub single-axis gyroscope, a GNSS receiver, a CPU processor and the like. The main single-shaft gyroscope (A) is arranged at the central position of the vehicle and is mainly used for measuring the rotating angular velocity of the vehicle main body, and the rotating angular velocity of the front wheel is calculated by using the angular velocity and the angular velocity measured by the single-shaft gyroscope arranged on the front wheel of the vehicle; calculating the rotation angle of the front wheel by using the angular velocity and a vehicle kinematic model, wherein a sub-single-shaft gyroscope (B) is arranged on a vehicle front wheel support and is mainly used for measuring the angular velocity of the front wheel support position, and the angular velocity and the measurement value of the single-shaft gyroscope arranged on the vehicle body are used for calculating the rotation angular velocity of the front wheel; the GNSS receiver acquires the advancing speed of the vehicle in real time; the CPU mainly realizes the acquisition and synchronization of the observation angular velocity and the GNSS velocity of the main single-axis gyroscope and the sub single-axis gyroscope and the operation of a vehicle front wheel rotation tracking algorithm.
In the present invention, referring to fig. 1, a: the single-axis gyroscope installed in the center of mass of the carrier is called as a master control gyroscope, A can be an independent single-axis gyroscope or can be output of a Z-axis gyroscope of an IMU in a navigation controller and is used for measuring the rotating angular speed of the carrier around a vertical axis; b: a single axis gyroscope mounted on the front wheel, B is typically a single axis gyroscope used to measure the angular velocity of the front wheel rotation; GNSS: a GNSS receiver for measuring the speed of movement of the vehicle; Ψ: turning a front wheel; l: the vehicle wheel base is measured in advance or obtained from the vehicle structure design; a CPU: and the CPU processor is mainly used for acquiring and synchronizing the observation angular velocity and the GNSS velocity of the main single-axis gyroscope and the sub single-axis gyroscope and running a vehicle front wheel rotation tracking algorithm.
Referring to fig. 2 and 3, a method of vehicle front wheel turn tracking includes the steps of:
step (1): finishing the initialization of the GNSS receiver, and transmitting the speed information output by the GNSS receiver and the PPS signal into a CPU processor;
step (2): a, B, finishing initialization of the gyroscope, taking a section of static output mean value as zero offset of the gyroscope output because the angular velocity output of the gyroscope contains a zero offset item b, finishing calculation of the zero offset in the initialization process, and performing zero offset compensation on the gyroscope output;
Figure GDA0003244621020000061
Figure GDA0003244621020000071
outputting the gyro angular velocity;
Figure GDA0003244621020000072
a true angular velocity; b: gyroscope zero bias (note that zero bias is unstable and there is instability over time); w: the gyroscope measures noise.
And (3): time synchronization is carried out on the GNSS speed information and the angular speed information of the A, B gyro according to the PPS signal of the GNSS receiver and the clock of the CPU;
and (4): calculating the rotation angular speed of the front wheel according to the angular speed output by the A, B gyroscope;
Figure GDA0003244621020000073
and wa: front wheel turning angular velocity;
Figure GDA0003244621020000074
zero-bias angular speed output of the front-wheel single-shaft gyroscope;
Figure GDA0003244621020000075
and outputting the zero-bias angular speed of the main control gyroscope.
And (5): kalman filter time update, the design of the front wheel rotation tracking algorithm filter is elaborated here;
updating an equation according to the angle:
Figure GDA0003244621020000076
w: the rotation angle of the front wheel.
Discretizing equation 3:
Wk＝Wk-1+(wa-bBA) dt + w (equation 4)
bBA: residual zero offset after zero offset compensation is carried out on the gyro of A, B; dt: a sampling interval.
Selecting W, wa and bBAAs state space of the filter: x ═ W wa bBA]' the state transition matrix of the Kalman filter can be extracted according to equation 4:
Figure GDA0003244621020000077
the corresponding system transfer noise matrix:
Figure GDA0003244621020000078
qwaand q isbCan be selected according to the sensor specification, qWIt can be chosen empirically. Then the Kalman equation of state is as follows:
xk＝Fxk-1+ Q (formula 5)
If the wheel turning speed wa is taken as observation, a design matrix is available: h1＝[0 1 0]If the wheel rotation angle W is used as observation, a design matrix is provided: h2＝[1 0 0]Then, the following Kalman measurement equation is used:
zk＝H1,2xk+ R (equation 6)
R can be given from the sensor specifications and calculated from the law of error propagation.
And (6): and judging whether the GNSS speed is updated, if not, measuring and updating by using the front wheel rotating angular speed wa calculated according to the angular speed output by the A, B gyro, and if so, calculating the front wheel rotation angle W according to a vehicle kinematic model (formula 7) and measuring and updating by using the W.
Figure GDA0003244621020000081
And (7): and judging whether the vehicle is in a static state or not according to the GNSS speed, and if the vehicle is in the static state, adaptively updating A, B the zero offset of the gyroscope.
The invention adopts Kalman filtering information fusion technology to integrate single-axis gyro data and vehicle kinematic model data, so that the performance is complementary, the advantages are obtained, the short circuit is compensated, the traditional mechanical angle sensor which needs to be provided with a bracket, zero calibration and easy abrasion can be replaced, and the rotation angle and the angular speed of a front wheel are provided for the automatic driving and control of wheel type carriers such as agricultural machinery, engineering vehicles and the like; the work of customizing a bracket, zero calibration, periodic calibration and the like is avoided, and the installation and the maintenance are easy; the method adopts a data fusion technology based on a Kalman filter, fuses the angular velocity integral result of the single-axis gyroscope and the vehicle kinematic model calculation result, fully exerts the advantages of good dynamic property and high short-term precision of the gyroscope, and estimates the whole zero-offset term, thereby improving the estimation precision of the wheel rotation angular velocity; the motion state of the carrier is judged by fully utilizing the speed information of the GNSS, so that the zero offset of the main gyroscope and the sub gyroscope is self-adaptively compensated; and the front wheel rotation angle and the front wheel rotation angular speed can be simultaneously output, more control parameters can be provided for a control algorithm, and therefore the control effect is improved.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (2)

1. A method of vehicle front wheel turn tracking, comprising the steps of:
finishing initialization of a GNSS receiver, and transmitting speed information and PPS signals output by the GNSS receiver into a CPU processor;
finishing initialization of the main single-axis gyroscope and the sub single-axis gyroscope and performing zero offset compensation on output;
time synchronization is carried out on the GNSS speed information and the angular speed information of the main single-axis gyroscope and the sub single-axis gyroscope according to the PPS signal of the GNSS receiver and the clock of the CPU processor;
calculating the rotation angular velocity of the front wheel according to the angular velocities output by the main single-axis gyroscope and the sub single-axis gyroscope;
step (5) updating Kalman filter time;
judging whether the GNSS speed is updated, if not, measuring and updating by using a front wheel rotating angular speed wa calculated according to the angular speed output by the main single-axis gyroscope and the sub single-axis gyroscope, and if so, calculating a front wheel rotating angle W according to a vehicle kinematic model and measuring and updating by using W;
and (7) judging whether the vehicle is in a static state or not according to the GNSS speed, and if the vehicle is in the static state, adaptively updating the zero offset of the main single-axis gyroscope and the sub single-axis gyroscope, wherein the step (2) specifically comprises the following steps: finishing the initialization of the main single-axis gyroscope and the sub single-axis gyroscope, wherein the angular speed output of the gyroscope contains a zero offset item b, so that the average value of a section of static output is taken as the zero offset of the gyroscope output, the calculation of the zero offset is finished in the initialization process, and the zero offset compensation is carried out on the gyroscope output;
Figure FDA0003265234310000011
Figure FDA0003265234310000012
outputting the gyro angular velocity;
Figure FDA0003265234310000013
a true angular velocity; b: zero bias of the gyroscope; w: measuring noise by a gyroscope, wherein the step (4) specifically comprises the following steps: calculating the rotation angular velocity of the front wheel according to the angular velocities output by the main single-axis gyroscope and the sub single-axis gyroscope;
Figure FDA0003265234310000014
and wa: front wheel turning angular velocity;
Figure FDA0003265234310000015
zero-bias angular speed output of the front-wheel single-shaft gyroscope;
Figure FDA0003265234310000016
and (3) controlling the zero bias angular velocity output of the gyroscope, wherein the step (5) specifically comprises the following steps: updating Kalman filter time;
updating an equation according to the angle:
Figure FDA0003265234310000021
w: the rotation angle of the front wheel;
discretizing (3):
Wk＝Wk-1+(wa-bBA)dt+w (4)
bBA: residual zero offset after zero offset compensation is carried out on the gyro of A, B; dt: a sampling interval;
selecting W, wa and bBAAs state space of the filter: x ═ W wa bBA]' extracting the state transition matrix of the Kalman filter according to (4):
Figure FDA0003265234310000022
the corresponding system transfer noise matrix:
Figure FDA0003265234310000023
then the Kalman equation of state is as follows:
xk＝Fxk-1+Q (5)
if the front wheel turning angular velocity wa is observed, there is a design matrix: h1＝[0 1 0]If the front wheel rotation angle W is observed, a design matrix is provided: h2＝[1 0 0]Then, the following Kalman measurement equation is used:
zk＝H1,2xk+R (6)。
2. a method for vehicle front wheel turning tracking according to claim 1, characterized in that said step (6) comprises in particular: judging whether the GNSS speed is updated, if not, measuring and updating by using a front wheel rotating angular speed wa calculated according to the angular speed output by the main single-axis gyroscope and the sub single-axis gyroscope, and if the GNSS speed is updated, calculating a front wheel rotating angle W according to a vehicle kinematics model (7) and measuring and updating by using W;
Figure FDA0003265234310000024
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CN113126136A (en) * 2019-12-31 2021-07-16 上海司南卫星导航技术股份有限公司 Front-wheel-sensor-free automatic driving system based on motor steering wheel
CN114136271A (en) * 2021-10-20 2022-03-04 新纳传感系统有限公司 Vehicle front wheel steering angle measuring device based on gyroscope
CN114162139B (en) * 2021-12-06 2024-03-26 上海华测导航技术股份有限公司 Vehicle control method, controller, system, device and storage medium

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