车辆稳态回转试验侧倾角解算算法研究

摘要

车辆操纵稳定性试验中要对动态倾角进行实时检测。汽车在稳态回转中仅使用Kalman 滤波对陀螺仪输出的角速度进行处理无法满足试验要求。针对MEMS陀螺仪在积分时易产生较大的积分漂移，加速度计对非重力加速度敏感，文中在姿态解算过程中引入了GPS 车速信息，并对Kalman 滤波的角速度进行修正。修正结果与单纯使用卡尔曼滤波后的角速度进行对比，实车试验结果表明文中算法解算精度较高，具有一定的应用参考价值。%The dynamic inclination should be detected in the vehicle handling stability test in real time.When the automobile under steady turning, using Kalman filter solely to dispose angular velocity that generated by gyroscope cannot meet the demands of the experiment.On account of the integral drift and the accelerometer are sensitive to the non-acceleration of gravity, the speed of auto that created by GPS was introduced, and the angular velocity in the Kalman filter was corrected.The amended result gets superior precision than using Kalman filter solely to dispose angular velocity, this method is valuable to apply and reference.