Analysis of sensor platform dynamics in ground vehicle

摘要

A vehicular platform's dynamical behavior is analyzed as a basis for designing a laboratory test apparatus and an associated 2-dimensional orthogonal stabilizer. The test track caused inclination in the front direction to vary from -6.5/spl deg/ to 7.2/spl deg/ and from -5.5/spl deg/ to 5.0/spl deg/ in the side direction. The maximum angular rate was 19.8 /spl plusmn/ 0.1/spl deg//s in the front direction within a bandwidth of 0-2.5 Hz and 14.4 /spl plusmn/ 0.05/spl deg//s in the side direction. The platform's natural frequency in the front direction was found to be 0.8-1.0 Hz. In the side direction the most significant rate values appeared within 0-4 Hz but the natural frequency did not wake. Inclination measurements were based on sensor fusion where the basic model of stochastic Kalman filtering was applied.