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Method for tracking the position and orientation of a vehicle using dead reckoning and tracking device for executing the method
Method for tracking the position and orientation of a vehicle using dead reckoning and tracking device for executing the method
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机译:使用航位推测法跟踪车辆的位置和方向的方法以及执行该方法的跟踪装置
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摘要
Position ( x ref ) and heading ( H ) of a vehicle are tracked using wheel tick numbers coming from wheel tick units (5a, 5b) at the front wheels (3a; 3b) only from which a velocity (½) and a heading rate ( h ) are calculated. The calculations are based on an intermediate wheel angle (´). An exact solution ´ ex for the same depends on the velocities of the left front wheel ½ l and of the right front wheel ½ r according to ´ ex = arctan 2 �¢ p a 1 + p 2 + 1 - p 2 2 - 2 �¢ p a 2 where p = v l - v r v l + v r . . An approximate solution ´ app is calculated according to the simpler formula ´ app = ½ arcsin �¢ 2 �¢ p a and used wherever its deviation from the exact solution ´ ex is not significant, i.e., where the latter is not larger than a threshold wheel angle ´ thr . Only for ´ app ´ thr where the deviation is larger than, e.g., 2° or, preferably, 1°, the wheel angle according to the exact solution ´ ex is used. The latter is determined in that the approximate solution ´ app is first established and the corresponding exact solution ´ ex read from a look-up table, interpolation being used if necessary.
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