DIFFERENTIAL ODOMETER DYNAMIC CALIBRATION METHOD AND APPARATUS THEREFOR

摘要

a differential includes an odometer sensor (503) is coupled with a left wheel (103), and a sensor (513) and a right wheel (105). the left wheel sensor (503) provides a pulse counting (505) as the wheel turns left (103).the distance of the left wheel is determined by the product of the pulse counting wheel and a distance to the left by a coefficient of momentum. the sensor of the wheel side (513) provides a pulse counting (515) as the wheel turns and distal.the distance travelled by the right wheel, is determined by the product of the pulse counting wheel and a right driving distance coefficient. a course of the vehicle (601) and a distance (1201), it is determined on the basis of the distance travelled by the left wheel and the right wheel distance traversed by the.a correction value (901, 1001) is defined, and a relation is measured between the counting of pulses of the left wheel and the right wheel of the.then a new distance is defined to left by a pulse coefficient (1105), corresponding to the correction value (901, 1001) are defined, and a new distance to the right by coefficient of momentum (1101), corresponding to the correction value (901, 1001) are defined.then the distance to the left by a pulse coefficient (605) is replaced by the new left of pulse distance coefficient (1105), and the distance to the right by a pulse coefficient (609) is replaced by the new right distance coefficient of momentum (1101).this leads to a calibration of the odometer is compatible with the differential correction value (901, 1001) is defined.