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发明公开
CN107063241A 基于双GNSS天线及单轴MEMS陀螺的前轮测角系统 审中-实审 转让

基于双GNSS天线及单轴MEMS陀螺的前轮测角系统
摘要：
本发明公开一种基于双GNSS天线及单轴MEMS陀螺的前轮测角系统，主要由能安装于车辆车轮的单轴MEMS陀螺，能安装于车体两侧的两个GNSS接收机以及导航控制计算机组成。利用单轴MEMS陀螺和两个GNSS接收机对系统的每个部分测量一组运动信息数据，对每部分的运动数据进行信息处理获得主体的运动姿态信息和主体与转动机构之间的相对角运动信息；GNSS天线和单轴MEMS陀螺完成各运动部分数据的采集，导航控制计算机对GNSS天线解算的速度进行杆臂误差补偿后代入卡尔曼滤波器模型，估计得到车轮相对于主体的转动角度。本发明采用的双GNSS天线系统能够消除或降低大气层误差，电离层误差；本发明采用单轴MEMS陀螺采集系统的运动信息，降低了系统成本，简化了系统安装过程。
摘要（英）：

The invention discloses a front wheel angle measuring system based on double GNSS antennas and a uniaxial MEMS gyroscope. The system is mainly composed of a uniaxial MEMS gyroscope which can be mounted on a wheel of a vehicle, two GNSS receivers which can be mounted on two sides of the vehicle body and a navigation control computer. A group of moving information data is measured for each part of the system by using the uniaxial MEMS gyroscope and the two GNSS receivers, and information on moving data of each part is processed to obtain moving gesture information of a main body and related angular moving information between the main body and a rotating mechanism; and the GNSS antennas and the uniaxial MEMS gyroscope collect moving part data, and the navigation control computer substitutes the speed resolved by the GNSS antennas after error compensation of a lever arm into a Kalman filter model to estimate the rotating angle of the wheel relative to the main body. The double GNSS antenna system can eliminate or reduce atmospheric errors and ionospheric errors. The moving information of the system is collected by using the uniaxial MEMS gyroscope, so that the system cost is lowered and the system mounting process is simplified.

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