Study On Gyro-free Inertial Location And Measurement Of Vehicle State System For Intelligent Assistant Drive Vehicle

Suitability, security and satisfy the request of saving energy and protecting environments are the eternal topic of automobile industry. And Intelligent Assistant Drive Vehicle does it's best to make more suitable, more safer, and provide better human-vehicle alternation environment ,so it is a main part of the ITS(Intelligent Transportation System) which is the emphases development in many country at present, and it is the research hotspot of the world automobile engineering field and the new drive of increasing automobile industry. The main function of our research- intelligent assist drive inertial location and measurement of vehicle state system is providing real-time vehicle condition information for fast running Intelligent Assistant Drive Vehicle.In our research , we don't adopt the general inertial navigation system (use gyroscope to measure angular motion and accelerometers to measure liner motion ),but trail the up to the minute trends in this field of international automobile manufacturer and research instrument, not gyroscope ,only use high-precision low-cost little-volume accelerometers of making use advanced MEMS(Micro Electronic Mechanical System)technology, via a feasible configuration of accelerometers mounting ,according decidedarithmetic ,only from the real-time readings of the six accelerometers ,we can compute the useful vehicle condition information of much precise for human-vehicle controlling. Via the resemble example and the true vehicle, the arithmetic gets better result.The main research content is ;First, this article narrate the theoretic transmit and mathematic theory of gyroscope-free inertial location and measurement of vehicle state system .At first, this article model the accelerometers, get it's physical and mathematical models, and get the initial expression of accelerometers 'outs ,then according to the body dynamics ' knowlogy, research the move theory of accelerometers ,fixed to the moving frame, towards the inertial frame ,and put forward the rotation matrix of described the rigid body rotation of the moving frame with respect to the fixed inertial frame, and make the motion of any point of can be described by the translation and rotation of relative to the inertial frame, then get the more formula of accelerometers 'outs ,then demonstrate some Properties of Rotation Operators ,and have two examples of body moving for testing. Then testify the feasibility of a Gyro-free location and measurement of vehicle state , namely J has a left inverse .At last design a feasible configuration of accelerometers 'mounting base on a cube, and then get the state equations and the output equation of the input-output dynamical system.Second,developing a hardware system which is suitable for this system,the key work is improve resolution,it compose a dsp board,signal process board,and power. Third, kernel algorithm and C++ program. the key part of the algorithm is from w(t) to? and to the F(t),the precision of these parts is very important for future's result, for in computing, we reduce the timeslot to improve the precision of result ,can be proved from the resemble example and the true vehicle.The forth, experimental validates of the Gyro-free location and measurement of vehicle state system. We verifythe algorithm by doing experiments in our experimental vehicle.In the experiment, we run the vehicle in several model condition ,(for example:circle, right-angle, snake, linechange),newsreel the real-time vehicle condition information ,last deal with the datas.The meaning of the article is :First is as the subsystem of the Intelligent Assistant Drive System, providing real-time vehicle condition information for fasting run brainpower vehicle,second is by the serials of researching ,make out the compared to the international but more cheap products, and have apply foreground and market value, to the aim of research result' industrialization .Certainly, we must work hard to do it.