Vehicle Kinematic Model And Vehicle Dynamic Model Aided The Vehicle Autonomous Navigation System

Vehicle autonomous navigation and positioning technology is a key technologyof ITS system. It was a focus and hot research overseas and domestic all the time.This article analysis the existing vehicle autonomous navigation and positioningtechnology, according to the characteristics of the GPS/INS integrated navigation, ithas high accuracy when the GPS signals is available. But the error rapidlyaccumulating when GPS lost single, doesn’t provide vehicle navigation system withhigh precision and reliable positioning. The vehicle navigation system based onVKM and VDM was researched.Firstly, a thorough study is made on the vehicle kinematic model, and afour-wheel vehicle kinematics model is established. Base on the simplified vehicleparameters, reduce the degrees of freedom, a two degrees of freedom vehicle modelof the bike is established. And the simulation results show that the vehiclekinematics model which we had established has higher precision can meet the needsof vehicle position. Based on the analysis of the vehicle cornering, wind direction,road conditions, vehicle dynamics model is established considering vehiclecornering. And, the nonholonomic constraints is presented according to thecharacteristics of the vehicles running on the road.Secondly, the paper puts forward vehicle kinematics model aided vehiclenavigation method based on the analysis of navigation algorithm and theory modelof GPS/SINS integrated navigation system. And simulation prove the feasibility andeffectiveness of the method, shows that this method can restrain inertial navigationerror when GPS fails, ensure the reliability of the navigation information. thecorresponding GPS/INS/VKM integrated navigation strategy had been designedaccording to GPS information is valid or not. The GPS/INS integrated navigationwas adopted when GPS signals is effectively; the VKM/INS integrated navigationwas adopted when GPS signals is failure. The simulation result shows that thismethod can improve the reliability of vehicle navigation system, ensure accuracy ofpositioning and navigation information of sustainability. Finally, Because of the vehicle kinematics model is too ideal and exist in thereal driving vehicle cornering, lateral phenomenon which can lead to vehiclekinematical error is bigger, cause the positioning accuracy is not high, it is difficultto use in practical application. We Put forward a method of use the vehiclekinematics model the and the vehicle dynamic model at the same time aid inertialnavigation system. A suitable application of the filter equation is studied. withdisperse filter method to restrain the error accumulated over time of the pure inertialnavigation, improve the navigation precision and reliability, to adapt to therequirements for the autonomous vehicle navigation in the complicated environment.Simulation experiment and comparative analysis show that this method is effectiveto improve the precision of positioning and improve the performance of the system,and enhance the stability of the navigation system.