Research On Unmanned Special Vehicle Attitude Measurement Technology Based On Multi-source Information Fusion

With the development of science and technology,the application requirements of self-driving cars in civilian use are becoming more and more extensive.The accurate and real-time acquisition of posture parameters during the driving process of the driverless car is a powerful guarantee for the safe driving of the driverless car.Generally,sensors such as gyroscopes and accelerometers are used to measure the posture of the driverless car.However,due to the accuracy,cost,and kinematic complexity of the driverless car driving on different roads,the attitude parameters of the driverless car cannot often be measured directly.At the same time,the cost of high-precision sensors is too high,which is not conducive to popularization and application in large areas;low-precision sensors have certain drift errors.These problems bring great disadvantages and problems to the research of driverless vehicles.In this thesis,several different attitude calculation algorithms are studied.Through analysis of their respective advantages and disadvantages,combined with the actual situation of this topic,the three attitude calculation algorithms studied are combined to form a suitable for driverless vehicles.In addition,in order to improve the accuracy of unmanned vehicle attitude calculation,this paper proposes an extended Kalman filter based on quaternion to multi-source information fusion.On this basis,this thesis develops an attitude measurement system for unmanned vehicles,and designs the hardware module and software module of the attitude measurement system respectively.In addition,because the inertial sensors in the unmanned vehicle attitude measurement system are prone to errors,the signal characteristics and errors of the inertial sensors are analyzed,and the corresponding error correction and compensation methods are selected and designed into the software.In the module,the accuracy of the inertial sensor is improved.In order to verify the reliability of the unmanned vehicle attitude measurement,static and dynamic tests were carried out respectively on the heading angle,tilt angle,and pitch angle.Comparing the obtained test results with the previously formulated system indicators,it is known that the system indicators are met through research,indicating that the attitude measurement technology can achieve accurate measurement of the unmanned vehicle attitude.