Research On High-precision Wheeled Vehicle Slip Rate Detection Technology Based On The Fusion Of GNSS And Inertial Navigation

Accurately measuring wheel slip is one of the key issues for technology development in the agriculture,forestry and transportation industries.The wheel slip can greatly impact the tractive efficiency,driv:ing safety,and fuel consumption of a motorized wheeled vehicle.Due to the complex working conditions,it is difficult to accurately measure the wheel slip in real-ti:me.The traditional method of measuring slip is mainly using single sensor to measure the speed of vehicle,and using it as actual forward speed of the drive wheel.Due to the complex situation,it is impossible for traditional method to meet the measuring demand of the slip.Especially,there is a large error in the measurement of slip when the vehicle is turning or driving on ramp slope.A method for measuring and calculating the slip of the drive wheel of a motorized wheeled vehicle is proposed in this paper.This method processes the vehicle's driving data from the Global Navigation Satellite System,inertial navigation and hall sensors.This method is able to calculate the real-time dynamic slip of each drive wheel on the vehicle by the relationship between the structure of vehicle body and the structure of each wheel.Actual physical test platform for the wheel slip of the motorized wheeled vehicle were set up by the above method.The Multi-sensor Dynamic Attitude and Structure-based Data Fusion(MDASDF)algorithm is regarded as the improved algorithm.It is designed to deal with problems during testing.The improved algorithm is able to filter and fuse the signal of the three types of sensors.It is able to make the measured value of slip more accurate.To further verify the effectiveness of the improved method,simulations and actual experiments based on various operating processes were carried out.The results of simulations indicate that the numerical value of measuring and calculating basically eliminates noise and sudden disturbances in the observed signal.The results of simulations show that the average relative error of three typical operating processes is less than 1%,the relative error at the mutated signal is less than 4%.The results of experiments indicate that his method for measuring wheel slip can objectively and accurately reflect the vehicle's movement.This method not only eliminates harmful noise and disturbance in measured values but also provides real-time and dynamic movement data.