Research On High Precision Vehicle Virtual Gyroscope Based On Multi-MEMS Gyroscopes

MEMS gyroscope,which has the advantages of miniaturization,low power consumption and low cost,is an important sensor component for vehicle yaw rate measurement.Vehicle measurement system usually uses a single MEMS gyroscope to monitor the yaw rate change,which is easily affected by the vehicle driving environment and produces a variety of errors.Therefore,this paper proposes a high-precision vehicle virtual gyroscope technology based on the correlation between multiple MEMS gyroscopes and Kalman filter algorithm,and designs a vehicle sideslip angle integral estimator based on virtual gyroscope.The measured sideslip angle and yaw rate are used in the vehicle stability control system,which effectively improves the vehicle driving stability under limit conditions.The specific research contents include:(1)A vehicle virtual gyroscope array based on three MPU6050 inertial measurement units is designed.The Allan variance analysis method is used to effectively identify the MEMS gyroscope error.The random error quantization indexes of the gyroscope are analyzed systematically,which lays the data foundation for the subsequent filtering algorithm design of vehicle virtual gyroscope.(2)Considering the correlation between MEMS gyroscopes,the difference method is used to eliminate the influence of vehicle borne noise on the real measured values.A Kalman filter algorithm for vehicle virtual gyroscope is proposed,which can fuse multiple gyroscope data.The dynamic and static verification experiments for the vehicle virtual gyroscope are completed.The results show that compared with single MEMS gyroscope,the RMS error of vehicle virtual gyroscope is reduced by 49.74%.(3)Based on the linear two degree of freedom vehicle dynamics model,an integral estimator of vehicle sideslip angle based on virtual gyroscope is designed.Compared with the result using a single MEMS gyroscope,the estimation error of vehicle sideslip angle is reduced by 82.1%.The sideslip angle and yaw rate of mass center are used in the vehicle stability control system,and the fuzzy controller of vehicle stability is designed.The co-simulation is carried out with the help of Simulink and Car Sim.The results show that,thanks to the controller,the vehicle can still keep stable under the limit conditions,and the control is more stable and the ride comfort is improved compared with the controller using a single gyroscope.