Research On Technology And Applications Of Synchro Record And Representation Of Motion Based On Kalman Filtering

Technology of synchro record and recurrence of motion is a comprehensivehigh-level technology, which has been developed since the1990s. With20years ofdevelopment, the technology has widely been used in the fields of space exploration,structural seismic test, the vehicle suspension performance test, earthquake simulationplatform, simulated driving, etc.The research is supported by the key projects of “industrialization and promotionof motion on-line simulation and synchronous recording technique and development”and “research on Inertia control suspension technology” in Jilin province science andtechnology development plan. This paper has studied the technology of synchrorecord and recurrence of motion based on Kalman filtering thoroughly andsystematically for solving the problems of the terrible attitude measuring errors aswell as the noise jamming difficult to be dealt with hardware in the system of synchrorecord and recurrence of motion.This paper proposed the three synchro record methods of motion with differentcombination of sensors based the technology of Kalman filtering and data fusion.Namely:(1) Using only three acceleration sensors;(2) Combining acceleration sensorwith gyroscope;(3)Combining inertial measurement unit (i.e. acceleration sensor,gyroscope) with GPS. This paper achieved the optimal filtering and estimation for theaftermentioned three synchro record methods of motion with different combination ofsensors by using adaptive unscented Kalman filtering algorithm and compared the testresults of the three record methods of motion.On the basis of the above work, this paper proposed the synchro record methodof the motion of biaxial vehicle with road excitation and the synchro recurrencemethod of the motion of biaxial vehicle with road excitation based on double Stewartplatforms. Besides, this paper built the recurrence experiment system of biaxial vehicle with road excitation based on double Stewart platforms. Meanwhile, the testsof response speed and tracking error of the recurrence of excitation is completed. Theexperiment results proved that synchro record method of biaxial vehicle and therecurrence method based on double Stewart platforms is feasible. This paper firstcompapered the vibration damping performance of active and passive suspensions onan experimental car in China based on synchro recurrent biaxial vehicle with roadexcitation. For the same benchimark, it achieved a more objective evaluation results.