Research Of The Vehicle Front Wheelangle Measurement Based On The Gyroscope

At present, the intelligent vehicle mainly use the traditional Angle sensor as the device to sensitive the front wheel steering angle.Vehicle steering process is complicated, however,both the rotation of the wheels relative to the ground, there are also wheels move relative to the ground.Therefore, the traditional Angle sensor can’t satisfy the actual demand of high precision,real-time and intelligentize.Based on the study of the working principle of gyro and data processing method,then,using silicon micro gyroscope to get the real-time dynamic data of vehicle wheel deflection Angle measurement, emphatically analyzes the gyroscope data processing method of original signal and the simulation experiment was carried out Particle filter through the comparison of several filtering methods, selection of the gyro signal processing, and according to the particle filter defects put forward the corresponding solutions Finally, in the sports car experiment on the experiment platform, through the design of fine particle filter method to realize the accuracy of Angle signal processing.The concrete research content of this paper are as follows:1) Firstly introduces the working principle of the gyroscope including the use of high-speed rotation of rigid body and outer torque under the action of the precession and coriolis acceleration caused by coriolis force two basic principle.On this basis, this paper briefly introduces the classification and basic characteristic of the gyroscope.2)This article briefly introduces the classification and selection of inertial coordinate system.In detail of gyroscope drift error and the method of modeling, and discuss how to eliminate the random error and emphasis on the equation of motion of the gyroscope.3)Kalman filter and particle filter is studied in detail the two kinds of basic data processing method, and studied the several improvement methods of two kinds of filter method and compare the simulation results by comparing analysis, select the highest accuracy, real-time measuring, the most stable and best improved particle filtering algorithm as the method for data process of the running car experiment.4)Running car experiment on vehicle front wheel Angle measurement by gyroscope,using the improved particle filter method to the measurement result for data processing.Finally, after get the Angle of information to use traditional carry on comparative analysis to the measurement results of Angle sensor, it can be seen that gyroscope excellent properties in the vehicle front wheel Angle measurement.