基于GNSS与MIMU融合的车辆驱动轮滑转率测算技术

Based on GNSS and MIMU Fusion of Measurement and Calculation Method of Driving Wheel Slip of Vehicles

摘要: 滑转率的准确测量是农业、林业、交通运输设备制造业等行业领域亟待解决的关键问题之一，尤其是对于输出动力型工程车而言，其工作环境复杂，车轮滑转率会对其牵引效率、油耗等造成很大的影响。其次车辆在实际工作环境中测量信号还容易受到噪声干扰，无法准确计算出车轮的滑转率。故本文提出一种针对输出动力型工程车辆车轮滑转率的测算方法：通过GNSS (全球导航卫星系统)、微惯导测量单元(MUMI)测得的信号，结合霍尔传感器测得驱动轮的理论前进速度与车体实际前进速度，进行卡尔曼滤波后计算出驱动轮的滑转率。实验结果表明：同一路面状况下，速度越快，滑转率波动越小。速度稳定情况下，柏油路车滑转率波动较小，砂石路、草地滑转率波动较大。本文为车辆实现精确控制提供了理论支撑，具有重要的学术意义和应用前景。

Abstract: Accurate measurement of slip is one of the key issues to be better dealt with in industries, including agriculture, forestry and transportation. Especially for power-output wheeled vehicles, the wheel slip can make great impact on their tractive efficiency, fuel consumption and the like. Besides, in the complicated working environment, the measurement signal can also be interfered by the noise, causing the difficulty to accurate measurement of the slip of the wheel. Therefore, this thesis proposes a method for measuring and calculating the driving wheel slip of the power-output wheeled vehicle. The actual forward speed and the theoretical forward speed of different driving wheels are measured and calculated through the algorithm of multi-sensor data fusion and resolving and calculating based on Kalman filter with the dynamic signals measured by the (GNSS) Global Navigation Satellite System, (MIMU) Micro-Inertial Measurement Unit and Hall sensor, thereby calculating the slip of each driving wheel. The actual test shows that under the same road condition, the faster the speed, the smaller the fluctuation of the slip rate. Under the condition of stable speed, the slip rate of asphalt road vehicles fluctuated less, and the slip rate of gravel road and grassland fluctuated greatly. This thesis can serve as theoretical support for the precise control of vehicles with vital academic significance and application prospects.