The invention discloses a forward trajectory prediction compensated dual unscented Kalman filter (DUKF)-based sliding parameter real-time estimation method for an intelligent tracked vehicle and belongs to the technical field of the parameter estimation of intelligent tracked vehicles. The method comprises the following steps: step 1, an instantaneous steering center-based tracked vehicle kinematics model is established; step 2, the historical state information of the vehicle is acquired according to a sensor; step 3, the current state information of the vehicle is acquired according to the sensor; 4, with a vehicle instantaneous steering center steering pole offset obtained in the step 3 serving as compensation, final tracked vehicle sliding parameters can be obtained on the basis of tracked vehicle sliding parameters preliminarily estimated in the step 2. According to the method, the sliding parameters of the tracked vehicle can be estimated in real time, sliding parameter estimationis carried out on the future relative pose of the vehicle by utilizing a DUKF, and then the preliminarily estimated sliding parameters are compensated, so that the precision of sliding parameter estimation and the accuracy of a vehicle model are improved.

    本发明公开了一种基于前向轨迹预测补偿的双重无迹卡尔曼滤波(DUKF)智能履带车辆滑动参数实时估计方法,属于智能履带车辆参数估计技术领域。该方法包括:步骤1,建立基于瞬时转向中心的履带车辆运动学模型;步骤2,根据传感器采集的车辆历史状态信息;步骤3,根据传感器采集的车辆当前时刻状态信息;步骤4,将步骤3得到的车辆瞬时转向中心转向极偏移量作为补偿,结合步骤2中初步估计的履带车辆滑动参数即可得到最终的履带车辆滑动参数。本发明不仅能够实时估计履带车辆滑动参数,而且利用DUKF对车辆未来的相对位姿进行滑动参数估计进而对初步估计的滑动参数进行补偿,提升了滑动参数估计的精度与车辆模型的准确性。


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    Title :

    Sliding parameter real-time estimation method for intelligent tracked vehicle


    Additional title:

    一种智能履带车辆滑动参数实时估计方法


    Contributors:
    QIN ZHAOBO (author) / CHEN LIANG (author) / XU BIAO (author) / BIAN YOUGANG (author) / WANG XIAOWEI (author) / XIE GUOTAO (author) / QIN XIAOHUI (author) / QIN HONGMAO (author) / HU MANJIANG (author) / DING RONGJUN (author)

    Publication date :

    2020-09-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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