The invention relates to the technical field of Mcwheeler control, and provides a Mcwheeler motion parameter estimation method and device, a Mcwheeler and a readable storage medium, and the method comprises the steps: obtaining Mcwheeler encoder data and vehicle IMU data which are fed back in real time; according to the current acceleration information in the vehicle IMU data, adaptive adjustment of measurement noise is carried out, and then the current Kalman gain is calculated; calculating a predicted value of a vehicle motion parameter through a dynamic system equation based on McWR encoder data and vehicle IMU data; and obtaining an estimated value of the vehicle motion parameter according to the predicted value and the Kalman gain. According to the method, a Kalman filtering algorithm is used for fusing McLean encoder data and vehicle IMU data, and measurement noise self-adaption is combined, so that the mileage of the McLean in three directions can be accurately estimated, the mileage tracking precision of the McLean is greatly improved, and the problem of inaccurate mileage calculation in the prior art is solved.

    本申请涉及麦轮车控制技术领域,提供了一种麦轮车运动参数估计方法、装置、麦轮车和可读存储介质,该方法包括:获取实时反馈的麦轮编码器数据和车辆IMU数据;根据车辆IMU数据中的当前加速度信息,进行测量噪声自适应调节,进而计算当前的卡尔曼增益;基于麦轮编码器数据和车辆IMU数据,通过动态系统方程计算车辆运动参数的预测值;根据预测值和卡尔曼增益,获取车辆运动参数的估计值。该方法利用卡尔曼滤波算法对麦轮编码器数据和车辆IMU数据进行融合并结合测量噪声自适应,可以准确地估计出麦轮车在三个方向上的里程,使得麦轮车的里程跟踪精度得到了较大提升,解决了现有技术中里程计算不准的问题。


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    Title :

    Macro-wheeler motion parameter estimation method and device, Macro-wheeler and readable storage medium


    Additional title:

    麦轮车运动参数估计方法、装置、麦轮车和可读存储介质


    Contributors:
    LI WENZHOU (author) / TAO BO (author) / CHEN CHUNYU (author) / TAN HUAN (author)

    Publication date :

    2024-04-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / 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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