A Method of Improving the Accuracy of Vehicle-mounted Sins/od Integrated Navigation
A combined navigation and precision technology, applied in the field of vehicle navigation, can solve problems such as the influence and complexity caused by not considering the navigation precision
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[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings.
[0037] When the vehicle is running on different slope roads and at different accelerations, the angle change between the vehicle chassis and the car body and the change of the tire radius are shown in Figure 1-3 , figure 1 is a vehicle running at a constant speed on a level road. At this time, the distance between the horizontal axis (x-axis) and the vertical axis (y-axis) of the car body coordinate system and the horizontal axis (x-axis) and vertical axis (y-axis) of the chassis The included angle is a constant value.
[0038] When the vehicle is running on a vertically sloped road or at a certain acceleration (see figure 2 ), the rear wheel radius compression is f y =a y +gθ,a y is the vehicle acceleration, θ is the longitudinal slope of the road surface, is the forward specific force f y The influence coefficient on the radius of the rear wheel...
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