Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method for estimating attitude angle of rescuing wrecker based on robust filtering

A robust filtering and wrecker technology, applied in navigation computing tools and other directions, can solve problems such as accuracy degradation, unsatisfactory estimation results, divergence, etc., and achieve low cost and easy large-scale promotion

Inactive Publication Date: 2016-05-11
SOUTHEAST UNIV
View PDF7 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual application process, uncertain nonlinear noise will change the noise statistical characteristics of the MEMS acceleration sensor, thus making the preset noise model inaccurate
However, the traditional Kalman filtering algorithm has high filtering accuracy only when the statistical characteristics of the external interference signal are known exactly. ideal estimated effect

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for estimating attitude angle of rescuing wrecker based on robust filtering
  • Method for estimating attitude angle of rescuing wrecker based on robust filtering
  • Method for estimating attitude angle of rescuing wrecker based on robust filtering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] In recent years, my country's rescue wrecker industry has developed rapidly. However, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year. The reason is that, in addition to the subjective factors such as operators' violation of regulations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to be unable to provide accurate attitude information and safety warnings for the driver. factor. The patent "A Method for Estimating Attitude Angle of Rescue Wrecker Vehicle Based on Kalman Filter" (Patent No.: 201410279302) proposes a method for estimating pitch angle and roll angle of rescue wrecker vehicle based on Kalman filter. In the complex rescue environment, the estimation problem of pitch angle and roll angle of large angle. This method replaces a complete six-dimensional inertial measurement un...

Embodiment 2

[0086] For checking the present invention proposes based on H ∞ The effect of the estimation method of the pitch angle and roll angle of the rescue wrecker with robust filtering is simulated in Matlab.

[0087] In order to verify the applicability of the method of the present invention for estimating the large-angle pitch angle and roll angle when the statistical characteristics of the interference signal cannot be known exactly, the H ∞ Filtering and direct measurement method, Kalman filtering method were simulated and compared. The pitch and roll angles are selected to be 35° and -35°, respectively. In the simulation, the measurement noise of longitudinal acceleration and lateral acceleration is set to a standard deviation of 0.05m / s 2 The colored noise, the distribution of the colored noise conforms to the second-order moving average model. Set H ∞ The gamma value in filtering is 1.3.

[0088] Table 1 and figure 2 , image 3 The results of simulation experiments are...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for estimating an attitude angle of a rescuing wrecker based on robust filtering. The method comprises the following steps: firstly, constructing a kinematic model of the rescuing wrecker according to the working characteristics of the rescuing wrecker, and then utilizing a robust filtering algorithm to acquire accurate estimated values of a pitch angle and a lateral inclination angle of the rescuing wrecker, on the basis of the model. According to the method provided by the invention, the pitch angle and the lateral inclination angle of the rescuing wrecker under the working condition of higher gradient can be estimated under the condition that the statistical properties of the interference signal cannot be accurately known. The method has the advantages of high precision, low cost, excellent instantaneity, wide application scope, etc., and can be used for monitoring the posture of the rescuing wrecker and early warning for the dangerous posture.

Description

technical field [0001] The invention relates to a method for estimating the attitude angle of a rescue wrecker, in particular to a method based on H ∞ A method for estimating the attitude angle of rescue wrecker vehicles based on robust filtering aims to provide attitude monitoring and warning of dangerous attitudes for rescue wreckers, and belongs to the field of early warning of rescue wrecker vehicles. Background technique [0002] In recent years, my country's rescue and wrecker vehicles have developed rapidly. However, according to the statistics of relevant departments, the accident rate of rescue wreckers rolling over or overturning is also increasing year by year. The reason is that, in addition to the subjective factors such as operators' violation of regulations, lack of experience and poor management, the attitude monitoring device of the rescue wrecker is not perfect, and it is unavoidable to be unable to provide accurate attitude information and safety warnings...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李旭蒋荣陈伟徐启敏
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com