为解决履带车辆运动轨迹分析所需的高精度定位问题,以履带车辆主动轮转速为输入,通过转向运动学分析、连续转向过程中的坐标转换、滑移滑转相对偏移量引入等手段,构建了一种求解履带车辆连续运动轨迹的方法。试验验证结果表明:采用该方法求解的定位精度小于0.2 m,能满足履带车辆运动轨迹分析的基本要求。 In order to solve the problem of high-precision positioning required by the trajectory analysis of tracked vehicles, taking the rotational speed of the driving wheel of tracked vehicle as input, through the analysis of steering kinematics, the coordinate transformation in continuous steering and the introduction of relative slip slip, A method to solve the continuous track of tracked vehicle is established. The experimental results show that the positioning accuracy of this method is less than 0.2 m, which can meet the basic requirements of the track analysis of tracked vehicles.