【摘 要】
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In this paper,an extent Kalman filter based on a dynamic model of skid-steered wheeled vehicle is proposed to estimate and update state parameters of vehicle in real-time.The state of the vehicle will
【机 构】
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Beijing Institute of Technology
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In this paper,an extent Kalman filter based on a dynamic model of skid-steered wheeled vehicle is proposed to estimate and update state parameters of vehicle in real-time.The state of the vehicle will be more accurate analysed,and this method of observing and estimating the state parameters of skid-steered wheeled vehicle can be applied in various fields.First,a 3-degree-of-freedom vehicle dynamics model and a tire model of 6×6-wheel skid-steered vehicle are established.Then,an extended Kalman filter-based estimator is presented.It was used to estimate the vehicle s yaw rate,the sideslip angle,and the longitudinal speed as well as the velocity difference between the left-side wheels and the right-side wheels,longitudinal acceleration and the lateral acceleration are proposed.Finally,the simulation experiments of TruckSim and Matlab/Simulink are used to verify the proposed algorithm.The simulation and experimental results show that the developed observer canreliably estimate vehicle states.
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