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Zhi Shen Jacques Georgy Michael J. Korenberg Aboelmagd Noureldin 《Transportation Research Part C: Emerging Technologies》2011,19(6):1111-1132
Due to their complementary characteristics, Global Positioning System (GPS) is integrated with standalone navigation devices like odometers and inertial measurement units (IMU). Recently, intensive research has focused on utilizing Micro-Electro-Mechanical-System (MEMS) grade inertial sensors in the integration because of their low-cost. In this study, a low cost reduced inertial sensor system (RISS) is considered. It consists of a MEMS-grade gyroscope and the vehicle built-in odometer. The system works together with GPS to provide 2D navigation for land vehicles. With adequate accuracy, Kalman filter (KF) is the commonly used estimation technique to achieve the data fusion of GPS and inertial sensors in case of high-end IMUs. However, due to the inherent error characteristics of MEMS grade devices, MEMS-based RISS suffers from the non-stationary stochastic sensor errors and nonlinear inertial errors, which cannot be handled by KF and its linear error models. To overcome the problem, Fast Orthogonal Search (FOS), a nonlinear system identification technique, is suggested for modeling the higher order RISS errors. As a general-purpose numerical method, FOS algorithm has the ability to figure out the system nonlinearity efficiently with a tolerance of arbitrary stochastic system noise. Even using online short-term training data, this method is still able to build an accurate nonlinear model that predicts the system dynamics. Motivated by the above merits, an augmented KF/FOS module is proposed by cascading FOS algorithm to a traditional KF structure. By estimating and reducing both linear and nonlinear RISS errors, the proposed method is supposed to offer substantial enhancement on the positioning accuracy of MEMS-based RISS during GPS outages. In order to examine the effectiveness of the proposed technique, the KF/FOS module is applied on the low cost RISS together with GPS in a land vehicle for several road test trajectories. The performance of the proposed method is compared to KF-only solution, both assessed with respect to a reference offered by a high-end solution. The experimental results confirm that KF/FOS module outperforms KF-only method. The results also show the applicability of the proposed method for real-time vehicle applications. 相似文献
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建立了某卧式双缸柴油机机体组件的有限元模型,在通过多体动力学软件得到的力边界条件下,分别计算了预紧工况和最大转矩工况下1、2缸爆发时的机体强度,确定了机体的最大应力和变形部位.结果表明,采用有限元分析较真实地反映了机体的实际工作情况. 相似文献
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为研究甲醇汽油对汽车橡胶零部件的腐蚀和力学性能的影响,通过对几种现有车辆正在使用的橡胶元件进行甲醇汽油浸泡试验,观察橡胶元件形变随作用力的变化关系,并深入分析橡胶元件经过浸泡后变化的原因.结果表明,浸泡橡胶管的溶液析出的黑色沉淀物包含有增强剂碳黑.由丁腈橡胶(NBR)+氯丁橡胶(CR)材料组成的橡胶管,和由三元氟橡胶(FKM)+编织层+氯醇橡胶(ECO)组成的橡胶管,受甲醇汽油中甲醇浓度影响较大,力学性能显著下降;多层PA12受掺入甲醇的影响较大,但对其掺入甲醇比例变化不敏感;甲醇汽油对气门油封无明显影响. 相似文献
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