Heading Angle Estimation of Low-Speed Automated Electric Vehicle Based on Loosely Coupled Global Navigation Satellite System /Inertial Measurement Unit Integration

Abstract:

Low speed intelligent electric vehicle has been developing rapidly in recent years. The integrated localization method is the key technology in which the heading angle estimation is an important component. Based on low speed intelligent electric vehicle, a heading angle estimation method using the loosely coupled GNSS(global navigation satellite system)/IMU(inertial measurement unit) integration method is proposed in this paper. First, the heading angle estimation method is introduced. A heading angle integration method is proposed and the heading angle error dynamics and its measurement equation are derived. Aiming at the problem of time-varying quality of the GNSS signal, a residual adaptive estimation(RAE) Kalman filter is used. Then, an adaptive feedback strategy of heading error is adopted to reject the abnormal GNSS signal. Finally, under different GNSS signal conditions, the validity of the heading angle estimation method proposed in this paper is verified by multiple sets of real vehicle tests under different GNSS signal conditions.

Key words:low speed intelligent electric vehicle;heading angle estimation;global navigation satellite system(GNSS)/inertial measurement unit(IMU) integration;adaptive Kalman filter