第五章卡尔曼滤波.docxVIP

[在此处键入] 第十三届”恩智浦”杯大学生智能汽车竞速技术报告 第十三届全国大学生 智能汽车竞赛 技 术 报 告 学 校: 江西科技学院 队伍名称: 没有这个队 参赛队员: 李肖阳 徐家辉 带队教师: 杨小洪 摘要 本文以第十三届全国大学生智能车竞赛为背景，介绍了两轮自平衡智能赛 车控制系统的软硬件结构和开发流程。该比赛采用大赛组委会统一指定的E型 车模，以单片机KEA128为核心控制器，在IAR 开发环境中进行软件开发，要求赛车在未知道路上沿着通有20KHz电磁信号的 线以最快的速度完成比赛。整个系统涉及车模机械结构调整、传感器电路设计 及信号处理、控制算法和策略优化等多个方面。为了提高智能赛车的行驶速度 和可靠性，对比了不同方案的优缺点，车模使用lpr550双轴陀螺仪传感器与mma7361三轴加速度传感器进行卡尔曼融合，获取车模直立姿态。使用电容电感组成的谐振电路检测电磁信号幅值。通过二轮差速进行车模的转向。 关键词：KEAZ128AMLK，智能车，电磁，两轮平衡车，卡尔曼滤波 ABSTRACT Based on the 13th National College StudentsIntelligent Car Competition, this paper introduces the software and hardware structure and development process of two-wheeled self-balancing intelligent car control system. The competition adopts the E model of the Organizing Committee of the competition organizing committee, with the MCU KEA128 as the core controller and the software development in the IAR development environment, which requires the racing car to finish the race at the fastest speed without knowing the line with the 20KHz electromagnetic signal. The whole system involves many aspects, such as mechanical structure adjustment of vehicle model, sensor circuit design and signal processing, control algorithm and strategy optimization. In order to improve the speed and reliability of the intelligent racing car, the advantages and disadvantages of different schemes are compared. The model uses the lpr550 dual axis gyroscope sensor and the mma7361 three axis acceleration sensor to fuse Calman to obtain the upright posture of the vehicle model. The resonant circuit composed of capacitance and inductance is used to detect the amplitude of electromagnetic signal. The steering of the model is carried out by two wheel differential speed. Key words: KEAZ128AMLK, Smart Car, Electromagnetism, Two Wheel Balance Car, Kalman Filter 目录 TOC \o 1-3 \h \z \u 摘要 3 ABSTRACT 4 目录 5 第一章 引言 7 1.1 智能车研究背景 7 1.1.1 发展历史 7 1.1.2 智能车研究方向 7 1.1.3 智能车研究前景 8 1.2 恩智浦智能汽车比赛介绍