UKF车速估计器的算法研究与仿真

吉林大学学报(信息科学版)

UKF车速估计器的算法研究与仿真

芦冰^a,b, 解小华^a,b, 蔡可天^a,b, 孟凡坤^a,b

吉林大学 a. 汽车仿真与控制国家重点实验室； b. 通信工程学院, 长春 130022

出版日期:2015-01-24 发布日期:2015-03-20
作者简介:芦冰（1989—）, 男, 长春人, 吉林大学硕士研究生, 主要从事汽车电子研究, (Tel)86-13756014430(E-mail)lubing34@163.com;解小华（1959—）, 女, 长春人, 吉林大学教授, 硕士生导师, 主要从事汽车电子和FPGA研究, (Tel)86-13843147088(E-mail)jiexh@jlu.edu.cn。
基金资助:
“863”国家高科技计划基金资助项目(2012AA110701);“973”国家高科技计划基金资助项目（2012CB821202）;长江学者和创新团队发展计划基
金资助项目（IRT1017）

Speed Estimation Research and Simulation Based on UKF Algorithm

LU Bing^a,b, XIE Xiaohua^a,b, CAI Ketian^a,b, MENG Fankun^a,b

a. State Key Laboratory of Automotive Simulation and Control; b. College of Communication Engineering, Jilin University, Changchun 130022, China

Online:2015-01-24 Published:2015-03-20

摘要/Abstract

摘要：

为准确估计车辆的行驶速度, 保证汽车的安全性, 设计了基于无味卡尔曼滤波算法（UKF: Unscented Kalman Filter）的车速估计器, 并与基于卡尔曼滤波（KF: Kalman Filter）算法所建立的估计器进行了比较。两个估计器都以七自由度整车模型为研究平台, 同时在Matlab中搭建了UKF和KF的算法模型。仿真实验结果表明, 当系统输入产生突变时, UKF算法与真实值的绝对误差率始终在4%以内, 比KF算法的误差率大约降低了3%, UKF车速估计器能很好地预测车速变化的趋势, 相对于KF估计算法效果更佳。

关键词: 无味卡尔曼滤波算法, 卡尔曼滤波算法, 车速估计器, 绝对误差

Abstract:

Obtaining vehicle velocity information accurately is of great importance to guarantee the safety when driving. In order to estimate the vehicle velocity, a velocity estimator was designed based on UKF(Unscented Kalman Filter) algorithm, and a comparision with the estimator based on KF(Kalman Filter) algorithm was made. Both the estimators took vehicle model with seven degrees of freedom as platform, and the models of UKF and KF algorithms were established in Matlab, then a comparative analysis experiment was done. The result shows that when the input produces mutations, the absolute error rate between UKF algorithm and
real value is always less than 4 percent, the error rate dropped by 3 points compared to KF. The simulation result proves that UKF speed estimator can forecast vehicle velocity change tendency accurately, the performance is better than KF.

Key words: unscented Kalman filter (UKF) algorithm, Kalman filter (KF) algorithm, velocity estimation, absolute error

中图分类号:

TP13

芦冰, 解小华, 蔡可天, 孟凡坤. UKF车速估计器的算法研究与仿真[J]. 吉林大学学报(信息科学版), 2015, 33(1): 7-11.

LU Bing, XIE Xiaohua, CAI Ketian, MENG Fankun. Speed Estimation Research and Simulation Based on UKF Algorithm[J]. Journal of Jilin University(Information Science Ed, 2015, 33(1): 7-11.