ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

For the problem that the traditional angle sensor’s complex mechanical structure and prone to failure and the gyro bias cause the error accumulates over time in automatic driving system, a wheel turning angle measurement system based on double GNSS antennas and single gyro was proposed. The system’s sensors mainly included two GNSS antennas and a MEMS gyro. The double GNSS antennas were mounted on both side of the vehicle and provided the speed, attitude angle, latitude and longitude of the vehicle. The single MEMS gyro was mounted on the wheel and the angular rate was measured. An algorithm used the above data was designed to integrate the angular rate to obtain the steering angle. In order to solve the problem that the error accumulates over time, a Kalman filter based on the vehicle dynamics model was designed to calibrate the error of integration of the gyro data. At the same time, the lever-arm compensation algorithm was used to solve the speed error caused by lever-arm. The straight line experiment was carried out to verify the effectiveness of the system and the curve line experiment was carried out to verify the effectiveness of the lever-arm compensation algorithm. Compared the steering angle of the proposed system with the Hall effect angular sensor, the average error of the straight line experiment was -0.064°and the error variance was 0.309°and the cure line experiment’s mean error was 0.299°and the error variance was 1.009°. The result of the experiments showed that this system could replace the traditional angle sensor and it was easy to install and overhaul.