(window.webpackJsonp=window.webpackJsonp||[]).push([[160],{423:function(t,a,v){"use strict";v.r(a);var _=v(10),r=Object(_.a)({},(function(){var t=this,a=t._self._c;return a("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[a("h1",{attrs:{id:"里程计集成"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#里程计集成"}},[t._v("#")]),t._v(" 里程计集成")]),t._v(" "),a("p",[t._v("本文档用于说明如何在陆地应用中接入并配置里程计（脉冲 / 正交编码器或 CAN 车速）。可与 "),a("RouterLink",{attrs:{to:"/deta/04-安装/05.html"}},[t._v("陆地应用")]),t._v(" 对照阅读。")],1),t._v(" "),a("h2",{attrs:{id:"作用"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#作用"}},[t._v("#")]),t._v(" 作用")]),t._v(" "),a("p",[t._v("N 系列及支持 ODO 输入的型号，可在城市峡谷等 GNSS 遮挡场景提升导航性能。GNSS 失效时，里程计仍可提供速度约束，改善航位推算。")]),t._v(" "),a("p",[t._v("可用 "),a("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/里程计校准.html"}},[t._v("FDIGroundStation 里程计校准")]),t._v(" 标定增益与安装参数；在线 SPKF 会微调增益并修正残余对准 / 杆臂误差。")],1),t._v(" "),a("h2",{attrs:{id:"机械安装"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#机械安装"}},[t._v("#")]),t._v(" 机械安装")]),t._v(" "),a("p",[t._v("里程计宜装在非转向轮（多数为后轮）；易打滑时尽量装在被动轮。须测量里程计杆臂：车辆坐标系中从 IMU 到轮胎接地点的有符号距离，建议约 5 cm 精度。")]),t._v(" "),a("h2",{attrs:{id:"电气与软件"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#电气与软件"}},[t._v("#")]),t._v(" 电气与软件")]),t._v(" "),a("ol",[a("li",[t._v("按型号接口将脉冲 / 正交信号或 CAN 接到对应输入（引脚见 "),a("RouterLink",{attrs:{to:"/deta/03-规格/"}},[t._v("规格")]),t._v("）。")],1),t._v(" "),a("li",[t._v("在上位机 AID / 里程计相关界面启用里程计（单通道距离、双通道距离+方向或 CAN 车速）。")]),t._v(" "),a("li",[t._v("配置初始增益（脉冲/米）、增益不确定度、方向符号、杆臂；建议开启自动野值 / 辅助拒绝。")])]),t._v(" "),a("h3",{attrs:{id:"每转脉冲-→-每米脉冲"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#每转脉冲-→-每米脉冲"}},[t._v("#")]),t._v(" 每转脉冲 → 每米脉冲")]),t._v(" "),a("p",[t._v("若铭牌给出每转脉冲数 "),a("em",[t._v("P")]),t._v("，车轮直径为 "),a("em",[t._v("d")]),t._v("（米）：")]),t._v(" "),a("p",[t._v("增益 = "),a("em",[t._v("P")]),t._v(" / (π × "),a("em",[t._v("d")]),t._v(") （脉冲/米）")]),t._v(" "),a("p",[t._v("示例：直径 0.4 m、每转 128 脉冲 → 增益 ≈ 101.86 脉冲/米。")]),t._v(" "),a("h3",{attrs:{id:"can-里程计"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#can-里程计"}},[t._v("#")]),t._v(" CAN 里程计")]),t._v(" "),a("p",[t._v("选择 CAN 里程计后，从车辆 CAN 读取速度与方向。先按正确波特率打开 CAN；仅接收时可设只听模式。")])])}),[],!1,null,null,null);a.default=r.exports}}]);