(window.webpackJsonp=window.webpackJsonp||[]).push([[429],{751:function(t,e,a){"use strict";a.r(e);var v=a(10),i=Object(v.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("h1",{attrs:{id:"安装角度对准"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#安装角度对准"}},[t._v("#")]),t._v(" 安装角度对准")]),t._v(" "),e("p",[t._v("传感器对准过程包含两个步骤：轴向对准与精细对准。部分辅助传感器也需要考虑安装偏差；测量方式与 IMU 相同，即将外部传感器与车辆坐标系进行比较。")]),t._v(" "),e("h2",{attrs:{id:"轴向未对准"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#轴向未对准"}},[t._v("#")]),t._v(" 轴向未对准")]),t._v(" "),e("p",[t._v("以下示例说明如何测量 IMU 轴向未对准。IMU 各轴需与车辆坐标系各轴对照，如下所示：")]),t._v(" "),e("div",[e("div",{staticStyle:{width:"42%",margin:"0 auto"}},[e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("IMU 轴")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("车辆方向")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("X")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("左（LEFT）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("Y")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("前（FRONT）")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("Z")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("下（DOWN）")])])])])])]),t._v(" "),e("h3",{attrs:{id:"轴向对准示例"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#轴向对准示例"}},[t._v("#")]),t._v(" 轴向对准示例")]),t._v(" "),e("fdi-img",{attrs:{width:"52.5%",alt:"MEMS",src:"/knowledge-base/03/030201.png"}}),t._v(" "),e("h2",{attrs:{id:"精细未对准"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#精细未对准"}},[t._v("#")]),t._v(" 精细未对准")]),t._v(" "),e("p",[t._v("完成轴向未对准设置后，还需按如下方式测量较小的残余角度。未对准角对应于将 IMU 坐标系变换到车辆坐标系所需的残余旋转。在本示例中，α 对应航向误差，符号为负。")]),t._v(" "),e("p",[t._v("多数应用中，横滚与俯仰未对准角通常较小。若预计横滚和俯仰角度较大（> 5°），用户必须考虑旋转合成顺序：先横滚，再俯仰，最后偏航。\n")]),e("div",[e("div",{staticStyle:{width:"42%",margin:"0 auto"}},[e("p"),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("未对准角")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("数值")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("misroll")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("未示出")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("mispitch")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("未示出")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("misheading")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("-α（负）")])])])])])]),t._v(" "),e("h3",{attrs:{id:"未对准残差测量"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#未对准残差测量"}},[t._v("#")]),t._v(" 未对准残差测量")]),t._v(" "),e("fdi-img",{attrs:{width:"52.5%",alt:"MEMS",src:"/knowledge-base/03/030202.png"}}),t._v(" "),e("p",[t._v("将精细未对准角测量并写入设备配置后，即可假定传感器坐标系已与车辆坐标系对齐。")]),t._v(" "),e("h2",{attrs:{id:"载体横滚、俯仰与偏航未对准"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#载体横滚、俯仰与偏航未对准"}},[t._v("#")]),t._v(" 载体横滚、俯仰与偏航未对准")]),t._v(" "),e("p",[t._v("当传感器安装在地面车辆上时（不适用于船舶），可通过简便流程估计横滚与俯仰偏差。")]),t._v(" "),e("p",[t._v("该流程适用于任意平面（不一定水平）。以汽车为例，步骤如下：")]),t._v(" "),e("ul",[e("li",[t._v("将车辆倒车停入车位，停车后测量横滚角与俯仰角。")]),t._v(" "),e("li",[t._v("再将车辆正向停入同一车位，测量横滚角与俯仰角。")]),t._v(" "),e("li",[t._v("在配置页面中，将平均横滚角与平均俯仰角分别用作横滚未对准与俯仰未对准设置。")])]),t._v(" "),e("fdi-img",{attrs:{width:"52.5%",alt:"MEMS",src:"/knowledge-base/03/030203.png"}}),t._v(" "),e("p",[t._v("相比之下，测量 INS 航向未对准更为复杂。若可确认车辆为非转向后轮的标准汽车，可采用以下方法：")]),t._v(" "),e("ul",[e("li",[t._v("首先在 INS 配置中输入已测量的横滚与俯仰未对准角。")]),t._v(" "),e("li",[t._v("随后在车速不低于 50 km/h 的路段直线行驶，并确保车辆不发生漂移或打滑。")]),t._v(" "),e("li",[t._v("将平均侧滑角（slip angle）作为航向未对准的直接测量值。")]),t._v(" "),e("li",[t._v("也可使用 FDI 上位机自动估计并显示偏航、俯仰以及车辆旋转中心杠杆臂。")])])],1)}),[],!1,null,null,null);e.default=i.exports}}]);