(window.webpackJsonp=window.webpackJsonp||[]).push([[570],{889:function(t,v,_){"use strict";_.r(v);var a=_(10),s=Object(a.a)({},(function(){var t=this,v=t._self._c;return v("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[v("h1",{attrs:{id:"里程计集成"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#里程计集成"}},[t._v("#")]),t._v(" 里程计集成")]),t._v(" "),v("p",[t._v("本页说明如何在陆地应用中安装并配置里程计（脉冲 / 正交编码器或 CAN 车速）。可与 "),v("RouterLink",{attrs:{to:"/sigma/04-安装/05.html"}},[t._v("陆地应用")]),t._v(" 对照阅读。")],1),t._v(" "),v("h2",{attrs:{id:"里程计安装"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#里程计安装"}},[t._v("#")]),t._v(" 里程计安装")]),t._v(" "),v("p",[t._v("Sigma-D / D4G 支持里程计输入，可在城市峡谷等 GNSS 遮挡场景显著提升导航性能。即使 GNSS 失效，里程计仍能提供可靠速度信息，提高航位推算精度。")]),t._v(" "),v("p",[t._v("支持：")]),t._v(" "),v("ul",[v("li",[t._v("单里程计或双里程计")]),t._v(" "),v("li",[t._v("正交输出，或可区分正反行驶方向的兼容里程计")]),t._v(" "),v("li",[t._v("可配置的 CAN 车速报文（可与车辆 OBD-II / CAN 接口对接）")])]),t._v(" "),v("p",[t._v("可用 "),v("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/里程计校准.html"}},[t._v("FDIGroundStation 里程计校准")]),t._v(" 辅助标定安装参数；在线 SPKF 会微调里程计增益，并修正残余对准与杆臂误差。")],1),t._v(" "),v("h2",{attrs:{id:"机械安装"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#机械安装"}},[t._v("#")]),t._v(" 机械安装")]),t._v(" "),v("p",[t._v("里程计应装在非转向轮上（多数应用为后轮）；易打滑时尽量装在被动轮。")]),t._v(" "),v("p",[t._v("须测量里程计杆臂：在车辆坐标系中，从 IMU 到轮胎与地面接触点的有符号距离，建议精度约 5 cm。")]),t._v(" "),v("h2",{attrs:{id:"电气安装"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#电气安装"}},[t._v("#")]),t._v(" 电气安装")]),t._v(" "),v("p",[t._v("FDISYSTEMS INS 支持多种 DMI（距离测量仪器）约定：简单脉冲里程计，或同时提供速度与方向的正交轮编码器。引脚与接口见 "),v("RouterLink",{attrs:{to:"/sigma/03-规格/05.html"}},[t._v("接口连接")]),t._v("。")],1),t._v(" "),v("h3",{attrs:{id:"脉冲里程计接线"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#脉冲里程计接线"}},[t._v("#")]),t._v(" 脉冲里程计接线")]),t._v(" "),v("p",[t._v("按所选接口将脉冲 / 正交信号接到对应输入（具体引脚以线束与型号说明为准）。")]),t._v(" "),v("h2",{attrs:{id:"软件配置"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#软件配置"}},[t._v("#")]),t._v(" 软件配置")]),t._v(" "),v("h3",{attrs:{id:"辅助分配"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#辅助分配"}},[t._v("#")]),t._v(" 辅助分配")]),t._v(" "),v("p",[t._v("在上位机辅助 / AID 相关界面中启用里程计，常见选项：")]),t._v(" "),v("ul",[v("li",[t._v("里程计 A：单通道，仅距离")]),t._v(" "),v("li",[t._v("里程计 AB：双通道，距离 + 方向")]),t._v(" "),v("li",[t._v("CAN 里程计：通过 CAN 总线接收速度")])]),t._v(" "),v("p",[t._v("界面操作见 "),v("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/里程计校准.html"}},[t._v("里程计校准")]),t._v("。")],1),t._v(" "),v("h3",{attrs:{id:"脉冲里程计配置"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#脉冲里程计配置"}},[t._v("#")]),t._v(" 脉冲里程计配置")]),t._v(" "),v("p",[t._v("启用后，在里程计相关面板中通常需要配置：")]),t._v(" "),v("ol",[v("li",[t._v("初始增益（脉冲/米）")]),t._v(" "),v("li",[t._v("增益精度 / 不确定度：卡尔曼滤波器对增益的估计空间。完全估计可设较高不确定度；里程计本身很准时可设较低。多数应用建议允许充分估计")]),t._v(" "),v("li",[t._v("接收模式：必要时反转速度符号以匹配实际行驶方向")]),t._v(" "),v("li",[t._v("杆臂：在车辆坐标系（X 前、Y 右、Z 下）下，从 IMU 到里程计")]),t._v(" "),v("li",[t._v("建议开启自动野值 / 辅助拒绝，由滤波器自行判断置信度")])]),t._v(" "),v("h4",{attrs:{id:"每转脉冲-→-每米脉冲"}},[v("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(" "),v("p",[t._v("若铭牌给出每转脉冲数 "),v("em",[t._v("P")]),t._v("，车轮直径为 "),v("em",[t._v("d")]),t._v("（米），则：")]),t._v(" "),v("p",[t._v("增益 = "),v("em",[t._v("P")]),t._v(" / (π × "),v("em",[t._v("d")]),t._v(") （脉冲/米）")]),t._v(" "),v("fdi-img",{attrs:{width:"70%",alt:"里程计增益换算",src:"/epsilon/UserManuals/applications/odoGain.png",caption:"增益换算示意"}}),t._v(" "),v("p",[t._v("示例：直径 0.4 m、每转 128 脉冲 → 增益 = 128 / (π × 0.4) ≈ 101.86 脉冲/米。")]),t._v(" "),v("h3",{attrs:{id:"can-里程计配置"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#can-里程计配置"}},[t._v("#")]),t._v(" CAN 里程计配置")]),t._v(" "),v("p",[t._v("选择 CAN 里程计后，可从车辆 CAN 读取速度与方向。请先在通信配置中按正确波特率打开 CAN；若仅用于接收里程计，可设为只听模式。")])],1)}),[],!1,null,null,null);v.default=s.exports}}]);