Abstract
A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed. Considering that the tight relation between vehicle motion and topography, a new trajectory generator for vehicle was proposed for more actual simulation. Firstly, a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems. Then, the principle of common trajectory generators was analyzed. Besides, combining the vehicle kinematics model with the principle of dead reckoning, a new vehicle trajectory generator was presented, which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle. Moreover, IMU (inertial measurement unit) elements were simulated, including accelerometer and gyroscope. After setting up the simulation conditions, the integrated navigation simulation system was verified by final performance test. The result proves the validity and flexibility of this design.
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Foundation item: Projects(90820302, 60805027, 61175064) supported by the National Natural Science Foundation of China; Project(2011ssxt231) supported by the Master Degree Thesis Innovation Project Foundation of Central South University, China; Project(200805330005) supported by the Research Fund for the Doctoral Program of Higher Education, China; Project(2011FJ4043) supported by the Academician Foundation of Hunan Province, China
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Li, Z., Cai, Zx., Ren, Xp. et al. Vehicle kinematics modeling and design of vehicle trajectory generator system. J. Cent. South Univ. 19, 2860–2865 (2012). https://doi.org/10.1007/s11771-012-1352-3
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DOI: https://doi.org/10.1007/s11771-012-1352-3