This paper presents the theory of measuring attitudes and analyses the lag of acceleration bias measurement when the vehicle rolls and the sensor drifts, using kinematic Kalman filter with one-antenna GPS/INS measurement system, then brings forward the way to measure directly the vehicle sideslip angle and sensor drift with tow-antenna GPS/INS measurement system, which is used to estimate the vehicle sideslip angle, tire slip angle and tire cornering stiffness. The result of experiment shows that the estimation of slip angles and tire cornering stiffness with two-antenna GPS/INS measurement well match the theoretical value, which means the two-antenna GPS/INS measurement as a direct measure method has high estimation accuracy. It can be confirmed that the technology shows unique superiority in the application of future vehicle security systems.%介绍了测姿原理,分析了采用单天线GPS/INS组合测量方式的运动学卡尔曼滤波器在车辆侧倾和传感器发生漂移时存在的加速度偏差测量的延时问题,提出了直接测量车辆侧倾角和传感器漂移的双天线GPS/INS测量方法,并利用该测量方法对车辆和轮胎的侧偏角以及轮胎的侧偏刚度进行了估测.测试结果表明:采用双天线GPS方法测量的侧偏角和侧偏刚度估测值与理论值能够较好地吻合,说明由于双天线GPS/INS系统直接测量车辆的行驶情况,提高了侧偏的估测精度,显示该项技术在未来汽车安全系统的应用中具有突出的优势.
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