基于无迹卡尔曼滤波的车辆状态观测器：Carsim与Simulink联合应用及二次开发指南,基于无迹卡尔曼滤波的车辆状态观测器：Carsim与Simulink联合应用实践及详解,基于无迹卡尔曼滤波(Un
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基于无迹卡尔曼滤波的车辆状态观测器：Carsim与Simulink联合应用及二次开发指南,基于无迹卡尔曼滤波的车辆状态观测器：Carsim与Simulink联合应用实践及详解,基于无迹卡尔曼滤波(Unscented Kalmam Filter, UKF)的车辆状态观测器 Carsim与Simulink联合可估计车辆Vx，β，γ(效果见图)UKF使用子函数形式编程，只要定义好状态方程和观测方程，便可方便的进行二次开发Carsim2019 MATLAB2020a 可提供对应的低版本simulink文件带有详细注释和说明文档Carsim与Simulink联合估计难度与单纯的Simulink模型估计难度不同,UKF; Carsim; Simulink联合; 状态观测器; 低版本文件; 注释与文档; 联合估计难度,基于UKF的车辆状态观测器：Carsim与Simulink联合估计及应用效果展示 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90426022/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90426022/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">**<span class="ff2">基于无迹卡尔曼滤波的车辆状态观测器</span>——<span class="ff2">深度融合<span class="_ _0"> </span></span>Carsim<span class="_ _0"> </span><span class="ff2">与<span class="_ _0"> </span></span>Simulink**</div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">在这个技术博文中，我们将探索一个令人兴奋的领域<span class="ff1">——</span>基于无迹卡尔曼滤波（<span class="ff1">Unscented </span></div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">Kalman Filter, UKF<span class="ff2">）<span class="_ _1"></span>的车辆状态观测器。<span class="_ _1"></span>这种技术不仅在车辆动力学研究中有着广泛的应用，</span></div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">而且对于提升车辆控制系统的性能至关重要。</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">一、背景介绍</div><div class="t m0 x1 h2 y6 ff2 fs0 fc0 sc0 ls0 ws0">在现代车辆控制系统中，<span class="_ _2"></span>准确估计车辆的动态状态参数<span class="_ _2"></span>（如速度、<span class="_ _2"></span>侧倾角等）<span class="_ _2"></span>对于车辆的稳</div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">定<span class="_ _3"></span>性<span class="_ _3"></span>和<span class="_ _3"></span>安<span class="_ _3"></span>全<span class="_ _3"></span>性<span class="_ _3"></span>至<span class="_ _3"></span>关<span class="_ _3"></span>重<span class="_ _3"></span>要<span class="_ _3"></span>。<span class="_ _3"></span>而<span class="_ _4"> </span><span class="ff1">UKF<span class="_ _4"> </span></span>正<span class="_ _3"></span>是<span class="_ _3"></span>一<span class="_ _3"></span>种<span class="_ _3"></span>能<span class="_ _3"></span>提<span class="_ _3"></span>供<span class="_ _3"></span>高<span class="_ _3"></span>精<span class="_ _3"></span>度<span class="_ _3"></span>状<span class="_ _3"></span>态<span class="_ _3"></span>估<span class="_ _3"></span>计<span class="_ _3"></span>的<span class="_ _3"></span>方<span class="_ _3"></span>法<span class="_ _3"></span>。<span class="_ _3"></span>在<span class="_ _4"> </span><span class="ff1">Carsim<span class="_ _4"> </span></span>与</div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">Simulink<span class="_ _0"> </span><span class="ff2">的联合仿真环境中，我们可以通过<span class="_ _0"> </span></span>UKF<span class="_ _0"> </span><span class="ff2">来估计车辆的<span class="_ _0"> </span></span>Vx<span class="ff2">、β、γ等关键参数。</span></div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">二、<span class="ff1">UKF<span class="_ _0"> </span></span>技术详解</div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">UKF<span class="_"> </span><span class="ff2">是一种基<span class="_ _3"></span>于贝叶斯<span class="_ _5"></span>滤波理<span class="_ _5"></span>论的<span class="_ _5"></span>算法<span class="_ _5"></span>，其通<span class="_ _5"></span>过采<span class="_ _5"></span>用无<span class="_ _5"></span>迹变换<span class="_ _5"></span>（</span>UT<span class="_ _5"></span><span class="ff2">）来近<span class="_ _5"></span>似状<span class="_ _5"></span>态的<span class="_ _5"></span>后验概</span></div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">率密度函数。<span class="_ _6"></span>相比传统的卡尔曼滤波器，<span class="_ _6"></span><span class="ff1">UKF<span class="_ _0"> </span><span class="ff2">能够更好地处理非线性系统中的状态估计问题。</span></span></div><div class="t m0 x1 h2 yc ff2 fs0 fc0 sc0 ls0 ws0">在编程实现上，<span class="_ _2"></span><span class="ff1">UKF<span class="_ _0"> </span><span class="ff2">使用子函数形式，<span class="_ _7"></span>定义好状态方程和观测方程后，<span class="_ _7"></span>就可以方便地进行二</span></span></div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">次开发。</div><div class="t m0 x1 h2 ye ff2 fs0 fc0 sc0 ls0 ws0">三、<span class="ff1">Carsim<span class="_ _0"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>的联合仿真</div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">Carsim<span class="_ _8"> </span><span class="ff2">作<span class="_ _9"></span>为<span class="_ _9"></span>一<span class="_ _9"></span>款<span class="_ _9"></span>功<span class="_ _9"></span>能<span class="_ _9"></span>强<span class="_ _9"></span>大<span class="_ _9"></span>的<span class="_ _9"></span>车<span class="_ _9"></span>辆<span class="_ _9"></span>仿<span class="_ _9"></span>真<span class="_ _9"></span>软<span class="_ _9"></span>件<span class="_ _9"></span>，<span class="_ _9"></span>可<span class="_ _9"></span>以<span class="_ _9"></span>提<span class="_ _9"></span>供<span class="_ _9"></span>真<span class="_ _9"></span>实<span class="_ _9"></span>的<span class="_ _9"></span>车<span class="_ _9"></span>辆<span class="_ _9"></span>动<span class="_ _9"></span>力<span class="_ _9"></span>学<span class="_ _9"></span>模<span class="_ _9"></span>型<span class="_ _9"></span>。<span class="_ _9"></span>而</span></div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">MATLAB/Simulink<span class="_ _0"> </span><span class="ff2">则为我们提供了一个强大的仿真平台，<span class="_ _1"></span>可以方便地实现各种控制算法的建</span></div><div class="t m0 x1 h2 y11 ff2 fs0 fc0 sc0 ls0 ws0">模和仿真。通过将<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>进行联合仿真，我们可以更真实地模拟车辆在实际道</div><div class="t m0 x1 h2 y12 ff2 fs0 fc0 sc0 ls0 ws0">路上的行驶情况。</div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">在联<span class="_ _5"></span>合<span class="_ _5"></span>仿真<span class="_ _5"></span>中<span class="_ _5"></span>，我<span class="_ _5"></span>们<span class="_ _5"></span>使用<span class="_ _4"> </span><span class="ff1">UKF<span class="_"> </span></span>作为状<span class="_ _5"></span>态<span class="_ _5"></span>观测<span class="_ _5"></span>器<span class="_ _5"></span>，通<span class="_ _5"></span>过<span class="_ _4"> </span><span class="ff1">Carsim<span class="_"> </span></span>提供的<span class="_ _5"></span>数<span class="_ _5"></span>据来<span class="_ _5"></span>估<span class="_ _5"></span>计车<span class="_ _5"></span>辆<span class="_ _5"></span>的<span class="_ _0"> </span><span class="ff1">Vx</span>、</div><div class="t m0 x1 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">β、γ等参数。由于<span class="_ _0"> </span><span class="ff1">Carsim<span class="_ _0"> </span></span>的模型具有较高的复杂性，因此与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>联合估计的难度也相</div><div class="t m0 x1 h2 y15 ff2 fs0 fc0 sc0 ls0 ws0">对较高。<span class="_ _2"></span>然而，<span class="_ _2"></span>通过合理的模型简化、<span class="_ _2"></span>参数调整以及优化算法，<span class="_ _2"></span>我们可以实现高精度的状态</div><div class="t m0 x1 h2 y16 ff2 fs0 fc0 sc0 ls0 ws0">估计。</div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">四、示例代码与效果展示</div><div class="t m0 x1 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">下面是一个简单的<span class="_ _0"> </span><span class="ff1">UKF<span class="_ _0"> </span></span>状态观测器的<span class="_ _0"> </span><span class="ff1">MATLAB<span class="_ _0"> </span></span>代码示例，带有详细的注释和说明文档：</div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">```matlab</div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">% <span class="_ _a"> </span><span class="ff2">定义状态方程和观测方程（此处省略具体实现）</span></div><div class="t m0 x1 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0">% ...</div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0">% <span class="_ _a"> </span><span class="ff2">初始化<span class="_ _0"> </span></span>UKF<span class="_ _0"> </span><span class="ff2">参数和状态变量</span></div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0">% ...</div><div class="t m0 x1 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">% <span class="_ _a"> </span><span class="ff2">在每个仿真步长中更新<span class="_ _0"> </span></span>UKF<span class="_ _0"> </span><span class="ff2">状态估计值</span></div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0">for t = 1:simTime <span class="_ _b"> </span>% <span class="_ _a"> </span><span class="ff2">假设<span class="_ _0"> </span></span>simTime<span class="_ _a"> </span><span class="ff2">为仿真总时间</span></div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>