Real- Time Accurate Measurement Algorithm for Tractor Driving Wheel Slip Rate

Abstract

Aiming at the difficulty in measuring real-time and accurate value of tractor driving wheel slip rate during operation, an information fusion algorithm with noise observer is put forward based on the adaptive parallel Kalman filter. By fusing signals of the wheel speed sensor, angular acceleration sensor, accelerometer and GPS, the online accurate real-time measurement of tractor driving wheel slip rate is realized on the premise that no priori error statistical law is needed. The simulation results demonstrate that the measurement accuracy of the above algorithm is significantly better than that of other algorithms.