Development of vehicle test system and vehicle state estimation based on GPS/INS integrated navigation system

According to the characteristics of an electric vehicle with hub motors, LabVIEW vehicle test system was developed based on GPS/INS integrated navigation system. Based on the dynamics of vehicle system, the estimation of centre-of-mass lateral deviation was designed. Firstly, the universal data acquisition card and the LabVIEW software were used to build the testing system of an electric vehicle with hub motors. The data parameters of GPS/INS integrated navigation system were collected and stored in realtime. Secondly, the dynamic simulation method was used to build a vehicle model with seven degrees of freedom to estimate the driving state parameters. Finally, the experimental data and simulation results were contrasted to analyse the accuracy of the simulation experiment. The experimental results show that the test bed system worked effectively and its ability of data collection and analysis has been effectively improved. The estimation of vehicle state parameter is accurate, which lays a good foundation for the research on electric vehicles with hub motors in future.