| 摘要 |
<p>A method for calibrating a differential odometer in a vehicle (10) having a pair of wheels (14, 16) and a pair of associated wheel sensors (18, 24) which generate output pulses as their associated wheels rotate. The method includes driving the vehicle (10) around a path (12) in a first direction (counterclockwise or clockwise), measuring the vehicle's heading change (preferably 360 degrees), and counting the number of pulses generated by each wheel sensor (18, 24) while the path is traversed. Then the vehicle is driven around the same, or a different, path in the opposite direction, again measuring the vehicle's heading change, and counting the number of pulses generated by each wheel sensor (18, 24). The pulse counts, the measured heading changes, and the known distance between the vehicle's wheels, are used to calculate the distance traveled by each wheel per output pulse from its associated wheel sensor.</p> |
