Abstract: In order to solve the all-weather and high precision measurement problem of vehicle driving deviation，a vehicle driving deviation test method based on satellite real-time differential positioning technology was developed. The mobile station receiver was set in the measured vehicle to receive the real-time vehicle trajectory coordinates. The vehicle driving deviation trajectory model was established and the parameters of vehicle driving deviation were calculated. Meanwhile，wavelet transform was used to filter the satellite signal，which weakened the interference of multipath effect and improved the detection precision of the system. Through the comparative test with the same vehicle measured by two mobile station receivers at the same time，it is proved that the proposed method can detect the vehicle driving deviation quickly and effectively，and the test precision is high. Moreover，it can realize all-weather measurement.

Key words: vehicle engineering, vehicle driving deviation, wavelet filter, RTK, measurement model, test system

摘要： 为解决车辆行驶跑偏量检测的全天候高精度测量问题，提出了一种利用卫星实时差分定位技术进行车辆行驶跑偏量测量的方法。将移动站接收机置 于待测车辆上实时接收车辆轨迹坐标，构建车辆行驶跑偏轨迹模型并计算跑偏参数，同时采用小波变换对卫星信号进行滤波处理，削弱了多路径效应的干 扰，提高了检测系统的精度。通过两台移动站接收机同时测量同一车辆的对比试验证明该方法可以快速、有效地进行跑偏量检测，且测试精度高，可实现 全天候测试。

关键词: 车辆工程, 车辆行驶跑偏, 小波滤波, RTK, 测量模型, 测量系统