本文選題：地磁室內(nèi)定位　切入點(diǎn)：地磁數(shù)據(jù)采集系統(tǒng)平臺(tái)　出處：《北京建筑大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：“數(shù)字城市”、“智慧城市”的提出,促進(jìn)了測(cè)繪事業(yè)的不斷創(chuàng)新。運(yùn)用現(xiàn)階段通信技術(shù)與位置信息服務(wù)(Location Based Services,LBS)等關(guān)鍵技術(shù)可對(duì)民生、城市服務(wù)、工商業(yè)活動(dòng)在內(nèi)的各種需求做出智能響應(yīng)。利用全球定位系統(tǒng)(Global Positioning Systems,GPS)的位置信息服務(wù),廣泛地應(yīng)用于汽車導(dǎo)航和便攜式導(dǎo)航當(dāng)中,人們可以通過位置信息服務(wù)快速獲取精確位置信息。然而,在各大型商場(chǎng)、超大型購(gòu)物中心、機(jī)場(chǎng)、停車場(chǎng)等室內(nèi)環(huán)境是無法獲取精確的位置信息。因此,很多學(xué)者逐步將研究的焦點(diǎn)轉(zhuǎn)向室內(nèi)的位置信息服務(wù)當(dāng)中。由于室內(nèi)環(huán)境相比于室外更為復(fù)雜,所以,對(duì)室內(nèi)定位技術(shù)的要求也就越高。目前,一種新型的室內(nèi)定位導(dǎo)航方式“地磁室內(nèi)定位”受到很多學(xué)者的追捧,其關(guān)鍵一步是前期地磁基準(zhǔn)圖的構(gòu)建。譬如對(duì)超大型購(gòu)物中心、商場(chǎng)構(gòu)建地磁基準(zhǔn)圖時(shí),由于物品擺放位置的不斷變換,進(jìn)而要求地磁基準(zhǔn)圖的實(shí)時(shí)更新。在偌大的空間內(nèi)構(gòu)建地磁基準(zhǔn)圖,提高基準(zhǔn)圖的采集效率至關(guān)重要。本文針對(duì)提高基準(zhǔn)圖構(gòu)建的效率,做了以下工作:1)自主研發(fā)了一套針對(duì)在室內(nèi)環(huán)境中采集地磁基準(zhǔn)圖的地磁數(shù)據(jù)采集系統(tǒng),此套系統(tǒng)集成了多種傳感器(慣導(dǎo)傳感器、編碼器、地磁傳感器)于一體,并將多種傳感器數(shù)據(jù)融合于該地磁數(shù)據(jù)采集系統(tǒng)中,利用可編程邏輯控制器(Programmable Logic Controller,PLC)程序控制人為地規(guī)劃采集系統(tǒng)的行走路徑軌跡,PC接收端實(shí)時(shí)監(jiān)測(cè)并存儲(chǔ)采集系統(tǒng)平臺(tái)采集的數(shù)據(jù)信息。2)兩信道編碼器采集數(shù)據(jù)信息的同步輸出,并且在監(jiān)測(cè)、顯示、存儲(chǔ)方面,基于Labview程序開發(fā)環(huán)境開發(fā)了一款針對(duì)編碼信號(hào)預(yù)處理的應(yīng)用程序來實(shí)現(xiàn)。3)利用卡爾曼濾波算法平滑、優(yōu)化LPMS-CURS慣導(dǎo)傳感器采集的姿態(tài)角數(shù)據(jù)信息,達(dá)到了預(yù)期的效果。4)將不同傳感器之間的采樣頻率都設(shè)置成100Hz,然后利用PC端提供的同步時(shí)鐘信號(hào),達(dá)到脈沖信號(hào)數(shù)據(jù)信息、姿態(tài)角數(shù)據(jù)信息的同步采集。最后將數(shù)據(jù)入庫(kù),進(jìn)行位置坐標(biāo)分析。5)針對(duì)室內(nèi)復(fù)雜環(huán)境的特點(diǎn),模擬了多種運(yùn)動(dòng)軌跡,并且在基于Matlab編譯環(huán)境下對(duì)每種軌跡都利用了不同的軌跡算法進(jìn)行模擬輸出,達(dá)到了預(yù)期的效果。6)為了確定模擬運(yùn)動(dòng)的精度,建立了一個(gè)針對(duì)檢驗(yàn)該系統(tǒng)移動(dòng)平臺(tái)在運(yùn)動(dòng)過程中軌跡的實(shí)驗(yàn)檢校場(chǎng),達(dá)到了預(yù)期效果。7)將位置坐標(biāo)信息、地磁數(shù)據(jù)信息利用克里金插值法(Kriging)構(gòu)建高精度地磁基準(zhǔn)圖。地磁數(shù)據(jù)采集系統(tǒng)平臺(tái)經(jīng)過不斷實(shí)驗(yàn)、優(yōu)化、改良,目前已成功應(yīng)用于室內(nèi)環(huán)境中,系統(tǒng)運(yùn)行穩(wěn)定,采樣間隔可達(dá)到100Hz以內(nèi),速度可控性極強(qiáng),同步采集串口對(duì)接達(dá)到“0”誤差,軌跡坐標(biāo)相對(duì)中誤差優(yōu)于1cm。
[Abstract]:The proposal of "Digital City" and "Wisdom City" has promoted the continuous innovation of surveying and mapping. The use of key technologies such as communication technology and location Based Services (LBSs) can serve the people's livelihood and the city. Using Global Positioning Systems GPS (Global Positioning Systems GPS) location information service, it is widely used in vehicle navigation and portable navigation. People can quickly obtain accurate location information through location information services. However, in large shopping malls, super shopping centers, airports, parking lots and other indoor environments, accurate location information can not be obtained. Many scholars have gradually turned their attention to the indoor location information service. Because the indoor environment is more complex than the outdoor environment, the higher the requirement for indoor positioning technology is. At present, A new type of indoor positioning and navigation method, "geomagnetic indoor positioning", has been sought after by many scholars. The key step is the construction of geomagnetic reference maps. For example, when building geomagnetic reference maps for super large shopping centers and shopping malls, It is very important to construct geomagnetic datum map in large space and to improve the collection efficiency of datum map because of the continuous change of objects' position, which requires the updating of geomagnetic reference map in real time. In this paper, we aim at improving the efficiency of datum map construction. I have done the following work: 1) We have independently developed a geomagnetic data acquisition system for collecting geomagnetic reference maps in an indoor environment. This system integrates a variety of sensors (inertial navigation sensors, encoders, geomagnetic sensors). And fusion of various sensor data into the geomagnetic data acquisition system, The programmable logic controller (Programmable Logic Controller) is used to control the synchronous output of the data collected by the two channel encoder. And in the aspect of monitoring, displaying and storing, based on the Labview program development environment, a preprocessing application program for coded signal is developed to realize. 3) the attitude angle data collected by LPMS-CURS inertial navigation sensor is optimized by smoothing Kalman filter algorithm, and optimizing the information of attitude angle data collected by LPMS-CURS inertial navigation sensor. The desired effect. 4) set the sampling frequency between different sensors to 100 Hz, then use the synchronous clock signal provided by PC to achieve the synchronous acquisition of pulse signal data and attitude angle data. Finally, the data is stored in the database. Analysis of position coordinates. 5) aiming at the characteristics of indoor complex environment, we simulate a variety of motion trajectories, and make use of different trajectory algorithms to simulate the output of each trajectory based on Matlab compiler environment. In order to determine the accuracy of the simulation motion, an experimental calibration field is established to check the trajectory of the moving platform in the course of motion, and the desired effect is achieved. 7) the position coordinate information is obtained. The geomagnetic data information is constructed by Kriging. the platform of geomagnetic data acquisition system has been continuously experimented, optimized and improved, and has been successfully applied in indoor environment, and the system is running stably. The sampling interval can reach within 100 Hz, the speed is very controllable, the synchronous acquisition serial port docking achieves "0" error, and the relative central error of trajectory coordinate is better than 1 cm.
【學(xué)位授予單位】：北京建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：P227.9;P318

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本文編號(hào)：1628757