【摘要】：隨著車(chē)聯(lián)網(wǎng)的快速發(fā)展，車(chē)輛定位受到越來(lái)越多的關(guān)注。全球定位系統(tǒng)（GPS，GlobalPositioning System）和捷聯(lián)慣性導(dǎo)航系統(tǒng)（SINS，Strapdown Intertial Navigation System）是車(chē)輛定位領(lǐng)域的兩大技術(shù)。GPS雖然具有比較高的定位精度，但是在衛(wèi)星被遮擋的地方無(wú)法實(shí)現(xiàn)定位，因而需要其他定位方式的輔助，實(shí)現(xiàn)輔助GPS（AGPS，Assited Global PositioningSystem）定位。捷聯(lián)慣性導(dǎo)航（SINS）可以在無(wú)GPS信號(hào)的情況下依靠慣性測(cè)量單元（IMU，Inertial Measurement Unit）測(cè)得汽車(chē)定位參數(shù)，利用運(yùn)動(dòng)學(xué)定律進(jìn)行自主定位，但是由于誤差具有時(shí)間累積性，且外部器件在安裝的過(guò)程中，還存在安裝誤差，因而無(wú)法實(shí)現(xiàn)長(zhǎng)時(shí)間較高精度的定位。 針對(duì)此問(wèn)題，本文提出了一種僅基于車(chē)內(nèi)慣性器件的自主定位方法——車(chē)速-方向盤(pán)轉(zhuǎn)角傳感器定位方法（VSSA，Vehicle SpeedSteering Angle），通過(guò)車(chē)速傳感器測(cè)得的速度與方向盤(pán)轉(zhuǎn)角傳感器測(cè)得角度，運(yùn)用運(yùn)動(dòng)學(xué)定律，給出了路程增量推算算法，經(jīng)仿真分析，此方法推算出的軌跡與實(shí)際行駛軌跡基本相符。在此基礎(chǔ)上，本文對(duì)組合定位方法進(jìn)行了研究，，通過(guò)將SINS系統(tǒng)中陀螺儀與VSSA組成航位推算（DR）系統(tǒng)，然后用DR系統(tǒng)與SINS系統(tǒng)的位置與姿態(tài)誤差通過(guò)Sage-husa自適應(yīng)濾波去補(bǔ)償SINS系統(tǒng)，從而提高了SINS系統(tǒng)定位精度，實(shí)現(xiàn)了另外一種車(chē)輛自主組合定位方法。仿真結(jié)果表明此方法的定位精度與航向精度都比較高。最后本文將GPS與此SINS/VSSA系統(tǒng)組合，通過(guò)融合濾波，實(shí)現(xiàn)在不同GPS信號(hào)情況下根據(jù)分配系數(shù)的不同實(shí)現(xiàn)對(duì)不同定位方式的自主選擇，達(dá)到車(chē)輛行駛過(guò)程中的完整、精確、連續(xù)定位。
[Abstract]:With the rapid development of vehicle networking, vehicle positioning has received more and more attention. The Global Positioning system (GPS,GlobalPositioning System) and the Strapdown Inertial Navigation system (SINS,Strapdown Intertial Navigation System) are two major technologies in the field of vehicle positioning. Although GPS has high positioning accuracy, it can not locate in the areas where the satellite is blocked. Therefore, it needs the assistance of other positioning methods to realize the auxiliary GPS (AGPS,Assited Global PositioningSystem) positioning). The strapdown inertial navigation (SINS) can be based on the inertial measurement unit (IMU,Inertial Measurement Unit) to measure the vehicle positioning parameters without GPS signal, and use the law of kinematics to locate the vehicle independently. However, the error has the property of time accumulation. Moreover, there are still installation errors in the process of installation of external devices, so it is impossible to achieve high precision positioning for a long time. In order to solve this problem, this paper presents an autonomous localization method based only on the inertial device in the vehicle, which is based on the speed and steering wheel angle sensor (VSSA,Vehicle SpeedSteering Angle),). By using the velocity measured by the speed sensor and the angle measured by the steering wheel angle sensor and by using the kinematics law, an algorithm for calculating the distance increment is given. The calculated trajectory is basically consistent with the actual driving track by the simulation analysis. On this basis, the combined positioning method is studied in this paper. The (DR) system is composed of gyroscope and VSSA in SINS system. Then the position and attitude error of DR system and SINS system are used to compensate the SINS system through Sage-husa adaptive filter, thus the positioning accuracy of SINS system is improved, and another method of vehicle autonomous combined positioning is realized. The simulation results show that the positioning accuracy and heading accuracy of this method are high. Finally, the GPS and the SINS/VSSA system are combined to realize the independent selection of different positioning modes according to the different distribution coefficients of different GPS signals through the fusion filtering, which can achieve the integrity and accuracy of the vehicle driving process. Continuous positioning.
【學(xué)位授予單位】：南京郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：P228.4;U495

【參考文獻(xiàn)】

相關(guān)期刊論文 前6條

1 曹科;吳躍;;A-GPS定位技術(shù)在3G終端中的應(yīng)用[J];計(jì)算機(jī)技術(shù)與發(fā)展;2006年12期

2 王建強(qiáng);吳辰文;李曉軍;;車(chē)聯(lián)網(wǎng)架構(gòu)與關(guān)鍵技術(shù)研究[J];微計(jì)算機(jī)信息;2011年04期

3 劉嵐,吳薇;TD-SCDMA技術(shù)及其與UTRA TDD的比較[J];無(wú)線(xiàn)通信技術(shù);2003年01期

4 張飛舟,范躍祖,孫先仿;車(chē)輛組合導(dǎo)航定位技術(shù)[J];系統(tǒng)工程與電子技術(shù);2000年06期

5 王永剛,王順宏;改進(jìn)Sage-Husa濾波及在GPS/INS容錯(cuò)組合制導(dǎo)中的應(yīng)用[J];中國(guó)慣性技術(shù)學(xué)報(bào);2003年05期

6 古麗萍;;對(duì)我國(guó)車(chē)聯(lián)網(wǎng)發(fā)展的思考[J];中國(guó)無(wú)線(xiàn)電;2011年06期

相關(guān)博士學(xué)位論文 前2條

1 韓松來(lái);GPS和捷聯(lián)慣導(dǎo)組合導(dǎo)航新方法及系統(tǒng)誤差補(bǔ)償方案研究[D];國(guó)防科學(xué)技術(shù)大學(xué);2010年

2 嚴(yán)恭敏;車(chē)載自主定位定向系統(tǒng)研究[D];西北工業(yè)大學(xué);2006年

相關(guān)碩士學(xué)位論文 前6條

1 劉晶t

本文編號(hào)：2392153