車聯(lián)網(wǎng)中車輛定位及其優(yōu)化技術(shù)研究
發(fā)布時間：2018-12-26 12:51
【摘要】：隨著車聯(lián)網(wǎng)的快速發(fā)展，車輛定位受到越來越多的關(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GPS信號的情況下依靠慣性測量單元（IMU，Inertial Measurement Unit）測得汽車定位參數(shù)，利用運(yùn)動學(xué)定律進(jìn)行自主定位，但是由于誤差具有時間累積性，且外部器件在安裝的過程中，還存在安裝誤差，因而無法實(shí)現(xiàn)長時間較高精度的定位。 針對此問題，本文提出了一種僅基于車內(nèi)慣性器件的自主定位方法——車速-方向盤轉(zhuǎn)角傳感器定位方法（VSSA，Vehicle SpeedSteering Angle），通過車速傳感器測得的速度與方向盤轉(zhuǎn)角傳感器測得角度，運(yùn)用運(yùn)動學(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，本文對組合定位方法進(jìn)行了研究，，通過將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，通過融合濾波，實(shí)現(xiàn)在不同GPS信號情況下根據(jù)分配系數(shù)的不同實(shí)現(xiàn)對不同定位方式的自主選擇，達(dá)到車輛行駛過程中的完整、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)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P228.4;U495
[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)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P228.4;U495
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