本文選題：路面檢測 + 測姿裝置��； 參考：《哈爾濱工業(yè)大學(xué)》2014年碩士論文

【摘要】：隨著我國經(jīng)濟建設(shè)迅猛發(fā)展，作為我國經(jīng)濟發(fā)展支柱之一，公路建設(shè)也在不斷完善，大量公路尤其是高等級公路的建設(shè)，極大的促進社會進步，緩解我國交通運輸壓力。但是，，由于公路的使用年限不斷增長，尤其是早期建設(shè)的高等公路，需要不斷地維修，這就需要在公路檢測方面花費越來越多的精力。公路路面自動化檢測設(shè)備研究已經(jīng)成為路面檢測的主要發(fā)展方向。 本課題圍繞公路路面自動化檢測系統(tǒng)研制這一主題，研究在不影響正常交通運輸?shù)臓顩r下，利用GPS與SINS（捷聯(lián)式慣性導(dǎo)航）組合導(dǎo)航技術(shù)實現(xiàn)車載姿態(tài)測量裝置的測姿工作。 論文主要工作如下： 首先，在總結(jié)公路路面檢測系統(tǒng)在國內(nèi)外發(fā)展現(xiàn)狀的基礎(chǔ)上，對車載姿態(tài)測量裝置進行總體設(shè)計，包含硬件整體結(jié)構(gòu)設(shè)計和軟件編程。硬件整體結(jié)構(gòu)包括：核心芯片最小系統(tǒng)外圍電路，加速度計、陀螺儀、GPS及光電旋轉(zhuǎn)編碼器信號采集電路。軟件編程包括：系統(tǒng)整體工作模式，加速度計數(shù)據(jù)采集模塊、陀螺儀數(shù)據(jù)采集模塊及GPS數(shù)據(jù)采集模塊，并且規(guī)定了GPS、陀螺儀及加速度計與上位機數(shù)據(jù)通信協(xié)議。 其次，對靜態(tài)捷聯(lián)慣性導(dǎo)航系統(tǒng)初始對準(zhǔn)算法進行研究，包括解析式粗對準(zhǔn)、精對準(zhǔn)過程及卡爾曼濾波算法在精對準(zhǔn)中的應(yīng)用，通過實驗分析，驗證算法的正確性。 再次，在分析捷聯(lián)慣性導(dǎo)航系統(tǒng)導(dǎo)航信息解算基礎(chǔ)上，通過仿真實驗證明，由于慣性器件本身輸出誤差項影響，單獨使用慣性導(dǎo)航解算載體姿態(tài)角，達不到系統(tǒng)要求。 最后，將卡爾曼濾波算法應(yīng)用到GPS/SINS組合導(dǎo)航系統(tǒng)中。利用GPS與慣性導(dǎo)航系統(tǒng)輸出的導(dǎo)航信息差值作為觀測量，經(jīng)組合卡爾曼濾波器估計姿態(tài)角誤差，對慣性導(dǎo)航系統(tǒng)校正，通過仿真實驗及實際數(shù)據(jù)采集實驗驗證算法的有效性，滿足系統(tǒng)要求。
[Abstract]:With the rapid development of China's economic construction, as one of the pillars of our economic development, highway construction is constantly improving. A large number of highways, especially the construction of high-grade highways, greatly promote social progress and alleviate the pressure of transportation in China. However, because the service life of the highway is increasing, especially the high highway which was built in the early period, it needs to be maintained constantly, which requires more and more attention in the field of highway detection. The research of highway pavement automatic detection equipment has become the main developing direction of pavement detection. This paper focuses on the research and development of automatic detection system for highway pavement, and studies how to realize the attitude determination of vehicle attitude measurement device by using the integrated navigation technology of GPS and sins (Strapdown Inertial Navigation) without affecting the normal traffic and transportation. The main work of the thesis is as follows: Firstly, on the basis of summarizing the present situation of highway pavement detection system at home and abroad, the overall design of vehicle attitude measurement device is carried out, including the overall hardware structure design and software programming. The hardware structure includes: core chip minimum system peripheral circuit, accelerometer, gyroscope GPS and photoelectric rotary encoder signal acquisition circuit. The software programming includes: system working mode, accelerometer data acquisition module, gyroscope data acquisition module and GPS data acquisition module, and stipulated the data communication protocol between GPS, gyroscope and accelerometer and host computer. Secondly, the initial alignment algorithm of static strapdown inertial navigation system is studied, including analytical coarse alignment, fine alignment process and the application of Kalman filter algorithm in precision alignment. The correctness of the algorithm is verified by experimental analysis. Thirdly, on the basis of analyzing the navigation information of strapdown inertial navigation system, the simulation results show that because of the effect of the error term of the inertial device itself, the attitude angle of the carrier can not be calculated by using the inertial navigation alone, which can not meet the requirements of the system. Finally, Kalman filter algorithm is applied to GPS/SINS integrated navigation system. Using the difference of navigation information output from GPS and inertial navigation system as the observation, the attitude angle error is estimated by integrated Kalman filter, the inertial navigation system is corrected, and the effectiveness of the algorithm is verified by simulation experiment and actual data acquisition experiment. Meet system requirements.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U463.6;U495

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本文編號：1954353