本文選題：車輛導(dǎo)航系統(tǒng) + 地圖匹配　； 參考：《解放軍信息工程大學(xué)》2014年碩士論文

【摘要】：當(dāng)前車輛導(dǎo)航系統(tǒng)獲得了廣泛應(yīng)用,普遍采用地圖匹配技術(shù)解決衛(wèi)星定位和制圖誤差等導(dǎo)致行車軌跡不在道路上的問題。地圖匹配是借助電子地圖對接收到的定位數(shù)據(jù)進(jìn)行實時修正的過程。它能夠減小定位誤差對導(dǎo)航定位的影響,提高系統(tǒng)的定位精度�，F(xiàn)有的地圖匹配算法精度高、效果好,在大多數(shù)車輛導(dǎo)航系統(tǒng)中獲得了較好的應(yīng)用。然而,如果衛(wèi)星信號被遮擋時導(dǎo)航系統(tǒng)不能在隧道、橋下有效定位,汽車就不能在復(fù)雜的立交橋上有效區(qū)分橋上橋下的情況。同時,對于應(yīng)用復(fù)雜的軍用車輛導(dǎo)航系統(tǒng)而言,除了導(dǎo)航應(yīng)用外,它還包括復(fù)雜的地圖數(shù)據(jù)處理、各種業(yè)務(wù)數(shù)據(jù)處理等功能。并且,較復(fù)雜的匹配計算在匹配區(qū)域切換時可能存在停頓,因而對匹配算法提出了更高要求。本文針對實際應(yīng)用需求,對地圖匹配算法的實現(xiàn)過程進(jìn)行了深入研究,設(shè)計了一種具有強實時性,并對復(fù)雜路網(wǎng)匹配效果良好的地圖匹配算法,論文的主要工作如下:(1)針對匹配計算時路網(wǎng)數(shù)據(jù)重組時間過長導(dǎo)致匹配停頓或延遲的問題,在基于優(yōu)先級調(diào)度的多任務(wù)環(huán)境下采用“空間換時間”策略,實現(xiàn)了雙緩存機制的路網(wǎng)數(shù)據(jù)訪問方法。該方法首先在系統(tǒng)啟動時申請了兩塊緩存空間,并采用基于節(jié)點-路段關(guān)聯(lián)的匹配路網(wǎng)模型在前臺緩存中組織路網(wǎng)數(shù)據(jù)。其次,建立高低任務(wù)優(yōu)先級的主輔任務(wù),高優(yōu)先級的主任務(wù)在前臺緩存中基于節(jié)點-路段關(guān)聯(lián)模型進(jìn)行實時匹配計算,而低優(yōu)先級的輔任務(wù)則對后臺緩存讀取的區(qū)域路網(wǎng)數(shù)據(jù)進(jìn)行預(yù)處理,有效減少了匹配搜索次數(shù)。同時,預(yù)先建立了新位置的節(jié)點-路段關(guān)聯(lián)關(guān)系,避免了新位置的匹配切換引起的停頓問題。性能分析表明,雙緩存策略實現(xiàn)了地圖匹配的流暢運行,提高了路網(wǎng)數(shù)據(jù)的訪問效率,保證了車輛的實時匹配。(2)針對嵌入式環(huán)境中匹配路網(wǎng)搜索時,路段形狀點數(shù)量與搜索次數(shù)過多影響匹配實時性的問題,研究了基于匹配誤差的自適應(yīng)限差矢量數(shù)據(jù)壓縮預(yù)處理方法。該方法在地圖匹配過程中增加了帶有反饋環(huán)節(jié)的矢量數(shù)據(jù)壓縮模塊,并應(yīng)用改進(jìn)的自適應(yīng)限差Douglas-Peucker算法對區(qū)域路網(wǎng)數(shù)據(jù)進(jìn)行壓縮預(yù)處理。改進(jìn)算法分別以地圖精度、道路間距及匹配誤差的最大似然估計值為輸入?yún)?shù),賦予適當(dāng)?shù)臋?quán)值后將輸出的加權(quán)平均值作為精度限差對路網(wǎng)數(shù)據(jù)進(jìn)行矢量壓縮。實驗結(jié)果表明,與壓縮前相比,壓縮后的路段點數(shù)明顯減少,說明路網(wǎng)預(yù)處理能夠有效降低路網(wǎng)數(shù)據(jù)量,加快搜索速度,從而提高地圖匹配的實時性。(3)針對二維地圖匹配算法對立交橋、隧道等立體化路段的匹配精度相對較低的問題,設(shè)計了基于高程信息的改進(jìn)D-S證據(jù)理論地圖匹配算法。該算法首先根據(jù)有無歷史定位信息采用不同的搜索方式確定候選道路集;其次,為了引入高程信息的作用,通過給出的自定義高程函數(shù)在位置信息證據(jù)及方向信息證據(jù)融合后的聯(lián)合支持度函數(shù)中增加了一個高程因子,之后依據(jù)改進(jìn)后的聯(lián)合支持度函數(shù)結(jié)果判定匹配路段;最后,針對有效定位數(shù)據(jù)及缺失定位數(shù)據(jù),分別采用正交投影法及推算定位法對定位結(jié)果進(jìn)行修正。實驗結(jié)果表明,相比傳統(tǒng)的D-S證據(jù)理論法,改進(jìn)算法有效提高了立交橋區(qū)域的匹配準(zhǔn)確率,改善了匹配算法的處理性能。(4)在課題組開發(fā)的××導(dǎo)航定位系統(tǒng)中設(shè)計并實現(xiàn)了基于注冊機制的構(gòu)件化地圖匹配組件,經(jīng)過測試與驗證,該構(gòu)件能夠滿足系統(tǒng)的應(yīng)用需求。
[Abstract]:The current vehicle navigation system has been widely used. The map matching technology is widely used to solve the problem that the path of the vehicle is not on the road. The map matching is the process of real-time correction of the received location data with the aid of electronic map. It can reduce the influence of the positioning error on the navigation and positioning. The existing map matching algorithm has high precision and good effect, and it has obtained good application in most vehicle navigation systems. However, if the navigation system can not be effectively located under the tunnel and under the bridge when the satellite signal is blocked, the vehicle can not effectively distinguish the bridge under the complex bridge. At the same time, In the application of complex military vehicle navigation system, besides the navigation application, it also includes complex map data processing, various business data processing and other functions. Moreover, more complex matching computation may have a pause when switching in the matching area. Thus, a higher requirement for the matching algorithm is proposed. The realization process of graph matching algorithm is deeply studied, and a map matching algorithm with strong real-time performance and good matching effect for complex road network is designed. The main work of this paper is as follows: (1) the problem of matching stop or delay with the long reconfiguration time of the road network data in the matching calculation, and the multi task based on priority scheduling. In the environment, the method of "space time for time" is adopted to realize the access method of road network data in double cache mechanism. This method first applies two blocks of cache space when the system starts, and uses a matching road network model based on node link link to organize road network data in the front cache. The high priority main task is based on the node link association model in the front desk for real-time matching calculation, while the low priority auxiliary task preprocesses the regional road network data that the background cache reads, effectively reducing the number of matching search. At the same time, the new bit link link relationship is established in advance to avoid the new location. The performance analysis shows that the dual cache strategy realizes the smooth operation of map matching, improves the access efficiency of road network data, and ensures the real-time matching of vehicles. (2) the problem of real-time matching of the number of road shape points and too much search times when searching the road network in the embedded environment, The adaptive limit vector data compression preprocessing method based on the matching error is studied. In the process of map matching, the vector data compression module with feedback link is added, and the improved adaptive limit difference Douglas-Peucker algorithm is used to compress the regional road network data. The improved algorithm is based on the map accuracy, The maximum likelihood estimation of road distance and matching error is the input parameter, and the weighted average value of the output is used as the precision limit to compress the vector of the road network data. The experimental results show that the number of road points after compression is obviously reduced compared with the compression, which indicates that the road network preprocessing can effectively reduce the amount of road network data. To speed up the search speed and improve the real time of map matching. (3) aiming at the problem that the matching precision of the two dimensional map matching algorithm is relatively low in the stereo sections such as overpass and tunnel, the improved D-S evidence theory map matching algorithm based on elevation information is designed. Secondly, in order to introduce the candidate road set, in order to introduce the function of elevation information, a elevation factor is added to the joint support function of the position information evidence and the direction information evidence fusion, and then the matching section is determined according to the improved joint support degree function. Finally, the target is determined. Effective positioning data and missing location data are corrected by orthogonal projection method and calculation location method respectively. The experimental results show that compared with the traditional D-S evidence theory, the improved algorithm improves the matching accuracy of the overpass area effectively and improves the processing performance of the matching algorithm. (4) the x x navigation developed in the project group In the positioning system, a component-based map matching component based on registration mechanism is designed and implemented. After testing and verification, the component can meet the application requirements of the system.
【學(xué)位授予單位】：解放軍信息工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U495;U463.67

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