【摘要】：精確的車輛位置信息及車輛之間的相對(duì)位置信息是許多車輛應(yīng)用系統(tǒng)的基礎(chǔ)。借助全球衛(wèi)星導(dǎo)航系統(tǒng)（GNSS, Global Navigation Satellite System）及定位增強(qiáng)技術(shù)可以獲得10m左右的車輛定位精度，不能滿足諸如車輛自組織網(wǎng)絡(luò)（VANET, Vehicular Ad-hoc NETwork）中車輛安全應(yīng)用的需要，而且在GNSS信號(hào)被遮擋的情況下，車輛及車輛之間的精確位置信息更是難以獲取。為解決GNSS定位精度不高以及GNSS信號(hào)遮擋情況下的車輛及車輛之間的精確定位等問題，車輛協(xié)作定位方法應(yīng)運(yùn)而生。 首先，本文提出了一種利用GNSS偽距雙差測(cè)量車輛間相對(duì)位置的方法，通過偽距雙差消除由衛(wèi)星、衛(wèi)星測(cè)距信號(hào)傳播路徑引入的公共誤差以及接收機(jī)的時(shí)鐘偏差，，進(jìn)而獲得車輛之間精確的相對(duì)位置信息，仿真結(jié)果表明，該方法測(cè)得的車輛相對(duì)定位精度較之全球定位系統(tǒng)（GPS, Global Positioning System）單點(diǎn)定位方法測(cè)得的車輛相對(duì)定位信息有顯著提高。 其次，針對(duì)GNSS衛(wèi)星信號(hào)被遮擋場(chǎng)景，本文提出了一種直接利用車與車（V2V, Vehicleto Vehicle）無線通信設(shè)備的正交頻分復(fù)用（OFDM, Orthogonal Frequency Division Multiplexing）模塊進(jìn)行車輛間距離測(cè)量的方法，通過該測(cè)距方法，車輛之間在實(shí)現(xiàn)V2V通信的同時(shí)還可以獲取精確的相對(duì)距離信息。由于該方法既不依賴GNSS信號(hào)，也無需借助其他外部設(shè)備，因而具有廣闊的應(yīng)用前景。 最后，在V2V通信和測(cè)距的基礎(chǔ)上，結(jié)合車輛的運(yùn)動(dòng)方程，并借助自由網(wǎng)平差理論及卡爾曼濾波方法，對(duì)車輛進(jìn)行精確協(xié)作定位。仿真結(jié)果表明該方法具有良好的定位精度。
[Abstract]:Accurate vehicle position information and relative position information between vehicles are the basis of many vehicle application systems. With the help of global satellite navigation system (GNSS, Global Navigation Satellite System) and positioning enhancement technology, the vehicle positioning accuracy of about 10m can be obtained, which can not meet the needs of vehicle safety applications such as (VANET, Vehicular Ad-hoc NETwork (vehicle Ad Hoc Network). Moreover, when the GNSS signal is blocked, it is difficult to obtain the accurate position information between the vehicle and the vehicle. In order to solve the problem of low accuracy of GNSS positioning and accurate positioning of vehicles and vehicles under the condition of GNSS signal occlusion, the collaborative vehicle positioning method emerges as the times require. Firstly, this paper presents a method of using GNSS pseudo-range double difference to measure the relative position of vehicles. The common error caused by the propagation path of satellite and satellite ranging signal and the clock deviation of receiver are eliminated by pseudo-range double difference. The simulation results show that the relative positioning accuracy of the vehicle measured by this method is significantly higher than that obtained by (GPS, Global Positioning System) single point positioning method. Secondly, for the GNSS satellite signal occlusion scene, this paper proposes a method to measure the distance between vehicles by using the orthogonal frequency division multiplexing (OFDM, Orthogonal Frequency Division Multiplexing) module of the vehicle-vehicle (V2V, Vehicleto Vehicle) wireless communication equipment) directly. The V 2 V communication between vehicles can obtain accurate relative distance information at the same time. Because the method does not depend on GNSS signal and other external devices, it has a wide application prospect. Finally, on the basis of V2V communication and ranging, combined with the motion equation of the vehicle, and with the help of the free network adjustment theory and Kalman filter method, the vehicle can be located accurately and collaboratively. Simulation results show that this method has good positioning accuracy.
【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】：2014
【分類號(hào)】：U495

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本文編號(hào)：2148384