【摘要】：隨著城市交通道路系統(tǒng)的日益復(fù)雜,人們對車輛定位精度的要求也越來越高。全球定位系統(tǒng)(Global Position System簡稱GPS)是隨著現(xiàn)代科學(xué)技術(shù)的迅速發(fā)展而建立的新一代精密衛(wèi)星定位系統(tǒng)。GPS由于其全球性、全天候以及連續(xù)實(shí)時三維定位等特點(diǎn),已經(jīng)在軍事和民用事業(yè)領(lǐng)域方面得到了廣泛的發(fā)展。傳統(tǒng)的車輛導(dǎo)航系統(tǒng)主要采用GPS技術(shù)對車輛進(jìn)行定位。在車載的導(dǎo)航使用中,常常會因?yàn)樵庥龅江h(huán)境上的遮蔽因素而造成導(dǎo)航工作無法正常運(yùn)作,從而定位精度大大降低。在高樓林立的巷道中,收信狀況往往極差,當(dāng)行進(jìn)隧道中時,更是完全沒有信號可用,這時可以運(yùn)用航位推算技術(shù)(Dead Reckoning簡稱DR)作為暫時的導(dǎo)航工具。航位推算技術(shù)具有較強(qiáng)的獨(dú)立性,同GPS定位技術(shù)形成了較強(qiáng)的互補(bǔ),在短時間內(nèi),DR的正確性相當(dāng)高,甚至可以高于GPS,但隨著使用時間的增加,DR的誤差累積效應(yīng)會越來越大,導(dǎo)航的精確度就會大幅下降,這時必須回歸到GPS系統(tǒng)來找出絕對的位置,才能再次使用DR。DR和GPS是相輔相成的車載導(dǎo)航系統(tǒng),但目前商品化的產(chǎn)品仍然不多,主要的瓶頸在于DR傳感器的準(zhǔn)確度和成本,以及與導(dǎo)航系統(tǒng)整合的算法開發(fā)方面。 本文采用航位推算技術(shù)對車輛導(dǎo)航系統(tǒng)進(jìn)行研究,設(shè)計(jì)了一個基于STM32的車載導(dǎo)航定位系統(tǒng)。主要內(nèi)容如下。 1.首先概括介紹了幾種主要的導(dǎo)航系統(tǒng)以及其優(yōu)缺點(diǎn),又給出了國內(nèi)外導(dǎo)航系統(tǒng)的發(fā)展現(xiàn)狀,闡述了論文研究的意義。 2.針對車載航位推算導(dǎo)航系統(tǒng),本文研究了該系統(tǒng)的硬件平臺搭建和軟件平臺的設(shè)計(jì),主要是對各個傳感器數(shù)據(jù)的采集和處理。 3.航位推算技術(shù)是本論文的精髓所在,它可以通過自身集成的慣性傳感器計(jì)算出汽車的速度和位置信息,從而在GPS信號出現(xiàn)失鎖和多徑效應(yīng)時,提高定位精度。本文研究了由加速度計(jì)和陀螺儀組成的導(dǎo)航系統(tǒng)。 4.濾波是是抑制和防止干擾的一項(xiàng)重要措施,本文給出了卡爾曼濾波技術(shù)的理論算法,并做了大量的仿真。從仿真結(jié)果得知,卡爾曼濾波可以提高系統(tǒng)的精度,克服了純慣導(dǎo)系統(tǒng)誤差隨時間累積的缺點(diǎn)。并對車載航位推算導(dǎo)航系統(tǒng),進(jìn)行了標(biāo)準(zhǔn)卡爾曼濾波算法的推導(dǎo)。 5.跑車測試,證明了車載導(dǎo)航定位系統(tǒng)采用航位推算技術(shù)的可靠性。
[Abstract]:With the increasing complexity of urban traffic road system, the requirement of vehicle positioning accuracy is becoming higher and higher. Global Positioning system (Global Position System) is a new generation of precise satellite positioning system, which is established with the rapid development of modern science and technology, because of its global, all-weather and continuous real-time three-dimensional positioning. There have been extensive developments in the military and civilian fields. The traditional vehicle navigation system mainly uses GPS technology to locate the vehicle. In the use of vehicle navigation, the navigation work is often unable to operate normally because of the shielding factors in the environment, thus the positioning accuracy is greatly reduced. In the roadway with tall buildings, the condition of receiving information is often very bad, and when the tunnel is moving, there is no signal available at all. At this time, (Dead Reckoning can be used as a temporary navigation tool. The dead-reckoning technique is independent and complementary to the GPS positioning technology. The accuracy of Dr is quite high in a short time, even higher than that of GPS, but with the increase of service time, the error accumulation effect of Dr will be more and more. The accuracy of navigation will drop dramatically, and you have to go back to the GPS system to find the absolute position before you can use DR.DR and GPS again as a complementary vehicle navigation system, but there are still not many commercialized products. The main bottleneck lies in the accuracy and cost of Dr sensors, as well as the algorithm development of integration with navigation system. In this paper, a vehicle navigation system based on STM32 is designed. The main contents are as follows. 1. At first, several main navigation systems and their advantages and disadvantages are introduced, then the development status of navigation systems at home and abroad is given, and the significance of the research in this paper is expounded. 2. In this paper, the hardware platform and software platform of the system are studied, which mainly collect and process the data of each sensor. The dead-reckoning technology is the essence of this paper. It can calculate the vehicle's speed and position information by the inertial sensor which can improve the positioning accuracy when the GPS signal appears the lost lock and multi-path effect. A navigation system composed of accelerometers and gyroscopes is studied in this paper. Filtering is an important measure to suppress and prevent interference. In this paper, a theoretical algorithm of Kalman filtering is presented, and a lot of simulations are done. The simulation results show that Kalman filter can improve the accuracy of the system and overcome the shortcomings of the pure inertial navigation system error accumulated with time. The standard Kalman filter algorithm for vehicle-mounted dead-reckoning navigation system is deduced. 5. The test of sports car proves the reliability of the navigation and positioning system using the technology of dead-reckoning.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U463.67;U495

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