【摘要】：自主無人車是其通過感知外界環(huán)境信息,自我決策并控制自身行動的智能無人駕駛汽車,屬于陸地移動機器人的一種。在對目前的車輛定位系統(tǒng)全面、深入的了解分析后,得知絕大部分的車載定位系統(tǒng)都是將定位信息直接反饋并顯示在車輛上,而遠程的定位監(jiān)控卻較為少見。無人車卻恰恰需要遠程的人機交互,針對這個情況,本文通過嵌入式系統(tǒng)與GPS、GPRS通用分組無線服務(wù)技術(shù)的結(jié)合,設(shè)計了基于ARM的無人車GPS導(dǎo)航系統(tǒng)。 本文的主要工作是進行無人車GPS導(dǎo)航系統(tǒng)的研究和設(shè)計。從無人車導(dǎo)航系統(tǒng)的設(shè)計思路出發(fā),本文首先介紹了導(dǎo)航系統(tǒng)的工作流程并分析了無人車導(dǎo)航的特點。結(jié)合課題設(shè)計的預(yù)期目標(biāo),以微控制器S3C2440為核心,按照功能將車載終端劃分成各個功能模塊和電路模塊,即GPS接收模塊、信息處理模塊、遠程無線發(fā)送模塊以及監(jiān)控終端的信息接收和顯示模塊。這種設(shè)計方式將高性能的ARM芯片、GPRS無線通信技術(shù)以及模塊化的功能電路結(jié)合在一起,從而使本系統(tǒng)能夠滿足無人車導(dǎo)航的要求。在進行軟件設(shè)計時,為了進一步提高系統(tǒng)的實時性和可靠性,在S3C2440芯片上移植了嵌入式Linux操作系統(tǒng),并在遠程監(jiān)控終端運用PHP腳本語言實現(xiàn)了車輛位置的顯示,完成了系統(tǒng)的軟件設(shè)計。 最后通過系統(tǒng)的軟硬件調(diào)試,實時的顯示出無人車的定位信息并給出了定位圖像,其定位精度誤差控制在10米以內(nèi),實現(xiàn)了系統(tǒng)的設(shè)計初衷。
[Abstract]:Autonomous unmanned vehicle is an intelligent driverless vehicle, which can sense environmental information, make self-decision and control its own actions. It is a kind of land mobile robot. After comprehensive and in-depth understanding of the current vehicle positioning system, it is known that most of the vehicle positioning systems feedback and display the positioning information directly on the vehicle, while remote positioning monitoring is relatively rare. The unmanned vehicle just needs long-distance human-computer interaction. In view of this situation, this paper designs the unmanned vehicle GPS navigation system based on ARM through the combination of embedded system and GPS,GPRS general packet wireless service technology. The main work of this paper is the research and design of unmanned vehicle GPS navigation system. Starting from the design idea of unmanned vehicle navigation system, this paper first introduces the work flow of the navigation system and analyzes the characteristics of the navigation system. Combined with the expected goal of the project design, the vehicle terminal is divided into various functional modules and circuit modules according to the functions of the microcontroller S3C2440, namely, the GPS receiving module and the information processing module. Remote wireless transmission module and monitoring terminal information receiving and displaying module. This design combines high-performance ARM chip, GPRS wireless communication technology and modular functional circuit, so that the system can meet the requirements of unmanned vehicle navigation. During the software design, in order to further improve the real-time and reliability of the system, embedded Linux operating system is transplanted on the S3C2440 chip, and the vehicle location display is realized by using PHP script language in the remote monitoring terminal. The software design of the system is completed. Finally, by debugging the hardware and software of the system, the positioning information of the unmanned vehicle is displayed in real time and the positioning image is given. The error of the positioning precision is controlled within 10 meters, and the original intention of the system is realized.
【學(xué)位授予單位】：西安工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TN967.1;TP368.12

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