本文選題：姿態(tài)解算 + 粒子濾波��； 參考：《中北大學(xué)》2017年碩士論文

【摘要】：本文設(shè)計(jì)了一套基于組合導(dǎo)航的汽車姿態(tài)數(shù)據(jù)采集系統(tǒng)。系統(tǒng)以車輛為研究目標(biāo),測量車輛的姿態(tài)角信息和定位信息。系統(tǒng)采集汽車的三軸地磁數(shù)據(jù)、加速度數(shù)據(jù)、角速率數(shù)據(jù)、經(jīng)緯度數(shù)據(jù)、高度數(shù)據(jù)及速度數(shù)據(jù),在單片機(jī)STM32F107V的控制下,采用內(nèi)嵌TCP/IP協(xié)議的芯片SIM5360作為無線通信模塊,借用GPRS網(wǎng)絡(luò)無線傳輸至PC機(jī)。在PC機(jī)上,通過粒子濾波算法對三軸加速度數(shù)據(jù)和三軸角速度數(shù)據(jù)濾波,然后對三軸加速度數(shù)據(jù)、三軸角速度數(shù)據(jù)和三軸地磁數(shù)據(jù)采用條件式姿態(tài)解算算法解算得到汽車姿態(tài)角。僅根據(jù)車輛的姿態(tài)角是不能對駕駛員綜合駕駛行為做出分析的,需要結(jié)合地理地貌信息,所以采用捷聯(lián)慣導(dǎo)和GPS組合實(shí)現(xiàn)定位功能。主要工作和研究成果包括:(1)以避免交通事故為目的,避開前人以特定不良駕駛行為為研究對象的慣性思維,以車為研究對象,通過對車輛的信息研究分析來預(yù)測交通安全隱患,以此設(shè)計(jì)出一套基于組合導(dǎo)航的汽車姿態(tài)數(shù)據(jù)采集系統(tǒng)。(2)采用了一種基于粒子濾波的條件式姿態(tài)解算算法,使得獲取的姿態(tài)角精度提高。并通過仿真分析證明了算法的有效性。(3)單一的汽車姿態(tài)不能判斷汽車是否安全行駛,道路拓?fù)浣Y(jié)構(gòu)也是影響因素之一,本文給系統(tǒng)增加定位功能以排除這一影響。系統(tǒng)對姿態(tài)數(shù)據(jù)的采集實(shí)質(zhì)上是捷聯(lián)導(dǎo)航定位的一個(gè)基礎(chǔ)功能,所以借此采用GPS和捷聯(lián)慣導(dǎo)組合來對系統(tǒng)實(shí)現(xiàn)更好的定位。文中用Kalman濾波、噪聲有限記憶在線計(jì)算自適應(yīng)Kalman濾波、聯(lián)邦Kalman濾波及非線性擴(kuò)展Kalman濾波等四種算法分別對捷聯(lián)慣導(dǎo)信息和采集的GPS信息進(jìn)行融合,通過仿真分析,最后選取了融合效果最好的非線性擴(kuò)展Kalman濾波構(gòu)建的組合導(dǎo)航系統(tǒng)。(4)通過實(shí)驗(yàn)驗(yàn)證了系統(tǒng)的可用性。
[Abstract]:A vehicle attitude data acquisition system based on integrated navigation is designed in this paper. The system takes the vehicle as the research object, measures the vehicle attitude angle information and the positioning information. The three axis geomagnetic data, acceleration data, angular rate data, latitude and longitude data, height data and velocity data are collected. The chip SIM5360 embedded in TCP / IP protocol is used as wireless communication module under the control of single chip microcomputer STM32F107V. Wireless transmission from GPRS network to PC. On PC, triaxial acceleration data and triaxial angular velocity data are filtered by particle filter algorithm, and then triaxial acceleration data are filtered. Three axis angular velocity data and three axis geomagnetic data are calculated by conditional attitude algorithm. Based on the attitude angle of the vehicle, the comprehensive driving behavior of the driver can not be analyzed, so the strapdown inertial navigation system and GPS are used to realize the positioning function. The main work and research results include: (1) to avoid traffic accidents, to avoid the inertia thinking of predecessors who take specific bad driving behavior as the research object, to take cars as the research objects, and to predict the hidden dangers of traffic safety by studying and analyzing the information of vehicles. A vehicle attitude data acquisition system based on integrated navigation is designed in this paper. A conditional attitude resolution algorithm based on particle filter is used to improve the precision of the attitude angle obtained. The simulation results show that the algorithm is effective. 3) the single vehicle posture can not judge whether the vehicle is safe or not, and the road topology is one of the influencing factors. In this paper, the location function is added to the system to eliminate this influence. The acquisition of attitude data is essentially a basic function of strapdown navigation and positioning, so GPS and strapdown inertial navigation are used to achieve better positioning of the system. In this paper, Kalman filter, noise finite memory on-line calculation adaptive Kalman filter, federated Kalman filter and nonlinear extended Kalman filter are used to fuse strapdown inertial navigation information and collected GPS information respectively. Finally, the integrated navigation system. 4, which is constructed by nonlinear extended Kalman filter, which has the best fusion effect, is selected. The availability of the system is verified by experiments.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP274.2;U463.6

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本文編號(hào)：2007474