车联网中盲区车辆精确定位技术研究

发布时间：2018-03-06 02:07

本文选题：车辆盲区定位　切入点：全球导航卫星系统　出处：《南京邮电大学》2015年硕士论文　论文类型：学位论文

【摘要】：盲区中的车辆精确定位既是当前车联网中的研究热点,同时也是一大难题。全球导航卫星系统(GNSS,Global Navigation Satellite System)具备全球性、高精度等优点,但是GNSS信号有时会被遮挡,因此无法应用于盲区定位。惯性导航系统(INS,Inertial Navigation System)具有自主性、不怕外界干扰等优点,但是INS的定位误差会随着时间而积累,因此无法用于长时间的盲区定位。基于此,本文通过分析一种现有的简单实用的车辆盲区自主定位技术,并结合地图匹配和修正算法来解决导航系统中的误差累积问题,主要工作如下:1、分析一种现有的简单实用的自主定位技术VSYR(Vehicle SpeedYaw Rate),分别建立了简易和复杂两种数学模型进行研究,理论分析和仿真结果表明,由于车辆传感器参数不够精确,VSYR和INS一样存在误差积累的问题;2、研究一种利用地图匹配修正VSYR的车辆传感器参数的技术。首先通过VSYR进行定位,然后通过地图匹配修正VSYR的定位点,通过修正后的定位点修正车辆传感器的参数。仿真结果表明此技术可以有效缓解VSYR误差积累的问题;3、研究一种在GNSS可见的情况下修正VSYR的车辆传感器参数的技术。此技术在GNSS可见的情况下,分别使用VSYR和GNSS进行定位,然后使用地图匹配修正GNSS的定位点,通过修正后的GNSS定位点修正车辆传感器的参数。仿真结果表明此技术可以有效缓解VSYR误差累积的问题。
[Abstract]:The accurate positioning of vehicles in blind area is not only a hot spot in the current vehicle networking, but also a difficult problem. GNSS Global Navigation Satellite system has the advantages of global and high precision, but the GNSS signal is sometimes blocked. The inertial Navigation system has the advantages of autonomy and non-interference, but the positioning error of INS accumulates with time, so it can not be used in blind area location for a long time. In this paper, we analyze a simple and practical autonomous location technology for vehicle blind area, and combine map matching and correction algorithm to solve the problem of error accumulation in navigation system. The main work is as follows: 1, analyzing a simple and practical autonomous positioning technology, VSYR(Vehicle SpeedYaw Rate1. Two simple and complex mathematical models are established for study. The theoretical analysis and simulation results show that, Because the vehicle sensor parameters are not accurate enough, VSYR and INS have the same problem of error accumulation. 2. This paper studies a technique of modifying VSYR sensor parameters by map matching. Firstly, the location of VSYR is carried out by VSYR. Then the location of VSYR is modified by map matching. The simulation results show that this technique can effectively alleviate the problem of VSYR error accumulation. A technique for modifying the vehicle sensor parameters of VSYR under the visible condition of GNSS is studied. This technique is visible to GNSS, VSYR and GNSS are used for location, then map matching is used to modify the location points of GNSS, and the parameters of vehicle sensors are corrected by modified GNSS positioning points. The simulation results show that this technique can effectively alleviate the problem of VSYR error accumulation.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U495

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