面向复杂城市环境的车辆RFID融合定位技术研究

发布时间：2018-04-06 21:05

本文选题：车辆定位　切入点：射频识别技术　出处：《东南大学》2015年硕士论文

【摘要】：智能交通系统(Intelligent Transportion System,ITS)可以有效的提高交通效率,缓解日益严峻的城市交通形势,是现代城市交通发展的新方向。ITS的开发研究,基本上都离不开车辆导航定位技术,只有在车辆准确、实时定位的前提下,有效地调度指挥车辆,才能改善交通,保证车辆安全行驶。因此,车辆导航定位技术是ITS的核心内容,是实现道路智能化管理的关键技术之一。本文针对复杂城市环境,尤其是长时间遮挡环境(如高楼林立的城市峡谷、隧道等)下,GPS易失效无法对车辆可靠、连续定位的问题,研究了基于RFID(Radio Frequncy Identification,RFID)的车辆定位技术,并结合相应的算法融合RFID模块与低成本的车载传感器(轮速传感器、陀螺仪、电子罗盘)的信息,实现车辆的准确、连续定位,具体研究内容如下：1.搭建车载多传感器信息同步采集平台。完成采集硬件平台构建和采集软件的编写,实现多传感器信息的同步获取。2.采用RFID技术实现车辆初步定位。首先确定RFID读写器与标签的布局方案,接着针对Friis射频信号空间传播模型的局限性,采用极限学习机拟合出接收信号强度和距离的关系,最后由递归最小二乘法估算出读写器的位置,实现车辆初步定位。3.将RFID与车载多传感器信息融合定位。针对城市车辆频繁的加减速和转向等高机动工况,建立城市车辆高机动运动模型,在此基础上,通过交互多模型扩展卡尔曼滤波算法,将RFID与其他车载传感器信息融合,从而进一步提高车辆初步定位的精度,实现RFID融合定位。4.开展实车试验并对试验结果进行处理分析。为了验证所提定位方案的可行性和效果,分别进行了RFID接收信号强度静态采集试验,RFID初步定位试验和RFID融合定位试验。目前本课题已经完成了上述研究内容,实车试验的结果表明,本课题提出的RFID多传感器融合定位方案能够有效的解决复杂城市环境下车辆的可靠、连续定位问题,具有成本低,对环境的适应力强,定位精度较高的优点。
[Abstract]:Intelligent Transportion system (its) can effectively improve traffic efficiency and alleviate the increasingly severe urban traffic situation. It is a new direction of modern urban traffic development. It is basically inseparable from vehicle navigation and positioning technology.Only on the premise of accurate and real-time positioning of vehicles, can traffic be improved and vehicles can be safely driven.Therefore, vehicle navigation and positioning technology is the core of ITS and one of the key technologies to realize intelligent road management.In this paper, aiming at the problem of the complex urban environment, especially the long-time sheltered environment (such as the city canyon, tunnel etc.), the vehicle location technology based on RFID(Radio Frequncy Identification (RFID-based) is studied.Combining the RFID module with the low cost vehicle sensor (wheel speed sensor, gyroscope, electronic compass), the accurate and continuous positioning of the vehicle is realized. The specific research contents are as follows: 1.Build a vehicle multi-sensor information synchronization acquisition platform.The acquisition hardware platform is constructed and the acquisition software is compiled to realize the synchronous acquisition of multi-sensor information. 2.RFID technology is used to realize the initial positioning of vehicles.Firstly, the layout scheme of RFID reader and tag is determined. Then, aiming at the limitation of Friis radio frequency signal spatial propagation model, the relationship between received signal strength and distance is fitted by extreme learning machine.At last, the position of the reader is estimated by the recursive least square method, and the initial position of the vehicle is realized. 3.RFID and vehicle multi-sensor information fusion location.Aiming at the constant acceleration, deceleration and steering of urban vehicles, a high motor motion model of urban vehicles is established. On the basis of this, the information of RFID and other vehicle sensors is fused through interactive multi-model extended Kalman filter algorithm.In order to further improve the accuracy of the initial vehicle positioning, achieve RFID fusion positioning. 4.Carry out the actual vehicle test and analyze the test results.In order to verify the feasibility and effect of the proposed scheme, the static acquisition test of RFID received signal and the initial positioning test of RFID and RFID fusion localization test were carried out respectively.At present, the above research content has been completed in this subject. The results of the actual vehicle test show that the RFID multi-sensor fusion localization scheme proposed in this paper can effectively solve the reliable and continuous positioning problem of vehicles in complex urban environment, and has low cost.It has the advantages of strong adaptability to environment and high positioning accuracy.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP391.44;U495

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