编码器联合惯性导航的地磁数据采集系统

发布时间：2018-03-18 08:21

本文选题：地磁室内定位　切入点：地磁数据采集系统平台　出处：《北京建筑大学》2017年硕士论文　论文类型：学位论文

【摘要】：“数字城市”、“智慧城市”的提出,促进了测绘事业的不断创新。运用现阶段通信技术与位置信息服务(Location Based Services,LBS)等关键技术可对民生、城市服务、工商业活动在内的各种需求做出智能响应。利用全球定位系统(Global Positioning Systems,GPS)的位置信息服务,广泛地应用于汽车导航和便携式导航当中,人们可以通过位置信息服务快速获取精确位置信息。然而,在各大型商场、超大型购物中心、机场、停车场等室内环境是无法获取精确的位置信息。因此,很多学者逐步将研究的焦点转向室内的位置信息服务当中。由于室内环境相比于室外更为复杂,所以,对室内定位技术的要求也就越高。目前,一种新型的室内定位导航方式“地磁室内定位”受到很多学者的追捧,其关键一步是前期地磁基准图的构建。譬如对超大型购物中心、商场构建地磁基准图时,由于物品摆放位置的不断变换,进而要求地磁基准图的实时更新。在偌大的空间内构建地磁基准图,提高基准图的采集效率至关重要。本文针对提高基准图构建的效率,做了以下工作:1)自主研发了一套针对在室内环境中采集地磁基准图的地磁数据采集系统,此套系统集成了多种传感器(惯导传感器、编码器、地磁传感器)于一体,并将多种传感器数据融合于该地磁数据采集系统中,利用可编程逻辑控制器(Programmable Logic Controller,PLC)程序控制人为地规划采集系统的行走路径轨迹,PC接收端实时监测并存储采集系统平台采集的数据信息。2)两信道编码器采集数据信息的同步输出,并且在监测、显示、存储方面,基于Labview程序开发环境开发了一款针对编码信号预处理的应用程序来实现。3)利用卡尔曼滤波算法平滑、优化LPMS-CURS惯导传感器采集的姿态角数据信息,达到了预期的效果。4)将不同传感器之间的采样频率都设置成100Hz,然后利用PC端提供的同步时钟信号,达到脉冲信号数据信息、姿态角数据信息的同步采集。最后将数据入库,进行位置坐标分析。5)针对室内复杂环境的特点,模拟了多种运动轨迹,并且在基于Matlab编译环境下对每种轨迹都利用了不同的轨迹算法进行模拟输出,达到了预期的效果。6)为了确定模拟运动的精度,建立了一个针对检验该系统移动平台在运动过程中轨迹的实验检校场,达到了预期效果。7)将位置坐标信息、地磁数据信息利用克里金插值法(Kriging)构建高精度地磁基准图。地磁数据采集系统平台经过不断实验、优化、改良,目前已成功应用于室内环境中,系统运行稳定,采样间隔可达到100Hz以内,速度可控性极强,同步采集串口对接达到“0”误差,轨迹坐标相对中误差优于1cm。
[Abstract]:The proposal of "Digital City" and "Wisdom City" has promoted the continuous innovation of surveying and mapping. The use of key technologies such as communication technology and location Based Services (LBSs) can serve the people's livelihood and the city. Using Global Positioning Systems GPS (Global Positioning Systems GPS) location information service, it is widely used in vehicle navigation and portable navigation. People can quickly obtain accurate location information through location information services. However, in large shopping malls, super shopping centers, airports, parking lots and other indoor environments, accurate location information can not be obtained. Many scholars have gradually turned their attention to the indoor location information service. Because the indoor environment is more complex than the outdoor environment, the higher the requirement for indoor positioning technology is. At present, A new type of indoor positioning and navigation method, "geomagnetic indoor positioning", has been sought after by many scholars. The key step is the construction of geomagnetic reference maps. For example, when building geomagnetic reference maps for super large shopping centers and shopping malls, It is very important to construct geomagnetic datum map in large space and to improve the collection efficiency of datum map because of the continuous change of objects' position, which requires the updating of geomagnetic reference map in real time. In this paper, we aim at improving the efficiency of datum map construction. I have done the following work: 1) We have independently developed a geomagnetic data acquisition system for collecting geomagnetic reference maps in an indoor environment. This system integrates a variety of sensors (inertial navigation sensors, encoders, geomagnetic sensors). And fusion of various sensor data into the geomagnetic data acquisition system, The programmable logic controller (Programmable Logic Controller) is used to control the synchronous output of the data collected by the two channel encoder. And in the aspect of monitoring, displaying and storing, based on the Labview program development environment, a preprocessing application program for coded signal is developed to realize. 3) the attitude angle data collected by LPMS-CURS inertial navigation sensor is optimized by smoothing Kalman filter algorithm, and optimizing the information of attitude angle data collected by LPMS-CURS inertial navigation sensor. The desired effect. 4) set the sampling frequency between different sensors to 100 Hz, then use the synchronous clock signal provided by PC to achieve the synchronous acquisition of pulse signal data and attitude angle data. Finally, the data is stored in the database. Analysis of position coordinates. 5) aiming at the characteristics of indoor complex environment, we simulate a variety of motion trajectories, and make use of different trajectory algorithms to simulate the output of each trajectory based on Matlab compiler environment. In order to determine the accuracy of the simulation motion, an experimental calibration field is established to check the trajectory of the moving platform in the course of motion, and the desired effect is achieved. 7) the position coordinate information is obtained. The geomagnetic data information is constructed by Kriging. the platform of geomagnetic data acquisition system has been continuously experimented, optimized and improved, and has been successfully applied in indoor environment, and the system is running stably. The sampling interval can reach within 100 Hz, the speed is very controllable, the synchronous acquisition serial port docking achieves "0" error, and the relative central error of trajectory coordinate is better than 1 cm.
【学位授予单位】：北京建筑大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P227.9;P318

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