智能车辆中基于GPS和陀螺仪的导航与定位

发布时间：2018-07-26 14:23

【摘要】：随着社会发展进程的加快，在近几年中道路交通涌现出诸多问题，这使得智能交通系统（Intelligent Transport System，简称ITS）得到了广泛关注。作为ITS重要组成部分的智能车辆（Intelligent Vehicles，简称IV），其是集合了环境感知、规划与决策和辅助驾驶等多项功能于一体的综合智能车辆系统，是未来的发展方向。而对其的深入研究有助于降低日趋严重的交通事故发生率，在某种程度上可以有效缓解当前的交通状况。实时获取高精度的导航定位信息是智能车辆系统中的重要一环，也是确保其安全的首要目标。车辆导航定位技术作为智能车辆系统的关键技术之一已经取得了一定的科研成果，但有着较好适应性的组合导航定位系统价格昂贵，基于此，本文围绕北京工业大学智能车辆平台及实验室现有设备，开发出与之相适应的整套导航定位系统是具有重要意义的。首先，本文对现有导航定位的理论方法进行了研究与分析，并从当前智能车辆平台的设备配置出发，充分利用GPS与惯性系统在导航定位信息中的互补特性，设计了基于松组合和分散式的扩展Kalman滤波器的组合导航定位算法；其次，为了使智能车辆的导航定位更为精准，，采用了更为细致的GPS坐标转换算法以取代原有方法，并引入了GPS定位系统和惯性系统的信息预处理机制；再次，为了实现智能车辆导航定位的可视化效果，软件中集成了MapX地图控件的二次开发，应用动态图层原理和地图匹配算法对车辆位置和行驶路径进行实时绘制；最后，在智能车辆平台中对以上算法进行了实车试验，通过实车控制来验证算法的可行性，达到建立起完备的导航定位系统的整体设计初衷。
[Abstract]:With the rapid development of the society, many problems have emerged in the road traffic in recent years, which makes the intelligent transportation system (Intelligent Transport System,) has been paid more and more attention. As an important part of ITS intelligent vehicle (Intelligent Vehicles, is an integrated intelligent vehicle system which integrates many functions such as environment perception planning and decision making and auxiliary driving. It is the future development direction. The in-depth study of the traffic accident can help to reduce the incidence of traffic accidents, to some extent, can effectively alleviate the current traffic situation. It is an important part of intelligent vehicle system to obtain high precision navigation and positioning information in real time, and it is also the primary goal to ensure its safety. As one of the key technologies of intelligent vehicle system, vehicle navigation and positioning technology has made some achievements in scientific research, but the integrated navigation and positioning system with good adaptability is expensive. In this paper, it is of great significance to develop a whole set of navigation and positioning system based on the intelligent vehicle platform of Beijing University of Technology and the existing equipment in the laboratory. First of all, this paper studies and analyzes the existing navigation and positioning methods, and makes full use of the complementary characteristics of GPS and inertial system in navigation and positioning information based on the equipment configuration of the current intelligent vehicle platform. The integrated navigation and positioning algorithm based on loose combination and distributed extended Kalman filter is designed. Secondly, in order to make the navigation and positioning of intelligent vehicle more accurate, a more detailed GPS coordinate transformation algorithm is adopted to replace the original method. The information preprocessing mechanism of GPS positioning system and inertial system is introduced. Thirdly, in order to realize the visualization effect of intelligent vehicle navigation and positioning, the secondary development of MapX map control is integrated in the software. The dynamic map layer principle and map matching algorithm are used to draw the vehicle position and driving path in real time. Finally, the real vehicle test is carried out on the intelligent vehicle platform, and the feasibility of the algorithm is verified by the real vehicle control. To achieve the establishment of a complete navigation and positioning system of the overall design intention.
【学位授予单位】：北京工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：U495;P228.4

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