车联网中车辆定位及其优化技术研究

发布时间：2018-12-26 12:51

【摘要】：随着车联网的快速发展，车辆定位受到越来越多的关注。全球定位系统（GPS，GlobalPositioning System）和捷联惯性导航系统（SINS，Strapdown Intertial Navigation System）是车辆定位领域的两大技术。GPS虽然具有比较高的定位精度，但是在卫星被遮挡的地方无法实现定位，因而需要其他定位方式的辅助，实现辅助GPS（AGPS，Assited Global PositioningSystem）定位。捷联惯性导航（SINS）可以在无GPS信号的情况下依靠惯性测量单元（IMU，Inertial Measurement Unit）测得汽车定位参数，利用运动学定律进行自主定位，但是由于误差具有时间累积性，且外部器件在安装的过程中，还存在安装误差，因而无法实现长时间较高精度的定位。针对此问题，本文提出了一种仅基于车内惯性器件的自主定位方法——车速-方向盘转角传感器定位方法（VSSA，Vehicle SpeedSteering Angle），通过车速传感器测得的速度与方向盘转角传感器测得角度，运用运动学定律，给出了路程增量推算算法，经仿真分析，此方法推算出的轨迹与实际行驶轨迹基本相符。在此基础上，本文对组合定位方法进行了研究，，通过将SINS系统中陀螺仪与VSSA组成航位推算（DR）系统，然后用DR系统与SINS系统的位置与姿态误差通过Sage-husa自适应滤波去补偿SINS系统，从而提高了SINS系统定位精度，实现了另外一种车辆自主组合定位方法。仿真结果表明此方法的定位精度与航向精度都比较高。最后本文将GPS与此SINS/VSSA系统组合，通过融合滤波，实现在不同GPS信号情况下根据分配系数的不同实现对不同定位方式的自主选择，达到车辆行驶过程中的完整、精确、连续定位。
[Abstract]:With the rapid development of vehicle networking, vehicle positioning has received more and more attention. The Global Positioning system (GPS,GlobalPositioning System) and the Strapdown Inertial Navigation system (SINS,Strapdown Intertial Navigation System) are two major technologies in the field of vehicle positioning. Although GPS has high positioning accuracy, it can not locate in the areas where the satellite is blocked. Therefore, it needs the assistance of other positioning methods to realize the auxiliary GPS (AGPS,Assited Global PositioningSystem) positioning). The strapdown inertial navigation (SINS) can be based on the inertial measurement unit (IMU,Inertial Measurement Unit) to measure the vehicle positioning parameters without GPS signal, and use the law of kinematics to locate the vehicle independently. However, the error has the property of time accumulation. Moreover, there are still installation errors in the process of installation of external devices, so it is impossible to achieve high precision positioning for a long time. In order to solve this problem, this paper presents an autonomous localization method based only on the inertial device in the vehicle, which is based on the speed and steering wheel angle sensor (VSSA,Vehicle SpeedSteering Angle),). By using the velocity measured by the speed sensor and the angle measured by the steering wheel angle sensor and by using the kinematics law, an algorithm for calculating the distance increment is given. The calculated trajectory is basically consistent with the actual driving track by the simulation analysis. On this basis, the combined positioning method is studied in this paper. The (DR) system is composed of gyroscope and VSSA in SINS system. Then the position and attitude error of DR system and SINS system are used to compensate the SINS system through Sage-husa adaptive filter, thus the positioning accuracy of SINS system is improved, and another method of vehicle autonomous combined positioning is realized. The simulation results show that the positioning accuracy and heading accuracy of this method are high. Finally, the GPS and the SINS/VSSA system are combined to realize the independent selection of different positioning modes according to the different distribution coefficients of different GPS signals through the fusion filtering, which can achieve the integrity and accuracy of the vehicle driving process. Continuous positioning.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4;U495

【参考文献】