车载姿态测量装置及数据处理算法研究

发布时间：2018-05-30 06:50

本文选题：路面检测 + 测姿装置　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：随着我国经济建设迅猛发展，作为我国经济发展支柱之一，公路建设也在不断完善，大量公路尤其是高等级公路的建设，极大的促进社会进步，缓解我国交通运输压力。但是，，由于公路的使用年限不断增长，尤其是早期建设的高等公路，需要不断地维修，这就需要在公路检测方面花费越来越多的精力。公路路面自动化检测设备研究已经成为路面检测的主要发展方向。本课题围绕公路路面自动化检测系统研制这一主题，研究在不影响正常交通运输的状况下，利用GPS与SINS（捷联式惯性导航）组合导航技术实现车载姿态测量装置的测姿工作。论文主要工作如下：首先，在总结公路路面检测系统在国内外发展现状的基础上，对车载姿态测量装置进行总体设计，包含硬件整体结构设计和软件编程。硬件整体结构包括：核心芯片最小系统外围电路，加速度计、陀螺仪、GPS及光电旋转编码器信号采集电路。软件编程包括：系统整体工作模式，加速度计数据采集模块、陀螺仪数据采集模块及GPS数据采集模块，并且规定了GPS、陀螺仪及加速度计与上位机数据通信协议。其次，对静态捷联惯性导航系统初始对准算法进行研究，包括解析式粗对准、精对准过程及卡尔曼滤波算法在精对准中的应用，通过实验分析，验证算法的正确性。再次，在分析捷联惯性导航系统导航信息解算基础上，通过仿真实验证明，由于惯性器件本身输出误差项影响，单独使用惯性导航解算载体姿态角，达不到系统要求。最后，将卡尔曼滤波算法应用到GPS/SINS组合导航系统中。利用GPS与惯性导航系统输出的导航信息差值作为观测量，经组合卡尔曼滤波器估计姿态角误差，对惯性导航系统校正，通过仿真实验及实际数据采集实验验证算法的有效性，满足系统要求。
[Abstract]:With the rapid development of China's economic construction, as one of the pillars of our economic development, highway construction is constantly improving. A large number of highways, especially the construction of high-grade highways, greatly promote social progress and alleviate the pressure of transportation in China. However, because the service life of the highway is increasing, especially the high highway which was built in the early period, it needs to be maintained constantly, which requires more and more attention in the field of highway detection. The research of highway pavement automatic detection equipment has become the main developing direction of pavement detection. This paper focuses on the research and development of automatic detection system for highway pavement, and studies how to realize the attitude determination of vehicle attitude measurement device by using the integrated navigation technology of GPS and sins (Strapdown Inertial Navigation) without affecting the normal traffic and transportation. The main work of the thesis is as follows: Firstly, on the basis of summarizing the present situation of highway pavement detection system at home and abroad, the overall design of vehicle attitude measurement device is carried out, including the overall hardware structure design and software programming. The hardware structure includes: core chip minimum system peripheral circuit, accelerometer, gyroscope GPS and photoelectric rotary encoder signal acquisition circuit. The software programming includes: system working mode, accelerometer data acquisition module, gyroscope data acquisition module and GPS data acquisition module, and stipulated the data communication protocol between GPS, gyroscope and accelerometer and host computer. Secondly, the initial alignment algorithm of static strapdown inertial navigation system is studied, including analytical coarse alignment, fine alignment process and the application of Kalman filter algorithm in precision alignment. The correctness of the algorithm is verified by experimental analysis. Thirdly, on the basis of analyzing the navigation information of strapdown inertial navigation system, the simulation results show that because of the effect of the error term of the inertial device itself, the attitude angle of the carrier can not be calculated by using the inertial navigation alone, which can not meet the requirements of the system. Finally, Kalman filter algorithm is applied to GPS/SINS integrated navigation system. Using the difference of navigation information output from GPS and inertial navigation system as the observation, the attitude angle error is estimated by integrated Kalman filter, the inertial navigation system is corrected, and the effectiveness of the algorithm is verified by simulation experiment and actual data acquisition experiment. Meet system requirements.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U463.6;U495

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