VANET中车辆协作定位技术研究
发布时间：2018-07-27 16:14
【摘要】：精确的车辆位置信息及车辆之间的相对位置信息是许多车辆应用系统的基础。借助全球卫星导航系统（GNSS, Global Navigation Satellite System）及定位增强技术可以获得10m左右的车辆定位精度，不能满足诸如车辆自组织网络（VANET, Vehicular Ad-hoc NETwork）中车辆安全应用的需要，而且在GNSS信号被遮挡的情况下，车辆及车辆之间的精确位置信息更是难以获取。为解决GNSS定位精度不高以及GNSS信号遮挡情况下的车辆及车辆之间的精确定位等问题，车辆协作定位方法应运而生。 首先，本文提出了一种利用GNSS伪距双差测量车辆间相对位置的方法，通过伪距双差消除由卫星、卫星测距信号传播路径引入的公共误差以及接收机的时钟偏差，，进而获得车辆之间精确的相对位置信息，仿真结果表明，该方法测得的车辆相对定位精度较之全球定位系统（GPS, Global Positioning System）单点定位方法测得的车辆相对定位信息有显著提高。 其次，针对GNSS卫星信号被遮挡场景，本文提出了一种直接利用车与车（V2V, Vehicleto Vehicle）无线通信设备的正交频分复用（OFDM, Orthogonal Frequency Division Multiplexing）模块进行车辆间距离测量的方法，通过该测距方法，车辆之间在实现V2V通信的同时还可以获取精确的相对距离信息。由于该方法既不依赖GNSS信号，也无需借助其他外部设备，因而具有广阔的应用前景。 最后，在V2V通信和测距的基础上，结合车辆的运动方程，并借助自由网平差理论及卡尔曼滤波方法，对车辆进行精确协作定位。仿真结果表明该方法具有良好的定位精度。
[Abstract]:Accurate vehicle position information and relative position information between vehicles are the basis of many vehicle application systems. With the help of global satellite navigation system (GNSS, Global Navigation Satellite System) and positioning enhancement technology, the vehicle positioning accuracy of about 10m can be obtained, which can not meet the needs of vehicle safety applications such as (VANET, Vehicular Ad-hoc NETwork (vehicle Ad Hoc Network). Moreover, when the GNSS signal is blocked, it is difficult to obtain the accurate position information between the vehicle and the vehicle. In order to solve the problem of low accuracy of GNSS positioning and accurate positioning of vehicles and vehicles under the condition of GNSS signal occlusion, the collaborative vehicle positioning method emerges as the times require. Firstly, this paper presents a method of using GNSS pseudo-range double difference to measure the relative position of vehicles. The common error caused by the propagation path of satellite and satellite ranging signal and the clock deviation of receiver are eliminated by pseudo-range double difference. The simulation results show that the relative positioning accuracy of the vehicle measured by this method is significantly higher than that obtained by (GPS, Global Positioning System) single point positioning method. Secondly, for the GNSS satellite signal occlusion scene, this paper proposes a method to measure the distance between vehicles by using the orthogonal frequency division multiplexing (OFDM, Orthogonal Frequency Division Multiplexing) module of the vehicle-vehicle (V2V, Vehicleto Vehicle) wireless communication equipment) directly. The V 2 V communication between vehicles can obtain accurate relative distance information at the same time. Because the method does not depend on GNSS signal and other external devices, it has a wide application prospect. Finally, on the basis of V2V communication and ranging, combined with the motion equation of the vehicle, and with the help of the free network adjustment theory and Kalman filter method, the vehicle can be located accurately and collaboratively. Simulation results show that this method has good positioning accuracy.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495
本文编号：2148384
[Abstract]:Accurate vehicle position information and relative position information between vehicles are the basis of many vehicle application systems. With the help of global satellite navigation system (GNSS, Global Navigation Satellite System) and positioning enhancement technology, the vehicle positioning accuracy of about 10m can be obtained, which can not meet the needs of vehicle safety applications such as (VANET, Vehicular Ad-hoc NETwork (vehicle Ad Hoc Network). Moreover, when the GNSS signal is blocked, it is difficult to obtain the accurate position information between the vehicle and the vehicle. In order to solve the problem of low accuracy of GNSS positioning and accurate positioning of vehicles and vehicles under the condition of GNSS signal occlusion, the collaborative vehicle positioning method emerges as the times require. Firstly, this paper presents a method of using GNSS pseudo-range double difference to measure the relative position of vehicles. The common error caused by the propagation path of satellite and satellite ranging signal and the clock deviation of receiver are eliminated by pseudo-range double difference. The simulation results show that the relative positioning accuracy of the vehicle measured by this method is significantly higher than that obtained by (GPS, Global Positioning System) single point positioning method. Secondly, for the GNSS satellite signal occlusion scene, this paper proposes a method to measure the distance between vehicles by using the orthogonal frequency division multiplexing (OFDM, Orthogonal Frequency Division Multiplexing) module of the vehicle-vehicle (V2V, Vehicleto Vehicle) wireless communication equipment) directly. The V 2 V communication between vehicles can obtain accurate relative distance information at the same time. Because the method does not depend on GNSS signal and other external devices, it has a wide application prospect. Finally, on the basis of V2V communication and ranging, combined with the motion equation of the vehicle, and with the help of the free network adjustment theory and Kalman filter method, the vehicle can be located accurately and collaboratively. Simulation results show that this method has good positioning accuracy.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495
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