车载导航系统中数据处理与地图匹配技术研究

发布时间：2018-11-04 18:25

【摘要】：车载导航系统通常以GPS接收机作为定位的主要手段，并以嵌入式地图显示方式将位置信息展示给用户。GPS接收机主要包括信号接收、基带处理和定位解算三部分；地图显示性能主要由地图数据的空间结构和地图匹配算法决定。随着智能交通系统的快速发展以及北斗二代导航系统星座的不断完善，国内车载导航系统发展迅速，研究GPS车载导航系统底层数据处理方法，，有助于快速掌握卫星导航及其车载应用的关键技术，为开展以北斗卫星导航为基础的应用开发提供理论基础。论文针对GPS车载导航系统所涉及到的关键数据处理技术展开研究，通过分析确定了解决方案和实现方法。 (1)论文在分析确立以FPGA/DSP作为GPS接收机硬件实现方案的基础上，通过对射频芯片工作原理的研究，确定了合理的配置方法；为提高GPS定位结果的输出频率，采用基带处理模块全部由FPGA逻辑单元实现的方案，设计了C/A码、载波复现模块，相干积分模块，环路滤波器模块以及子帧同步模块。 (2)为能够快速地将基带处理结果中与伪距相关的信息传送至DSP中，采用EMIF(External Memory Interface)接口设计了通道可用检测寄存器、伪距锁存触发寄存器、星历缓存读取寄存器、历书缓存读取寄存器等，以保证数据传输的准确性和易用性。 (3)分析了DSP硬件平台中定位解算的关键问题，着重探讨了两种伪距获取方法的优劣，仿真分析了卫星轨道近似计算的误差，完成了DSP导航解算数据处理，总结了具体实现时的注意事项。 (4)作为车载导航系统的重要组成部分，地图数据的结构直接影响地图程序的时间复杂度和空间复杂度。为提高地图显示和地图匹配程序对地图数据的提取速度，提出了由六种表文件组成的具有空间索引、名称索引、道路拓扑等功能的空间数据构建方案，并通过程序设计验证了方案的正确性和实用性。 (5)为分析地图匹配算法对不同定位误差的容忍性，提出依据实际地图道路数据和实测GPS误差模型产生模拟定位数据的方案。最后分析了常用地图匹配算法，结合转换后的地图数据，对算法进行了仿真比较，得出了不同算法的误差容忍性结果，为以这些算法为基础的实际地图匹配方案设计提供了理论依据。
[Abstract]:The vehicle navigation system usually takes the GPS receiver as the main means of positioning, and displays the position information to the user by embedded map display. The GPS receiver mainly includes three parts: signal receiving, baseband processing and positioning solution. The performance of map display is mainly determined by the spatial structure of map data and map matching algorithm. With the rapid development of intelligent transportation system and the continuous improvement of Beidou second generation navigation system constellation, the domestic vehicle navigation system is developing rapidly. It is helpful to master the key technologies of satellite navigation and its vehicle applications, and provides a theoretical basis for the development of applications based on Beidou satellite navigation. In this paper, the key data processing technology involved in GPS vehicle navigation system is studied, and the solution and implementation method are determined through analysis. The main contents are as follows: (1) based on the analysis and establishment of FPGA/DSP as the hardware implementation scheme of GPS receiver, the reasonable configuration method is determined by studying the working principle of RF chip. In order to improve the output frequency of GPS positioning result, the scheme of baseband processing module is implemented by FPGA logic unit. C / A code, carrier repetition module, coherent integration module, loop filter module and sub-frame synchronization module are designed. (2) in order to transmit the pseudo-range-related information from the baseband processing results to DSP quickly, the channel usable detection register, pseudo-range latch trigger register and ephemeris cache reading register are designed by using EMIF (External Memory Interface) interface. Calendar cache read registers to ensure the accuracy and ease of data transmission. (3) the key problems of positioning solution in DSP hardware platform are analyzed, and the advantages and disadvantages of two pseudo-range acquisition methods are emphatically discussed. The error of approximate calculation of satellite orbit is simulated and analyzed, and the data processing of DSP navigation solution is completed. The matters needing attention in concrete implementation are summarized. (4) as an important part of vehicle navigation system, the structure of map data directly affects the time complexity and space complexity of map program. In order to improve the speed of map data extraction by map display and map matching program, a spatial data construction scheme with the functions of spatial index, name index and road topology is proposed, which consists of six kinds of table files. The correctness and practicability of the scheme are verified by programming. (5) in order to analyze the tolerance of map matching algorithm to different location errors, a scheme of generating simulated location data based on actual map road data and actual GPS error model is proposed. Finally, the common map matching algorithms are analyzed, and the simulation results are compared with the converted map data, and the error tolerance results of different algorithms are obtained. It provides a theoretical basis for the practical map matching scheme design based on these algorithms.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TN967.1;TP368.1

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