基于ARM的无人车GPS导航系统的设计与实现
发布时间：2019-03-11 18:01
【摘要】：自主无人车是其通过感知外界环境信息,自我决策并控制自身行动的智能无人驾驶汽车,属于陆地移动机器人的一种。在对目前的车辆定位系统全面、深入的了解分析后,得知绝大部分的车载定位系统都是将定位信息直接反馈并显示在车辆上,而远程的定位监控却较为少见。无人车却恰恰需要远程的人机交互,针对这个情况,本文通过嵌入式系统与GPS、GPRS通用分组无线服务技术的结合,设计了基于ARM的无人车GPS导航系统。 本文的主要工作是进行无人车GPS导航系统的研究和设计。从无人车导航系统的设计思路出发,本文首先介绍了导航系统的工作流程并分析了无人车导航的特点。结合课题设计的预期目标,以微控制器S3C2440为核心,按照功能将车载终端划分成各个功能模块和电路模块,即GPS接收模块、信息处理模块、远程无线发送模块以及监控终端的信息接收和显示模块。这种设计方式将高性能的ARM芯片、GPRS无线通信技术以及模块化的功能电路结合在一起,从而使本系统能够满足无人车导航的要求。在进行软件设计时,为了进一步提高系统的实时性和可靠性,在S3C2440芯片上移植了嵌入式Linux操作系统,并在远程监控终端运用PHP脚本语言实现了车辆位置的显示,完成了系统的软件设计。 最后通过系统的软硬件调试,实时的显示出无人车的定位信息并给出了定位图像,其定位精度误差控制在10米以内,实现了系统的设计初衷。
[Abstract]:Autonomous unmanned vehicle is an intelligent driverless vehicle, which can sense environmental information, make self-decision and control its own actions. It is a kind of land mobile robot. After comprehensive and in-depth understanding of the current vehicle positioning system, it is known that most of the vehicle positioning systems feedback and display the positioning information directly on the vehicle, while remote positioning monitoring is relatively rare. The unmanned vehicle just needs long-distance human-computer interaction. In view of this situation, this paper designs the unmanned vehicle GPS navigation system based on ARM through the combination of embedded system and GPS,GPRS general packet wireless service technology. The main work of this paper is the research and design of unmanned vehicle GPS navigation system. Starting from the design idea of unmanned vehicle navigation system, this paper first introduces the work flow of the navigation system and analyzes the characteristics of the navigation system. Combined with the expected goal of the project design, the vehicle terminal is divided into various functional modules and circuit modules according to the functions of the microcontroller S3C2440, namely, the GPS receiving module and the information processing module. Remote wireless transmission module and monitoring terminal information receiving and displaying module. This design combines high-performance ARM chip, GPRS wireless communication technology and modular functional circuit, so that the system can meet the requirements of unmanned vehicle navigation. During the software design, in order to further improve the real-time and reliability of the system, embedded Linux operating system is transplanted on the S3C2440 chip, and the vehicle location display is realized by using PHP script language in the remote monitoring terminal. The software design of the system is completed. Finally, by debugging the hardware and software of the system, the positioning information of the unmanned vehicle is displayed in real time and the positioning image is given. The error of the positioning precision is controlled within 10 meters, and the original intention of the system is realized.
【学位授予单位】：西安工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TN967.1;TP368.12
本文编号：2438491
[Abstract]:Autonomous unmanned vehicle is an intelligent driverless vehicle, which can sense environmental information, make self-decision and control its own actions. It is a kind of land mobile robot. After comprehensive and in-depth understanding of the current vehicle positioning system, it is known that most of the vehicle positioning systems feedback and display the positioning information directly on the vehicle, while remote positioning monitoring is relatively rare. The unmanned vehicle just needs long-distance human-computer interaction. In view of this situation, this paper designs the unmanned vehicle GPS navigation system based on ARM through the combination of embedded system and GPS,GPRS general packet wireless service technology. The main work of this paper is the research and design of unmanned vehicle GPS navigation system. Starting from the design idea of unmanned vehicle navigation system, this paper first introduces the work flow of the navigation system and analyzes the characteristics of the navigation system. Combined with the expected goal of the project design, the vehicle terminal is divided into various functional modules and circuit modules according to the functions of the microcontroller S3C2440, namely, the GPS receiving module and the information processing module. Remote wireless transmission module and monitoring terminal information receiving and displaying module. This design combines high-performance ARM chip, GPRS wireless communication technology and modular functional circuit, so that the system can meet the requirements of unmanned vehicle navigation. During the software design, in order to further improve the real-time and reliability of the system, embedded Linux operating system is transplanted on the S3C2440 chip, and the vehicle location display is realized by using PHP script language in the remote monitoring terminal. The software design of the system is completed. Finally, by debugging the hardware and software of the system, the positioning information of the unmanned vehicle is displayed in real time and the positioning image is given. The error of the positioning precision is controlled within 10 meters, and the original intention of the system is realized.
【学位授予单位】：西安工业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TN967.1;TP368.12
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