基于GNSS的车辆安全运营高精度监控管理关键技术研究

发布时间：2018-03-02 16:40

本文选题：车载高精度定位　切入点：GNSS技术　出处：《中国矿业大学》2017年博士论文　论文类型：学位论文

【摘要】：本论文针对当前车载导航监控系统存在的问题,结合国家自然科学基金项目“面向大范围矿区的BDS非差非组合精密单点定位模型研究”和山西能源交通投资有限公司项目“车辆安全运营监控管理系统关键技术研究”,以GNSS技术、INS技术、现代测量数据处理技术、计算机网络通讯技术和软件工程技术等为支撑,研究车载高精度实时定位模式、相应算法及其实现技术,提高车载实时定位精度和适应环境能力,及时监控车辆安全运行状态,为实现对车辆安全运行状态的实时监控提供技术基础。本论文的主要研究工作及成果如下:1)构建了基于GNSS的车载导航系统的高精度定位理论基础。构建了GNSS伪距和载波相位的非差观测方程和双差观测方程,利用科廷理工大学CUTA站点的7天数据,对GPS、GLONASS和BDS单系统、组合系统的伪距和载波的PPP定位和双差定位结果进行分析;分析了GNSS下,轨道误差、卫星钟差、卫星天线相位中心偏差、大气延迟误差以及其他相关误差的影响特性及其改正算法和思路,重点讨论了电离层和对流层延迟误差的算法;建立了GNSS定位的最小二乘估计算法与动态kalman滤波算法。2)在地基增强系统下,建立了基于多频多系统的GNSS参考站间的误差改正模型、虚拟观测值算法、模糊度解算方法和流动站位置解算方法,并利用江苏CORS系统中的5个参考站数据进行试验计算,解算的参考站坐标的中误差约为±3.6cm,完全满足地基增强系统下车载系统高精度导航与监控管理的需要。3)建立了无地基增强网条件下的高精度车载导航定位的理论基础。介绍了多频多系统动态PPP观测值函数模型和随机模型,并利用IGS站的静态数据进行模拟计算,验证算法的正确性和程序的可靠性;针对车载动态定位,建立了以位置参数、速度、加速度为状态参数的动态PPP随机游走模型,讨论了动态PPP滤波参数设置方法。根据国际多模GNSS实验工程(MGEX)站点的静态数据仿真计算结果和实际车载动态数据的计算结果,论证了多频多系统动态PPP在车载动态定位中的可行性和有效性。4)构建了GNSS信号遮挡严重的条件下实现车载导航定位的GNSS/INS组合算法。在介绍GNSS/INS组合导航的基本概念、基本方法和基本理论的基础上,重点介绍了基于真实坐标系的?角法的捷联惯导的误差方程,给出了包括姿态、速度、位置、陀螺漂移和加速度计偏差等15参数为状态参数的Kalman滤波状态方程,形成了GNSS/INS松组合下的动态系统量测方程,为实现GNSS/INS松组合下车载动态导航定位提供了基础;为了验证本文提出的组合导航算法的有效性和稳定性,在上海市选取了八组典型城市道路测试场景进行了测试,获得了城市道路动态定位综合精度为3.124m的测试成果,较好地解决了无GNSS信号条件下(如隧道)的车载导航定位问题。5)研发了车载导航定位系统,以实现车辆安全运营和高精度监控管理,较好地解决了理论服务于生产实践问题。在相关理论和技术的支持下,从高精度定位功能、高精度导航功能、监控管理功能、报警功能、视频功能、查询功能、统计分析功能和手机客户端功能等8个方面,简单总结归纳了车载导航系统应具备基本功能;结合所研发的车载导航定位系统在不同场地的测试、应用情况,介绍了监控平台软件和手机客户端软件的功能实现及其效果。
[Abstract]:This paper based on the existing monitoring system for vehicle navigation problems, combined with the National Natural Science Fund Project "for a large range of mining area BDS non difference combined precise point positioning model research" and Shanxi Energy Investment Company Limited traffic project "vehicle safety operation monitoring management system key technology research", based on the GNSS Technology, INS technology, modern the measurement data processing technology, computer network communication technology and software engineering technology to support the research of vehicle high precision real-time positioning mode, the corresponding algorithm and its implementation technology, improve vehicle real-time positioning accuracy and the ability to adapt to the environment, timely monitoring the safe operation of the vehicle, provide a technical basis for the implementation of real-time monitoring of the safe operation of the vehicle. The main research status the work and achievements of this thesis are as follows: 1) construction of the high precision positioning theory of vehicle navigation system based on GNSS structure. The non difference observation equation of GNSS pseudorange and carrier phase and double difference observation equation, the Curtin University of technology CUTA site 7 days of data, GPS, GLONASS and BDS single PPP positioning system, pseudorange and carrier combination system and double difference location results were analyzed; analysis of the GNSS track, error, satellite clock error, satellite antenna phase center deviation, atmospheric delay error and other error correction algorithm and the influencing characteristics and ideas, focus on the ionospheric and tropospheric delay error algorithm; established the least squares GNSS location estimation algorithm and dynamic Kalman algorithm.2) in ground-based augmentation system, established correction model multi frequency multi system GNSS reference station based on error algorithm, virtual observations, ambiguity resolution method and mobile station location calculation method, and the use of CORS system in Jiangsu in 5 reference station data Numerical calculation of reference station coordinates error 3.6cm, fully meet the needs of foundation to enhance the.3 system of high precision navigation and monitoring management system) established the foundation to enhance the theoretical basis of high precision vehicle navigation network conditions. This paper introduces the function model and the stochastic model of multi frequency dynamic PPP multi system observations, static data and using the IGS station simulation, reliability and correctness of program verification algorithm; based on vehicle dynamic positioning, established the position parameter, velocity, acceleration as the state parameters of the PPP dynamic random walk model, discussed the setting method of PPP dynamic filter parameters. According to the international multimode GNSS experiment Engineering (MGEX) static data simulation site calculation results and the actual results of vehicle dynamic data, demonstrates the dynamic multi frequency PPP system in vehicle dynamic positioning in the feasibility and Effect of.4) to construct the GNSS/INS combination algorithm of GNSS signal blocked under the conditions of realization of vehicle navigation and positioning. In introducing the basic conception of GNSS/INS integrated navigation, basic methods and basic theories, focuses on the real coordinate system based on the error equation? Strapdown inertial angle method is given, including posture. Speed, position, Kalman filtering state equation 15 parameters for the state parameters of the gyro drift and accelerometer bias, forming a dynamic system GNSS/INS loose under the combination of the measurement equation, for the realization of GNSS/INS vehicle navigation and positioning loose dynamic combination provides effective basis; in order to verify the proposed integrated navigation algorithm and the stability. Shanghai city selected the eight typical city road test scenarios were tested to obtain an integrated precision city road dynamic positioning for the test results of 3.124m, a better solution to GNSS Signal conditions (such as tunnel) problem of.5 vehicle navigation) developed vehicle navigation and positioning system, to achieve the safe operation of the vehicle and high precision monitoring and management, to solve the problems in the production practice. The theory of service in theory and technology, from high precision positioning function, high precision navigation, monitoring management function, alarm function, video function, query function, statistical analysis of 8 aspects of function and function of mobile phone client, simply summarizes the vehicle navigation system should have the basic functions; combined with the vehicular navigation system developed in different field test, application, introduces the monitoring platform software and mobile phone client software the function and its implementation effect.

【学位授予单位】：中国矿业大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U495;U463.67

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