一款超宽带惯性定位系统

发布时间：2018-04-22 14:09

本文选题：超宽带 + 惯性测量单元　；参考：《华南理工大学》2016年硕士论文

【摘要】：超宽带(UWB)测距与通信模块(RCM)能使在多种设备中的可靠的距离测量和数据转移成为可能。其中一种典型的情况就是进行远超过GPS系统精确度的,或是在无法得到GPS信号的地区,对无人机的定位。几个模块能够被结合,来提供一个2D或3D的定位以及航向。这里呈现的工作主要有三个部分:第一部分是连接、塑造和评估所使用的无载波通信模块。第二部分侧重于通过使用几个有不同滤波方式和参数的模块,以及比较结果,来进行高精度的距离测量。抽样频率在很大程度上依赖于使用的参数,测量给出了几毫米的精确度。第三部分也是最重要的部分,即设计和建造一个于UWB测量相结合的2D定位和确定航向的系统。这些UWB测量来自于四个模块和惯性测量:UWB模块与几何方法结合来确定位置、速度和航向,惯性测量确定出加速和角度速度。然后为了减少干扰,使用了一个与改进的中值滤波结合的3D(2D+航向)卡尔曼过滤器。达到了几毫米和小于0.5度的精度,还有8到11赫兹的抽样频率。所有的处理都是实时用微控制器或电脑通过蓝牙连接来完成的。此外,还设立了一个可以动的平台来简化系统进行的测量。该平台还可用于未来对系统的扩展。
[Abstract]:UWB (UWB) ranging and communication module (RCM) enables reliable range measurement and data transfer in a variety of devices. One of the typical cases is the positioning of UAVs far beyond the accuracy of GPS systems or in areas where GPS signals are not available. Several modules can be combined to provide a 2D or 3D location and course. There are three main parts of the work presented here: the first part is to connect, mold and evaluate the carrier-free communication module used. The second part focuses on the use of several modules with different filtering methods and parameters, as well as the comparison results, to carry out high precision distance measurement. The sampling frequency depends largely on the parameters used and the measurement gives an accuracy of several millimeters. The third and most important part is the design and construction of a 2D positioning and course determination system combined with UWB measurement. These UWB measurements come from four modules and the inertial measurement: UWB module combined with geometric methods to determine position, velocity and heading, and inertial measurements determine acceleration and angular velocity. Then a 3D(2D heading Kalman filter combined with an improved median filter is used to reduce interference. Accuracy of several millimeters and less than 0.5 degrees has been achieved, and sampling frequencies of 8 to 11 Hz have been added. All processing is done in real time using a microcontroller or computer via a Bluetooth connection. In addition, a movable platform has been set up to simplify the measurement of the system. The platform can also be used to extend the system in the future.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN925

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