论文标题:基于嵌入式Linux的车载GPS/DR组合导航技术研究
Study on GPS/DR Integrated Navigation Technology for Vehicle Based on Embedded Linux
论文作者 邓滔
论文导师 徐勇,论文学位 硕士,论文专业 测试计量技术及仪器
论文单位 湖南大学,点击次数 162,论文页数 75页File Size3044k
2005-04-08论文网 http://www.lw23.com/lunwen_87649502/ GPS定位;航位推算;组合导航;嵌入式Linux;实时数据采集;多线程技术;自适应联邦Kalman滤波
GPS position; Dead reckoning; Integrated navigation; Embedded Linux operation system; Real-time data acquisition; Threads; Adaptive federated Kalman filtering
针对GPS在城市高楼区、林荫道等地方,来自卫星的信号可能会被遮挡,使得GPS的定位导航功能失效的缺点,本文提出了采用低成本的磁阻传感器和里程计传感器组成的航位推算(DR)系统辅助GPS定位,弥补了传统GPS导航的不足,提高了导航系统的定位精度和可靠性。 论文论述了车辆定位与导航技术的发展历史、研究现状以及车辆组合定位与导航技术的实现手段,简要介绍了嵌入式Linux操作系统的特点,阐述了GPS/DR组合导航原理。以32位嵌入式微处理器MC9328MXL为中央处理单元,设计了GPS/DR组合导航的硬件电路。研究了嵌入式Linux下设备驱动程序设计方法以及系统的软件模块。 论文研究了导航传感器的误差来源,提出了相应的误差补偿方法。由于车辆组合导航系统是通过采集多路传感器信号来解算出导航定位所需的方位信息,通常需要采用多传感器信息融合技术来提高车辆组合导航定位的精度和可靠性。论文研究了联邦Kalman滤波算法在组合导航系统中的应用,提出了使用GPS的水平精度因子(HDOP)设计联邦Kalman滤波信息分配系数的自适应融合算法。实验结果表明,该算法综合来自各导航传感器的综合信息,使系统具有了高精度的定位能力。 论文采用嵌入式Linux操作系统的实时特性实现了多路I/O口的实时数据采集,利用Linux的多线程技术解决了数据输入输出、GPS定位数据解算、航位推算和信息融合等多个任务的并发执行。经实验测试,嵌入式Linux的实时多任务特性完全能够适应车辆组合导航系统对实时响应、实时计算和多任务并行处理的要求,并使系统能达到很高的性价比。
On the urban street or in the space between the high buildings, the singal of GPS may be interrupted which will result in GPS"s position error. This paper presents an aided Dead Reckoning (DR) system based on low cost magnetorsistive sensor and speedometer sensor. The DR system can cover the shortage of GPS. The GPS/DR integrated navigation system can also increase reliability of system.The paper demonstrates development history of position and navigation system for vehicle, and the situation of position technology for vehicle. The method to realize integrated position is analyzed. Navigation technology and the characteristic of embedded Linux operation system are introduced. A GPS/ DR integrated navigation system for vehicle is designed, in which a 32-bits embedded microchip MC9328MXL is used as CPU. How to design Linux device drivers are also studied.The paper analyses the errors of navigaiton sensors, and presents a corresponding compensation process. The position of vehicle is computed by using the singal of multisensors in the GPS/DR integrated navigation system. Therefore, the multisensors data fusion algorithm must be used to improve the position precision and reliability of the system. It puts forward an adaptive federated Kalman filtering algorithm in which the distributive coefficient of information is decided by HDOP(Horizontal Dilution of Precision). Practical applications have testified that the algorithm which fuses the data collected from the sensors of GPS and DR makes the system have high accuracy positioning function.The paper presents an application of real time and multithread characteristic of embedded Linux. It briefly introduces the method and the program of real time sampling from multi-interface and multitask. Practical applications have testified that real time and multitask characteristic of embedded Linux is suitable for the real-time response, real-time count and multitask of the system, it results in a high performance-price-ratio.
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