【作者】 李春伟；

【导师】 方群；

【作者基本信息】 西北工业大学 ， 飞行器设计， 2002， 硕士

【摘要】 近年来随着微电子技术的发展使得GPS接收机的价格大幅度下降，同时美国提前关闭SA停止对民间用户精度的限制使得GPS民用定位精度有了很大的提高，这大大促进了GPS在民用领域的发展，尤其是在车辆导航领域，GPS系统充分展示了它那优越的导航性能。GPS在车辆导航上的应用已经成为GPS应用领域的最大的一个产业。装载导航系统的车辆，大部分行驶在市区当中。然而，GPS的工作严重地受到一些市区特定环境的影响，甚至无法完成定位。因此，本文着重研究了GPS/DR组合导航系统，以实现连续、实时的市区导航，同时，为了向驾驶者提供近于无误差的定位结果，本文研究了地图匹配方法。 本文分析了车辆定位与导航系统的发展，及自主式与中心式车辆导航系统的系统结构和系统要求。分析了GPS在车辆导航中可采用的导航方式，研究了车辆导航用GPS系统的定位解算方法及精度分析并进行了仿真，分析了GPS系统在车辆导航中的主要误差，详细论述了消除多路径误差的方法。分析了航位推算系统的基本定位原理，介绍了几种可采用的航位推算传感器的原理及其误差。 为了实现市区环境下的连续、实时的车辆导航，本文设计了实现车载GPS/DR组合导航系统最优综合的联合卡尔曼滤波器，并给出了滤波算法。提出了一种自适应联合卡尔曼滤波器结构及其算法，并应用于GPS/DR组合导航系统的最优综合校正中。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载GPS/DR组合导航系统的定位精度及容错能力。 为了向驾驶者提供近于无误差的定位结果，本文分析了车辆导航用数字地图的编码，研究了两种地图匹配方法：基于概率统计的地图匹配方法和基于数字地图编码与方位信息结合的地图匹配方法。 本文设计了车辆导航系统仿真软件。实现了简单的GIS系统，市区环境的GPS系统仿真、单独GPS定位仿真、单独DR系统定位仿真、GPS/DR组合系统的仿真。软件具有一定的实用价值。更多还原

【Abstract】 In recent years, with the development of the micro-electronics technique, the price of GPS receiver have been greatly falling , and as a result of the United States closing SA to stop limiting the public position accuracy of GPS , the GPS positioning accuracy have improved greatly in public field. All this consumedly promote the development of GPS in public field, and especially in the vehicle navigation field , GPS shows its superiorly navigation performance. The GPS applied to the vehicle navigation have already become one of the biggest industry in GPS application field. The vehicle loaded the navigation system run mostly in the downtown. However, the GPS’ work would suffer seriously the influence of the particular environment in the downtown, and can’t so much as complete the positioning. So this paper study mainly the design of the GPS/DR integrated vehicular navigation system in order to realizing continuous and Real-time navigation in the downtown. At the same time, for providing the result of positioning that have no error nearly for drivers, this paper study the method of map matching.This paper analyze the development of the vehicle positioning and navigation system, and the system configuration and request of autonomic navigation system and central navigation system. The GPS positioning modes that can be introduced in the vehicle navigation system are analyzed, the navigation algorithm and accuracy of GPS vehicle navigation system are studied .and it is proved by simulation. The main errors that influent the positioning accuracy are analyzed, and the method of lowering the effects of multipath is discussed. The basic principle of Dead Reckonning system is analyzed, and the principle and errors of a few adoptab’e DR sensors are introduced .For realizing continuous and Real-time navigation in the downtown, A federated Kalman filter mechanization to realize the optimal synthesis of GPS/DR integrated navigation system is designed first, and its algorithm is presented. Moreover, an adaptive federated Kalman filter mechanization and its algorithm is proposed for GPS/DR integrated vehicle navigation system. The theoretical analysis and simulation results all show that the positioning accuracy and redundancy of the GPS/DR integrated navigation system can be greatly improved by using the adaptive federated Kalman filter.For providing the result of positioning that have no error nearly for drivers, this paper analyze the coding of digital map used to vehicle navigation , and studied two method of map matching: the method of map matching based on probability and the method of map matching based on the coding of digital map and direction information.Finally, simulation software used to study vehicle navigation was designed. Realized simple GIS system, downtown environment simulation, sole GPS positioning simulation, sole DR system simulation , GPS/ DR integrated system simulation .The software has a certain practical value.更多还原