【作者】 姚新春；

【导师】 李清泉；

【作者基本信息】 武汉大学 ， 摄影测量与遥感， 2004， 硕士

【摘要】 自主式导航系统是智能交通系统的一个重要组成部分，这一智能系统不仅能实现安全、通畅的驾驶，缓解和避免交通堵塞，而且能使车辆的移动和使用变得更加方便，促进了汽车消费和使用环境的完善。 近年来微电子技术的发展使得GPS接收机的价格大幅度下降，大大促进了GPS在民用领域的发展，尤其在车辆导航领域，它己经成为GPS应用领域最大的一个产业。装载GPS导航系统的车辆，大部分行驶在市区中，因此，GPS定位系统的工作必然会受到市区特定环境的不良影响，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、实时的定位导航，同时，为了向驾驶者提供近于无误差的定位结果，本文也研究了地图匹配方法。 本文首先介绍了车辆定位导航系统的发展，分析了GPS在车载导航中可采用的导航方式，研究了车辆导航中GPS系统的定位解算方法及系统的主要误差，分析了GPS定位结果的坐标转换。为了完成GPS导航子系统的软件设计，介绍了串口通信和GPS接收机数据输出格式的问题。 为了弥补GPS导航子系统的不足，本文介绍了航位推算系统的基本定位原理。硬件配置及其误差分析。在全面比较两种基本的GPS和DR数据融合方式优缺点的基础上，设计了基于切换方式的GPS／DR组合导航系统。 为了向用户提供近乎无误差的定位结果，本文分析了车载定位导航系统数字地图的数据组织方式，并且更深入地研究了道路网络层的数据编码，然后比较了两种最基本的匹配方法：基于投影的地图匹配方法和基于模式识别的地图匹配方法，并提出了一种改进的基于投影的地图匹配方法。 最后，论文最后对开发的“智能车载导航系统”进行了总结，并对以后自主导航系统开发工作的发展方向以及工作重点提出了具体的建议。更多还原

【Abstract】 As one important part of the Intelligent Transportation System, Automatic Navigation System, can realize safe and unobstructed driving, ease and avoid traffic jam, make the mobility and operation more convenient, facilitate the consumption of vehicles and perfect the operating environment.The huge reduction of GPS Receivers’ price caused by the development of micro-electronics technique, greatly accelerates the development of GPS in the field of civil application, especially in vehicle navigation which has been the largest industry applying GPS. GPS Navigation System is mounted in the vehicles mostly driven in urban area, so unavoidably it is under the bad influence of the urban situation, and even can not realize the location. So this paper makes a study of GPS/DR Combined Navigation System so as to accomplish the continuous and timing location and navigation, and the method of map matching so as to provide users the locating results approximately without error.This paper introduces the development of Vehicle Navigation Location System, analyzes the way of GPS’ navigating the vehicles and the Coordinate Transformation of GPS locating results, studies the calculating method of GPS location applied to Vehicle Navigation. To accomplish the software design of GPS Navigation Subsystem, this paper also introduces the Serial Communication and the Data Output Formula of GPS Receiver.To make up the GPS navigation subsystem, this paper introduces the basic locating principle, hardware requirements, and error analysis of the dead reckoning system; and designs the switch-based GPS/DR Combined Navigation System on the basis of the comprehensive comparison between the two methods of GPS and DR data fusion.To provide users the locating results without any error, this paper analyzes the data organizing way of the digital map of Vehicle Navigation Location System, makes a special study of the data code on the level of roads, and brings forth the improved projection-based method of map matching after comparing the advantages and disadvantages of two basic matching methods: Projection-based map matching and Mode- recognition-based map matching.This paper summarizes the Vehicle Multi-media Navigation Location System and brings forth several suggestions about the direction and emphasis of developing Automatic Navigation system.更多还原