【作者】 于喜东；

【导师】 高井祥；

【作者基本信息】 中国矿业大学 ， 大地测量学与测量工程， 2017， 博士

【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。更多还原

【Abstract】 Based on GNSS technology,INS technology,computer network communication technology,modern measurement data processing technology,software engineering technology,the problems about vehicle navigation monitoring system were studied in the doctoral dissertation,combined with the national natural science fund project "Research on BDS Precise Point Positioning with UN-differential and UN-combined Model Research for Large-scale Mining Area" and Shanxi Energy Transportation Investment Co.,Ltd.Project "Research on Key Technology of vehicle Safety Operation Monitoring and Management System".This doctoral dissertation researched real-time high-accuracy positioning mode on the vehicle and its corresponding realization algorithm to improve the real-time positioning accuracy and adaptation capacity to the environment,realize the real-time monitoring in safe running status of the vehicle.The research is able to provide the technical foundation for realizing the real-time monitoring in the safe running status of the vehicle.The main research work and achievements of this doctoral dissertation are as follows:1)The theoretical basis of high precision positioning based on GNSS vehicle navigation system was constructed and the GNSS pseudorange and carrier phase un-difference observation equation and double difference observation equation was built.With GPS,GLONASS and BDS pseudo range and carrier observation of single system and integrated system,PPP(precise point positioning)and double difference positioning results are analyzed by using 7 days of data of CUTA site in Curtin University of technology.The influence characteristics and correction algorithm of the orbit error,the satellite clock error,the phase center deviation of the satellite antenna,the atmospheric delay error and other relative errors were analyzed in this doctoral dissertation.Furthermore,the algorithm of ionospheric and tropospheric delay error is discussed and the least squares estimation algorithm and dynamic Kalman filter algorithm for were established.2)The error correction model,virtual observation value algorithm,ambiguity resolution method and mobile station position calculation method of between multi frequency multi system GNSS reference station for the ground-based augmentation system were introduced.With the observation of five reference station from Jiangsu CORS system,the test calculation was performed.The root mean square error of the reference station coordinates is about ±3.6 cm,which fully meets the needs of high precision navigation and monitoring of the vehicle mounted system.3)Under the condition that there are no ground-based augmentation systems,the theoretical foundation of high precision vehicle navigation and positioning was established.The observation model and stochastic model of multi frequency and multi system were introduced for PPP.The static data of IGS station was used to test the accuracy of the algorithm and the reliability of the program.The random walk model based on position parameters,velocity and acceleration was established for vehicle dynamic positioning.At the same time,the setting method of dynamic PPP filter parameter was discussed here.According to static simulation test of international multimode GNSS Experimental Engineering(MGEX)data test and dynamic test of actual vehicle motion test,the resolution result demonstrated that the feasibility of dynamic multi frequency PPP system in positioning accuracy and effectiveness for dynamic vehicle.4)A GNSS/INS integrated algorithm for vehicle navigation and positioning without GNSS signal was constructed.First,the basic concept,the basic methods and basic theories of GNSS/INS integrated system is introduced.Based on real coordinate system,the error equation of strapdown inertial navigation system by the means of ? angle method was presented.Kalman filter equation including 15 parameters such as attitude,velocity,position,gyro drift and accelerometer deviation was given.The dynamic equation of GNSS/INS loosening was formed,which provides the foundation for the dynamic navigation and positioning of GNSS/INS loose coupled system.Furthermore,In order to verify the validity and stability of the proposed integrated navigation algorithm,typical urban road of eight regions were selected in Shanghai.The comprehensive accuracy of dynamic positioning was 3.124 m,which solved the problem of vehicle navigation and positioning without GNSS signal(such as tunnel).5)The vehicle navigation and positioning system is developed to achieve vehicle safety operations and high-precision monitoring and management,which well solved the problem of the theory serving the practice.With the support of relevant theory and technology,the basic functions including high precision positioning function,high precision navigation function,monitoring and management function,alarm function,video function,query function,analysis function and mobile client function of vehicle navigation and positioning system is briefly summarized in the doctoral dissertation Combined with the test and application result of the vehicle navigation and positioning system in different fields,the doctoral dissertation introduced the function and performance of the monitoring platform software and the mobile client software.更多还原