【作者】 王冰；

【导师】 毛奔；

【作者基本信息】 哈尔滨工程大学 ， 精密仪器及机械， 2011， 硕士

【摘要】 随着经济和科技的发展,在民用方面,现代交通的发展对车载导航设备产生了巨大的市场需求,在军用方面,大纵深、高速度和多军兵种联合作战的现代高科技局部战争也要求各军兵种的地面作战武器具有导航定位功能以便与其他作战单位协同。全球卫星定位系统/捷联惯性导航系统(Global Positioning System/Strapdown Inertial Navigation System, GPS/SINS)组合导航实现了二者的优势互补,是一种非常具有发展前景的车辆导航定位系统。本文提出并研究了易于工程实现的低成本、中等精度的GPS/SINS车载组合导航系统方案,并结合实验室现有条件进行了软硬件实现。本文首先分别阐述了捷联惯性导航、GPS和GPS/SINS组合导航的基本原理,研究了不同的组合模式和各自的优缺点,介绍了NMEA 0183协议的格式和GPS定位信息的解析的方法。然后在此基础上,结合卡尔曼滤波器的理论知识,设计了一套适合本系统的联邦卡尔曼滤波算法,并在MATLAB软件中对该算法进行了仿真,验证了算法的可行性和有效性。本文的主要工作是设计实现了GPS/SINS组合导航的嵌入式硬件和软件系统。硬件系统以符合PC104工业总线标准的HCM-PV6810工业控制计算机为核心,设计了组合导航硬件系统的电源电路和多用连接器电路,开发了基于ARM处理器LPC2103的SINS数据采集和处理模块的电源电路、晶振电路、ⅡC电路、AD转换电路、JTAG调试接口电路和UART电路等。软件系统以微软的Windows CE 6.0嵌入式操作系统为核心,定制了基于HCM-PV6810硬件平台的Windows CE 6.0嵌入式操作系统的BSP和启动加载系统,定制、编译生成了Windows CE 6.0操作系统映像并下载到了硬件平台,设计了图形用户界面、串口通信程序和编程实现了GPS定位信息的解析。最后调试了组合导航的硬件系统并测试了SINS数据采集和处理电路。总之,本文在详细的理论研究的基础上,设计了基于GPS/SINS组合的车载导航系统,并验证了理论的有效性和可行性,设计了组合导航系统的软硬件系统,基本上达到了设计的预期,具有很好的实用性。更多还原

【Abstract】 As economic and technological development, in the civilian flieds, the development of modern transport brings on a huge market demand of vehicle navigation devices. In the military, the great-depth, high-speed and multi-joint and combined arms operations of modern high-tech local wars also require the ground weapons of all units having navigation capabilities in order to cooperate with other units. Integrated navigation system, which is based on Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS), has a promising market prospects on vehicle navigation and positioning flied. In this paper, a GPS/SINS integrated navigation system has been proposed and studied, which is easy project achieved, low-cost and has medium accuracy. With the existing conditions of the laboratory, the system’s hardware and software have been realized.This paper respectively describes SINS, GPS and GPS/SINS integrated navigation’s basic principles, and discusses the difference of two combination models and their advantages and disadvantages of each other. The paper describes the NMEA 0183 protocol format and GPS location information analysis method. Then, on this basis, combined with theoretical knowledge of the Kalman filter, an algorithm of federal Kalman filter for the system has been designed, and simulated in MATLAB software to verify the feasibility and effectivenes of the algorithm. The main job of this paper is to design and implement GPS/SINS integrated navigation system’s embedded hardware and software. Hardware systems used HCM-PV6810 industrial control computer, which meets the PC104 industrial bus standard, as the core of integrated navigation hardware system. There have been designed power circuit and multi-circuit connectors, developed the SINS data acquisition and processing module based on the LPC2103 ARM processor.And designed the module’s power supply circuit, crystal Oscillators, IIC circuit, AD converter circuit, JTAG debug interface circuit and UART circuit. Software system used Microsoft’s Windows CE 6.0 embedded operating system as the core, customed Windows CE 6.0 embedded operating system’s BSP and start loading system based on HCM-PV6810 hardware platform. There are customed and compiled a Windows CE 6.0 operating system image and downloaded to the hardware platform, designed the graphical user interface, serial communication program and the program to analyse the GPS positioning information. Finally, the hardware of the integrated navigation system has been debuged and the SINS data acquisition and processing module has been tested.In summary, based on study the basis of the concept, this paper designed a vehicle navigation systems based on the GPS/SINS integrated navigation and proved the theory’s effectiveness and feasibility, and designed of the integrated navigation’s software and hardware system, basically meeting the design expected, and has good practicability.更多还原