摘要
针对北斗卫星定位系统的特点,使用电子罗盘、陀螺传感器和车速传感器等多种传感器,基于嵌入式系统平台开发了一种车辆组合定位系统。以Kalman滤波算法为基础,设计了航向融合和航位融合算法,实现了车辆位置和行车方向的测量。为更精确地实现车辆在地图上的定位,设计了一种基于匹配度的综合地图匹配方法,可实现北斗系统的稳定可靠定位。实车定位试验表明:该组合导航系统可以较好地实现稳定的工作,提高了北斗定位系统的实用性。
Various sensors, including electronic compasses, single axis gyroscopes, and the speedometer sensor, were used to develop an integrated vehicular navigation system based on an embedded system platform and the characteristics of the Beidou satellite system. The vehicle direction fusion algorithm and the vehicle position fusion algorithm utilize a Kalman filter algorithm to measure the vehiclCs direction and position. A map matching method was used to give more precise map matching results and to stably interact with the Beidou satellite system. Vehicle location tests show that the integrated navigation system works well and makes the Beidou positioning system more practicable.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2008年第5期856-859,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2006AA110116)
