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Research on the Key Technique of Positioning and Orienting System of Land Vehicle

Author: TaoMin
Tutor: HeHanGen
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Self - driving cars Differential GPS Dead Reckoning Kalman filter GPS / DR Integrated Navigation System
CLC: TP391.41
Type: Master's thesis
Year: 2007
Downloads: 297
Quote: 3
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Abstract


The location and orientation of the autonomous vehicle (ALV-Autonomous Land Vehicle) system is the precondition and foundation for autonomous navigation function , related to the accuracy and reliability of the entire autonomous driving system performance . This article is based on improving the accuracy and reliability of the vehicle positioning directional system from the differential GPS (DGPS-Differential GPS), dead reckoning (DR-Dead-reckoning) systems as well as DGPS / DR combination of three aspects of the location and orientation of , and conducted experiments of the actual vehicle . Papers in differential GPS - based orientation , and simulation show that the real vehicle data : in better differential GPS signal reception , the method can give accurate orientation results the vehicle kinematic characteristics based on the proposed . A more in-depth research papers on dead reckoning sensor system . Improved RBF neural network algorithm for the initial electronic compass deviation as a standard orientation results in differential GPS , electronic compass calibration , the experimental results show that the electronic compass calibrated output accuracy improve ; kinematic model of the two-and four - wheel vehicles , based on the positioning of the ABS speed sensor orientation model and the ABS speed sensor calibration of the scale factor of the model error analysis , real vehicle experiments show that the model able to get high-precision short positioning directional results ; , and affect the accuracy of the model based on the front wheel swing angle sensor orientation factors were analyzed by analysis of vehicle dynamics model , the real vehicle data simulation experimental verification of this the feasibility and effectiveness of the method . Papers Kalman filtering algorithm , dead reckoning system angular motion information fusion model line sports information filtering model , multi-sensor integrated dead reckoning system , the integration of angular motion and line sports information Carl the Mann filter model , the real vehicle data simulation results show that the Kalman filtering method can effectively improve the accuracy of location and orientation of the dead reckoning system . Finally, Federated Kalman filtering method differential GPS and DR location and orientation information fusion , real car data simulation experiment show that this method can effectively improve the accuracy and reliability of the vehicle positioning directional system .

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