Data synchronization in IMU/GPS integrated measurement system of vehicle motion parameters

To realize the data synchronization between the inertial measurement unit （IMU） and the global positioning system （GPS）, the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied. According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS. Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration. Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.

基于SystemView的引信用GPS弹道敏感器仿真

介绍了引信用GPS弹道敏感器的工作原理和SystemView的应用,并使用SystemView建立了引信用GPS弹道敏感器的仿真系统,得到了不同噪声条件下的仿真结果。通过建立仿真模型可以在系统设计中针对不同的方案对系统参数进行调整,提高设计效率。

Ground Alignment of Inertial Navigation System with the Aid of GPS Signals

Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.

基于System Generator的GPS信号捕获模块的实现

System Generator for DSP是业内领先的高级系统级FPGA开发工具.本文基于该软件设计并实现了4通道GPS信号捕获模块,其中包括平均采样、本地C/A码、FFT/IFFT运算、复数乘法运算、扫频控制和结果返回等6个模块,并利用Xilinx的Viertx-5XC5VSX50T-FF665芯片对模块进行了硬件协同验证.测试结果表明:设计实现的捕获模块能够准确地捕获GPS信号,与利用硬件描述语言的方法相比,本文的方法大大缩短了开发周期.

DESIGN AND REALIZATION OF SINS/TWO-ANTENNA GPS INTEGRATED NAVIGATION SYSTEM

The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.

APPLICATION OF INTERVAL KALMAN FILTER TO AN INTEGRATED GPS/INS SYSTEM

An interval Kalman filter (IKF) algorithm based on the interval conditional expectation is applied to an integrated global positioning system/inertial navigation system (GPS/INS). Because the IKF algorithm is applicable only to linear interval systems, the extended interval Kalman filter (EIKF) algorithm for non linear integrated systems is developed. A high dynamic aircraft trajectory is designed to test the algorithm developed. The results of computer simulation indicate that the EIKF algorithm is consistent with the traditional SKF scheme, and is also effective for uncertain non linear integrated system.

DESIGN & REALIZATION ON GPS/INS INTEGRATED NAVIGATION SYSTEM

This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.

Design and implementation of the simulation system for GPS new civil signals

In order to research on the design and implementation of a modernized GPS civil signals simulation system,a brief review of the modernized GPS signals is introduced,including the signal structure and characteristics of L2C,L5 and L1C signals.The design and implementation of the main modules of the simulation system is described in detail.The simulation system is mainly composed of parameter setting,system initialization,signal generator,noise generator,disturbance generator,signal synthesis,low-pass filter,A/D conversion and storage.The simulation results based on Matlab are then presented,and the power spectral density（PSD） of all navigation signals is analyzed.The simulation system completes the physical layer simulation of a modernized GPS new civil signal and can provide a controllable signal source for designing and testing of modernized GPS civil receivers,especially for the signal processing algorithm design of the GPS software receiver.

GPS-BASED LAND VEHICLE TRACKING AND MONITORING SYSTEM

A land vehicle tracking and monitoring system based on the integration of differential global position system (DGPS), dead-reckoning (DR), and map matched technology is studied. In this paper, from the economic point of view, a new scheme using the one-way directional communication link, is presented. Moreover, 8-state Kalman filter is proposed for integrated DGPS/DR system. When field tests are carried out using two C/A code GARMIN GPS receiver, the positioning accuracy less than 5 m (1σ) is achieved.

南极和格陵兰岛GPS连续台站背景噪声时空特性

基于GPS观测数据获取的陆地垂向运动对研究现今两极区域的冰川质量变化具有重要的科学意义.受地表环境负荷对GPS时间序列中背景噪声空间异质性的影响,在利用GPS时间序列获取垂向速度场时,估计结果存在较大不确定度.本文针对南极和格陵兰岛区域的GPS连续观测时间序列中背景噪声的空间特性对速度场及其不确定度的影响问题,利用地表环境负荷模型(包括大气、非潮汐海洋和水文负荷)和重力卫星GRACE/GRACE-FO观测数据反演的地表弹性形变对GPS时间序列进行了改正.通过对改正前后的数据进行背景噪声特性分析,揭示出修正环境负荷形变能够有效降低极区GPS时间序列背景噪声幅度,但是大气和非潮汐海洋负荷改正造成了大多数台站背景噪声谱指数的减小,南极和格陵兰岛分别约为其GPS台站总数的46.1%和84.6%,直接导致了对GPS速度不确定度估计的改善效果不明显.对背景噪声空间异质性的研究结果表明,极区台站的背景噪声参数主要表现为随纬度变化的空间特性.

一种车辆GPS轨迹数据的改进地图匹配算法

文中提出一种车辆GPS轨迹数据的改进地图匹配算法.以车辆GPS轨迹数据进行隐马尔可夫模型动态地图匹配后的缓冲区内候选路径为初始群体,以遗传算法中的改进的适应度函数为基准进行半交叉迭代,选择车辆轨迹更优的匹配路径;设计了改进地图匹配方法的算法流程;利用微软亚洲团队的GeoLift轨迹数据集验证了改进方法的有效性.

GPS的现代化进展及启示

目前的全球定位系统(GPS)相关信息内容多,良莠不齐,导致出现一些二手信息误导读者的问题。该文以GPS官方机构近些年公开发布的相关技术文件为依据,梳理了GPS的现代化发展历程,阐述了导航卫星上新增加的民用信号及军用信号、新一代运行控制系统、新型GPS BlockⅢ/IIIF卫星的特点,介绍了GPS Block IIIF上使用的点波束技术,并提出了几点启示。GPS是世界上第一个建成的全球卫星导航系统(GNSS),全球覆盖程度、软件应用、全球用户数量等指标都处于领先地位,它的很多技术发展方向代表当前的主流趋势。GPS建设过程中的经验教训值得我们借鉴,GPS的发展方向值得我们学习和参考。本文内容可供卫星导航行业相关人员参考。

GPS时间序列共模误差提取方法及对比分析

区域GPS网中,各个测站坐标时间序列会存在共模误差(CME),该误差会对GPS测站坐标精度产生一定影响,因此去除共模误差对提高站点观测精度具有重要意义。本文在叠加滤波方法的基础上,以各个GPS站点相关性大小为权重进行加权,利用相关加权滤波方法对辽宁及周边省份GPS观测数据进行处理分析,提取共模误差向量,并与叠加滤波的结果进行对比和分析。结果表明,两者均能在一定程度上提取共模误差向量,相关加权叠加滤波法比叠加滤波法具有更好的适用性,均方根提升更为明显,能够更好地提取共模误差。

中国内地GPS坐标时间序列噪声模型特征及其对站点速率影响

为了进一步评估全球定位系统(GPS)时间序列噪声模型水平和垂直速率的大小,及其对误差的影响,选取中国内地227个GPS连续基准站2010—2020年南北、东西和垂直3个方向的坐标时间序列,采用6种噪声模型或噪声组合模型对其进行噪声分析。结果表明,中国内地GPS坐标时间序列噪声模型存在多样性,且部分站点在不同方向的噪声模型也存在差异,主要以一阶高斯马尔可夫+随机漫步噪声(GGMWN)和闪烁噪声+白噪声(FNWN)为主;在100°E附近的GPS站点噪声特性差异最为显著;噪声模型与速率之间的关系分析表明噪声模型对水平向速率的大小和误差影响较小,在现实计算中可不考虑噪声对水平速度的影响,但对垂向速率的大小和误差影响显著;考虑噪声模型可有效提高垂向速率的精度,同时也可能会改变部分站点的垂向运动方向,所以在现实计算中须考虑噪声对垂向速率的影响。

基于GPS轨迹数据的电动出租车充电站选址规划

针对电动汽车保有量持续增长、充电设施匮乏难以满足用户需求的问题,提出一种基于GPS轨迹数据的电动出租车充电站选址规划方案。首先利用出租车GPS数据分析用户潜在充电需求并提取需求分布;其次提出一种基于网格密度分区的DBSCAN聚类方法,与传统算法相比DB指数由0.34降为0.30,对需求进行聚类和划分需求密集区,设置预选站址;最后,构建集合覆盖模型实现站址优化。利用此方案对北京大兴区出租车轨迹数据进行仿真,得出了合理的选址结果,即该方案可为电动出租车充电站规划提供参考。

基于SystemView的GPS卫星信号仿真

GPS全球定位系统以其优越性能成为全球应用最为广泛、实用性最强的定位系统。为测试GPS接收机的性能就需要GPS信号模拟器模拟产生真实环境下的GPS信号。本文在介绍GPS信号产生原理的基础上,详细说明了采用SystemView软件实现GPS射频信号仿真的方法和技巧,并对模拟出的GPS信号进行了性能分析。

基于Spark Streaming的海量GPS数据实时地图匹配算法

浮动车GPS数据作为交通信息处理的基础,随着被监控车辆数量的高速增长,产生了海量GPS数据,对地图匹配提出了挑战。为了解决传统匹配方法难以满足匹配效率和精度的不足,提出一种针对海量GPS数据的实时并行地图匹配算法,能够同时保证较高匹配精度和运算效率。为构建一种面向实时数据流的高效、准确实时地图匹配算法,首先通过引入速度、方向综合权重因子对依赖历史轨迹的离线地图匹配算法进行重构,进而引入Spark Streaming分布式计算框架,实现地图匹配算法的实时、并行运算,大幅提升实时地图匹配效率。实验结果表明,该算法在复杂路段的匹配准确率较常规拓扑匹配算法提高10%以上,整体匹配准确率达到95%以上;在匹配效率方面,较同等数量的单机服务器效率可提高4倍左右。实验结果表明,该算法在由11台机器组成的计算集群上实现8000万个GPS数据点的实时地图匹配,证明了该算法可以完成城市地区的实时车辆匹配。

基于One NET云平台和北斗GPS双模定位的智慧停车系统

本文指出目前智慧停车面临三大技术难题:一是如何实现高精度停车位置定位;二是如何准确实现车位空闲状态检测;三是构建互联互通的停车场停车信息网络系统并对接到云平台,实现整个城市停车信息的大数据共享。为此,本文设计了一款基于OneNET云平台和北斗GPS双模定位的智慧停车系统,从理论上可解决上述3个关键问题。系统经过测试运行正常,数据收发正常,各传感器和北斗GPS定位数据准确,云平台数据更新保持在1~2 s之间。表明该系统具有车位状态监测准确、位置定位可精确到分米级别、数据上传到云平台存储和显示快速及时的特点,能够提高停车场的利用率和周转率,方便车主出行和生活。

结合GPS和LBS技术的计算机远程遥控方法

针对复杂环境中建筑物和遮挡物对计算机远程遥控的干扰,为提高覆盖范围,提出结合GPS和LBS技术的计算机远程遥控方法。分析计算机远程遥控系统组成,32位STM32F103ZET6微控制器主控,结合通信组件与遥控主体实现远程操控及实时动态反馈。结合GPS和LBS技术,利用RSSI定位技术辅助WIFI网络定位,通过服务器计算并存储远程遥控目标位置信息,实现快速准确的定位功能。构建目标运行轨迹规划模型,旨在通过优化方法,在目标运行范围内规划最优轨迹点,以最小化运行距离和高度为代价,同时考虑运行限制和干扰规范,确保目标安全高效地运行。实验表明,该方法能稳定可靠地实现无人机目标的计算机远程遥控,在实际应用中鲁棒性和适应性良好,异常情况下可快速恢复并保持较高控制精度。

基于GPS定位技术设计的老年智能服装

随着人口老龄化的加快,老年人口走失数不断增多。为解决老年人走失问题,智能定位服装的开发具有必要性。文章主要阐述了老年智能定位服装的研究现状,从生理、心理等角度分析了老年智能服装的设计需求,基于此,设计了一款基于全球定位系统(GPS)定位技术的智能定位服装,并对成衣进行测验。测验发现,所设计的智能定位服装能有效减少老年人走失情况。