多传感器与道路网数据用于汽车导航的研究

263Vol.26No.320016GeomaticsandInformationScienceofWuhanUniversityJune2001:1000-050X(2001)03-0205-04:A1111(1,129,430079):GPS,,,GPS,,GPS,GPS,:;GPS;;;:P228.42,,GPS,GPS,GPSGPS3050m,,,,,GPSGPS,GPS,,,4GPS,,GPS4;,GPS,GPS,GPS,GPSGPS,,GPS,,1GIS,,,,,,,,,,GIS,,,[1]2GPSGPS:2001-01-01:(49631050)©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,50m,,,,GPS1)IDGPS,,GPS,,()(,,)2)ID(5m)3)GPS(X,Y),:min(|X-Xi|+|Y-Yi|),(X,Y)GPS;(Xi,Yi)4)3)(),,,,,,,3),,,GPS,,3GPS,,,,GPS,(deadreckoning),,1P0(X0,Y0)Pn(Xn,Yn),PnP1Pn-1iSi:Xn=X0+n1SisiniYn=Y0+n1Sicosi1Fig.1ThePrincipleofDeadReckoning,,,Pi,Pn,,,,1)GPSP0(X0,Y0),ID2)SXYXYX=Ssin;Y=Scos3)P0(X0,Y0),XYP1(X1,Y1)=P0(X0,Y0)+(X,Y)4)P1(X1,Y1),P2(X2,Y2):min(|XP1-Xi|+|YP1-Yi|),(Xi,Yi)5)(),6022001©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,,,,,6)P2(X2,Y2)P2(X2,Y2),P2(X2,Y2)IDID,2)6),GPS,,,4,,,2(a),,,,,,2(b),:r=rcos(2),r;r;,,,,,,90,,,,,,,(a)(b)2Fig.2PositioningErrorAnalysis5,,GPS,GPS,3,,3Fig.3ThePositioningResult7023:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.1,,,.GPSGPS.,2000,25(3):2482512.GPS,GIS:[].:,19983,,..(),1999,20(2):1111134ZhaoYL.VehicleLocationandNavigationSystems.USA:ArtectHouseInc,1997,43755BullockB.APrototypePortableVehicleNavigationSys2temUtilizingMapAided.ProceedingsofIONGPS-95,California,USA,19956KrakiwskyEJ.InnovationsinVehicleTrackingandNavigation.GPSWorld,1994,5(2):43467.GPS:[].:,1997:,E-mail:[e-mail]NetworkUsedforMobileNavigatingWANGMi1GUOBingxuan1LIDeren1GONGJianya1(1NationalLaboratoryforInformationEngineeringinSurveying,MappingandRemoteSensing,WuhanUniversity,129LuoyuRoad,Wuhan,China,430079)Abstract:Thispaperpresentsareal-timepositioningalgorithmformobilenavigatingbasedontopologyofroadnetworkandsensorsofGPSreceiver,electroniccompass,wheelcounter.Throughmobilenavigatingsystemexperiments,itprovesthatthisalgorithmcansolvesignallossofGPSreceiverandacquiresatisfiedprecision,highreliabilityandreal-timeresult.Atpresent,GPSreceiveristhemajorsensorinmobilenavigatingsystem.ThepositioningprecisionofsingleGPScanonlyreach3050m.Duetothelimitedcost,itisimpossibletopro2cessthesignalofGPSbyreal-timedifferencetoobtainhighpositioningprecision.BecauseoftheeffectofGPSpositioningerror,whenthecarisrunningalongthebridge,itmaybepositionedintheriver.Sothenavigatingprecisionispoor.Ontheotherhand,theprincipleofGPSisbyreceivingatleastfoursatellitesignalsatthesametime.Becausethehighbuildingsortheeffectsofothersignals,suchaselectricfield,magneticfield,etc.blocktheGPSsignals,thenumberofreceivedsatellitesbyGPSreceiverislessthanfour.SotheGPSreceivercannotworknormally.Basedontheabovecase,onlyusingGPSaspositioningsensorisnotenoughinmobilenavi2gatingsystem.Otherrestrictionconditionsshouldbeconsideredinordertogetbetternavigationresults.Atpresent,themainmethodsofimprovingpositioningprecisionaredifferenceGPSandintegrationGPSwithinertianavigation.Bothmethodscanimplementhighprecisionnavigation.However,thecostofnavigationsystemisveryhigh,anditisnotpracticalformobilenavigationsystem.Thispaperdoesin-depthresearchonroadnetdataandthesensorsofGPSreceiver,elec2troniccompass,andwheelcounterinmobilenavigatingsystem.Keywords:mobilenavigation;GPS;electroniccompass;wheelcounter;networktopologyAbouttheauthor:WANGMi,Ph.Dcandidate.Hismajorresearchesaremobilesystem,massdatamanagementandimagedatabase.E-mail:[e-mail]8022001©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.