The Key Technology Research On The High Precise Monitoring Management For Vehicle Safety Operation Based On GNSS

Based on GNSS technology,INS technology,computer network communication technology,modern measurement data processing technology,software engineering technology,the problems about vehicle navigation monitoring system were studied in the doctoral dissertation,combined with the national natural science fund project "Research on BDS Precise Point Positioning with UN-differential and UN-combined Model Research for Large-scale Mining Area" and Shanxi Energy Transportation Investment Co.,Ltd.Project "Research on Key Technology of vehicle Safety Operation Monitoring and Management System".This doctoral dissertation researched real-time high-accuracy positioning mode on the vehicle and its corresponding realization algorithm to improve the real-time positioning accuracy and adaptation capacity to the environment,realize the real-time monitoring in safe running status of the vehicle.The research is able to provide the technical foundation for realizing the real-time monitoring in the safe running status of the vehicle.The main research work and achievements of this doctoral dissertation are as follows:1)The theoretical basis of high precision positioning based on GNSS vehicle navigation system was constructed and the GNSS pseudorange and carrier phase un-difference observation equation and double difference observation equation was built.With GPS,GLONASS and BDS pseudo range and carrier observation of single system and integrated system,PPP(precise point positioning)and double difference positioning results are analyzed by using 7 days of data of CUTA site in Curtin University of technology.The influence characteristics and correction algorithm of the orbit error,the satellite clock error,the phase center deviation of the satellite antenna,the atmospheric delay error and other relative errors were analyzed in this doctoral dissertation.Furthermore,the algorithm of ionospheric and tropospheric delay error is discussed and the least squares estimation algorithm and dynamic Kalman filter algorithm for were established.2)The error correction model,virtual observation value algorithm,ambiguity resolution method and mobile station position calculation method of between multi frequency multi system GNSS reference station for the ground-based augmentation system were introduced.With the observation of five reference station from Jiangsu CORS system,the test calculation was performed.The root mean square error of the reference station coordinates is about ±3.6 cm,which fully meets the needs of high precision navigation and monitoring of the vehicle mounted system.3)Under the condition that there are no ground-based augmentation systems,the theoretical foundation of high precision vehicle navigation and positioning was established.The observation model and stochastic model of multi frequency and multi system were introduced for PPP.The static data of IGS station was used to test the accuracy of the algorithm and the reliability of the program.The random walk model based on position parameters,velocity and acceleration was established for vehicle dynamic positioning.At the same time,the setting method of dynamic PPP filter parameter was discussed here.According to static simulation test of international multimode GNSS Experimental Engineering(MGEX)data test and dynamic test of actual vehicle motion test,the resolution result demonstrated that the feasibility of dynamic multi frequency PPP system in positioning accuracy and effectiveness for dynamic vehicle.4)A GNSS/INS integrated algorithm for vehicle navigation and positioning without GNSS signal was constructed.First,the basic concept,the basic methods and basic theories of GNSS/INS integrated system is introduced.Based on real coordinate system,the error equation of strapdown inertial navigation system by the means of ? angle method was presented.Kalman filter equation including 15 parameters such as attitude,velocity,position,gyro drift and accelerometer deviation was given.The dynamic equation of GNSS/INS loosening was formed,which provides the foundation for the dynamic navigation and positioning of GNSS/INS loose coupled system.Furthermore,In order to verify the validity and stability of the proposed integrated navigation algorithm,typical urban road of eight regions were selected in Shanghai.The comprehensive accuracy of dynamic positioning was 3.124 m,which solved the problem of vehicle navigation and positioning without GNSS signal(such as tunnel).5)The vehicle navigation and positioning system is developed to achieve vehicle safety operations and high-precision monitoring and management,which well solved the problem of the theory serving the practice.With the support of relevant theory and technology,the basic functions including high precision positioning function,high precision navigation function,monitoring and management function,alarm function,video function,query function,analysis function and mobile client function of vehicle navigation and positioning system is briefly summarized in the doctoral dissertation Combined with the test and application result of the vehicle navigation and positioning system in different fields,the doctoral dissertation introduced the function and performance of the monitoring platform software and the mobile client software.