Design Of Vehicle Attitude Data Acquisition System Based On Integrated Navigation

This thesis designs a set of vehicle attitude data acquisition system which based on integrated navigation.The system uses the vehicle as the research target to measure the attitude information and positioning information of the vehicle.The system uses the chip SIM5360 as the wireless communication module under the control of the STM32F107 V and collects the data collected by the system.First,The system collects the data of the three-axis geomagnetic data,acceleration data,angular rate data,latitude and longitude data,height data and speed of vehicle.Then,under the control of the STM32F107 V,the system uses the chip SIM5360 as the wireless communication module and transfers data to PC by GPRS network.The three-axis acceleration data and the three-axis angular velocity data are filtered by the particle filter algorithm.Then,three-axis geomagnetic data,acceleration data,angular rate data is processed by the conditional attitude calculation algorithm toObtain the vehicle attitude angle.Just based on the attitude of the vehicle,the integrated driving behavior of he driver can not be analyzed and need to combine with geomorphological information.So strapdown inertial navigation and GPS combine to achieve positioning function.The main work and research results include:(1)In order to avoid the traffic accident,the previous scholar always a single bad driving behavior.The vehicle is used as the research object in the thesis.So the thesis designs a set of vehicle attitude data acquisition system which based on integrated navigation.(2)A conditional attitude calculation algorithm based on particle filter is used,which improves the accuracy of the acquired attitude angle.And the validity of the algorithm is proved by simulation analysis.(3)A single car attitude can not determine whether the car is safe driving,road topology is one of the factors,this paper to the system to increase the positioning function to rule out this effect.attitude data acquisition is essentially a basic function of strapdown navigation and positioning,so strapdown inertial navigation and GPS combines to achieve a better positioning in the system.In this thesis,four algorithms,such as Kalman filter,noise limited memory on-line adaptive Kalman filter,federated Kalman filter and nonlinear extended Kalman filter,are applyed respectively to achieve data fusion and perform simulation analysis.The simulation results that fusion effectnon of nonlinear extended Kalman filter is the best Among the four algorithms.(4)The availability of the system is verified through the experiment.