Navigation And Positioning For Intelligent Vehicle Based On GPS And Gyroscope

With the acceleration of social development, in recent years, many problemsemerge in road traffic, which makes the intelligent transportation system (referred toas ITS) being widely concerned. As an important part of ITS, the intelligent vehicle(referred to as IV) is an integrated intelligent system of multifunctional collectionwith environment perception, planning and decision-making and auxiliary driving. Itis the development direction in future and has broaden application prospect. Thein-depth study is helpful to reduce the incidence of increasingly serious trafficaccidents and alleviate the current traffic situation effectively in a certain extent.Obtaining real-time navigation and positioning information with high precisionis an important part of the intelligent vehicle system and the primary objective toensure the safety. Navigation and positioning technology, as one of the keytechnologies of intelligent vehicle system has been made certain achievements inscientific research, but the integrated navigation system with better adaptability isexpensive. Based on this, the paper around the Beijing University of Technologyintelligent vehicle platform and existing equipment, developing a set of navigationand positioning system which adapts with it has great significance.First of all, this paper, based on studying and analyzing the existing methodsand theories of navigation and positioning, and from the current intelligent vehicleplatform and the device, making full use of the complementary characteristics ofthe GPS and inertial system in navigation and positioning information, theintegrated navigation algorithm is designed which bases on loosely anddecentralized extended Kalman filter. Secondly, in order to make navigation andpositioning of intelligent vehicle more accurate, a more detailed coordinateconversion algorithm of GPS is used to replace the original method, and aninformation preprocessing mechanism of GPS and INS is introduced. Again, aimingto realize the visual effect of navigation and positioning, MapX control is integratedinto the software development by applying dynamic layer and map matching theoryto real-time render the vehicle location and route. Finally, the algorithm mentionedabove is verified the feasibility by the experiment on the intelligent vehicle platformin the actual situation. All the works establish a set of navigation and positioningsystem and achieve the overall designed intention.