Research On The Analysis Of Tractor-semitrailer Integrated Positioning Based On Trucksim

With the implementation of the national "The Belt and Road" strategy and the rapid development of modern logistics economy,semi-trailer in transportation becomes more important.In order to improve the logistics efficiency and service level,the enterprises must grasp the precise position of the semi-trailer train in the course of transportation.Therefore,it is urgent that improving the continuity and accuracy of the positioning signal of the semi-trailer train.In addition,the semi-trailer body is longer than conventional vehicle,for the unmanned vehicle communication technology,if it is in turn only through the conventional centroid position,others vehicles can not accurately judge the running track of tractor semitrailer.To solve the above two problems,this paper researches based on the domestic and foreign related literature on the semi-trailer.Intensive research was carried out around the tractor-semitrailer integrated positioning and the truck turning position signal used for the vehicle-to-vehicle.The main contents of this paper is as follows:(1)Researched on the global satellite positioning system and inertial navigation system composition,working principle,the causes of errors and their advantages and disadvantages.Pointed out the necessity and superiority of GPS/INS combination of semi-trailer train.Given out the arithmetic model of semi-trailer train GPS/INS integrated positioning system.Deduced the equation of state and the equation of measurement of integrated positioning system.(2)Researched on the kalman filtering theory in integrated positioning of semi-trailer train.Given out the kalman filtering of recursion algorithm and outliers elimination algorithm.Corresponding to the nonlinear system expansion,extended kalman filter and unscented kalman filter for in-depth analysis and comparison verification.The algorithm of Calman filtering in the application of GPS/INS integrated positioning of semi-trailer train is given.(3)Researched on the modeling of road environment and tractor-semitrailer by using TruckSim software.Kalman filter model has been established for semi-trailer GPS/INS integrated positioning system simulation using Matlab,and to analyze the error results,verify the validity and superiority of using GPS/INS combined positioning method of semi-trailer train.(4)Researched on the tractor semitrailer steering trajectory detour theory,and proposing a semi-trailer turning vehicle-to-vehicle communication position signal instead of the original use of semi-trailer centroid as the V2V position signal communication scheme,and it is can effectively avoid traffic accidents between tractor-semitrailer and the others vehicles.And it is verified by establishing mathematical model and Trucksim simulation.