Software Design And Implementation For Vehicle Positioning And Orientation Systerm

The vehicle positioning and orientation system is a mechatronical inertial navigation system.The navigation system with its core plays an increasingly important role in the positioning and orientation of military and civilian vehicles.The hardware aspect of the car navigation system is gradually maturing with the domestic inertial device design process,machine processing precision,electronic technology,etc.,and the corresponding cost is also decreasing.The software continues to improve with the continuous deepening of the inertial navigation algorithm in the industry.Under the dual function of software and hardware,the development and application of the vehicle combination system are greatly extended,this thesis studies the related algorithms and technologies of vehicle positioning and orientation,and develops the vehicle combination system according to the project requirements.This thesis mainly carries out research work according to the project of "pre-research on the vehicle-mounted positioning and orientation system of X-type artillery",and analyzes and designs the function and application environment of X-type artillery,as well as the requirements of overall users on the vehicle-mounted positioning and orientation system.According to the overall precision requirements,volume and weight of the vehicle positioning and orientation system,optimization of inertial components and volume layout and design;The hardware platform and software platform of the completed vehicle positioning and orientation system cooperate to realize the interaction with the fire control system,to achieve the interconnection and intercommunication between the vehicle and the positioning and orientation system,and to meet the operational requirements of the X-type vehicle.The main contents of the thesis are as follows:Firstly,the development of inertial navigation technology is summarized.The structure and working principle of vehicle-mounted positioning and orientation system are summarized.The basic platform of inertial navigation is various models,including the earth model,the reference coefficient and several rectangular coordinate reference frames used in navigation.The Kalman filtering technique is used in navigation solution,differential equation of navigation algorithm and software development technique are studied.Secondly,it designs and develops the software of vehicle positioning and orientation system.Based on the requirements of the X-type combat vehicle project specification,this thesis analyzes the functions of the vehicle positioning and orientation system,designs the functions in a modular manner and decompositions them into the smallest functional modules.The writing of the smallest modules is edited with C language,and finally integrated into a complete system software.Finally,the software of the vehicle positioning and orientation system is tested,which mainly includes debugging the software code and testing the accuracy of the overall prototype.Finally,the two tests meet the use requirements of the x-type combat vehicle project.Vehicle positioning directional system and vehicle fire control system connected by CAN,under the condition of static CAN provide vehicles with azimuth and pitching Angle and roll Angle information,under the dynamic condition CAN provide vehicles with real-time azimuth,pitching,roll,the speed of the northeast day three directions,latitude,longitude and altitude information,ensure the chariot in concealed conditions would be able to complete the mission.