基于GPS的无人车自主导航

摘要GPS技术(Global Positioning System)被广泛应用于汽车导航，无人驾驶等领域中，为车辆定位和导航提供支持。然而，由于GPS技术存在的误差等问题，导致对目标直接定位的结果较低，这对于无人车导航的安全性和可靠性提出了挑战。为了解决这一问题，卡尔曼滤波被广泛应用于无人车定位导航中。本文主要研究基于GPS的无人车定位导航技术，旨在提高无人车导航的精度和可靠性。首先对GPS定位原理进行了介绍，分析了GPS技术中存在的误差问题，并提出了减小误差的方案。接着，本文解释了在导航中选择使用卡尔曼滤波器的原因，梳理了卡尔曼滤波算法的基本原理，并利用GPS数据进行了MATLAB中的仿真。体现了卡尔曼滤波器对GPS数据轨迹预测的重要性。关键词：GPS,卡尔曼滤波，无人车定位导航，MATLAB实验仿真AbstractWidely employed in areas such as car navigation and self-driving,GPStechnology (Global Positioning System)furnishes assistance for vehicle positioningand navigation.However,due to the inherent errors in GPS technology,directpositioning results may be less accurate,posing challenges to the safety and reliabilityof autonomous vehicle navigation.To address this issue,the Kalman filter is widelyapplied in autonomous vehicle localization and navigation.The aim of this paper is to enhance the precision and dependability ofautonomous vehicle navigation through GPS-based localization and navigationtechnology.To begin,the fundamentals of GPS positioning are elucidated,and themistakes in GPS technology are examined,along with suggested solutions to reducethese errors.Explaining the selection of the Kalman filter for navigation,thefundamentals of the Kalman filter algorithm are elucidated,and MATLABsimulations with GPS data are then executed.These simulations highlight theimportance of the Kalman filter in predicting GPS data trajectories.Keywords:Kalman filter,GPS,Unmanned vehicle localization and navigation,MATLAB experimental simulation.目录摘要...Abstract....····II1.绪1.1技术背景与研究意义。。。。。。。。。。。。。。。。。。。1.2国内外研究情况....1.2.1国外发展现状21.2.2国内研究现状51.3本文主要工作与安排0.72.GPS导航原理....92.1GPS的组成...92.1.1卫星部分…92.1.2地面控制部分.92.1.3用户接收部分.102.2GPS的工作原理...112.2.1测距原理...122.2.2伪距....122.2.3定位原理..132.3GPS的误差与矫正142.3.1误差....142.3.2矫正...142.4GPS数据格式..152.5常用坐标系与转化172.5.1常见坐标系172.5.2坐标系转化183.无人车GPS导航...203.1任务要求...203.2卡尔曼滤波器.213.2.1简介....213.2.2数学内容..213.3仿真实验...253.4结论.....274.总结与展望..28