GPS／DR／MM车辆组合导航定位系统研究

为了克服卫星信号盲区GPS定位间断或失效以及航位推算（DR）定位误差随时间积累等缺陷，设计了一种基于嵌入式系统的GPS／DR／MM车辆组合导航定位系统。通过Kalman滤波对多传感器信息进行最优估计，并应用地图匹配（MM）技术，以得到最佳定位信息。系统的各模块任务使用t~C／OS—II嵌入式操作系统统一调度。经测试，该系统能实现车辆的可靠、准确定位，并且能精确地在上位机的导航地图上实时显示出车辆当前的位置和其他状态信息。该组合导航定位技术在智能交通系统（ITS）领域具有较高的应用价值。

Research on Vehicle Integrated Navigation and Location System of GPS/DR/MM

In order to overcome shortcomings such as disconnection and invalidity of GPS when the signal of satellites is unavailable and the accumulation of navigation location calculation errors with time passing,integrated navigation and location system of GPS/DR/MM based on embedded system is designed.To gain the best positioning information,the Kalman filter is used,which can increase the capability of GPS/DR based on optimal estimation and map matching technology.Each module of the system is controlled by μC/OS-Ⅱ embedded operating system.Testing results indicate the system can realize the function of credible and exact vehicle positioning,and accurately show the vehicle’s current position and other state information in real-time on PC-map navigation.The in-tegrated navigation and location technology has a high application value in the field of intelligent transportation system.