基于卫星定位和惯导融合的模拟测绘系统设计
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摘要
设计了一种基于北斗/GPS卫星定位和惯导融合的模拟测绘系统,用以对现有测绘方式进行补充。系统以履带车为信息采集移动平台,以STM32F103单片机为信息采集控制中心,用树莓派对测绘现场进行实时视频采集,以九轴MPU融合北斗/GPS双精度定位算法实现对采集点的精确定位,通过树莓派自带的WiFi和4G路由器实现数据上传服务器,通过地面站对履带车进行实时远程手动控制和自主路径规划。测试表明系统通过北斗/GPS卫星定位和惯导融合能满足一定的测绘需要,能对所测地面地形建立数字高程模型(digital elevation model)。
A simulation surveying and mapping system based on Beidou/GPS satellite positioning and inertial navigation fusion is designed to supplement the existing surveying and mapping methods. The tracked vehicle was used as the mobile platform for information collection, STM32 F103 was used as the control center for information collection, raspberry party was used as the real-time video acquisition center for surveying and mapping site, and nine-axis MPU integrated Beidou/GPS dual-precision positioning algorithm was used to achieve precise positioning of the acquisition points. The data were uploaded to the server through the WiFi and 4 G routes of raspberry dispatch. Real-time remote manual control and autonomous path planning were implemented on the tracked vehicle through the ground station. Tests show that the system can meet certain surveying and mapping needs through Beidou/GPS satellite positioning and inertial navigation fusion, and can establish digital elevation model for terrain surveyed.
A simulation surveying and mapping system based on Beidou/GPS satellite positioning and inertial navigation fusion is designed to supplement the existing surveying and mapping methods. The tracked vehicle was used as the mobile platform for information collection, STM32 F103 was used as the control center for information collection, raspberry party was used as the real-time video acquisition center for surveying and mapping site, and nine-axis MPU integrated Beidou/GPS dual-precision positioning algorithm was used to achieve precise positioning of the acquisition points. The data were uploaded to the server through the WiFi and 4 G routes of raspberry dispatch. Real-time remote manual control and autonomous path planning were implemented on the tracked vehicle through the ground station. Tests show that the system can meet certain surveying and mapping needs through Beidou/GPS satellite positioning and inertial navigation fusion, and can establish digital elevation model for terrain surveyed.
引文
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