给合导航评价验证系统设计
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摘要
组合导航系统利用两种或两种以上的导航分系统提供多重数据,采用数据融合技术来获得最优的导航信息。在组合导航技术迅速发展的背景下,导航设备能否安全、可靠地运行成为评价其导航能力优劣的重要标志,然而现在大多数机构对组合导航的理论研究和实际研发并未有效地统一起来,同时也缺少对多元导航数据的实时显示和对导航设备性能的有效监测。
基于以上考虑,本文以实际课题研究为依托,在深入研究了组合导航系统原理的基础上,设计了组合导航评价验证系统。按照设计需求,评价系统分为三大部分,即硬件平台的设计,数据采集系统软件设计和评价系统应用软件设计。论文首先介绍了系统的总体设计思路,详细阐述了系统的功能结构和软硬件设计方案；然后以philips ARM7-LPC2292处理器为硬件核心,进行了最小系统、串口扩展和A/D转换等主要模块的电路设计；接着实现了系统的软件设计,主要包括硬件设备驱动程序和评价计算机应用程序的开发,其中硬件设备驱动程序是在ADS 1.2 Code Warrior IDE集成环境下采用C语言来实现,而应用程序是在Windows操作系统下利用Visual 6.0 C++开发工具来设计；最后,系统采用Access2003创建后台数据库,前端则利用ADO技术来实现对数据库的访问。
该评价系统进行了软硬件调试和相关模拟实验,运行结果表明系统可以采集多元导航数据,并在对数据进行解析和处理后完成真值数据和被测数据的输出比较和实时显示,能够有效监测导航设备的性能,满足设计需求。
Integrated navigation system has two or more navigation subsystems to provide multiple datas, and can get the best navigation information by the use of data fusion technology. With the rapid development of integrated navigation technology, whether it can operate safely and reliably is an important symbol of quality evaluation of navigation equipment.However, most institutions make their researches on integrated navigation with theory and practice separated, and the normal development system also lacks the real-time display technology of multiple navigation datas and the effective monitoring of navigation equipment performance.
In this paper, after doing thorough research on system development process,an evaluation system for the performance of integrated navigation based on a deep theory research is designed. According to the design requirements, the design of system is divided into three parts. There are hardware development, software design with data acquisition system and the procedure program system.Firstly,the holistic considering of system design is introduced.System function,seheme design and configuration are described in details. Then, the hardware design of syetem based on ARM processor LPC2292 is discussed, which is mainly composed of reduced system,serial-port expansion and A/D converting. What's more, the software platform with data acquisition system and application software system is developed. The drivers of hardware devices make use of C to develop in the ADS1.2 Code Warrior IDE,and the application software is carried out in the use of Visual 6.0 C++. Finally,the system establishs the database in the use of Access2003.and can visit the database by a method of ADO.
The hardware-software codesign and debugging of the system are realized, and the test results show that the system can collect multiple navigation datas. At the same time, it can measure the performance of navigation equipment through data comparison and real-time display. At present, the system can meet the requirements of production.
基于以上考虑,本文以实际课题研究为依托,在深入研究了组合导航系统原理的基础上,设计了组合导航评价验证系统。按照设计需求,评价系统分为三大部分,即硬件平台的设计,数据采集系统软件设计和评价系统应用软件设计。论文首先介绍了系统的总体设计思路,详细阐述了系统的功能结构和软硬件设计方案；然后以philips ARM7-LPC2292处理器为硬件核心,进行了最小系统、串口扩展和A/D转换等主要模块的电路设计；接着实现了系统的软件设计,主要包括硬件设备驱动程序和评价计算机应用程序的开发,其中硬件设备驱动程序是在ADS 1.2 Code Warrior IDE集成环境下采用C语言来实现,而应用程序是在Windows操作系统下利用Visual 6.0 C++开发工具来设计；最后,系统采用Access2003创建后台数据库,前端则利用ADO技术来实现对数据库的访问。
该评价系统进行了软硬件调试和相关模拟实验,运行结果表明系统可以采集多元导航数据,并在对数据进行解析和处理后完成真值数据和被测数据的输出比较和实时显示,能够有效监测导航设备的性能,满足设计需求。
Integrated navigation system has two or more navigation subsystems to provide multiple datas, and can get the best navigation information by the use of data fusion technology. With the rapid development of integrated navigation technology, whether it can operate safely and reliably is an important symbol of quality evaluation of navigation equipment.However, most institutions make their researches on integrated navigation with theory and practice separated, and the normal development system also lacks the real-time display technology of multiple navigation datas and the effective monitoring of navigation equipment performance.
In this paper, after doing thorough research on system development process,an evaluation system for the performance of integrated navigation based on a deep theory research is designed. According to the design requirements, the design of system is divided into three parts. There are hardware development, software design with data acquisition system and the procedure program system.Firstly,the holistic considering of system design is introduced.System function,seheme design and configuration are described in details. Then, the hardware design of syetem based on ARM processor LPC2292 is discussed, which is mainly composed of reduced system,serial-port expansion and A/D converting. What's more, the software platform with data acquisition system and application software system is developed. The drivers of hardware devices make use of C to develop in the ADS1.2 Code Warrior IDE,and the application software is carried out in the use of Visual 6.0 C++. Finally,the system establishs the database in the use of Access2003.and can visit the database by a method of ADO.
The hardware-software codesign and debugging of the system are realized, and the test results show that the system can collect multiple navigation datas. At the same time, it can measure the performance of navigation equipment through data comparison and real-time display. At present, the system can meet the requirements of production.
引文
[1]徐金玉.微型GPS/5INS组合导航系统研究[D].哈尔滨：哈尔滨工程大学,2007.
[2]周永余,许江宁.舰船导航系统[M].国防工业出版社,2007：87-88.
[3]许云斌.基于车载组合导航系统的信息融合算法研究[D].青岛：青岛科技大学,2007.
[4]Xu Jiangning,Wan Dejun,WangQingTian Huaming;Fast search technique of GPS attitu--de determination based on Parallel genetic algorithms; Journal of Souhteast University (uatral Science Edition) [J].2002,32(5):500-505.
[5]吴秋平.最优估计理论与方法在SINS/GPS组合导航系统中的应用研究[D].南京：东南大学,2000.
[6]陈勤.智能容错组合导航系统的设计与研究[D].哈尔滨：哈尔滨工程大学,2004.
[7]Qi Honghui,Moore John B.Direct Kalman Filtering Approach for GPS/INS Integration[J]. IEEE Transactions on Aerospace and Electronics System,2002,6:58-68.
[8]谢磷.小型惯性姿态测量系统研究[D].哈尔滨：哈尔滨工程大学,2005.
[9]Xu Ai-gong,Ling Keck-voon,C.L.Law.In-Vehicle GPS/DR Navigation System Development and Test Results in Singapore[J].2003,8(2):27-31.
[10]Burno M.Scherzinger,Low Cost Inertial/CPS Integrated Position and Orientation System for Marine APPlications,0-7803-3085-4/96,1996 IEEE
[11]X Yun,Testing and Evaluation of an Integrated GPS/INS system for small AUV navign--avigation,0364-9059/99,1999 IEEE.
[12]方圆.基于ARM7的嵌入式协议转换器的实现[D].上海：上海大学,2008.
[13]史军刚;郭瑞玺;白小平.基于LPC2292的汽车智能组合仪表[J].微计算机信息,2008,(5)：19-22.
[14]古延辉.基于LPC2294的新风机组监控系统设计[D].太原：中北大学,2008.
[15]方玮.基于ARM的便携式光伏阵列测试仪的研究[D].合肥：合肥工业大学.2007.
[16]丁继东.基于S3C44BOX和TL16C554的串口扩展及异步通信接口设计[J].工业控制计算机,2005,5(3)：34-37.
[17]田可.移动目控终端系统的设计与实现[D].哈尔滨：哈尔滨工程大学,2006.
[18]于艳爽.八足仿生机器蟹运动协调与控制系统研究[D].哈尔滨：哈尔滨工程大学,2004.
[19]罗功坤；潘绍明;陈政强.基于ARM的GPS定位信息系统设计与实现[J].电子测量技术,2009,7(9)：21-24.
[20]刘尚军.ARM嵌入式原理与应用[M].北京航空航天大学出版社,2007：134-141.
[21]董静薇.基于LPC2210远程数据采集终端设计[J].工业控制计计算机,2007,3(12)：33-37.
[22]岳晓庆,张其善,常青.串口扩展技术在嵌入式系统中的实现[J].电子测量技术,2006,29(2)：45-46.
[23]Alessandro Rubini.Linux设备驱动程序[M].中电力出版社,2006：67-75.
[24]IMP16C554 quad UART data commucications[EB/OL].http://www.impweb.com.
[25]吴功栋.基于ARM和GPRS的远程多路数据采集系统[J].金陵科技学院学报.2007,5(12)：15-18.
[26]孙鑫.VC++深入详解[M].电子工业出版社,2006：3-4.
[27]王秀丽.小型直链淀粉测定仪的设计与开发[D].北京：中国农业大学,2005.
[28]李林辉.电力负荷管理系统的设计与实现[D].吉林：东北电力大学,2007.
[29]杨青青.基于GPS/北斗的嵌入式黑匣子组合定位系统的研究[D].太原：中北大学,2007
[30]刘承香.惯导/GPS/天文组合导航数据融合技术研究[D].哈尔滨：哈尔滨工程大学,2001.
[31]Elliott D.Kaplan.Understanding GPS Principles and Applications[M]北京：电子工业出版社,2005：54-67.
[32]GPS reference station algorithm-design and analysis.IEEE Transactions on Control Syst-ems Technology,2000,2(8):519-531.
[33]Burno M. Scherzinger, Low Cost Inertial/GPS Integrated Position and Orientatio System for Marine APPlications,0-7803-3085-4/96,1996 IEEE.
[34]李现勇.Visual C++串口通讯技术与工程实践[M].北京：人民邮电出版社,2003：47-48.
[35]杨海涛，张自强.基于VC++MSComm控件的串行通信[J].河南科技大学学报,2004(10).
[36]石俊.MasterCAM中使用ADO访问数据库[J].机床与液压,2005,7(11)：18-21.
[37]钟斌,黎和昌,敬新益.利用Visual C++和ADAM模块开发温度采集与控制系统[J].冶金设备2005,3(12)：25-28.
[38]PCommLite Library Reference [EB/OL].http://www.moxa.com.
[39]潘爱民,王国印.Visual C++技术内幕(第四版)[M].北京:清大学出版社,1999：71-72.
[40]侯俊杰.深入浅出MFC[M].武汉：华中科技大学出版社,2001：1-2.
[41]薛静锋等.Visual C++6.0高级开发教程[M].北京：人民邮电出版社,1999：5-6.
[2]周永余,许江宁.舰船导航系统[M].国防工业出版社,2007：87-88.
[3]许云斌.基于车载组合导航系统的信息融合算法研究[D].青岛：青岛科技大学,2007.
[4]Xu Jiangning,Wan Dejun,WangQingTian Huaming;Fast search technique of GPS attitu--de determination based on Parallel genetic algorithms; Journal of Souhteast University (uatral Science Edition) [J].2002,32(5):500-505.
[5]吴秋平.最优估计理论与方法在SINS/GPS组合导航系统中的应用研究[D].南京：东南大学,2000.
[6]陈勤.智能容错组合导航系统的设计与研究[D].哈尔滨：哈尔滨工程大学,2004.
[7]Qi Honghui,Moore John B.Direct Kalman Filtering Approach for GPS/INS Integration[J]. IEEE Transactions on Aerospace and Electronics System,2002,6:58-68.
[8]谢磷.小型惯性姿态测量系统研究[D].哈尔滨：哈尔滨工程大学,2005.
[9]Xu Ai-gong,Ling Keck-voon,C.L.Law.In-Vehicle GPS/DR Navigation System Development and Test Results in Singapore[J].2003,8(2):27-31.
[10]Burno M.Scherzinger,Low Cost Inertial/CPS Integrated Position and Orientation System for Marine APPlications,0-7803-3085-4/96,1996 IEEE
[11]X Yun,Testing and Evaluation of an Integrated GPS/INS system for small AUV navign--avigation,0364-9059/99,1999 IEEE.
[12]方圆.基于ARM7的嵌入式协议转换器的实现[D].上海：上海大学,2008.
[13]史军刚;郭瑞玺;白小平.基于LPC2292的汽车智能组合仪表[J].微计算机信息,2008,(5)：19-22.
[14]古延辉.基于LPC2294的新风机组监控系统设计[D].太原：中北大学,2008.
[15]方玮.基于ARM的便携式光伏阵列测试仪的研究[D].合肥：合肥工业大学.2007.
[16]丁继东.基于S3C44BOX和TL16C554的串口扩展及异步通信接口设计[J].工业控制计算机,2005,5(3)：34-37.
[17]田可.移动目控终端系统的设计与实现[D].哈尔滨：哈尔滨工程大学,2006.
[18]于艳爽.八足仿生机器蟹运动协调与控制系统研究[D].哈尔滨：哈尔滨工程大学,2004.
[19]罗功坤；潘绍明;陈政强.基于ARM的GPS定位信息系统设计与实现[J].电子测量技术,2009,7(9)：21-24.
[20]刘尚军.ARM嵌入式原理与应用[M].北京航空航天大学出版社,2007：134-141.
[21]董静薇.基于LPC2210远程数据采集终端设计[J].工业控制计计算机,2007,3(12)：33-37.
[22]岳晓庆,张其善,常青.串口扩展技术在嵌入式系统中的实现[J].电子测量技术,2006,29(2)：45-46.
[23]Alessandro Rubini.Linux设备驱动程序[M].中电力出版社,2006：67-75.
[24]IMP16C554 quad UART data commucications[EB/OL].http://www.impweb.com.
[25]吴功栋.基于ARM和GPRS的远程多路数据采集系统[J].金陵科技学院学报.2007,5(12)：15-18.
[26]孙鑫.VC++深入详解[M].电子工业出版社,2006：3-4.
[27]王秀丽.小型直链淀粉测定仪的设计与开发[D].北京：中国农业大学,2005.
[28]李林辉.电力负荷管理系统的设计与实现[D].吉林：东北电力大学,2007.
[29]杨青青.基于GPS/北斗的嵌入式黑匣子组合定位系统的研究[D].太原：中北大学,2007
[30]刘承香.惯导/GPS/天文组合导航数据融合技术研究[D].哈尔滨：哈尔滨工程大学,2001.
[31]Elliott D.Kaplan.Understanding GPS Principles and Applications[M]北京：电子工业出版社,2005：54-67.
[32]GPS reference station algorithm-design and analysis.IEEE Transactions on Control Syst-ems Technology,2000,2(8):519-531.
[33]Burno M. Scherzinger, Low Cost Inertial/GPS Integrated Position and Orientatio System for Marine APPlications,0-7803-3085-4/96,1996 IEEE.
[34]李现勇.Visual C++串口通讯技术与工程实践[M].北京：人民邮电出版社,2003：47-48.
[35]杨海涛，张自强.基于VC++MSComm控件的串行通信[J].河南科技大学学报,2004(10).
[36]石俊.MasterCAM中使用ADO访问数据库[J].机床与液压,2005,7(11)：18-21.
[37]钟斌,黎和昌,敬新益.利用Visual C++和ADAM模块开发温度采集与控制系统[J].冶金设备2005,3(12)：25-28.
[38]PCommLite Library Reference [EB/OL].http://www.moxa.com.
[39]潘爱民,王国印.Visual C++技术内幕(第四版)[M].北京:清大学出版社,1999：71-72.
[40]侯俊杰.深入浅出MFC[M].武汉：华中科技大学出版社,2001：1-2.
[41]薛静锋等.Visual C++6.0高级开发教程[M].北京：人民邮电出版社,1999：5-6.