基于ARM平台的车载导航系统的研究与设计
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摘要
汽车导航及定位是在全球卫星定位系统(GPS,Global Positioning System)的基础上发展起来的一门新型技术。它是由GPS定位系统、电子地图、嵌入式系统组成。汽车导航系统接收GPS所传送的卫星信号,得到车辆的即时位置,通过GPS信号处理系统传送给CPU,再配合嵌入式系统上的电子地图,将车辆经过的轨迹显示在显示屏上。本文设计了一种汽车导航定位系统,以ARM微处理器为核心,移植嵌入式操作系统,在此基础上绘制电子地图,显示车辆运行轨迹。主要研究内容如下:
完成了车载导航系统总体方案的分析与设计。分析了多种嵌入式微处理的性能和应用。确定了以S3C44BOX为核心构建导航系统硬件平台的解决方案,并设计了导航系统的总体框架。
完成了车载导航系统硬件平台的设计,包括存储器系统、通信总线、GPS模块等接口电路的设计。根据高速数字电路的设计要求,在双面板上实现了基于ARM的汽车导航定位系统的PCB布线。编写了系统初始化代码,完成了对硬件平台的调试工作。
根据系统的实际情况,选择了实时多任务操作系统μC/OS-Ⅱ和嵌入式图形用户界面μC/GUI作为本系统的软件平台,完成了两者在系统硬件平台上的移植。针对μC/GUI环境下简体中文汉字的显示问题,给出了一种比较完善的解决方案。
介绍了GPS的卫星定位原理,以及GPS接收的数据格式。在嵌入式图形用户界面μC/GUI的基础上实现车载导航系统LCD上电子地图的绘制,提出了基于μC/GUI及MapInfo MIF地图数据格式的电子地图的设计与实现方法。实现了矢量电子地图的显示、缩放、漫游、图层管理以及简单的数据查询导航功能,提出了用边界检测算法提高电子地图漫游时的显示速度。在此开发平台上还实现了GPS定位数据的采集、处理,初步完成了定位模块的部分功能。
The automobile guidance and the localization are in the whole world satellite positioning system (GPS, Global Positioning System) in the foundation develops a new technology. It is by the GPS positioning system, the electronic map, the embedded system is composed. The automobile guidance system receives the satellite signal which GPS transmits, obtains vehicles' immediate position, transmits through the GPS signal processing system gives CPU, coordinates on embedded system's electronic map again, vehicles process track display on display monitor. This article proposed one kind of entire liquid crystal's automobile guidance positioning system plan, take ARM the microprocessor as a core, transplants the embedded operating system, based on this draws up the electronic map, demonstrates the vehicles movement path. The main research content is as follows:
Completed the vehicle to carry the guidance system overall concept the analysis and the design. Analyzed many kinds of inserting to decline processing the performance, the application and the price. Had determined take S3C44BOX as the core construction guidance system hardware platform solution, and has designed guidance system's overall frame.
Completed the instrument system hardware platform design, including interface circuit's and so on memory system, correspondence main line, GPS module designs. According to the high speed figure electric circuit's design requirements, have realized on the double kneading board based on the ARM automobile guidance positioning system's PCB wiring. Completed the system initialization code, completed to the hardware platform debugging work.
Introduced the GPS satellite positioning principle, as well as GPS receive data format. Realizes the vehicle in the embedded graphical user interfaceμC/GUI foundation to carry on guidance system LCD electronic map's plan, proposed map data format's electronic map's design with realizes the method based onμC/GUI and Maplnfo the MIF. proposed enhances the electronic map with the boundary detection algorithm to roam the time demonstration speed. In this developed in the platform also to realize GPS locator data gathering, processing, has completed the localization module partial functions initially.
According to system's actual situation, has chosen the real-time multi-duty operating systemμC/OS-II and the embedded graphical user interfaceμC/GUI takes this system's software platform, has completed both in the system hardware platform transplant. In view ofμC/GUI the environment under the simplified Chinese character's demonstration question, has given one kind of quite perfect solution.
完成了车载导航系统总体方案的分析与设计。分析了多种嵌入式微处理的性能和应用。确定了以S3C44BOX为核心构建导航系统硬件平台的解决方案,并设计了导航系统的总体框架。
完成了车载导航系统硬件平台的设计,包括存储器系统、通信总线、GPS模块等接口电路的设计。根据高速数字电路的设计要求,在双面板上实现了基于ARM的汽车导航定位系统的PCB布线。编写了系统初始化代码,完成了对硬件平台的调试工作。
根据系统的实际情况,选择了实时多任务操作系统μC/OS-Ⅱ和嵌入式图形用户界面μC/GUI作为本系统的软件平台,完成了两者在系统硬件平台上的移植。针对μC/GUI环境下简体中文汉字的显示问题,给出了一种比较完善的解决方案。
介绍了GPS的卫星定位原理,以及GPS接收的数据格式。在嵌入式图形用户界面μC/GUI的基础上实现车载导航系统LCD上电子地图的绘制,提出了基于μC/GUI及MapInfo MIF地图数据格式的电子地图的设计与实现方法。实现了矢量电子地图的显示、缩放、漫游、图层管理以及简单的数据查询导航功能,提出了用边界检测算法提高电子地图漫游时的显示速度。在此开发平台上还实现了GPS定位数据的采集、处理,初步完成了定位模块的部分功能。
The automobile guidance and the localization are in the whole world satellite positioning system (GPS, Global Positioning System) in the foundation develops a new technology. It is by the GPS positioning system, the electronic map, the embedded system is composed. The automobile guidance system receives the satellite signal which GPS transmits, obtains vehicles' immediate position, transmits through the GPS signal processing system gives CPU, coordinates on embedded system's electronic map again, vehicles process track display on display monitor. This article proposed one kind of entire liquid crystal's automobile guidance positioning system plan, take ARM the microprocessor as a core, transplants the embedded operating system, based on this draws up the electronic map, demonstrates the vehicles movement path. The main research content is as follows:
Completed the vehicle to carry the guidance system overall concept the analysis and the design. Analyzed many kinds of inserting to decline processing the performance, the application and the price. Had determined take S3C44BOX as the core construction guidance system hardware platform solution, and has designed guidance system's overall frame.
Completed the instrument system hardware platform design, including interface circuit's and so on memory system, correspondence main line, GPS module designs. According to the high speed figure electric circuit's design requirements, have realized on the double kneading board based on the ARM automobile guidance positioning system's PCB wiring. Completed the system initialization code, completed to the hardware platform debugging work.
Introduced the GPS satellite positioning principle, as well as GPS receive data format. Realizes the vehicle in the embedded graphical user interfaceμC/GUI foundation to carry on guidance system LCD electronic map's plan, proposed map data format's electronic map's design with realizes the method based onμC/GUI and Maplnfo the MIF. proposed enhances the electronic map with the boundary detection algorithm to roam the time demonstration speed. In this developed in the platform also to realize GPS locator data gathering, processing, has completed the localization module partial functions initially.
According to system's actual situation, has chosen the real-time multi-duty operating systemμC/OS-II and the embedded graphical user interfaceμC/GUI takes this system's software platform, has completed both in the system hardware platform transplant. In view ofμC/GUI the environment under the simplified Chinese character's demonstration question, has given one kind of quite perfect solution.
引文
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[2]华仕容,肖世德,宋波.基于S3C44BO的乳化液泵智能监控系统研制.煤矿机械,第28卷第1期2007(1):115-117
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[5]韩兆福,王虹昙,董绪华,张文训.基于FTA的某型飞机火控系统故障诊断测试仪的设计与研究.青岛大学学报(自然科学版),2005(04):5-9
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[8]李山,熊文.基于CAN总线的混合动力汽车车载信息系统.汽车电器,2005(11):7-9
[9]刘驰,沈卫东,杜明磊,阮喻.小型氢-空质子交换膜燃料电池发电系统的可靠性研究.移动电源与车辆,2004(04):33-39
[10]黄斌.嵌入式操作系统的内核剖析及基于ARM的移植.武汉:武汉理工大学,2004
[11]王俊席,杨林.基于CAN总线的QR电动汽车监测系统的研发.计算机测量与控制,2005.13(2):120-122
[12]孔凡天,陈幼平,谢经明,艾武,周祖德.基于Windows CE.NET的燃料电池电动汽车 显示系统的研究与实现.计算机工程与应用,2004(20):219-223
[13]朱振涛,王成儒.基于ARM 9的车载智能导航终端设计.电子原器件应用,2006(08):51-53
[14]曹凯,凌明.基于ARM7与u Clinux的嵌入式系统多串口设计.《现代电子技术》2007年第2期总第241期:94-96
[15]潘宁.用ARM实现的嵌入式系统液晶屏.电子技术,2005(07):24-26
[16]王宪,刘井权,戴曼.基于ARM平台的远程视频监控系统的研究.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期:178-200
[17]李驹光等.ARM应用系统开发详解——基于S3C451OB的系统设计(第2版).北京:清华大学出版社,2004
[18]张航,罗大庸.基于Linux嵌入式系统的多功能车载信息监控系统.电气时代,2003(11):110-112
[19]周杰,陈伟海,于守谦.基于ARM的嵌入式系统在机器人控制系统中应用.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期
[20]Dieterich,K.CAN.A bus system for serial data transfer in motor vehicles.Proceedings-Society of Automotive Engineers,1990,p61-70
[21]Lazcoz,Paula.Loss of heterozygosity and microsatellite instability on chromosome arm in neuroblastoma.Cancer Genet Cytogenet 174(1):1-8 2007 Apr 1
[22]邹木春,吴灿龙.ARM核微处理器在智能运动控制器中应用.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期
[23]吴姣梅,李红艳,吴保荣,严明.改善嵌入式Linux实时性能的方法研究.微计算机信息,2006(02):72-74
[24]马忠梅.ARM＆Linux嵌入式系统教程.北京:北京航空航天大学出版社,2004
[25]陈为军等.基于U-BOOT的S3C44BO引导程序设计实现.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期:113-115
[26]王敏,金新民,童亦斌.基于ARM微处理器LPC2292的触摸屏显示系统设计.电子元器件应用,2005(10):56-59
[27]吉安刚.基于ARM的嵌入式USB主机的设计.黑龙江水专学报,2006(12):111-114
[28]郑戍华,王向周,南顺成,王渝.电阻式触摸屏在智能仪表中的应用.仪表技术与传感器,2003(1)35-37,48
[29]Luchetti,Riccardo.Arthroscopic wrist arthrolysis after wrist fracture. Arthroscopy 23(3):255-60 2007 Mar
[30]Woolf,Shane k.The superior-medial shoulder arthroscopy portal is safe.Arthroscopy 23(3):247-50 2007 Mar
[31]杨峰,张根宝,田泽,万永波.基于JTAG的ARM芯片系统调试.微计算机信息,2005(22):87-89
[32]王秀丽,王秀丽.μC/OS-Ⅱ操作系统在ARM处理器上的移植.计算机技术与发展,2007(17):213-215
[33]姜友嫦,吴光杰.基于虚拟仪器技术的汽车仪表设计.中国科技信息,2007(1)
[34]于伟,徐冉,朱世松,肖靖.一种适用于智能仪表显示模块的软硬件构架.现代电子技术,2007(01):191-193,240
[35]周美兰,张仁海,王旭东,王瑛.基于MCP2510实现无级变速箱控制系统的CAN通信.哈尔滨理工大学学报,2005(01):52-54
[36]Csokay,Andras.A novel microsurgical technique reduces hand tremor in the course of lateral suboccipital approach.Surg Neurol 67(4):392-3 2007 Apr
[37]Goudge,Liam.Compressing embedded risc code.Electronic Product Design,v 16,n 4,Apr,1995,4pp
[38]Yoshida,Hiroshi.A working AUV using CAN bus interface.Proceedings of the Fourteenth(2004)International Offshore and Polar Engineering Conference-ISOPE 2004,2004,p 255-259
[39]徐祖华,肖志华,苏泽光.基于ARM的步进电机细分控制.南华大学学报.第20卷第4期2006年12月P16-25
[40]Fisher,Robert D.Structural and Biochemical Studies of ALIX/AIP1 and Its Role in Retrovirus Budding.Cell 128(5):841-52 2007 Mar 9
[41]Storlazzi,Clelia Tiziana.Late-appearing pseudocentric fission event during chronic myeloid leukemia progression.Cancer Genet Cytogenet 174(1):61-7 2007Apr 1
[42]Gelabert,Hugh A.Comparison of retavase and urokinase for management of spontaneous subclavian vein thrombosis.Ann Vasc Surg 21(2):149-54 2007 Mar-Apr
[43]吴春华.基于ARM和uClinux的嵌入式系统的构建研究.浙江:浙江大学,2004
[44]张小玉,胡卫东,蔡桂芳.火控系统智能故障诊断专家系统设计.信阳师范学院学报(自然科学版),2006(01):86-89
[45]陈励华.智能故障诊断技术的应用与研究.西北工业大学,2005
[46]何均.某型装备智能化综合检测仪的研制.南京航空航天大学,2005
[47]Leihuang,Duanfu.The SCADA Monitoring and Control System Based on CAN Bus in Coal Mine.Proceedings of the International Symposium on Test and Measurement,v1,2003,p 497-500
[48]Shin,Jae Seung.Fibromuscular dysplasia of bilateral brachial arteries treated with surgery and consecutive thrombolytic therapy.Ann Vasc Surg 21(1):93-6 2007 Ja
[2]华仕容,肖世德,宋波.基于S3C44BO的乳化液泵智能监控系统研制.煤矿机械,第28卷第1期2007(1):115-117
[3]Mejia-Lavalle,Manuel,Rodriguez,Guillermo;Arroyo,Gustave;Robles,Edgar.Neuro-experthybrid system for electric generator failure diagnosis.2004 ist International Conference on Electrical and Electronics Engineering,ICEEE,2004,p177-181
[4]李正,林跃,杨轶.ARM嵌入式系统在大型设备远程监控中的应用.仪器仪表学报,2005(S1):312-314,325
[5]韩兆福,王虹昙,董绪华,张文训.基于FTA的某型飞机火控系统故障诊断测试仪的设计与研究.青岛大学学报(自然科学版),2005(04):5-9
[6]Hoy,Marjorie A.The mitochondrial genome of the predatory mite Metaseiulus occidentalisis unexpectedly large and contains several novel features.Gene 391(1-2):264-74 2007 Apr 15(Epub 2007 Jan 27)
[36]Kallies,Axel;Nutt,Stephen l.Terminal differentiation of lymphocytes depends on Blimp-1.CurT Opin Immunol 19(2):156-62 2007 ApT(Epub 2007 Feb 08)
[7]Kaiser,Jorg.Implementing real-time event channels on CAN-Bus.WFCS,2004,p247-256
[8]李山,熊文.基于CAN总线的混合动力汽车车载信息系统.汽车电器,2005(11):7-9
[9]刘驰,沈卫东,杜明磊,阮喻.小型氢-空质子交换膜燃料电池发电系统的可靠性研究.移动电源与车辆,2004(04):33-39
[10]黄斌.嵌入式操作系统的内核剖析及基于ARM的移植.武汉:武汉理工大学,2004
[11]王俊席,杨林.基于CAN总线的QR电动汽车监测系统的研发.计算机测量与控制,2005.13(2):120-122
[12]孔凡天,陈幼平,谢经明,艾武,周祖德.基于Windows CE.NET的燃料电池电动汽车 显示系统的研究与实现.计算机工程与应用,2004(20):219-223
[13]朱振涛,王成儒.基于ARM 9的车载智能导航终端设计.电子原器件应用,2006(08):51-53
[14]曹凯,凌明.基于ARM7与u Clinux的嵌入式系统多串口设计.《现代电子技术》2007年第2期总第241期:94-96
[15]潘宁.用ARM实现的嵌入式系统液晶屏.电子技术,2005(07):24-26
[16]王宪,刘井权,戴曼.基于ARM平台的远程视频监控系统的研究.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期:178-200
[17]李驹光等.ARM应用系统开发详解——基于S3C451OB的系统设计(第2版).北京:清华大学出版社,2004
[18]张航,罗大庸.基于Linux嵌入式系统的多功能车载信息监控系统.电气时代,2003(11):110-112
[19]周杰,陈伟海,于守谦.基于ARM的嵌入式系统在机器人控制系统中应用.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期
[20]Dieterich,K.CAN.A bus system for serial data transfer in motor vehicles.Proceedings-Society of Automotive Engineers,1990,p61-70
[21]Lazcoz,Paula.Loss of heterozygosity and microsatellite instability on chromosome arm in neuroblastoma.Cancer Genet Cytogenet 174(1):1-8 2007 Apr 1
[22]邹木春,吴灿龙.ARM核微处理器在智能运动控制器中应用.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期
[23]吴姣梅,李红艳,吴保荣,严明.改善嵌入式Linux实时性能的方法研究.微计算机信息,2006(02):72-74
[24]马忠梅.ARM＆Linux嵌入式系统教程.北京:北京航空航天大学出版社,2004
[25]陈为军等.基于U-BOOT的S3C44BO引导程序设计实现.《微计算机信息》(嵌入式与SOC)2007年第23卷第1-2期:113-115
[26]王敏,金新民,童亦斌.基于ARM微处理器LPC2292的触摸屏显示系统设计.电子元器件应用,2005(10):56-59
[27]吉安刚.基于ARM的嵌入式USB主机的设计.黑龙江水专学报,2006(12):111-114
[28]郑戍华,王向周,南顺成,王渝.电阻式触摸屏在智能仪表中的应用.仪表技术与传感器,2003(1)35-37,48
[29]Luchetti,Riccardo.Arthroscopic wrist arthrolysis after wrist fracture. Arthroscopy 23(3):255-60 2007 Mar
[30]Woolf,Shane k.The superior-medial shoulder arthroscopy portal is safe.Arthroscopy 23(3):247-50 2007 Mar
[31]杨峰,张根宝,田泽,万永波.基于JTAG的ARM芯片系统调试.微计算机信息,2005(22):87-89
[32]王秀丽,王秀丽.μC/OS-Ⅱ操作系统在ARM处理器上的移植.计算机技术与发展,2007(17):213-215
[33]姜友嫦,吴光杰.基于虚拟仪器技术的汽车仪表设计.中国科技信息,2007(1)
[34]于伟,徐冉,朱世松,肖靖.一种适用于智能仪表显示模块的软硬件构架.现代电子技术,2007(01):191-193,240
[35]周美兰,张仁海,王旭东,王瑛.基于MCP2510实现无级变速箱控制系统的CAN通信.哈尔滨理工大学学报,2005(01):52-54
[36]Csokay,Andras.A novel microsurgical technique reduces hand tremor in the course of lateral suboccipital approach.Surg Neurol 67(4):392-3 2007 Apr
[37]Goudge,Liam.Compressing embedded risc code.Electronic Product Design,v 16,n 4,Apr,1995,4pp
[38]Yoshida,Hiroshi.A working AUV using CAN bus interface.Proceedings of the Fourteenth(2004)International Offshore and Polar Engineering Conference-ISOPE 2004,2004,p 255-259
[39]徐祖华,肖志华,苏泽光.基于ARM的步进电机细分控制.南华大学学报.第20卷第4期2006年12月P16-25
[40]Fisher,Robert D.Structural and Biochemical Studies of ALIX/AIP1 and Its Role in Retrovirus Budding.Cell 128(5):841-52 2007 Mar 9
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[42]Gelabert,Hugh A.Comparison of retavase and urokinase for management of spontaneous subclavian vein thrombosis.Ann Vasc Surg 21(2):149-54 2007 Mar-Apr
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