CN205719000U - 一种车载航位推算*** - Google Patents
一种车载航位推算*** Download PDFInfo
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Abstract
本实用新型公开了一种车载航位推算***,包括主控芯片、用于测量加速度的加速度计、用于检测角速度的陀螺仪以及里程仪;所述陀螺仪通过I2C总线与主控芯片通信;所述加速度计通过I2C总线与主控芯片通信,所述主控芯片通过CAN总线连接OBD接口,再通过OBD接口连接里程仪,其中主控芯片由CAN总线、OBD接口通过里程仪获取车辆速度。本实用新型的航位推算***具有短时间定位精度高的特点,同时制定校正规则,在GNSS或者RSU定位准确时,对车载航位推算***进行校正,弥补了车载航位推算***的缺陷。
Description
技术领域
本实用新型涉及航位推算的研究领域,特别涉及一种车载航位推算***。
背景技术
车载航位推算***属于惯性导航***(Inertial Navigation System,INS),测量车辆加速度和角速度,然后利用车载计算***估算车辆位置的辅助导航***,是一种自主式导航***。车载航位推算***具有传统惯性导航的优点,不依赖于外部定位基站或卫星,受外界干扰的影响比较小;可全天候地工作,环境适应能力强等,但是车载航位推算也有其自身的缺点:
1、导航信息是通过积分而得出的,故定位误差随时间的推移而增大,***需要及时的重置或对准,一点工作时间过长,其精度下降严重;
2、在每次工作时,***均需要初始化,在使用过程中也需要频繁的校正;
3、高精度的电子元件价格昂贵。
实用新型内容
本实用新型的主要目的在于克服现有技术的缺点与不足,提供一种车载航位推算***,。
为了达到上述目的,本实用新型采用以下技术方案:
本实用新型的一种车载航位推算***,包括主控芯片、用于测量加速度的加速度计、用于检测角速度的陀螺仪以及里程仪;所述陀螺仪通过I2C总线与主控芯片通信;所述加速度计通过I2C总线与主控芯片通信,所述主控芯片通过CAN总线连接OBD接口,再通过OBD接口连接里程仪,其中主控芯片由CAN总线、OBD接口通过里程仪获取车辆速度。
作为优选的技术方案,所述主控芯片选用STM32F103ZET7芯片。
作为优选的技术方案,所述加速度计为三轴加速度计。
作为优选的技术方案,所述三轴加速度计选用ADXL345加速度芯片。
作为优选的技术方案,所述ADXL345加速度芯片采用3mm×5mm×1mm 14引脚的小型塑料封装。
作为优选的技术方案,所述陀螺仪选用MPU3050三轴陀螺仪芯片。
本实用新型与现有技术相比,具有如下优点和有益效果:
1、本实用新型的航位推算***具有短时间定位精度高的特点,同时制定校正规则,在GNSS或者RSU定位准确时,对车载航位推算***进行校正,弥补了DR***的缺陷。
2、本实用新型的航位推算***因为有了频繁且可靠地校正,***可以采用价格相对便宜的元件设计车载航位推算***,降低***总体成本,提高市场竞争力。
附图说明
图1是本实用新型航位推算***的结构方框图;
图2是OBD接口的结构示意图;
图3是ADXL345的I2C电路连接图。
具体实施方式
下面结合实施例及附图对本实用新型作进一步详细的描述,但本实用新型的实施方式不限于此。
实施例
如图1所示,本实施例的车载航位推算***,包括主控芯片、用于测量加速度的加速度计、用于检测角速度的陀螺仪以及里程仪;所述陀螺仪通过I2C总线与主控芯片通信;所述加速度计通过I2C总线与主控芯片通信,所述主控芯片通过CAN总线连接OBD接口,再通过OBD接口连接里程仪,其中主控芯片由CAN总线、OBD接口通过里程仪获取车辆速度。
所述主控芯片选用STM32F103ZET7芯片,主控芯片STM32F103ZET7是基于ARM Cortex-M3内核,具有低功耗、高性能和低成本的特点,时钟频率为72MHz,具有512K闪存存储,采用LQFP封装,在-40℃~105℃的环境下可以正常工作,是STM32“增强型”系列芯片。
如图2所示,本实施例的车载航位推算***利用OBD接口采集车辆速度,采用CAN总线连接,OBD接口与针脚定义如下表1所示:
表1
1 | 未定义 | 9 | 未定义 |
2 | SAE-J1850PWM总线(+) | 10 | SAE-J1850PWM总线(+) |
3 | 未定义 | 11 | 未定义 |
4 | 车身地 | 12 | 未定义 |
5 | 信号地 | 13 | 未定义 |
6 | CAN High | 14 | CAN Low |
7 | K线 | 15 | L线 |
8 | 未定义 | 16 | 蓄电池电压 |
车载组合定位***通过CAN总线、OBD接口采集车载里程表数据,下面以读取实时车速为例(MODE1),其通信协议如下:
发送格式:CAN的ID PCI MODE PID
标准:7DF 01 01 0d 00 00 00 00 00
扩展:18DB33F101 01 0d 00 00 00 00 00
数据域:PCI+MODE+PID
其中,PCI表示协议控制信息的字节数量·01--Mode1:请求动力系当前数据;PID0D--车速
加速度计通过测量车辆机动时的加速度,然后通过牛顿惯性定律或者积分求出速度。加速度计与里程仪的差别在于,在工作时可以有效避免受到外界道路情况、车辆本身等因素的干扰。本实施例使用ADXL345加速度芯片测量车辆的速度,采用3mm×5mm×1mm 14引脚的小型塑料封装,具有体积小、功耗低的特点。其高分辨率(3.9mg/LSB),能够测量不到1.0°的倾斜角度变化。ADXL345符合《UM10204I2C总线规范和用户手册》03版。当ADXL345处于I2C模式,只需要简单2线式连接,支持标准(100kHz)和快速(400kHz)数据传输模式,ADXL345的I2C电路连接如图3所示。由于需要将加速度积分求速度,如果加速度计的零偏值补偿的不好,随着时间的推移,速度误差就会越来越大。
ADXL345偏移校准:加速度计为机械结构,包含可以自由移动的元件。这些运动部件对机械应力非常灵敏,程度远远超过固态电子产品。因此,要将ADXL345安装在PCB板固定点附近,减少干扰。0g偏置或偏移为重要加速度计指标,因为它定义了用于测量加速度的基线。在***安装后,需要对ADXL345进行校准,校准流程如下:
a、获取当前的X、Y、Z三轴的原始偏移量。将安装ADXL345的器件置于水平状态,Z轴在1g重力场,X轴、Y轴在0g重力场。取的一系列的样本值(100Hz)计算得到x0g、y0g、z+1g,X轴、Y轴的实际加速度值计算如公式(1)
b、计算出Z轴在0g状态下的原始偏移量,SZ为Z轴的理想灵敏度,Z轴的实际加速度值计算如公式(2)
c、计算出写入寄存器的偏移值。ADXL345对应X、Y、Z轴的偏移寄存器地址分别为0x1E,0x1F,0x20,ADXL345可以自动补偿输出。偏移值的计算公式如下:
其中,为四舍五入函数,SX、SY、SZ对应轴上的灵敏度典型值(如256LSB/g)
d、将XOFFSET、YOFFSET、ZOFFSET的补码写入对应的偏移寄存器,完成偏移校准。
本实施例中,角速率陀螺仪输出与车辆角速率相关的信息,将角速率信号积分可以得到车辆的相对转角。本文选择Invensense公司的MPU3050三轴陀螺仪芯片作为组合定位***的角速率分量测量器件。
MPU3050具有以下特点:
量程可以根据路况自行设置(±250°/sec、500°/sec、±1000°/sec和2000°/sec);
传感器具备10000g的耐震容忍度;
DMP连同内建的FIFO,不仅能减轻主机应用程序处理器的高频运动演算,也能减少中断次数与主机每秒运算指令数,进而可以改善整体***效能;
采用4mm×4mm×0.9mm塑料QFN封装,体积小。
事实上,MPU3050不是针对车载导航而设计的,而是面向智能手机的运动应用设计的,但是由于其内建数字运动处理器(Digital Motion Processor,DMP)和小尺寸、低成本等特点,逐渐被车载定位行业所认可和使用。本***将使用I2C总线与MPU3050相连接,获取X、Y、Z轴的角速率。
航位推算***需要给定位置初始值和航向初始值,但是在某些特殊的场合,如城市中心、地下停车场,初始值不容易获得或者获得的初始值可靠性不高,DR***具有误差累积特性,长时间独立工作将影响***定位精度,需要不断地给DR子***重新装定(重置)可靠的位置和航向,对DR子***进行校正。
上述实施例为本实用新型较佳的实施方式,但本实用新型的实施方式并不受上述实施例的限制,其他的任何未背离本实用新型的精神实质与原理下所作的改变、修饰、替代、组合、简化,均应为等效的置换方式,都包含在本实用新型的保护范围之内。
Claims (6)
1.一种车载航位推算***,其特征在于,包括主控芯片、用于测量加速度的加速度计、用于检测角速度的陀螺仪以及里程仪;所述陀螺仪通过I2C总线与主控芯片通信;所述加速度计通过I2C总线与主控芯片通信,所述主控芯片通过CAN总线连接OBD接口,再通过OBD接口连接里程仪,其中主控芯片由CAN总线、OBD接口通过里程仪获取车辆速度。
2.根据权利要求1所述的车载航位推算***,其特征在于,所述主控芯片选用STM32F103ZET7芯片。
3.根据权利要求1所述的车载航位推算***,其特征在于,所述加速度计为三轴加速度计。
4.根据权利要求3所述的车载航位推算***,其特征在于,所述三轴加速度计选用ADXL345加速度芯片。
5.根据权利要求4所述的车载航位推算***,其特征在于,所述ADXL345加速度芯片采用3mm×5mm×1mm 14引脚的小型塑料封装。
6.根据权利要求1所述的车载航位推算***,其特征在于,所述陀螺仪选用MPU3050三轴陀螺仪芯片。
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