[1] Liu Guangfu, Zhang Weigong, Li Xu, et al. Data synchronization in IMU/GPS integrated measurement systemof vehicle motion parameters [J]. Journal of Southeast University (English Edition), 2006, 22 (2): 200-203. [doi:10.3969/j.issn.1003-7985.2006.02.012]

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Data synchronization in IMU/GPS integrated measurement systemof vehicle motion parameters()

汽车运动参数IMU/GPS组合测试中的数据同步技术

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

22

Issue:

2006 2

Page:

200-203

Research Field:

Instrument Science and Technology

Publishing date:

2006-06-30

Info

Title:

Data synchronization in IMU/GPS integrated measurement systemof vehicle motion parameters

汽车运动参数IMU/GPS组合测试中的数据同步技术

Author(s):

Liu Guangfu¹;  2;  Zhang Weigong¹;  Li Xu¹;  Guo Liang²

¹Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
²College of Information and Control Engineering, China University of Petroleum, Dongying 257061, China

刘广孚¹;  2;  张为公¹;  李旭¹;  郭亮²

¹东南大学仪器科学与工程系, 南京 210096; ² 中国石油大学信息与控制工程学院, 东营 257061

Keywords:

vehicle movement;  performance test;  IMU/GPS;  data synchronization

汽车运动;  性能试验;  IMU/GPS;  数据同步

PACS:

U666.11

DOI:

10.3969/j.issn.1003-7985.2006.02.012

Abstract:

To realize the data synchronization between the inertial measurement unit(IMU)and the global positioning system(GPS), the synchronization technology in the IMU/GPS integrated measurement system of vehicle motion parameters is studied.According to the characteristics of the output signals of the IMU and the GPS, without the IMU synchronization signal, the synchronization circuit based on CPLD is designed and developed, which need not alter the configurations of the IMU and GPS.Experiments of measuring vehicle motion parameters, which rely on the synchronization circuit to realize IMU/GPS data synchronization, are made. The driving routes in experiments comprise a curve and a straight line. Experimental results show that the designed circuit can accurately measure the synchronization time difference and the IMU period, and can effectively solve the data synchronization in IMU/GPS integration.Furthermore, the IMU/GPS integrated measurement system based on the synchronization circuit can measure and calculate many vehicle motion parameters in high frequency mode.

为解决IMU和GPS的数据同步问题, 对汽车运动参数IMU/GPS组合测试中的数据同步技术进行了研究.根据GPS和IMU信号的特点, 在IMU不提供同步脉冲信号并且不改变它们各自结构的前提下, 设计并研制了基于CPLD的同步电路.进行了测量汽车运动参数的试验, 行驶路径包括直线和弧线, 利用同步电路实现了IMU/GPS数据的同步.试验结果表明:该电路能够准确测量同步时差, 有效地解决了IMU和GPS数据的时间同步问题;基于该同步电路的IMU/GPS组合测试系统实现了对多种汽车运动参数的高频测量与解算.

References:

[1] Ni Jiangsheng.Measurement method for automobile motion parameters based on Kalman filter [J].Journal of Chinese Inertial Technology, 2001, 9(3):19-23.(in Chinese)
[2] Ni Jiangsheng.Research of motor vehicle motion parameter portable comprehensive measurement system [J].Automobile Technology, 2000(1):21-24.(in Chinese)
[3] Yu Ming, Qian Lijun.A study on vehicle movement measurement based on RTK fifth wheel [J].Automotive Engineering, 2005, 27(1):54-56;106.(in Chinese)
[4] Ding W D, Wang J L, Mumford P, et al.Time synchronization design for integrated positioning and georeferencing systems [A].In:Proceedings of SSC Spatial Intelligence, Innovation and Praxis[C].Melbourne, 2005.
[5] You Wenhu, Jiang Fuxing.Data synchronization technology of INS/GPS integrated navigation system [J].Journal of Chinese Inertial Technology, 2003, 11(4):20-22;35.(in Chinese)
[6] Jan Skaloud, Patrick Viret.GPS/INS integration [J].European Journal of Navigation, 2004, 2(4):40-44.
[7] Farrell Jay A, Givargis Tony D, Barth Matthew J.Real-time differential carrier phase GPS-aided INS [J].IEEE Transactions on Control Systems Technology, 2000, 8(4):709-720.
[8] Farrell Jay A, Barth Matthew J.The global positioning system and inertial navigation[M].New York:McGraw-Hill, 1998.

Memo

Memo:

Biographies: Liu Guangfu(1966—), male, graduate, associate professor, liugf@hdpu.edu.cn;Zhang Weigong(corresponding author), male, doctor, professor, zhangwg@seu.edu.cn.

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