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研究生：	黃裕閔 Huang, Yu-Min
論文名稱：	結合地圖服務伺服器與GPS/INS整合定位系統之智慧型校園導覽載具 An Intelligent Campus Tour Vehicle with Service-Based Map Server and GPS/INS Integrated Positioning System
指導教授：	王振興 Wang, Jeen-Shing
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2010
畢業學年度：	98
語文別：	中文
論文頁數：	83
中文關鍵詞：	控制器區域網路、定位精度因子、導覽網頁、道路邊緣偵測
外文關鍵詞：	CAN, DOP, tour website, road edge detection
相關次數：	點閱：86 下載：0
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本論文主旨在實現一智慧型校園導覽載具，其控制核心為一嵌入式系統(Create-Xscale-PXA270)，透過其控制器區域網路(Controller Area Network, CAN)匯流排來整合周邊感測器資訊與傳送控制命令給載具之前輪轉向控制電路與後輪速度控制電路以簡化電路複雜度也提升系統安全性，並達到有效控制智慧型導覽載具的目的。在載具定位部分，我們結合低成本GPS接收模組與實驗室自製的慣性感測元件開發GPS/INS整合定位系統，其中利用GPS定位精度因子(Dilution of Precision, DOP)來動態調整擴展式卡爾曼濾波器中的位置觀測量誤差，以提高定位系統的準確性。本論文亦建置地圖資訊服務伺服器，並設計一導覽網頁提供訪客校園資訊瀏覽、目的地路徑規劃與動態校園導覽之操作介面。進行校園導覽時，導覽網頁會利用AJAX的技術將定位資訊即時上傳至遠端定位資料庫，讓監控人員可以透過監視網頁清楚掌握訪客導航情況。此外，導覽載具具有道路邊緣偵測的功能，透過Hough Transform演算法將雷射測距儀掃描出的路面軌跡進行分析並擷取出最長直線，並透過道路邊緣的特徵找出道路邊緣點與載具相對位置，以達到避障之功能。最後，整合上述相關功能後結合導航目標航修正法實現智慧載具校園導覽的功能，讓遠到而來的訪客可乘坐在載具上，以有效率、輕鬆且生動的方式認識成大校園。

This thesis presents an intelligent campus tour vehicle with a service-based map server and a GPS/INS integrated positioning system. To simplify the complexity of the control circuit, we used an embedded system (Create-Xscale-PXA270) as the control core and used a controller-area network (CAN) bus to integrate peripheral sensors and send control commands to the front-wheel steering control circuit and rear-wheel speed control circuit. A GPS/INS integrated positioning system combining a low-cost GPS receiver module and laboratory-made inertial sensors was developed for the positioning of the tour vehicle. The GPS positioning accuracy factor, DOP, was used to dynamically adjust the variance of position observation of the extended Kalman filter. The study also constructed a serviced-based map server to provide a tour website. By the guided instruction of the tour website, visitors can surf the campus information and tour the campus on the tour vehicle. During the campus tour, the tour website shows the location of the tour vehicle on the Google map immediately. The tour web site also uses AJAX technologies to upload the location to the remote location database, so that the campus staff can monitor the tour condition through the webpage. For auto navigation, an obstacle avoidance algorithm was developed for the tour vehicle. The algorithm performs road edge detection by the Hough transform which analyzes the road trajectory scanned by the laser range finder of the vehicle, and extracts the longest straight line through the characteristics of the road edge to find the road edge. Finally, the experimental results shows the intelligent tour vehicle can provide visitors an efficient, easy and vivid way of understanding of National Cheng Kung University campus.

中文摘要...........................i 
英文摘要...........................ii 
致謝..............................iii 
目錄..............................iv 
表目錄............................vii 
圖目錄.............................viii 
第一章 緒論......................1-1 
1 前言......................1-1 
2 文獻回顧...................1-3 
3 研究目的與動機..............1-4 
4 論文架構...................1-5 
第二章 系統架構與導覽載具...........2-1 
1 系統架構....................2-1 
2 導覽載具....................2-2 
2.1 周邊硬體電路及微控制器..........2-4 
2.1.1周邊控制與資訊擷取電路.........2-4 
2.1.2 周邊電路微控制器............2-5 
2.1.3前輪轉向驅動與控制電路........2-6 
2.1.4後輪速度擷取與控制電路........2-6 
2.2 嵌入式系統平台.................2-7 
2.3 周邊感知元件..................2-8 
2.3.1 雷射測距儀...................2-8 
2.3.2 轉角感知器..................2-9 
2.3.3 可變磁阻元件................2-10 
2.3.4 GPS接收模組.................2-11 
2.3.5 慣性感測元件................2-12 
2.3.6 磁力計......................2-13 
3 周邊資訊整合.................2-14 
第三章 具動態調整觀測量誤差之GPS/INS整合定位系統.......3-1 
1 全球定位系統..................3-1 
1.1 GPS定位原理....................3-2 
1.2 GPS誤差來源...................3-4 
1.3 GPS接收模組訊息格式.............3-5 
2 慣性導航系統..................3-8 
2.1 導航座標框架....................3-8 
2.1.1地心地固座標框架與當地水平框架....3-8 
2.1.2 載體座標框架...................3-9 
2.2 座標轉換........................3-10 
3 GPS觀測量誤差模型..............3-10 
3.1GPS定位精度因子...................3-10 
3.2 GPS觀測量誤差模型................3-12 
4 GPS/INS整合定位演算法..............3-17 
第四章 地圖資訊與服務伺服器............4-1 
1 地圖資訊服務伺服器..............4-2 
1.1 伺服器架設環境....................4-2 
1.2 地圖資訊系統......................4-3 
1.3 定位資料庫.......................4-4 
1.4 同步監視網頁......................4-5 
2 校園導覽網頁設計................4-8 
2.1 使用者登入.......................4-8 
2.2 校園導覽網頁......................4-9 
2.3 動態規劃最短路徑...................4-12 
2.4 定位訊息即時顯示與上傳..............4-14 
第五章 實驗環境建置與實驗結果............5-1 
1 前輪轉向控制器設計....................5-1 
2 GPS/INS整合定位實驗..................5-4 
3 道路邊緣偵測演算法....................5-10 
4 目標點航向修正法.....................5-16 
5 校園導覽時驗.........................5-17 
第六章 結論與未來展望....................6-1 
1 結論................................6-1 
2 未來展望.............................6-2 
參考文獻.................................7-1  

                                    

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校內：2020-12-31公開
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