GPS/电子地图组合定位技术在侦察机器人系统中的应用

介绍了GPS／电子地图组合定位技术在侦察机器人系统中的应用。对GPS接收机进行二次开发，在WINDOWS环境下，基于VB6．0，利用通信控件捕获基准站和移动站的RTCM SC－104格式差分GPS电文。分析比较了几种GPS定位算法的优劣，根据侦察机器人系统的特点，选择逆向伪距差分算法对电文进行处理，并与电子地图相结合进行精确定位。对逆向伪距差分算法的实现做了详细介绍并对实验结果做了简要分析，在电子地图的管理上，提出了将监视区域二次划分的方法，利用BMP位图，对侦察机器人所在的方位进行可视化精确定位。

Application of GPS/Electronic Map Combined Orientation Technology in Scout Robot

Application of GPS/Electronic Map combined orientation technology in scout robot is described in this paper. Based on platform VB6.0, we conduct second development to the GPS receiver and get the differential GPS data by using MSCOMM. After analyzing and comparing some kinds of algorithms, we adopt the inverse differential GPS algorithm (IDGPS) to process the data according to the characters of the scout robot system. Combined with electronic map, the processed data are used to realize the aim of precise orientation. Describe the realizing of IDGPS in details and make a brief analysis of the result. At the management of electronic map, we bring forward the method of second partition of the spy area. Visible precise orientation of the scout robot is realized by using BMP bitmap.