基于VxWorks系统的无人车GPS／INS组合导航

为了实现汽车自主导航，针对实时性导航，提出了一种基于VxWorks操作系统的GPS＋INS（inertial navigation system，惯性导航）组合导航。首先分析了无人车模型，布置导航的总体框架，确定CAN网络为整车通讯网络；然后研究了GPS导航，利用高精度GPS设备得到无人车坐标值，进而实现了GPS导航；接着研究了INS导航，利用一定精度INS的两个加速度计来积分推算无人车的航位，实现导航；再通过VxWorks结合两种导航方式，互相弥补信号的丢失与不可用。同时，开发了基于Windows的可视化导航界面，直观地观察导航效果和进行后台操控。实验验证了此导航的可行性和实时性。

GPS and INS Navigation of Unmanned Car Based on VxWorks System

This article introduces GPS and INS navigation of unmanned car based on VxWorks system for real-time navigation. First, this paper analyzes the model of unmanned car, arranges the overall framework of navigation and chooses the CAN for control network. Then it researches the GPS navigation. It gets the high precise latitude and longitude coordinates from an equipment for further navigation. By using a different algorithm, it makes the GPS navigation come true. It also researches the INS navigation. By using a 2 - D accelerometer, it gets the coordinates from integration of acceleration. Sometime there will be no GPS signal. So this article combines GPS and INS navigation together by using VxWorks system. To have a direct view of the navigation, it develops a interface based on Windows. Experiments prove the feasibility and real-time.