城市车路协同系统的通信及定位技术研究

2011,Vol.32,No.38590(intelligenttransportationsystemsITS)[1]CVISITS--eSafetySAFESPOTITSITSSmartway[2]ZigBee+GPS--ITS2010-04-212010-06-29(50878088)(1987)(1960)(1980)[e-mail]122(1.5106412.510641)--(cooperativevehicleinfrastructuresystemCVIS)(wirelesssensornetworkWSN)ARM920T(advancedRISCmachines)(globalpositioningsystemGPS)GPSGPS;ITS;ZigBee;ARM;;TP393;TP313.52A1000-7024(2011)03-0859-04ResearchoncommunicationofcitycooperativevehicleinfrastructuresystemanditspositioningtechnologyPENGDeng1,XUJian-min2,LINPei-qun2(1.CollegeofAutomationScienceandEngineering,SouthChinaUniversityofTechnology,Guangzhou510641,China;2.CollegeofCivilEngineeringandTransportation,SouthChinaUniversityofTechnology,Guangzhou510641,China)AbstractToimproveroadsafetyandtrafficefficiency,amethodispresented,whichisusedtorealizeintelligentcooperativevehicleinfrastructurecontrolandwirelesscommunicationbetweenvehicleandvehicle,vehicleandroad.CVIS(cooperativevehicleinfrastructuresystem)researchmethodsarecombined.TheoveralldesignofCVISbasedonWSN(wirelesssensornetwork)technologyandvehiclepositioningdeviceareintroduced.IncludingthedesignofanembeddedvehicleterminalandanembeddedfieldtestterminalbasedonARM920T(AdvancedRISCMachines),thedesignsofGPS(globalpositioningsystem)receiveraswellasacombinationofamedianfilterandKalmanfiltertoimprovetheaccuracyofGPSreceivers.TheexperimentalresultsshowthatthepositionerrorofoptimizedGPSpositioningreceiversignificantlyreduced,andthesystemhashighaccuracyandoperatingefficiency.KeywordsCVIS;ITS;ZigBee;ARM;GPS;WSNComputerEngineeringandDesign8602011,Vol.32,No.3ComputerEngineeringandDesign1CVIS[3]ARM920TZigBee--GPS1.1ZigBeeGPRS/CDMA1XWIFIZigBee1[4]ZigBee--ZigbeeIEEE802.15.4ZigBee[5]1.2ARM920TARM9S3C2440S3C2440(CPU)AdvancedRISCMachi-nes16/32ARM920TRISCARM920TMMUAMBABUSHarvard16KBCache16KBCache8S3C2440[6]ZigBeeZigBeeCELZICM241051(GPIOUART)//1000mZWT-34ATD-SCDMA3G[7-8]ZigBee+GPSZig-Bee+3G(ZigBee)(3G)12GPS2.1GPSGPS4GPSZig-Bee[9]GPS22.2GPSGPS[10]GPSGPS[11]1,2,,1,2,,1GPRS/CDMA1XWIFIZigBeeWebEmail111Mbps(10m)2011,Vol.32,No.386112(1)1,2,,1,2,,(k=1,2n)1,2,,1212(2)1=min()(1in)1=max()(1in)1212=+12122++12(3)=+12122++12(4)GPS[12]X={x,vx,ax,y,vy,ay,z,vz,az,x,y,z}(5)3,,333xX={x,vx,ax,x}T(6)=++(7)=0100001000100001Ux={0,0,1,0}T={0,0,,}0,2=+(8)={1,0,0,1}=LxLx0,2x+1,=1+1,+1=+1,++1+1+1+1,+1=+1,++1+1+1,+1++11+1,=+1+1,+1,+(9)1JTAGLCDRS232USBPCS3C2440XLINUXZigBeeGPSJTAGRS232USBPCS3C2440XLINUXZigBee3GLCD2GPSARM2440RS232USB8622011,Vol.32,No.3ComputerEngineeringandDesign+1=+1+1+1,1=12200100010000+1,=10001001+210000Ax(k+1)yzax(k)ax(k,k1)kT=,1(10)(9)x,1,1,1=11,11,11,1(11)1=100102/201=,1/1=1000100011/1(12)1=100010001,1=11,1(13)1=1111(9),1=11,1,=,1+,1=,1+,1+1(14),1=,11,1,1+1,1=,1Q(k)2222=4max22=4max+2223GPSxX(0)=0P(0)=0Q(k)q2ax=(3.8)2,q2x=(23.2)22x=0.0052MATLAB=0.986=102T=0.0395MAT-LAB34ZigBee+GPSGPS:[1],.[M].:,2007:1-7.[2],,.[J].,2008,8(1):40-42.[3].[J].,2009,21(18):5955-5959.[4],.ZigBee[M].:,2009:1-26.[5]DissanayakeSD,KarunasekaraPPC,LakmanaarachchiDD,etal.Zigbeewirelessvehicularidentificationandauthenticationsys-tem[C].4thInternationalConferenceonInformationandAuto-mationforSustainability,2008.[6].S3C2440[Z]..:,2006.[7],.[J].,2006,27(18):3349-3352.[8].[M].:,2004.[9].GPS/GIS/GPRS[D].:,2009:5-24.[10],,,.GPS[J].,2009,26(5):316-320.[11],.[J].,2007,19(7):1535-1539.[12],,,.[J].,2006,37(4):9-11.010002000300040005000600050403020100-10-20-303(a)010002000300040005000600050403020100-10-20-30(b)