基于STM32的雷达波流速仪辅助定位系统  

Assisted Positioning System of Radar Wave Flow Measuring Instrument Based on STM32

作　　者：薛森杰 武利生 张金柱 XUE Sen-jie;WU Li-sheng;ZHANG Jin-zhu(School of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Shanxi Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《机械设计与制造》2024年第4期220-224,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金青年项目(51905367);山西省应用基础面上青年基金项目(201901D211011);山西省高等学校科技创新项(2019L0176)。

摘　　要：针对雷达波流速仪测流过程中不能获取流速仪地理空间位置的问题,提出一种基于STM32的雷达波流速仪定位系统。该系统基于STM32实时采集GPS导航系统、INS惯导系统的速度和位置信息,通过组合导航实现流速仪的定位功能。在软件中使用抗野值卡尔曼滤波对GPS收到的经纬度信息进行过滤剔除,通过自适应卡尔曼滤波对GPS/INS信息融合,提高系统的实用性、精确性。实验结果表明,该系统可以获得流速仪的地理位置,输出位置信息较好的贴近真实轨迹,定位精度在0.5m以内,可以满足流速仪定位要求。The geospatial position of radar wave flow measuring instrument can not be obtained in the process of measuring cur-rent,In order to solve this problem,Introduced the Assisted positioning system of Radar Wave Flow Measuring Instrument based on STM32.The system collecte the speed and position data of GPS/INS in real time based on STM32,so as to realize the position-ing function of the instrument through integrated navigation.In the software,the anti-outlier Kalman filtering method is used to filter out the latitude and longitude information received by GPS,and adaptive Kalman filter alogrithm improves the practicabil-ity and accuracy of the system.The experimental results show that the system can obtain the spatial position of instrument,and the output position information is better close to the real trajectory,the positioning accuracy is within 0.5m,which can meet the posi-tioning requirements of Radar Wave Flow Measuring Instrument.

关 键 词：STM32 松耦合 GPS/INS组合导航 野值过滤 自适应卡尔曼滤波 

分 类 号：TH16[机械工程—机械制造及自动化] TP216.1[自动化与计算机技术—检测技术与自动化装置]