基于GSM网络的GPS导航系统研究
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摘要
GPS技术具有精度高、速度快、成本低的显著优势，已成为应用广泛、实时性强的全球精密授时、测距、导航、定位系统。用常规的集群通信系统实现GPS定位服务，只能适用于局部范围，无法实现大范围漫游：采用卫星通信方式实现GPS服务，虽能实现全国范围内移动目标的定位和跟踪，但移动终端体积大，价格和通信费用较高，不易普及和推广。随着通信技术的高速发展，GPS和GSM有机结合，利用GSM的短消息业务(SMS)和通用分组无线业务(GPRS)资费较低的特点，使得通过GSM网络发送GPS定位信息成为可能。
本论文首先对GPS定位进行了原理介绍，通过对影响GPS定位精度的误差源分析后，对GPS数据进行了卡尔曼滤波计算机仿真，验证了卡尔曼滤波确实可以在一定程度上提高定位精度，减少误差发散。同时，本文也对GSM网络中的短消息服务(SMS)进行了具体的研究，其中包括短消息的体系结构、协议分层、使用信道和收发过程等。在此基础上分析短消息的传输时延分布，并建立数学模型分析短消息在移动业务交换中心(MSC)的时延和丢失概率，并得出了相应的仿真结果，根据此结果指导导航系统的设计。接着，结合上述研究结果和本研究室的研究现状，采用ARM9系列处理器AT91RM9200对GPS导航系统进行了硬件电路设计，同时分别在ADS1.2集成环境及Linux操作系统下进行了特别针对串口通信的软件编程。
GPS technology is widely used for global precise timing, ranging, navigating, and positioning system because of many of its advantages, such as high-precision, high-speed and low-cost, etc. With the development of communication technology, the service price of GSM network's SMS and GPRS are comparatively low, thus it is possible to send GPS positioning information via GSM network.
In this paper, the principle of GPS positioning was introduced firstly, then, after analyzing the factors which impact positioning precision, a simulation for filtering GPS positioning data with kalman filter was done. The simulation results showed that kalman filter really does improve the positioning precision to some extent, besides, it can also reduce the divergence of error. Then short message service based on GSM is studied in detail include architecture, protocol, channel and the process of its sending and receiving. Based on this, we build a mathematic model to analyze the time delay and loss probability of short message transmitting, and get the corresponding simulation results, so it can direct the design of navigation system. On the following combining with one of the main jobs of this paper and the current research state of our lab, design of the circuit with AT91RM9200 as its CPU and the programming under ADS environment and Linux OS were also done at the end.
本论文首先对GPS定位进行了原理介绍，通过对影响GPS定位精度的误差源分析后，对GPS数据进行了卡尔曼滤波计算机仿真，验证了卡尔曼滤波确实可以在一定程度上提高定位精度，减少误差发散。同时，本文也对GSM网络中的短消息服务(SMS)进行了具体的研究，其中包括短消息的体系结构、协议分层、使用信道和收发过程等。在此基础上分析短消息的传输时延分布，并建立数学模型分析短消息在移动业务交换中心(MSC)的时延和丢失概率，并得出了相应的仿真结果，根据此结果指导导航系统的设计。接着，结合上述研究结果和本研究室的研究现状，采用ARM9系列处理器AT91RM9200对GPS导航系统进行了硬件电路设计，同时分别在ADS1.2集成环境及Linux操作系统下进行了特别针对串口通信的软件编程。
GPS technology is widely used for global precise timing, ranging, navigating, and positioning system because of many of its advantages, such as high-precision, high-speed and low-cost, etc. With the development of communication technology, the service price of GSM network's SMS and GPRS are comparatively low, thus it is possible to send GPS positioning information via GSM network.
In this paper, the principle of GPS positioning was introduced firstly, then, after analyzing the factors which impact positioning precision, a simulation for filtering GPS positioning data with kalman filter was done. The simulation results showed that kalman filter really does improve the positioning precision to some extent, besides, it can also reduce the divergence of error. Then short message service based on GSM is studied in detail include architecture, protocol, channel and the process of its sending and receiving. Based on this, we build a mathematic model to analyze the time delay and loss probability of short message transmitting, and get the corresponding simulation results, so it can direct the design of navigation system. On the following combining with one of the main jobs of this paper and the current research state of our lab, design of the circuit with AT91RM9200 as its CPU and the programming under ADS environment and Linux OS were also done at the end.
引文
[1] 李洪涛，许国昌等．GPS应用程序设计．科学出版社 2000
[2] 李天文．GPS原理及应用．科学出版社 2003
[3] Elliott D．Kaplan．GPS原理与应用．第一版．北京：电子工业出版社 2002
[4] Mohinder S. Grewal, Lawrence R. Weill, Angus P Andrew. Global Positioning Systems, Inertial Navigation, and It's Integration. Weley Press 2000
[6] 冯锡生，赵晓琳．GPS及其通信组网．第一版．北京：中国铁道出版社 1996
[5] R. E. Kalman. "A New Approach to Linear Filtering and Prediction Problems" . ASME-Journal of Basic Engineering Trans. 82(Series D) : 35-45 1960
[7] Welch and Bishop. "An Introduction to the Kalman Filter" . UNC-Chapel Hill, TR 95-041 2004
[8] 王颖．现代数字信号处理(讲义)．中国科学院研究生院 2003
[9] 王广运．差分GPS定位技术与应用．北京：电子工业出版社 1996
[10] H. W. Sorenson. "Least-squares estimation: from Gauss to Kalman" . IEEE Spectrum, vol. 7, pp. 63-68, July 1970
[11] 郭雨梅 刘沛林．GPS卫星定位系统的设计与实现．沈阳工业大学学报
[12] Yaakov, Bar-Shalom, TomasE, Fortmann. Tracking and data association [M]. Academic Press, vol. 179, 1988.
[13] 韩斌杰 GSM原理及其网络优化．第一版．北京：机械工业出版社 2002
[14] 郭梯云，邬国扬，张厥盛．移动通信．第一版．西安：西安电子科技大学出版社 1998
[15] 汪永衣，龚永平．GSM数字移动通信网．第一版．北京：人民邮电出版社 1998
[16] 孙儒石，丁怀元，穆万里，王泽全．GSM数字移动通信工程．第一版．北京：人民邮电出版社，1996
[17] 张静，蒋文怡，钟章队．GSM网络短消息吞吐量分析．电信技术．2000(9)：26-29
[18] Garg V. k. , and J. E. Wilkes. Principles and Applications of GSM, Prentice Hall PTR, Upper Saddle River 1999
[19] 赵文浩，刘建业，何秀凤．GPS车辆监控系统中短消息通信技术研究．工业控制计算机 2002(2)：12-15
[20] 宋茂忠．提高GPS定位精度的数据处理技术．数据采集与处理．2001 第16卷第2期
[21] 庞树杰，杨青，李莉．基于GPS和GSM短消息的农田信息采集系统．农机化研究．2004(1)：230-233
[22] 夏枫，胡达．城市车载GPS导航系统的设计．计算机与现代化．2004第4期
[23] T. Imielinski and B. R. Badrimath, "Querying in highly mobile distributed environments" In Proc. 18th Conf. Very Large Databases(VLDB), 1992, pp. 41-52
[24] G. P. Pollini and C. -L. I, "A profile-based location strategy and its performance" , IEEE J. Select. Areas Commun, Vol. 15, pp. 1415-1434, Aug. 1997
[25] L. P. Araujo and J. R. B. de Marca, "Paging and location update algorithms for cellular systems" IEEE Trans. Veh. Technol, vol. 49, pp. 1606-1614, Sept. 2000
[26] D. Hong and S. S. Rappaport, "Traffic model and performance analysis for cellular mobile ratio telephone systems with prioritized and nonprioritized handoff procedures" IEEE Trans. veh. Technol. , vol. VT-35, pp. 77-92, May 1986
[27] C. -J. Chang, T. -T. Su and Y. -Y. Chiang, "Analysis of a cutoff priority cellular radio system with finite queueing and reneging/dropping" IEEE/ACM Trans. Networking, vol2, pp. 166-175, Apr. 1994
[28] D. McMillan, "Delay analysis of a cellular mobile priority queueing systems" IEEE/ACM Trans. Networking, vol. 3, pp. 310-319, June 1995
[29] V. K. N. Lau and S. V. Maric, "Mobility of queued call requests of a new call-queueing technique for cellular systems" IEEE Trans. Veh. Technol, vol. 47, pp. 480-488, May 1998
[30] Y. -R. Huang, Y. -B. Lin, and J. -M. Ho, "Performance analysis for voice/data integration on a finite-buffer mobile system" IEEE Trans. Veh. Technol. Vol.49,pp.367-378,Mar.2000
[31] W.Zhuang, B.Bensaou and K.C.Chua, "Adaptive quality of service handoff priority scheme for mobile multimedia networks" IEEE Trans.Veh.Technol.vol.49,pp.494-505,Mar.2000
[32] L.Ortigoza-Guerrero and A.H.Aghvami, "A prioritized handoff dynamic channel allocation strategy for PCS" IEEE Trans.Veh.Technol.vol.48, pp.1203-1215, July 1999
[33] NOVATEL. OEM4 family Manual Vol 1-Installation and Operation
[34] Atmel Corporation. AT91RM9200.pdf
[35] 杜春雷．ARM体系结构与编程．北京：清华大学出版社 2063
[36] 朱义君 杨育红 赵凯 段志英．AT91系列ARM微控制器体系结构与开发实例．北京航空航天大学出版社 第一版 2005
[37] 窦中兆 雷湘．CDMA无线通信原理．北京：清华大学出版社 2004
[38] Garg V k.IS-95 CDMA and cdma2000. Upper Saddle River: Prentice Hall PTR 2000
[39] Rhee M Y. CDMA Cellular Mobile Communications, Principles and Practice. Upper Saddle River Prentice Hall PTR 1998
[40] ETSI GSM 07.07.Digital cellular telecommunications system (Phase 2+): AT command set for GSM Mobile Equipment(ME).(GSM 07.07 version 7.0.0) 1998
[41] ETSI GSM 03.41.Digital cellular telecommunications system (Phase 2+): Technical realization of the Short Message Service Cell Broadcast(SMSCB).(GSM 03.41 version 4.11.0) 1996
[42] 李聚光．ARM应用系统开发详解——基于$3C4510B的系统设计．北京：清华大学出版社 2003
[43] 孙增军，胡延平．GSM移动定位系统．现代通信2003第3期
[44] Digital cellular telecommunications system(Phase 2+) Technical realization of the Short Message Service(SMS) Point-to-Point(PP) (GSM 03.40 version 7.3.0 Release 1998)
[45] ETSI GSM 07.05.Digital cellular telecommunications system (Phase 2+): Use of Data Terminal Equipment-Data Circuit terminating Equipment(DTE-DCE) interface for Short Message Service(SMS) and Cell Broadcast Service(CBS).(GSM 07.05 version 5.5.0) 1998
[46] Peter H.Baumann.Linux Serial Programming HOWTO 1998
[47] 孙天泽，袁文南，张海峰等．嵌入式设计及Linux驱动开发指南：基于ARM9处理器．北京：电子业出版社 2005
[48] Michael K. Johnson, Erik W. Troan著．武延军，郭松柳 译．Linux应用程序开发(第2版)北京：电子工业出版社 2005
[49] 马忠梅，李善平．ARM&Linux嵌入式系统教程．北京航空航天大学出版社 2004
[2] 李天文．GPS原理及应用．科学出版社 2003
[3] Elliott D．Kaplan．GPS原理与应用．第一版．北京：电子工业出版社 2002
[4] Mohinder S. Grewal, Lawrence R. Weill, Angus P Andrew. Global Positioning Systems, Inertial Navigation, and It's Integration. Weley Press 2000
[6] 冯锡生，赵晓琳．GPS及其通信组网．第一版．北京：中国铁道出版社 1996
[5] R. E. Kalman. "A New Approach to Linear Filtering and Prediction Problems" . ASME-Journal of Basic Engineering Trans. 82(Series D) : 35-45 1960
[7] Welch and Bishop. "An Introduction to the Kalman Filter" . UNC-Chapel Hill, TR 95-041 2004
[8] 王颖．现代数字信号处理(讲义)．中国科学院研究生院 2003
[9] 王广运．差分GPS定位技术与应用．北京：电子工业出版社 1996
[10] H. W. Sorenson. "Least-squares estimation: from Gauss to Kalman" . IEEE Spectrum, vol. 7, pp. 63-68, July 1970
[11] 郭雨梅 刘沛林．GPS卫星定位系统的设计与实现．沈阳工业大学学报
[12] Yaakov, Bar-Shalom, TomasE, Fortmann. Tracking and data association [M]. Academic Press, vol. 179, 1988.
[13] 韩斌杰 GSM原理及其网络优化．第一版．北京：机械工业出版社 2002
[14] 郭梯云，邬国扬，张厥盛．移动通信．第一版．西安：西安电子科技大学出版社 1998
[15] 汪永衣，龚永平．GSM数字移动通信网．第一版．北京：人民邮电出版社 1998
[16] 孙儒石，丁怀元，穆万里，王泽全．GSM数字移动通信工程．第一版．北京：人民邮电出版社，1996
[17] 张静，蒋文怡，钟章队．GSM网络短消息吞吐量分析．电信技术．2000(9)：26-29
[18] Garg V. k. , and J. E. Wilkes. Principles and Applications of GSM, Prentice Hall PTR, Upper Saddle River 1999
[19] 赵文浩，刘建业，何秀凤．GPS车辆监控系统中短消息通信技术研究．工业控制计算机 2002(2)：12-15
[20] 宋茂忠．提高GPS定位精度的数据处理技术．数据采集与处理．2001 第16卷第2期
[21] 庞树杰，杨青，李莉．基于GPS和GSM短消息的农田信息采集系统．农机化研究．2004(1)：230-233
[22] 夏枫，胡达．城市车载GPS导航系统的设计．计算机与现代化．2004第4期
[23] T. Imielinski and B. R. Badrimath, "Querying in highly mobile distributed environments" In Proc. 18th Conf. Very Large Databases(VLDB), 1992, pp. 41-52
[24] G. P. Pollini and C. -L. I, "A profile-based location strategy and its performance" , IEEE J. Select. Areas Commun, Vol. 15, pp. 1415-1434, Aug. 1997
[25] L. P. Araujo and J. R. B. de Marca, "Paging and location update algorithms for cellular systems" IEEE Trans. Veh. Technol, vol. 49, pp. 1606-1614, Sept. 2000
[26] D. Hong and S. S. Rappaport, "Traffic model and performance analysis for cellular mobile ratio telephone systems with prioritized and nonprioritized handoff procedures" IEEE Trans. veh. Technol. , vol. VT-35, pp. 77-92, May 1986
[27] C. -J. Chang, T. -T. Su and Y. -Y. Chiang, "Analysis of a cutoff priority cellular radio system with finite queueing and reneging/dropping" IEEE/ACM Trans. Networking, vol2, pp. 166-175, Apr. 1994
[28] D. McMillan, "Delay analysis of a cellular mobile priority queueing systems" IEEE/ACM Trans. Networking, vol. 3, pp. 310-319, June 1995
[29] V. K. N. Lau and S. V. Maric, "Mobility of queued call requests of a new call-queueing technique for cellular systems" IEEE Trans. Veh. Technol, vol. 47, pp. 480-488, May 1998
[30] Y. -R. Huang, Y. -B. Lin, and J. -M. Ho, "Performance analysis for voice/data integration on a finite-buffer mobile system" IEEE Trans. Veh. Technol. Vol.49,pp.367-378,Mar.2000
[31] W.Zhuang, B.Bensaou and K.C.Chua, "Adaptive quality of service handoff priority scheme for mobile multimedia networks" IEEE Trans.Veh.Technol.vol.49,pp.494-505,Mar.2000
[32] L.Ortigoza-Guerrero and A.H.Aghvami, "A prioritized handoff dynamic channel allocation strategy for PCS" IEEE Trans.Veh.Technol.vol.48, pp.1203-1215, July 1999
[33] NOVATEL. OEM4 family Manual Vol 1-Installation and Operation
[34] Atmel Corporation. AT91RM9200.pdf
[35] 杜春雷．ARM体系结构与编程．北京：清华大学出版社 2063
[36] 朱义君 杨育红 赵凯 段志英．AT91系列ARM微控制器体系结构与开发实例．北京航空航天大学出版社 第一版 2005
[37] 窦中兆 雷湘．CDMA无线通信原理．北京：清华大学出版社 2004
[38] Garg V k.IS-95 CDMA and cdma2000. Upper Saddle River: Prentice Hall PTR 2000
[39] Rhee M Y. CDMA Cellular Mobile Communications, Principles and Practice. Upper Saddle River Prentice Hall PTR 1998
[40] ETSI GSM 07.07.Digital cellular telecommunications system (Phase 2+): AT command set for GSM Mobile Equipment(ME).(GSM 07.07 version 7.0.0) 1998
[41] ETSI GSM 03.41.Digital cellular telecommunications system (Phase 2+): Technical realization of the Short Message Service Cell Broadcast(SMSCB).(GSM 03.41 version 4.11.0) 1996
[42] 李聚光．ARM应用系统开发详解——基于$3C4510B的系统设计．北京：清华大学出版社 2003
[43] 孙增军，胡延平．GSM移动定位系统．现代通信2003第3期
[44] Digital cellular telecommunications system(Phase 2+) Technical realization of the Short Message Service(SMS) Point-to-Point(PP) (GSM 03.40 version 7.3.0 Release 1998)
[45] ETSI GSM 07.05.Digital cellular telecommunications system (Phase 2+): Use of Data Terminal Equipment-Data Circuit terminating Equipment(DTE-DCE) interface for Short Message Service(SMS) and Cell Broadcast Service(CBS).(GSM 07.05 version 5.5.0) 1998
[46] Peter H.Baumann.Linux Serial Programming HOWTO 1998
[47] 孙天泽，袁文南，张海峰等．嵌入式设计及Linux驱动开发指南：基于ARM9处理器．北京：电子业出版社 2005
[48] Michael K. Johnson, Erik W. Troan著．武延军，郭松柳 译．Linux应用程序开发(第2版)北京：电子工业出版社 2005
[49] 马忠梅，李善平．ARM&Linux嵌入式系统教程．北京航空航天大学出版社 2004