Locomotive radar speed measuring method based on adaptive Kalman filter

Abstract

The invention belongs to the technical field of near-field measurement of radars, and particularly relates to a locomotive radar speed measuring method based on adaptive Kalman filter. The locomotive radar speed measuring method comprises the specific steps: (1) calculating an echo power spectrum; (2) restraining low-frequency interference; (3) predicting locomotive doppler frequency by utilizing a spectrum center method; (4) performing radar position self calibration and speed calculation; (5) filtering by utilizing an adaptive Kalman filter; (6) outputting locomotive speed. According to the locomotive radar speed measuring method, real-time measurement of the locomotive speed can be realized, the speed is measured without lag, and the measurement accuracy is high.

Description

technical field [0001] The invention belongs to the technical field of radar near-field measurement, and specifically relates to a method for measuring locomotive speed, in particular to a method for measuring locomotive radar speed based on adaptive Kalman filtering, which can realize stable and accurate locomotive speed under complex electromagnetic environments and different railway subgrade environments Measurement. Background technique [0002] Speed ​​information is of great significance to ensure the safety of locomotives, and vehicle-mounted radar speed sensors have broad application prospects on high-speed and heavy-duty locomotives. In the 1970s, Germany, France, and the United States began to develop radars for locomotives and automobiles. After years of development and improvement, at the end of the last century, speed radars have begun commercial operation on high-speed railways, and are especially widely used on highways. Among them, Germany occupies a leadin...

AI Technical Summary

Problems solved by technology

[0004] Although theoretically the Doppler speed measuring radar can overcome the shortcomings of the traditional method, is stable and reliable, and can provide accurate measurement accuracy, but in fact, due to factors such as the electromagnetic environment of the locomotive, the geographical environment, the beam width of the radar antenna, and the error of the installation angle of the radar antenna, etc. The measurement accuracy of the existing Doppler locomotive speed measurement radar is not high, and it is easily affected by the installation error of the radar itself. At the same time, it cannot overcome the speed measurement error caused by different roadbed environments.

The traditional sliding average method takes the average speed within a sliding window as the final estimation result, which reduces the fluctuation of the speed measurement error to a certain extent, but when the locomotive accelerates or decelerates, it is prone to the phenomenon of estimated speed lag

Images