Multi-sensor compact combination train combined positioning method based on pseudo range/pseudo range rate

Abstract

The invention provides a multi-sensor compact combination train combined positioning method based on a pseudo range / a pseudo range rate. The method comprises the following steps of: recursively calculating the position, speed and attitude information of a train by INS, calculating the geometric distance between a satellite and the train according to the train position calculated by the INS and theGNSS satellite position, calculating a pseudo range difference value between a pseudo range measured by GNSS and the geometric distance between the satellite and the train calculated by the INS, calculating a pseudo range rate difference value between a pseudo range rate measured by the GNSS and the speed of the train calculated by the INS, and calculating a speed difference value between the speed of the train calculated by the INS and the speed measured by OVS; inputting the geometric distance between the satellite and the train and various difference values as the measurement input of thesystem filtering, and correcting the error of the INS system by adopting standard Kalman filtering. By collecting GNSS original data, INS measurement data and OVS measurement data, the method can continue positioning by an INS / OVS combined system in a GNSS signal failure environment so as to ensure continuous and seamless positioning of the train.

Description

technical field

[0001] The invention relates to the technical field of train positioning, in particular to a multi-sensor tightly combined train combined positioning method based on pseudo-range / pseudo-range rate. Background technique

[0002] Rail transit is the main artery of the national economy, the backbone of mass transportation and the operation of modern cities. It is a national key infrastructure and an important basic industry. It plays an irreplaceable overall support role for my country's economic and social development, improvement of people's livelihood and national security. During the operation of the train, the realization of the train operation control function depends on the accurate acquisition of information such as the speed, position, and speed of the train. At present, my country's high-speed railway train operation control system generally uses ground transponders to assist wheel sensors to realize the acquisition of train position status, and uses t...

Examples

Embodiment Construction

[0072] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0073] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understoo...

technical field

[0001] The invention relates to the technical field of train positioning, in particular to a multi-sensor tightly combined train combined positioning method based on pseudo-range / pseudo-range rate. Background technique

[0002] Rail transit is the main artery of the national economy, the backbone of mass transportation and the operation of modern cities. It is a national key infrastructure and an important basic industry. It plays an irreplaceable overall support role for my country's economic and social development, improvement of people's livelihood and national security. During the operation of the train, the realization of the train operation control function depends on the accurate acquisition of information such as the speed, position, and speed of the train. At present, my country's high-speed railway train operation control system generally uses ground transponders to assist wheel sensors to realize the acquisition of train position status, and uses t...

Examples

Embodiment Construction

[0072] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0073] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understoo...

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