Train speed estimation method based on particle filter and multi-sensor information fusion

A particle filter, multi-sensor technology, applied in linear/angular velocity measurement, velocity/acceleration/impact measurement, instruments, etc., can solve the problems of single speed measurement method and difficult to obtain high-precision train speed information.

CN109782325BInactive Publication Date: 2021-03-12SOUTHWEST JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-03-12
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a train speed estimation method based on particle filter and multi-sensor information fusion. The method comprises the following steps: S1, detecting a train moving shaft speedby using an axle rotating speed sensor and carrying out particle filtering on an output result of the axle rotating speed sensor to obtain a first estimated value of the train speed; S2, detecting the train speed by a vehicle-mounted GPS and carrying out particle filtering on a detection result of the vehicle-mounted GPS to obtain a second estimated value of the train speed; and S3, on the basisof a scalar weighted linear minimum variance fusion criterion, carrying out optimal fusion estimation on the two estimated values of the train speed to obtain a final train speed estimation value. According to the invention, the train speed is estimated by using the particle filter algorithm and no special requirement and limitation are set on the noise characteristics. The train speed is detectedby using two different kinds of methods; and after particle filtering, the optimal fusion estimation is carried out on the two obtained train speed estimation values, so that the detection accuracy is effectively improved.
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Description

technical field

[0001] The invention relates to train speed estimation, in particular to a train speed estimation method based on particle filter and multi-sensor information fusion. Background technique

[0002] Accurate and fast detection of train speed is very important in the application of train adhesion control, which directly determines the final result and effect of adhesion control. At present, the train speed measurement methods can be divided into two categories: direct method and estimation method. Direct methods include pulse speed measurement method, GPS speed measurement method, Doppler radar speed measurement method, transponder speed measurement method, cross induction loop speed measurement method, etc. These speed detection methods are affected by factors such as the external environment, railway lines, idling or skidding caused by poor adhesion, and the measured train speed cannot be directly used by the adhesion control system, and the speed signal outp...

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Embodiment Construction

[0078] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0079] Such as figure 1 As shown, the train speed estimation method based on particle filter and multi-sensor information fusion includes the following steps:

[0080] S1. Use the wheel shaft speed sensor to detect the speed of the moving shaft of the train, and perform particle filtering on the output result of the wheel shaft speed sensor to obtain the first estimated value of the train speed;

[0081] S2. Adopt vehicle-mounted GPS to detect train speed, and carry out particle filter to the detection result of vehicle-mounted GPS, obtain the second estimated value of train speed;

[0082] S3. Based on the scalar weighted linear minimum variance fusion criterion, perform optimal fusion estimation on the two estimated train speeds to obtai...