BDS/INS combined train positioning method based on robust Kalman filtering

A technology of Kalman filter and Kalman filter, which is applied in the direction of navigation, measuring devices, instruments, etc. through speed/acceleration measurement, can solve problems such as poor reliability and accuracy, many external disturbances, and cumulative errors in integral calculations. The effect of reducing influence and improving accuracy and reliability

Active Publication Date: 2019-12-13
LANZHOU JIAOTONG UNIV +1
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Problems solved by technology

However, the gyroscope has the characteristics of temperature drift, and the drift is serious for a long time, and the integral operation will produce cumulative errors; the accelerometer is easily affected by the vibration of the carrier and the acceleration of motion
When these sensors work independently, they will cause large deviations due to their respective limitations, and cannot be used for attitude measurement alone. After the fusion of multiple sensors, there will be many external interferences, poor reliability and accuracy. question

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  • BDS/INS combined train positioning method based on robust Kalman filtering
  • BDS/INS combined train positioning method based on robust Kalman filtering
  • BDS/INS combined train positioning method based on robust Kalman filtering

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[0049] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0050] Such as figure 1 As shown, a BDS / INS combined train positioning method based on robust Kalman filtering includes:

[0051] S101: Detect a zero-speed scene of train operation, and obtain constraint conditions corresponding to the zero-speed scene;

[0052] In specific application scenarios, the positioning system adopted by the positioning method includes satellite navigation systems, such as BDS Beidou satellite navigation system, IMU inertial measurement unit and ODO speed sensor;

[0053] When detecting the zero-speed scene of train operation, the output information of the IMU inertial measurement unit and ODO speed sensor is combined with the constraint conditions of t...

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Abstract

The invention discloses a BDS / INS combined train positioning method based on robust Kalman filtering. The method comprises the steps: detecting a zero-speed scene of train operation, and obtaining a constraint condition corresponding to the zero-speed scene; obtaining an error model based on the zero-speed scene and the corresponding constraint condition; selecting a corresponding robust Kalman filter based on the zero-speed scene; correcting and resolving the obtained error observation information of the error model through a selected robust Kalman filter to obtain corrected navigation data,and positioning the train based on the navigation data. The method has the advantage that the positioning reliability and precision are improved when various sensors are fused.

Description

Technical field [0001] The present invention relates to the field of train positioning, in particular to a BDS / INS combined train positioning method based on robust Kalman filtering. Background technique [0002] Since the 21st century, in improving the efficiency of railway transportation, reducing operation and maintenance costs, and ensuring the safety of railway transportation, the informationization of railway signal systems, especially train operation control systems, has played a vital role, and train autonomy based on global satellite navigation systems Positioning is an important part of the informationization of the train operation control system. Beidou Satellite Navigation System (BDS for short Beidou, is a global satellite navigation system independently designed, developed, constructed and operated by China, and is a major achievement of China's spatial informatization. At present, BDS can provide complete navigation and positioning services for the Asia-Pacific reg...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G01C21/18G01C21/16G01C25/00
CPCG01C21/16G01C21/18G01C25/005
Inventor陈光武樊子燕石建强程鉴皓司涌波邢东峰杨菊花李文元
OwnerLANZHOU JIAOTONG UNIV