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BDS/INS Combined Train Location Method Based on Robust Kalman Filter

A Kalman filter, Kalman filter technology, applied in the direction of navigation, instruments, measurement devices, etc. through velocity/acceleration measurement, can solve the problems of poor reliability and accuracy, accumulated errors of integral operations, and many external interferences, and achieves Improves accuracy and reliability, reduces impact

Active Publication Date: 2021-06-11
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 Location Method Based on Robust Kalman Filter
  • BDS/INS Combined Train Location Method Based on Robust Kalman Filter
  • BDS/INS Combined Train Location Method Based on Robust Kalman Filter

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Embodiment Construction

[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 intended to limit the present invention.

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

[0051] S101: Detecting a zero-speed scene of train running, and obtaining constraints corresponding to the zero-speed scene;

[0052] In a specific application scenario, 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 the train running, the zero-speed scene of the train running is detected through the output information of the IMU inertial measurement u...

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Abstract

The invention discloses a BDS / INS combined train positioning method based on robust Kalman filtering, which includes: detecting the zero-speed scene of train running, and obtaining the constraint conditions corresponding to the zero-speed scene; based on the zero-speed scene and Obtaining the error model according to the corresponding constraint conditions; selecting a corresponding robust Kalman filter based on the zero-speed scene; correcting and solving the obtained error observation information of the error model by the selected robust Kalman filter, Corrected navigation data is obtained, and the train is positioned based on the navigation data. In order to achieve the advantages of improving positioning reliability and accuracy when multiple sensors are fused.

Description

technical field [0001] The 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 terms of improving the efficiency of railway transportation, reducing operation and maintenance costs, and ensuring the safety of railway transportation, the informatization of railway signaling systems, especially train operation control systems, has played a vital role. Positioning is an important part of the informatization of the train operation control system. The Beidou Satellite Navigation System (BDS, referred to as Beidou, is a global satellite navigation system independently designed, developed, constructed and operated by my country. After it is fully completed in 2009, it can provide precise positioning, navigation and timing (Positioning, Navigation and Timing, PNT) services covering the whole world. As a satellite navigation system w...

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Application Information

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Patent Type & Authority Patents(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
Owner LANZHOU JIAOTONG UNIV