Multi-source sensor fusion positioning method and device

Abstract

The invention provides a multi-source sensor fusion positioning method and a multi-source sensor fusion positioning device. The multi-source sensor fusion positioning method comprises the following specific steps: acquiring data of a plurality of sensors of a train; calculating the data acquired by the sensor to obtain a corresponding data packet; performing Kalman filtering fusion on the data packets from the plurality of sensors, and selecting a fusion data combination output to the outside by the sensors from predefined fusion data combinations of the plurality of sensors according to the actual operation state of each sensor; correcting the fused data based on the sampling period of each sensor; and performing secondary fusion on the corrected fusion data, and outputting a fusion result to a train protection system. According to the invention, period consistency processing and filtering fusion are carried out on data measured by multiple sensors, and then a fusion result is corrected according to the sampling period of the fusion data, so that the positioning availability of the train control system is improved, the defects of each sensor are avoided, and the train speed and the displacement information accuracy are ensured.

Description

technical field [0001] The invention belongs to the field of train control, in particular to a multi-source sensor fusion positioning method and device. Background technique [0002] The on-board system in a railway train usually selects a variety of sensors for data acquisition, data calculation, and data fusion operations, such as axle speed sensors, accelerometer sensors, Doppler radar sensors, and satellite positioning sensors, etc., in order to meet the requirements of the train control system. The need for train speed and position information. The existing railway train positioning system mainly has the following sensor data acquisition methods: collect data through the axle speed sensor, and calculate to obtain train positioning information; collect data through accelerometer sensor and axle speed sensor, and perform calculation to obtain train positioning information; Collect data through Doppler radar sensor and axle speed sensor, and calculate to obtain train posi...

AI Technical Summary

Problems solved by technology

However, different sensor measurement data have their own defects, such as the cumulative error in the calculation distance of the wheel shaft speed sensor, and the jump error in the calculation distance of the satellite positioning sensor.

Since the advantages of each sensor are not fully utilized, the positioning accuracy of the train control system is insufficient

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