Inertial navigation error suppression method and system based on train motion constraints

A motion constraint and error suppression technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, navigation and other directions, can solve the problems of large dependence on GNSS signal integrity and rapid divergence, and achieve recursive mean and variance, The effect of suppressing error divergence and ensuring accuracy

CN108931244BActive Publication Date: 2020-11-10LANZHOU JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-11-10

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Abstract

The invention discloses an inertial navigation error suppression method and system based on train motion constraints. Specifically, the inertial navigation error suppression method based on train motion constraints includes: judging whether satellite signals are shielded; if satellite signals are shielded, judging the train's maneuvering state in real time to judge whether large acceleration disturbance exists in the train; if the train is free of large acceleration disturbance, correcting an inertial navigation error model; and processing the data obtained by the corrected inertial navigationerror model with unscented kalman filter algorithm, thus obtaining optimal estimations of the train position, speed and attitude. The data obtained by the corrected inertial navigation error model are processed by unscented kalman filter algorithm, thus suppressing error divergence and ensuring the accuracy of train positioning in the case of simply relying on the inertial navigation system.
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Description

technical field

[0001] The invention relates to the field of train positioning, in particular to an inertial navigation error suppression method and system based on train motion constraints. Background technique

[0002] At present, the existing train positioning methods mainly include the following: axle counter, cross induction loop, transponder, track circuit, SINS (inertial navigation system) and GNSS (global navigation satellite system). Among them, the track circuit can only distinguish the section to which the train belongs, but cannot distinguish the specific position, and the error is large; the axle counter is susceptible to interference and needs to be reset directly or pre-reset, and if there is a power failure during the axle counting process, it will cause the train to enter and exit. The number of departing axes varies, which will interfere with the positioning results; the cross induction loop line needs to be realized by laying a large number of cables along...

Examples

Embodiment Construction

[0052] 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.

[0053] Such as figure 1 As shown, an inertial navigation error suppression method based on train motion constraints, including:

[0054] S102: judging whether the satellite signal is blocked;

[0055] S103: If the satellite signal is blocked, judge the maneuvering state of the train in real time to judge whether there is a large acceleration disturbance of the train;

[0056] S104: If there is no large acceleration disturbance in the train, correct the inertial navigation error model;

[0057]S105: Use the unscented Kalman filter algorithm to process the data obtained by the corrected inertial navigation error model, so as to obtain the optimal estimation of the t...