基于SINS/GNSS松组合导航的列车定位算法
Algorithm of Train Positioning Based on SINS/GNSS Loose Integrated Navigation
程远 1李亚聪 2杨玉孔1
作者信息
- 1. 华中光电技术研究所—武汉光电国家研究中心,湖北武汉 430223
- 2. 烽火通信科技股份有限公司,湖北武汉 430074
- 折叠
摘要
相较于单一的列车定位方式,组合导航技术可以有效提高列车定位系统的定位精度.介绍了捷联惯性导航(SINS)/卫星导航(GNSS)组合导航技术的基本原理,提出了一种实用的列车惯导/卫导松组合Kalman滤波算法,利用惯导和卫导各自的技术优势,克服列车行驶路线中地理、环境等因素的不利影响,持续性地给出列车准确的定位信息.通过分析列车实际复杂线路的行驶数据,组合导航定位精度满足要求,验证了该算法的实用性和有效性,确保了列车行车安全和运输效率.
Abstract
Compared with a single train positioning method,integrated navigation technology can effectively improve the performance of train positioning systems.This paper introduces the basic principle of the integrated navigation technology of strapdown inertial navigation system(SINS)/satellite navigation(GNSS)for trains,and proposes a practical Kalman filtering algorithm for loose integrated of inertial navigation and satellite navigation.By utilizing the technical advantages of inertial navigation and satellite navigation,it overcomes the adverse effects of geographical and environmental factors on train travel routes and continuously provides accurate positioning information for trains.By analyzing the actual travel data of complex routes,the accuracy of integrated navigation positioning meets the requirements.The practicability and effectiveness of the integrated navigation algorithm are verified,which ensures the safety of train operation and transportation efficiency.
关键词
列车定位/Kalman滤波/松组合导航/卫星导航/捷联惯性导航Key words
train positioning/Kalman filtering/loose integrated navigation/GNSS/SINS引用本文复制引用
出版年
2024
NETL
NSTL
万方数据