Research on Intelligent Railway Personnel Positioning System Based on Pure Inertial Navigation System
A pure inertial navigation system based intelligent railway personnel positioning method is proposed to address the issues of GPS wireless signal loss and accumulation of errors in inertial sensor navigation calculation process in different application scenarios of GPS and IMU integrated navigation positioning systems.Using inertial sensors to collect foot data of railway inspectors and analyze their motion characteristics.Propose a machine learning intelligent classification algorithm to detect the stationary and moving phases of pedestrians during walking.In the initial state,perform initial alignment to determine the initial orientation.At zero speed,the extended Kalman filter is used to estimate heading error,angular velocity error,and velocity error,achieving zero speed correction of attitude,velocity,and position in navigation calculation.Comparing the navigation experiment of inspectors with the GPS RTK differential positioning experiment,it was found that the proposed intelligent railway personnel positioning system based on pure inertial navigation system can accurately track the real-time position of inspectors,with an average error of 2.674%and a maximum error of no more than 3.3%.
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