The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technolo...The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technology.To address these restraints,the BeiDou navigation satellite system/strapdown inertial navigation system(BDS/SINS)integrated train positioning system based on an adaptive unscented Kalman filter(AUKF)is proposed.Firstly,the combined denoising algorithm(CDA)and Lagrange interpolation algorithm are introduced to preprocess the original data,effectively eliminating the influence of noise signals and abnormal measurements on the train positioning system.Secondly,the innovation theory is incorporated into the unscented Kalman filter(UKF)to derive the AUKF,which accomplishes an adaptive update of the measurement noise covariance.Finally,the positioning performance of the proposed AUKF is contrasted with that of conventional algorithms in various operation scenes.Simulation results demonstrate that the average value of error calculated by AUKF is less than 1.5 m,and the success rate of positioning touches 95.0%.Compared to Kalman filter(KF)and UKF,AUKF exhibits superior accuracy and stability in train positioning.Consequently,the proposed AUKF is well-suited for providing precise positioning services in variable operating environments for trains.展开更多
SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不...SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不同导航模式对系统性能的影响,最后给出了一些有益的结论。展开更多
基金supported by Project Fund of China National Railway Group Co.,Ltd.(No.N2022G012)Natonal Natural Science Foundation of China(No.61661027)。
文摘The traditional train positioning methods suffer from inadequate accuracy and high maintenance costs,rendering them unsuitable for the development requirements of lightweight and intelligent train positioning technology.To address these restraints,the BeiDou navigation satellite system/strapdown inertial navigation system(BDS/SINS)integrated train positioning system based on an adaptive unscented Kalman filter(AUKF)is proposed.Firstly,the combined denoising algorithm(CDA)and Lagrange interpolation algorithm are introduced to preprocess the original data,effectively eliminating the influence of noise signals and abnormal measurements on the train positioning system.Secondly,the innovation theory is incorporated into the unscented Kalman filter(UKF)to derive the AUKF,which accomplishes an adaptive update of the measurement noise covariance.Finally,the positioning performance of the proposed AUKF is contrasted with that of conventional algorithms in various operation scenes.Simulation results demonstrate that the average value of error calculated by AUKF is less than 1.5 m,and the success rate of positioning touches 95.0%.Compared to Kalman filter(KF)and UKF,AUKF exhibits superior accuracy and stability in train positioning.Consequently,the proposed AUKF is well-suited for providing precise positioning services in variable operating environments for trains.
