基于GPS与惯性测量单元的列车组合定位系统  

Train Integrated Positioning System Based on GPS and Inertial Measurement Unit

作　　者：刘江[1,2] 蔡伯根[1] 唐涛[2] 王剑[1] 

机构地区：[1]北京交通大学电子信息工程学院,北京100044 [2]北京交通大学轨道交通控制与安全国家重点实验室,北京100044

出　　处：《中国铁道科学》2010年第1期123-129,共7页China Railway Science

基　　金：国家自然科学基金资助重点项目(60736047;60634010;60870016);国家"八六三"计划项目(2007AA11Z214)

摘　　要：采用GPS接收机及惯性测量单元构成列车组合定位系统,系统包括传感器输入层、故障检测与隔离层、数据融合层和输出层4个部分。给出GPS接收机、惯性测量单元等定位传感器的位置解算方法;设计采用H∞鲁棒滤波方法的数据融合算法;采用小波变换方法进行组合系统故障检测,确定故障隔离及系统重构策略。对列车组合定位系统进行现场测试和仿真验证结果表明:在复杂的列车运行环境及干扰条件下,该系统能够实现高精度高可靠性的列车定位;定位误差较采用传统的Kalman滤波方法更为稳定;组合系统能够有效实现故障检测并根据故障隔离策略重构系统,保证定位输出的连续性,保障系统安全;具有较高的适应性和实际应用价值。GPS receiver and inertial measurement unit are employed to form the train integrated positioning system, which includes the sensor input layer, fault detection and isolation layer, data fusion layer and the output layer. In this paper, the positioning calculation method of GPS and the inertial measurement unit are analyzed, the H∞ robust filter based method is designed for the data fusion, a wavelet based method is proposed to realize fault detection, and then the corresponding fault isolation and system reconfiguration strategies are determined. Validation with real train positioning data from field test and some simulation demonstrate that the train integrated positioning system could meet the requirement of precision and reliability in complex train operating environment and interference condition, earn higher stability than traditional Kalman filter, guarantee the system safety and continuity with effective fault detection and isolation, and keep better adaptive ability and practical value.

关 键 词：列车定位 组合定位 惯性测量单元 GPS 数据融合 故障检测与隔离 

分 类 号：U284.48[交通运输工程—交通信息工程及控制]