基于RTK-GPS/INS的列车组合定位方法研究  

Research on RTK-GPS/INS-based Train Combination Positioning Method

作　　者：陈光武[1,2] 刘昊 魏宗寿 张琳婧[1,2] CHEN Guangwu;LIU Hao;WEI Zongshou;ZHANG Linjing(Automatic Control Research Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;Gansu Provincial Key Laboratory of Traffic Information Engineering and Control,Lanzhou 730070,China)

机构地区：[1]兰州交通大学自动控制研究所,甘肃兰州730070 [2]甘肃省高原交通信息工程及控制重点实验室,甘肃兰州730070

出　　处：《铁道学报》2020年第10期67-75,共9页Journal of the China Railway Society

基　　金：甘肃省基础研究创新群体计划(1606RJIA327);陇原青年创新人才扶持计划(2016-43);甘肃省自然基金(17JR5RA084);甘肃省重点研发能力提升计划(2060404);甘肃省高校科研创新团队计划(2018C-11)。

摘　　要：在铁路运输当中,单纯的卫星定位或惯性定位均无法提供更高的精度。因此,提出一种高精度的RTK-GPS和惯性平台相组合的定位导航系统,系统主要包括卫星接收基站、传感器输入部分、状态检测部分、数据融合部分和定位数据输出部分。在整体系统中,数据融合部分采用卡尔曼;传感器输入部分采用结合无损变换的粒子群算法改进的自适应RLS滤波;利用组合导航过程,对数据融合误差纠正方程进行学习,在卫星失锁情况中,利用学习结果持续对惯性测量单元滤波后的数据进行校正。对提出的数据融合算法和组合导航系统进行半实物验证和实物测试,结果表明:在有复杂干扰的列车运行环境中,在该算法和系统的配合下,可以基本满足较高精度的列车实时定位,在工程中具有一定的适应性和实际应用价值。In railway transportation,neither satellite positioning nor inertial positioning can provide higher accuracy.Therefore,in this paper,a high-precision RTK-GPS and inertial platform combined positioning and navigation system was proposed.The system mainly includes satellite base station,sensor input part,state detection part,data fusion part and positioning data output part.In the overall system,Kalman filter was used in the data fusion part.An adaptive RLS filter improved by particle swarm algorithm combined with the lossless transform was used in the sensor input part.At the same time,the integrated navigation process was used to learn the data fusion error correction equation.In the case of satellite lock out,the data of the filtered inertial measurement unit was continuously corrected using the learning result.Finally,the results of the semi-physical verification and physical tests on the proposed data fusion algorithm and integrated navigation system show that in the train operating environment with complex disturbances,with the algorithm and the system,the requirements of higher accuracy of the real time positioning of the train can be met.The proposed train combination positioning method has a certain degree of adaptability and practical application value.

关 键 词：RTK-GPS 组合导航 惯性导航系统(INS) 自适应RLS 粒子群优化 UT无损变换 

分 类 号：U284[交通运输工程—交通信息工程及控制]