基于GNSS和INS的磁浮列车组合测速定位理论研究  

Theoretical research on combined speed measurement and positioning of maglev train based on GNSS and INS

作　　者：顾诚 王帅[2] 沈石秀 郭帅邯 胡裕松 成庶[3] GU Cheng;WANG Shuai;SHEN Shixiu;GUO Shuaihan;HU Yusong;CHENG Shu(Shanghai Shentong Metro Co.,Ltd.,Shanghai 201103,China;School of Automation,Central South University,Changsha 410075,China;School of Traffic and Transportation Engineering,Central South University,Changsha 410075,China)

机构地区：[1]上海申通地铁股份公司,上海201103 [2]中南大学自动化学院,湖南长沙410075 [3]中南大学交通运输工程学院,湖南长沙410075

出　　处：《铁道科学与工程学报》2020年第11期2756-2766,共11页Journal of Railway Science and Engineering

基　　金：国家重点研发计划资助项目(2016YFB1200601)。

摘　　要：随着全球科学技术的快速发展,磁悬浮列车的优势越来越凸显。测速定位系统对于保障磁悬浮列车的安全运行十分重要,但是传统方法已经不能适应当前磁浮列车的需求。在对国内外组合测速定位系统研究进行分析的基础上,提出基于GNSS/INS的磁悬浮列车组合测速定位系统,优化GNSS系统的选星算法,补偿INS系统的偏差,增加融合算法的约束方程。设计冗余系统并且搭建了样机,使用样机进行了实际跑车测试。研究结果表明:本文提出的组合测速定位系统具有高精度、高实时性和高可靠性的特点。With the rapid development of global science and technology,the advantages of maglev trains are becoming more and more prominent.Speed-measuring positioning system is very important to ensure the safe operation of maglev trains,but the traditional methods can not adapt to the current demand of maglev trains.Based on the analysis of the research on the combination speed measurement and positioning system at home and abroad,this paper proposed the combined speed measurement and positioning system according to GNSS/INS,which optimized the star selection algorithm of GNSS system,compensates the deviation of the INS system,and increased the binding equation of the fusion algorithm.The redundant system was designed and the prototype was built,and the actual sports car was tested using the prototype.The experimental results show that the combined speed measurement positioning system proposed in this paper has the characteristics of high precision,high real-time and high reliability.

关 键 词：磁悬浮列车 测速定位系统 GNSS INS 

分 类 号：U266.4[机械工程—车辆工程]