基于SINS/GNSS/轮速的列车组合导航算法研究  

Research on SINS/GNSS/Train-Speed Integrated Navigation Algorithm

作　　者：王可[1] 刘立刚 周斌[1] 卜智勇[1] Wang Ke;Liu Ligang;Zhou Bin;Bu Zhiyong(Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences,Shanghai 200050,China)

机构地区：[1]中国科学院,上海微系统与信息技术研究所,上海200050

出　　处：《系统仿真学报》2021年第1期189-195,共7页Journal of System Simulation

摘　　要：铁路沿线复杂环境下的精确定位是目前列车导航的技术难点。经典的SINS/GNSS(Strapdown Inertial Navigation System/Global Navigation Satellite System)组合导航方案在卫导信号被遮挡等情况下由SINS继续导航,但低成本惯导器件会随着时间出现误差累积。为此研究了SINS/GNSS/轮速组合导航算法,分为有卫导信息时的SINS/GNSS组合和没有卫导信息时的SINS/轮速组合2种模式,以避免纯惯导模式的较大误差。采用实测数据与离线仿真表明,算法在GPS短时失锁(<90s)时最大水平误差<5 m,精度较高。The precise train positioning under complicated railway environment has been a key technical challenge for train navigation currently. In the conventional solutions, in case of satellite signals being weak or indiscernible, the task of positioning has to be undertaken by SINS alone. This will cause some serious error-accumulation problems, especially when low-cost inertial devices are used. In order to solve this problem, we propose a novel integrated train navigation algorithm, which includes two working modes. The SINS/GNSS mode is designed for the situation that satellite signals are valid, whereas the SINS/wheel-speed mode is for the weak signal environments. Both simulation results and measured data show that the proposed algorithm can achieve a much higher accuracy, i.e., the maximum horizontal error is less than 5 m in case that the satellite signals are frequently invalid for a short time(<90 s).

关 键 词：列车定位 捷联惯导 组合导航 卡尔曼滤波 

分 类 号：TN967.2[电子电信—信号与信息处理] TP391.9[电子电信—信息与通信工程]