一种基于GNSS的站内列车精确定位方法  

A Precise GNSS-Based Method of Train Positioning in Railway Station

作　　者：马梓尧 王海峰[1,2] 齐志华 张启鹤 范宇 MA Ziyao;WANG Haifeng;QI Zhihua;ZHANG Qihe;FAN Yu(School of Electronics and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;National Engineering Research Center of Rail Transportation Operation and Control System,Beijing Jiaotong University,Beijing 100044,China;Signal and Communication Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China)

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运行控制系统国家工程研究中心,北京100044 [3]中国铁道科学研究院集团有限公司通信信号研究所,北京100081

出　　处：《铁道标准设计》2021年第2期165-172,共8页Railway Standard Design

基　　金：中国铁路总公司科技研究开发计划课题(N2018G064);先进轨道交通专项课题(I18B500050);国家自然科学基金项目(61473029);北京市自然科学基金“轨道交通联合”(L181005);国家重点基础研究计划973课题(2014CB340703)。

摘　　要：铁路车站道岔密集、站场环境复杂,基于GNSS的站内列车定位面临诸多困难,引入贝叶斯理论和卡尔曼滤波方法,提出一种站内列车精确定位方法。首先,在电子地图中用直线轨段来刻画站场轨道网络拓扑,推导出直线轨段占用识别的随机模型,结合电子地图利用贝叶斯推断对列车直线轨段占用进行估计;利用卡尔曼滤波将GNSS位置信息与速度信息融合处理,去除GNSS信号质量不稳定所产生的定位误差,获得列车的精确位置。在实际铁路车站进行了列车行车GNSS数据采集,与常规的垂直投影列车定位方法进行仿真对比分析,结果表明,本文方法在完成直线轨段占用定位的实时性方面提升了17.6%,列车位置估计误差可以降低到1 m以内,满足列车在站内精确定位需求。Due to the high-density turnouts installation and complex environment within a railway station,it is difficult to locate a train using GNSS.In this paper,a precise positioning method for in-station trains is proposed based on the Bayesian theory and the Kalman filter.Firstly,the straight track segments are defined while describing the topology of a station track layout for building its digital track map,and then the stochastic model for occupancy identification of straight track segments is created.Based on integrating a Bayesian inference into the digital track map of the station,the occupancy status of straight track segments is computed.Finally,the deviation generated by GNSS signal is eliminated by means of the Kalman filter to fuse the GNSS position information and the velocity information,and accurate train location is then obtained.In this thesis,the GNSS data of train operation at a railway station is collected,simulated and analyzed.The simulation results show that compared with the orthogonal projection algorithm,the proposed method can improve the real-time performance of occupancy identification for the straight track segments by around 17.6%,and can also reduce the estimation deviation of the train positioning to less than 1 m,which meets the requirement of accurate train positioning in railway stations.

关 键 词：列控系统 轨道占用 GNSS 列车定位 贝叶斯推断 

分 类 号：U284[交通运输工程—交通信息工程及控制]