基于GNSS/INS/NHC理论模型的轨道平顺性检测方法研究  

Research on Theory and Method for Railway-track Irregularities Monitoring by Using GNSS/INS/NHC Integration

作　　者：闵于 许桥壮 高周正[1] MIN Yu;XU Qiaozhuang;GAO Zhouzheng(School of Land Science and Technology,China University of Geosciences,Beijing 100083,China)

机构地区：[1]中国地质大学(北京)土地科学技术学院,北京100083

出　　处：《测绘与空间地理信息》2022年第3期70-75,共6页Geomatics & Spatial Information Technology

基　　金：国家自然科学基金青年基金(41804027);中央高校基本科研业务费专项资金资助优秀教师基金项目(2652018026);资源环境与灾害监测山西省重点实验室开放基金(2019-01)资助。

摘　　要：全球卫星导航系统(Global Navigation Satellite Systems,GNSS)的定位精度、可靠性和稳定性受用户环境影响明显。为此,本文利用惯性导航系统(Inertial Navigation System,INS)的短期高精度定位特性和自主导航的优点,与GNSS进行数据融合,来弥补GNSS的缺点,并进一步基于Rauch-Tung-Striebel(RTS)滤波和非完整性约束(Non-Holonomic Constraint,NHC)模型,构建RTS滤波的GNSS/INS/NHC组合模型。通过处理和分析兰新高铁采集的GNSS/INS数据,结果表明,该方法的位置重复测量精度优于5 mm,水平姿态角重复测量精度优于0.005°,航向姿态角重复测量精度优于0.01°,该方法能有效检测出铁轨中存在的不平顺性问题。The performance of Global Navigation Satellite Systems(GNSS)is limited significantly by users′environment.Therefore,the character of high-accuracy and stability of GNSS(Global Navigation Satellite Systems,GNSS)in long-term and the character of stability and autonomy of INS(Inertial Navigation System,INS)in short-term are utilized to form a new system to overcome GNSS’weakness.Meanwhile,the Rauch-Tung-Striebel smoother and the Non-Holonomic Constraint(NHC)are also applied into GNSS/INS integration system.According to the results from the GNSS/INS data of Lanzhou-Xinjiang high-speed railway,it can be known that 1)the relative measurement accuracy of positioning is higher than 5 mm in term of Root Mean Square(RMS);2)the relative measurement accuracy for horizontal attitude and yaw attitude are respectively are higher than 0.005°and 0.01°.In general,the irregularities existing in the railway tracks can be detected precisely and effectively by using the proposed method.

关 键 词：惯性导航系统 GNSS/INS组合 非完整性约束 轨道平顺性检测 

分 类 号：P228.41[天文地球—大地测量学与测量工程]