复杂城市环境下GNSS/INS轻轨轨道中线精密测量方法  

Precision Measurement Method of Light Rail Centerline Based on GNSS/INS in Complex Urban Environment

作　　者：房博乐 FANG Bo-le(Institute of Surveying, Mapping and Geoinformation of China Railway Design Corporation, Tianjin 300251, China)

机构地区：[1]中国铁路设计集团有限公司测绘地理信息研究院,天津300251

出　　处：《导航定位与授时》2022年第4期136-141,共6页Navigation Positioning and Timing

摘　　要：在城市轻轨线路的中线精密测量中,传统的基于GNSS的测量方式往往受高楼、站台、上跨桥及声屏障等复杂环境信号遮挡影响,甚至无法接收到GNSS信号,难以得到满足精度要求的轨道中线坐标;而基于全站仪的测量方式需建立轨道控制网,作业效率低下。为了满足城市轻轨中线精密测量高精度和高效率的需求,采用GNSS/INS轨道中线精密测量方法,基于Kalman滤波将惯导、GNSS数据进行融合,并根据轨道检测仪在轨道上不发生垂向和侧向运动的特点,采用运动约束算法,以提升组合导航系统测量精度。同时设计了基于新息滤波的抗差检测,以剔除定位质量差的GNSS数据。通过将里程计比例因子误差增广到状态向量的方式进行参数估计,以减小里程计测量误差。通过集成惯导、GNSS、里程计等传感器的轨检小车,采集城市轻轨轨道测量数据。经数据处理和对比分析,在GNSS信号较差的复杂场景下能够得到厘米级的轻轨轨道中线坐标,且测量效率大大提升。In the precision measurement of the center line of urban light rail transit,the application of traditional measurement method based on GNSS is often blocked by complex environmental such as high-rise buildings,platforms,overpass bridges and sound barriers.Especially when the GNSS signals are unavailable,it is difficult to obtainthe coordinates of the centerline of rail transit that meet the accuracy requirements.Meanwhile the application of the measurement method based on total station needs to establish track control network,and the operation efficiency is low.In order to meet the needs of high precision and high efficiency of the precision measurement of urban light rail centerline,a GNSS/INS precise measurement method of track centerline is adopted.In this method,the inertial data and GNSS data are fused based on Kalman filter,and according to the characteristics that the track detector does not have vertical and lateral motion on the track,the motion constraint algorithm is adopted to improve the measurement accuracy of the integrated navigation system.At the same time,robust detection based on innovation filter is designed to eliminate GNSS data with poor positioning quality.The odometer scale factor error is also extended to the state vector for parameter estimation to reduce the odometer measurement error.The urban light rail track data is collected through the rail inspection trolley integrated with inertial navigation system,GNSS,odometer and other sensors.Through data processing and comparative analysis,centimeter level light rail track centerline coordinates can be obtained in the complex scene with poor GNSS signal,and the measurement efficiency is greatly improved.

关 键 词：精密测量 运动约束 轻轨中线 KALMAN滤波 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]