基于紧耦合GNSS/INS的高速列车精准定位研究  

Precise positioning of high speed train based on tightly coupled GNSS/INS

作　　者：石庆升 刘帅帅 尚庆松 Shi Qingsheng;Liu Shuaishuai;Shang Qingsong(Collge of Mechanical and Eleetrical Engineering,Henan University of Technology,2hengzhou 450000,China;College of Electrical Engineering,Henan University of Technology,Zhengzhou 450000,China)

机构地区：[1]河南工业大学机电工程学院,郑州450000 [2]河南工业大学电气工程学院,郑州450000

出　　处：《电子测量技术》2022年第13期7-13,共7页Electronic Measurement Technology

基　　金：国家自然科学基金(61403124);2019年度河南省高等学校青年骨干教师培养计划(2019GGJS095)资助。

摘　　要：为了改善高速列车在行驶过程中定位不精准的现状,本研究采用全球卫星导航系统和惯性导航系统,构建了GNSS/INS紧耦合精准定位系统。提出等价权原理将UKF算法中的噪声协方差进行等价替换,使其能够在信息融合过程中对滤波增益进行调节,降低观测粗差带来的影响,提高UKF算法的鲁棒性。本研究在改进UKF算法的基础上,用地图匹配算法对滤波器处理后的定位数据进行再处理,进行仿真对比。结果表明,改进UKF算法和标准UKF算法仿真得到的位置速度误差曲线,其AVE和RMSE值均降低20%以上;又经过地图匹配算法处理后的定位精度更高,表明本研究能够提高高速列车的定位精准性、稳定性。In order to improve the status quo of inaccurate positioning of high-speed trains during running,this study adopts global navigation satellite system and inertial navigation system to construct GNSS/INS tightly coupled precise positioning system.The equivalent weight principle is proposed to replace the noise covariance in the UKF,so that the Filter gain can be adjusted in the process of information fusion,the influence of observation coarse error can be reduced,and the robustness of UKF algorithm can be improved.Based on the improved UKF algorithm,this study uses map matching algorithm to reprocess the location data after filter processing,and carries on the simulation comparison.The results show that AVE and RMSE values of the position velocity error curves simulated by the improved UKF algorithm and the standard UKF algorithm are reduced by more than 20%.And the positioning accuracy is higher after the map matching algorithm processing,indicating that this study can improve the positioning accuracy and stability of high-speed trains.

关 键 词：GNSS/INS紧耦合 抗差估计理论 改进UKF算法 地图匹配算法 

分 类 号：U284[交通运输工程—交通信息工程及控制] TN96[交通运输工程—道路与铁道工程]