基于多星座卫星定位与惯性导航全状态融合的列车组合导航系统  

Integrated Train Navigation System Based on Full State Fusion of Multi-constellation Satellite Positioning and Inertial Navigation

作　　者：王剑[1,2] 凌浩 姜维 蔡伯根 WANG Jian;LING Hao;JIANG Wei;CAI Baigen(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation,Beijing 100044,China)

机构地区：[1]北京交通大学电子信息工程学院,北京100044 [2]北京市轨道交通电磁兼容与卫星导航工程技术研究中心,北京100044

出　　处：《铁道学报》2022年第11期45-52,共8页Journal of the China Railway Society

基　　金：国家自然科学基金(U1934222)。

摘　　要：目前组合导航在铁路上主要用于列车的测速定位,为了解决姿态不断发散的问题,提出基于GPS/BDS/INS的全状态组合导航系统。通过在列车上安装双天线,利用双差载波相位消除误差,使用GPS/BDS多星座联合解算等措施,实现对列车航向角和横滚角的测量;在传统松组合基础上加入双天线测姿结果,利用Kalman滤波实现对INS位置、速度、姿态的全状态矫正。为了验证本系统的有效性,在运行的列车上进行实验。实验结果表明:基于GPS/BDS的测姿系统相较于单GPS系统具有更高的稳定性和精度,全状态组合可以有效抑制INS姿态漂移,使得列车位置、速度测量精度有一定的提升。At present,integrated navigation is mainly used for train speed measurement and positioning in railway.In order to solve the problem of attitude divergence,this paper proposed a full state integrated navigation system based on GPS/BDS/INS.By installing double antennas on the train,using double difference carrier phase to eliminate errors and GPS/BDS multi constellation joint solution,the heading angle and roll angle of the train can be measured.On the basis of traditional loose combination,the attitude measurement results of double antennas were added,and the position,speed and attitude of INS can be corrected by Kalman filter.In order to verify the effectiveness of the system,the experiment was carried out by installing equipment on a running train.The results show that the attitude measurement system based on GPS/BDS has higher stability and accuracy than the single GPS attitude measurement system.The full state combination can also effectively restrain the INS attitude drift,and improve the train position and velocity measurement accuracy.

关 键 词：多星座 姿态测量 全状态 组合导航 

分 类 号：U284[交通运输工程—交通信息工程及控制]