引入卫星导航系统的虚拟应答器中列车定位方案适应性研究  

Research on adaptability of train positioning scheme in Virtual Balise with satellite navigation system

作　　者：王思琦 刘江[1,2,3] 蔡伯根[2,3,4] 王剑 陆德彪[1,2,3] WANG Siqi;LIU Jiang;CAI Baigen;WANG Jian;LU Debiao(School of Electronics and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;Frontiers Science Center for Smart High-speed Railway System,Beijing Jiaotong University,Beijing 100044,China;Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation,Beijing Jiaotong University,Beijing 100044,China;School of Computer Science and Technology,Beijing Jiaotong University,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]北京交通大学智慧高铁系统前沿科学中心,北京100044 [3]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 [4]北京交通大学计算机与信息技术学院,北京100044

出　　处：《铁道科学与工程学报》2023年第3期1054-1065,共12页Journal of Railway Science and Engineering

基　　金：中央高校基本科研业务费专项资金资助项目(2022YJS143);国家自然科学基金资助项目(U2268206,T2222015);北京市自然科学基金资助项目(4232031)。

摘　　要：随着新型列车运行控制技术及系统的快速发展,基于卫星导航的列车运行状态自主感知已成为下一代列车运行控制系统的重要发展方向。虚拟应答器是将全球导航卫星系统引入列车运行控制系统的有效途径,卫星定位因易于受到信号观测条件限制导致性能约束,无法直接满足虚拟应答器的应用需求。针对虚拟应答器中卫星定位的应用模式进行适应性分析,总结出不同线路及运行条件下虚拟应答器卫星定位方案的设计与应用建议。首先,介绍引入卫星定位的虚拟应答器的运行机理;其次,给出基于自适应交互多模型的虚拟应答器捕获原理;然后,对卫星定位独立定位、卫星定位/惯性导航系统松耦合定位、卫星定位/惯性导航系统紧耦合定位3种典型方案的核心思路、系统架构、计算流程进行设计与分析;最后,采用现场数据及仿真测试,对3种卫星定位方案的定位性能、计算效率、用于实施虚拟应答器捕获的时空精度特征进行评估与对比。研究结果表明:卫星定位/惯性导航系统紧耦合定位方案的综合效益更优。对引入卫星导航系统的虚拟应答器中列车定位方案的适应性进行了分析,所得结果能够为虚拟应答器结构与逻辑方案的设计提供参考,为新型列车运行控制系统的优化设计与设备研制提供有效支持。With the rapid development of novel train control technologies and systems,satellite navigation-based autonomous perception of train running state has become an important development direction of next generation train control systems.The Virtual Balise(VB) is an effective way to introduce Global Navigation Satellite System(GNSS) into train control systems.The performance of GNSS-based train positioning may be constrained by specific signal observation environment.Thus it will not be able to meet the requirement of VB.This study analyzed the adaptability of the satellite-based positioning schemes for VB.Specific suggestions for the design and implementation of GNSS-based positioning schemed for VB under different railway lines,and the corresponding operation environments were summarized.Firstly,the operation mechanism of the GNSS-enabled VB system was introduced.Secondly,the VB capture principle based on the adaptive Interacting Multiple Model(IMM) method was given.Furthermore,the specific key approach,system architecture and calculation procedures of typical train positioning schemes were designed and analyzed,including GNSS-alone,GNSS/INS loosely-coupled integration,and GNSS/INS tightly-coupled integration schemes.Finally,the filed data and simulation tests were utilized to evaluate and compare the positioning performance,computation efficiency and the spatial/temporal precision of VB capturing corresponding to three positioning solutions.The results show that the integrated benefit of GNSS/INS tightly-coupled integration scheme is better.The adaptability of train positioning scheme in VB with satellite navigation system is analyzed.The results can be utilized in the design of system structure and logic strategies of the VB system,and that will provide effective support for the optimization design and equipment development of novel train operation control systems.

关 键 词：虚拟应答器 列车定位 适应性分析 卫星定位 组合定位 

分 类 号：U284[交通运输工程—交通信息工程及控制]