管道物流系统测速定位数据融合矫正算法研究  

Research on the correction algorithm for speed measurement and location data fusion of pipeline logistics systems

作　　者：程浪 杨杰[1,2] 高涛 齐洪峰 邵福波 秦耀 CHENG Lang;YANG Jie;GAO Tao;QI Hongfeng;SHAO Fubo;QIN Yao(Jiangxi University of Science and Technology,a.Institute of Permanent Maglev and Railway Technology,Ganzhou 341000,Jiangxi,China;Jiangxi University of Science and Technology,Key Laboratory of Maglev Technology of Jiangxi Province,Ganzhou 341000,Jiangxi,China;CRRC Industrial Research Institute Co.,Ltd.,Beijing 100076,China)

机构地区：[1]江西理工大学永磁磁浮技术与轨道交通研究院,江西赣州341000 [2]江西理工大学江西省磁悬浮技术重点实验室,江西赣州341000 [3]中车工业研究院有限公司,北京100076

出　　处：《江西冶金》2023年第4期342-351,共10页Jiangxi Metallurgy

基　　金：国家自然科学基金资助项目(62063009)。

摘　　要：地下物流运输体系被视为新一代智慧城市物流配送系统的重要载体,管廊内的货运车辆测速定位方法是该体系的关键技术之一。针对一类永磁悬浮管道物流系统的测速定位难题,设计了一种多普勒雷达与惯性传感器相结合的测速方法;另外,针对多普勒雷达测速数据失常问题,设计一种采用麻雀算法(SSA)和优化极限学习机(ELM)的组合分类模型(SSA-ELM),使用该模型对失常数据进行分类,并对失常数据采用对应的惯性传感器数据进行补偿与矫正。结果表明,SSA-ELM组合分类模型对多普勒雷达测速失常数据的分类正确率达99.69%,且通过补偿后速度积分得到的位移误差降至2.6%,有效提高管廊内车辆测速定位精度,为管道物流系统的安全运行提供可靠保障。The underground logistics transportation system is regarded as an important carrier of the new generation of smart city logistics distribution systems.The speed measurement and positioning method of freight vehicles in the pipe gallery is one of the key technologies for the system.First,as per the problem of speed measurement and positioning of a class of permanent magnet suspension pipeline logistics systems,a combined speed measurement method combining Doppler radar and inertial sensors is designed.To solve the problem of abnormal Doppler radar speed measurement data,this paper then designs a combined classification model(SSA-ELM),which adopts the Sparrow algorithm(SSA) to optimize the extreme learning machine(ELM).The model is used to classify abnormal data and compensate and correct the abnormal data by the corresponding inertial sensor.Finally,the results show that the classification accuracy of the SSA-ELM combined classification model for the abnormal data of Doppler radar speed measurement is 99.69%,and the displacement error is reduced to 2.6% through compensated speed integration.The research casts positive light upon effectively improving the accuracy of vehicle speed measurement positioning in the pipeline corridor and provide reliable guarantees for the safe operation of the pipeline logistics system.

关 键 词：管道运输 多普勒雷达 惯性传感器 组合测速 SSA-ELM组合分类模型 

分 类 号：U171[交通运输工程]