基于GNSS的站内列车自主定位方法  

Algorithm for Autonomous Train Location in Railway Station Based on GNSS

作　　者：刘兆年 齐志华 柴铭 王海峰[1,3] LIU Zhaonian;QI Zhihua;CHAI Ming;WANG Haifeng(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;Signal&Communication Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;National Engineering Research Center of Rail Transportation Operation and Control System,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]中国铁道科学研究院集团有限公司通信信号研究所,北京100081 [3]北京交通大学轨道交通运行控制系统国家工程研究中心,北京100044

出　　处：《铁道学报》2023年第9期85-93,共9页Journal of the China Railway Society

基　　金：北京市自然科学基金(L201004);国家自然科学基金(61473029);国家级科技计划(2014CB340703)。

摘　　要：列车精确自主定位是列车运行防护过程的一项核心关键技术。提出一种基于全球导航卫星系统同时考虑轨道占用状态转移的贝叶斯估计算法,将列车可能占用的区段放入备选集合,并对备选集合不断更新、评估、选择。在静态初始定位过程中,使用极大似然估计算法计算列车在区段上最可能的位置;在跟踪定位过程中,使用卡尔曼滤波算法将全球导航卫星系统和速度传感器融合实现精确定位。对列车实际行车数据分析的结果表明:在静态初始定位过程中,占用轨道识别正确率为100%;在跟踪定位过程中,占用轨道识别正确率为100%,平均误差为0.76 m。本方法满足列车运行防护的运用要求,对卫星导航定位在铁路中的应用具有借鉴意义。Accurate autonomous positioning of trains is a key technology in the process of train operation protection.A Bayesian estimation algorithm was proposed based on Global Navigation Satellite System(GNSS)considering the transfer of track occupancy state.The sections that may be occupied by the train were put into the alternative set,which was continuously updated,evaluated and selected.In the static initial positioning process,the maximum likelihood estimation algorithm was used to calculate the most likely position of the train in the section.In the process of tracking and positioning,the Kalman filter algorithm was used to fuse GNSS and velocity sensors to achieve precise positioning.The results of GNSS data analysis on the actual train operation show that the accuracy of occupied track recognition is 100%in the static initial positioning process.In the process of tracking and positioning,the recognition rate of occupied track is 100%,with the average error of 0.76 m.This method,meeting the application requirements of train operation protection,has reference significance for the application of satellite navigation and positioning in railways.

关 键 词：列控系统 列车自主定位 全球导航卫星系统 列车初始定位 列车跟踪定位 

分 类 号：U283.2[交通运输工程—交通信息工程及控制]