基于加权融合的常导高速磁浮列车UKF定位算法  

Weighted Fusion-Based Unscented Kalman Filter Positioning Algorithm for Normal-Conducting High-Speed Maglev Trains

作　　者：张昕[1] 翟凌露 王舰深 张志 吴晨 ZHANG Xin;ZHAI Linglu;WANG Jianshen;ZHANG Zhi;WU Chen(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;CRRC Qingdao Sifang Co.,Ltd.,Qingdao 266111,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]中车青岛四方机车车辆股份有限公司,山东青岛266111

出　　处：《西南交通大学学报》2024年第4期832-838,共7页Journal of Southwest Jiaotong University

基　　金：山东省重点研发计划(2020CXGC010202)。

摘　　要：为提高高速磁浮列车测速定位的精确性,本文针对基于长定子齿槽检测的常导高速磁浮列车测速定位方法在列车运行过程中可能因测速定位信号缺失、干扰、测速定位安装误差等原因引起的定位不准问题,提出一种基于加权融合无迹卡尔曼滤波(UKF)的常导高速磁浮列车测速定位算法.介绍了高速磁浮列车基于长定子齿槽的测速定位方法,并对多路冗余速度位置信息进行预处理和自适应加权融合处理;给出基于加权融合UKF的常导高速磁浮列车测速定位算法模型;基于磁浮列车测速定位在环测试试验台试验,对改进后的无迹卡尔曼滤波磁浮定位算法与原定位算法进行了对比分析.分析结果表明:磁浮列车平均速度误差减小了32.6%,速度极差降低了49.3%,有效消除了信号采集噪声,提高了磁浮列车测速定位精度.The positioning and speed measurement method for normal-conducting high-speed maglev trains based on tooth slot detection of long stator may have inaccurate positioning caused by the lack of speed measurement and positioning signal,interference,and installation error of speed measurement and positioning during maglev train operation.Therefore,in order to improve the accuracy of positioning and speed measurement of high-speed maglev trains,an unscented Kalman filter(UKF)speed measurement and positioning algorithm for normalconducting high-speed maglev trains based weighted fusion was proposed.The speed measurement and positioning method for high-speed maglev trains based on the tooth slot of a long stator was introduced,and the multi-channel redundant speed and position information was pre-treated,adaptively weighted,and fused.The UKF speed measurement and positioning algorithm for normal-conducting high-speed maglev trains based on weighted fusion was given.Based on the speed measurement and positioning in-loop test of the maglev train on a testbed,the improved UKF maglev position algorithm was compared with the original positioning algorithm.The analysis shows that the average speed error of the maglev train is reduced by 32.6%,and the speed range is reduced by 49.3%,which effectively eliminates the signal acquisition noise and improves the accuracy of speed measurement and positioning of maglev trains.

关 键 词：常导高速磁浮列车 测速定位 加权融合 无迹卡尔曼滤波 

分 类 号：U237[交通运输工程—道路与铁道工程]