基于单天线航向测量的股道占用判别方法研究  

Track occupancy discrimination method based on single antenna heading measurement

作　　者：刘永强[1] 王剑[1,2,3] 姜维 LIU Yongqiang;WANG Jian;JIANG Wei(School of Automation and Intelligence,Beijing Jiaotong University,Beijing 100044,China;State Key Laboratory of Advanced Rail Autonomous Operation,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]北京交通大学自动化与智能学院,北京100044 [2]北京交通大学先进轨道交通自主运行全国重点实验室,北京100044 [3]北京市电磁兼容与卫星导航工程技术研究中心,北京100044

出　　处：《铁道科学与工程学报》2024年第9期3574-3584,共11页Journal of Railway Science and Engineering

基　　金：国家重点研发计划项目(2022YFB4300500);国家自然科学基金资助项目(T2422002,T2222015,U2268206);北京市自然科学基金资助项目(L211004)。

摘　　要：随着北斗卫星系统的建设完成,以卫星导航为核心的车载化列车定位成为列车定位系统的发展方向。在这一背景下,精准判别列车股道占用成为确保列车高精度位置感知的必要前提,对避免冲突、支撑列车调度决策和保障列车安全具有重要的意义。针对传统的股道占用判别方法通常依赖于地面设备,易受到成本、复杂性和维护困难等因素制约的问题,研究利用低成本的单GNSS天线进行高精度的列车航向角测量。特别是在道岔咽喉区,计算单天线测量结果与数据库中列车航向的偏差,评估对不同股道的占用概率。为此,首先构建了载波相位星间差分与历元差分的双差分模型,消除了电离层、对流层、钟差、模糊度等一系列卫星定位误差源的影响;其次,通过扩展卡尔曼滤波估计相邻历元间列车的位移变化量,同时计算伪姿态坐标系下的列车航向;最后,基于航向角偏差进行列车的股道占用判别,并利用列车进出青藏线联通河站的实测数据对所提算法进行了验证,并结合轨道电子地图,判别列车占用正线/侧线不同股道的置信概率。实验结果表明:通过单天线解算列车航向角的误差均方根为0.111°,根据航向角偏差进行股道判别的模糊区距离减少了约50m,模糊区时间减少了约5s。仅通过单天线航向解算完成高精度的航向测量,并根据航向角偏差实现股道占用判别,可作为轨道占用的一种判别方式,具有一定的工程价值。With the completion of the Beidou satellite system,onboard train positioning with satellite navigation as the core has become the development direction of the train positioning system.In this background,accurate identification of train track occupancy has become a necessary prerequisite to ensure high-precision position perception of trains,which is of great significance to avoid conflicts,support train scheduling decisions and ensure train safety.Traditional track occupancy judgment methods usually rely on ground equipment and are easily limited by factors such as cost,complexity,and maintenance difficulty.To solve these problems,a low-cost and high-accuracy single GNSS antenna method was proposed to measure train heading angle.Especially in the turnout throat area,the deviation between the single antenna measurement result and the train heading in the database was calculated.And then the occupation probability of different tracks was evaluated.Therefore,firstly,a double difference model of carrier phase difference between satellites and epoch difference was constructed,which eliminated the influence of a series of satellite positioning errors such as ionosphere,troposphere,clock error and ambiguity.Secondly,the extended Kalman filter was used to estimate the relative position vector between adjacent epochs and calculate the train heading angle in pseudo-attitude coordinate system.Finally,based on the deviation of heading angle,the occupation of train track was judged,and the proposed algorithm was verified by the measured data of trains entering and leaving Liantonghe Station of Qinghai-Tibet Railway.Combined with the track electronic map,the confidence probability of trains occupying different tracks on the main line/sidetrack was judged.The experimental results show that the root mean square error of calculating the train heading angle by single antenna is 0.111°,and the distance of the fuzzy zone for track discrimination based on the heading angle deviation is reduced by about 50m,and the time of the fuzzy

关 键 词：股道占用 列车航向 载波相位双差 单天线测量 列车姿态 

分 类 号：U284[交通运输工程—交通信息工程及控制]