一种快速高精度GPS组合定位方法研究
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摘要
为解决高速铁路采用GPS实现列车定位时因卫星信号中断而造成的定位差错问题,提出一种快速高精度GPS组合定位方法。在原有GPS卫星接收机的基础上结合里程计与三轴加速度陀螺仪传感器,一方面将列车高速行驶时卫星信号所产生的多普勒频移引入GPS卫星接收机,建立高速列车卫星信号捕获的数学模型,以提高信号捕获搜索效率;另一方面针对卫星定位数据中断时如何与捷联惯导/航位推算系统(SINS/DR)的数据相衔接的问题,提出基于LSKF算法的GPS/SINS/DR列车定位方法。仿真结果表明,该方法可实现卫星信号的快速捕获及高精度定位,对于提高采用GPS实现高速列车定位的质量有一定参考价值。
In order to solve the positioning errors caused by the interruption of satellite signal during the train positioning using high-speed railway GPS,a fast and high precision GPS combined positioning method was presented in this paper.On the one hand,based on the original GPS satellite receiver,and combined with ODO and three axis accelerometer gyroscope sensor,the Doppler shift of the satellite signal was introduced into the GPS satellite receiver when train operated at high speed.A mathematical model for the acquisition of the high speed train satellite signal was established to improve the efficiency of signal acquisition and search.On the other hand,to deal with the issue of data convergence with the SINS/DR system when satellite positioning data are interrupted,the GPS/SINS/DR train location method based on LSKF algorithm was proposed.The simulation results showed that the proposed method can achieve fast acquisition of the satellite signal and high precision positioning,which has a certain reference value for improving the quality of high-speed train positioning using GPS.
In order to solve the positioning errors caused by the interruption of satellite signal during the train positioning using high-speed railway GPS,a fast and high precision GPS combined positioning method was presented in this paper.On the one hand,based on the original GPS satellite receiver,and combined with ODO and three axis accelerometer gyroscope sensor,the Doppler shift of the satellite signal was introduced into the GPS satellite receiver when train operated at high speed.A mathematical model for the acquisition of the high speed train satellite signal was established to improve the efficiency of signal acquisition and search.On the other hand,to deal with the issue of data convergence with the SINS/DR system when satellite positioning data are interrupted,the GPS/SINS/DR train location method based on LSKF algorithm was proposed.The simulation results showed that the proposed method can achieve fast acquisition of the satellite signal and high precision positioning,which has a certain reference value for improving the quality of high-speed train positioning using GPS.
引文
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[2]米根锁,罗淼,牛彦霞.混沌微粒群优化BP神经网络算法在城市有轨电车定位中的应用[J].铁道学报,2015,37(6):67-72.MI Gensuo,LUO Miao,NIU Yanxia.Application of CPSO-BP Neural Network Algorithm to City Tram Positing[J].Journal of the China Railway Society,2015,37(6):67-72.
[3]LIU J,CAI B G,WANG J.A GNSS/trackmap Cooperative Train Positioning Method for Satellite-basedtrain Control[C]//2014IEEE 17th International Conference on Intelligent Transportation Systems(ITSC).New Yew:IEEEPress,2014:2 718-2 724.
[4]刘江,蔡伯根,唐涛,等.基于GPS与惯性测量单元的列车组合定位系统[J].中国铁道科学,2010,31(1):123-129.LIU Jiang,CAN Baigen,TANG Tao,et al.Train Integrated Positing System Based on GPS and Inertial Measurement Unit[J].China Railway Science,2010,31(1):123-129.
[5]樊玉明,蔡伯根,王剑,等.基于北斗-陀螺仪组合定位的轨道占用判别方法研究[J].铁道学报,2013,35(9):46-51.FAN Yuming,CAI Baigen,WANG Jian,et al.Research on Beidou-GYRO Integrated Positioning Based Track Occupancy Discrimination Method[J].Journal of the China Railway Society,2013,35(9):46-51.
[6]张海峰,张礼伟,王兴岭,等.捷联惯导系统极区导航算法优化设计及误差特性分析[J].中国惯性技术学报,2015,23(6):701-706.ZHANG Haifeng,ZHANG Liwei,WANG Xingling,et al.Optimization Design and Error Analysis of Strapdown Inertial Navigation System Mechanization in Polar Region[J].Journal of Chinese Inertial Technology,2015,23(6):701-706.
[7]刘涛,孟凡磊,李冀鑫.一种新的车载SINS/DR组合定位定向算法[J].现代防御技术,2015,43(4):80-85.LIU Tao,MEGN Fanlei,LI Jixin.New Combined Location Algorithm of SINS/DR for Land Vehicle[J].Modern Defence Technology,2015,43(4):80-85.
[8]单斌,秦永元,杨家胜,等.复杂干扰环境下捷联惯导自对准算法[J].中国惯性技术学报,2015(1):1-5.SHAN Bin,QIN Yongyuan,YANG Jiasheng,et al.SINSSelf-alignment Algorithm under Complex Interference Environment[J].Journal of Chinese Inertial Technology,2015(1):1-5.
[9]LI K,HU B,CHANG L,et al.Comparison of Direct Navigation Mode and Indirect Navigation Mode for Integrated SINS/GPS[J].Transactions of the Institute of Measurement and Control,2016,38(1):3-13.
[10]QIN F,ZHAN X,DU G.Improvement of Global Navigation Satellite System Signal Acquisition Using Different Grade Inertial Measurement Units for High Dynamic Applications[J].IET Radar,Sonar&Navigation,2014,8(3):233-241.
[11]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2009.
[12]严细辉,蔡伯根,宁滨,等.基于矢量跟踪的GPS/INS深耦合列车自主定位算法研究[J].铁道学报,2014,36(1):62-69.YAN Xihui,CAI Baigen,NING Bin,et al.Research on Deeply Integrated GPS/INS Solution for Automatic Train Positioning Based on Vector Tracking[J].Journal of the China Railway Society,2014,36(1):62-69.
[13]ALBRECHT T,LUDDECKE K,ZIMMERMANN J.APrecise and Reliable Train Positioning System and Its Use for Automation of Train Operation[C]//2013IEEE International Conference on Intelligent Rail Transportation(ICIRT).New Yew:IEEE Press,2013:134-139.
[14]中国人民共和国铁道部.TB 10621-2009高速铁路设计规范(试行)[S].北京:中国铁道出版社,2009.