基于北斗卫星系统的列车定位方法研究
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摘要
摘要：列车控制系统需要可靠和精确的列车实时位置信息,以确保列车安全高效地运行。北斗卫星系统的建设对我国列车定位方式产生重要影响,因此基于北斗卫星的列车定位技术研究重点是提高定位结果的可靠性和精度。本文在北斗卫星系统定位理论的基础上,对北斗卫星列车定位算法进行了深入的研究,主要研究内容和创新点如下：
(1)针对北斗三频载波特点,研究了北斗载波相位的组合方式,提出了电离层残差法的组合方法,降低了电离层残差的影响；建立了北斗三频无距离无电离层组合及载波硬件延迟模型,提出了快速估算接收机载波硬件延迟的方法,有效消除了接收机硬件延迟对载波相位组合的影响。
(2)针对北斗卫星系统载波相位数据受观测误差、接收机钟跳及非线性误差的影响,提出了三种周跳探测与修复的方法。基于北斗三频相位组合减伪距周跳探测方法,降低了伪距测量误差对周跳探测的影响,提高了北斗卫星三频周跳探测分辨率；基于多观测方程融合周跳探测方法,融合了自适应卡尔曼滤波探测多个组合观测方程的结果,综合单频探测精度高、多频组合抗钟跳干扰的优点,提高了周跳探测的精度；基于自适应粒子滤波周跳探测方法,实时更新滤波模型系数,提高了非线性载波相位观测方程周跳探测的精度,具有初始化简单、收敛速度快的优点。
(3)针对列车定位精度的要求,提出了北斗卫星列车高精度单点定位算法。算法结合北斗卫星伪距无模糊度和载波相位精度高的特点,利用双频载波相位平滑伪距能够减小伪距观测噪声,消除电离层延迟,建立了估算北斗卫星码偏差模型,消除多种误差对定位的影响,从而提高单点定位精度。
(4)针对列车定位高可靠性的要求,提出北斗／GPS双模卫星单点定位的方法,有效增加卫星数据冗余度,改善了可见卫星的空间几何结构,建立加权完好性监测算法,有效剔除故障卫星,提高了定位结果的可靠性。
本文提出的理论和算法,通过北斗卫星系统和GPS实测数据的验证,有效地提高了北斗卫星系统列车定位的可靠性和精度。
ABSTRACT:Train Control System need reliable and high-precision real time of train location to achieve high efficiency and safety in the train operation. The construction of the BeiDou system will have an important impact on methods of train positioning in China, however, BeiDou satellite train positioning should mainly focus on how to improve the precision and reliability of the positioning results. Based on the BeiDou positioning principle, the dissertation proposed algorithms of BeiDou train positioning. The main contributions and innovation are as follows:
(1) Considering the features of the BeiDou triple frequency carrier, combinations of the BeiDou triple frequency satellite carrier phase are explored and the ionosphere residual combined methods are proposed to reduce the impacts of ionosphere residuals. BeiDou triple frequency Ionosphere-Free Geometry-Free combination, and carrier phase hardware delay model is established, the method of rapid estimation for the deviation of the BeiDou receiver carrier phase hardware delay are proposed to effectively eliminate the carrier phase combinations deviation.
(2) As the BeiDou satellite carrier phase is affected by observation error, receiver clock jumps and nonlinear error, three methods of cycle slip detection are proposed. The method of BeiDou triple frequency phase combinations less pseudorange cycle slip detection reduced the influence of pseudorange measurement error and enhanced the resolution cycle slip detection. The method of multiple observation equations fusion applied in cycle slip detection, fused with the detection results of multiple combined observation equations by adaptive kalman filter, along with the single frequency supplying high precision and multi-frequency combination distinguishing clock jumps, improved the precision of the cycle slip detection. The method of adaptive particle filter applied in cycle slip detection by real time updating filter model coefficients, enhanced accuracy of the nonlinear carrier phase observation equation cycle slip detection, coupled with characteristics of simpler initialization and faster convergence.
(3) BeiDou high-precision point positioning algorithm is put forward to meet the demand for train positioning precision. On account of the high precision of carrier BeiDou satellite phase and no ambiguity of pseudorange, the pseudo-range measurement noise is reduced and the ionosphere delay is eliminated by dual frequency carrier phase smoothing pseudo-range algorithm. The BeiDou satellite Difference Code Bias(DCB) model is estimated and all kinds of errors are removed, which ultimately improve the precision of BeiDou point positioning.
(4) BeiDou/GPS dual-mode point positioning algorithm is proposed to insure the high reliability of train positioning technology. BeiDou/GPS dual-mode positioning increases satellite data redundancy, improves the spatial geometry of visible satellites. The integrity monitoring algorithm can remove the failed satellites effectively and finally enhances the reliability of the positioning results.
The theory and algorithms put forward in the dissertation are proved by the calculation of the raw data obtained from BeiDou and GPS satellites, can effectively improve the accuracy and reliability of BeiDou train positioning.
(1)针对北斗三频载波特点,研究了北斗载波相位的组合方式,提出了电离层残差法的组合方法,降低了电离层残差的影响；建立了北斗三频无距离无电离层组合及载波硬件延迟模型,提出了快速估算接收机载波硬件延迟的方法,有效消除了接收机硬件延迟对载波相位组合的影响。
(2)针对北斗卫星系统载波相位数据受观测误差、接收机钟跳及非线性误差的影响,提出了三种周跳探测与修复的方法。基于北斗三频相位组合减伪距周跳探测方法,降低了伪距测量误差对周跳探测的影响,提高了北斗卫星三频周跳探测分辨率；基于多观测方程融合周跳探测方法,融合了自适应卡尔曼滤波探测多个组合观测方程的结果,综合单频探测精度高、多频组合抗钟跳干扰的优点,提高了周跳探测的精度；基于自适应粒子滤波周跳探测方法,实时更新滤波模型系数,提高了非线性载波相位观测方程周跳探测的精度,具有初始化简单、收敛速度快的优点。
(3)针对列车定位精度的要求,提出了北斗卫星列车高精度单点定位算法。算法结合北斗卫星伪距无模糊度和载波相位精度高的特点,利用双频载波相位平滑伪距能够减小伪距观测噪声,消除电离层延迟,建立了估算北斗卫星码偏差模型,消除多种误差对定位的影响,从而提高单点定位精度。
(4)针对列车定位高可靠性的要求,提出北斗／GPS双模卫星单点定位的方法,有效增加卫星数据冗余度,改善了可见卫星的空间几何结构,建立加权完好性监测算法,有效剔除故障卫星,提高了定位结果的可靠性。
本文提出的理论和算法,通过北斗卫星系统和GPS实测数据的验证,有效地提高了北斗卫星系统列车定位的可靠性和精度。
ABSTRACT:Train Control System need reliable and high-precision real time of train location to achieve high efficiency and safety in the train operation. The construction of the BeiDou system will have an important impact on methods of train positioning in China, however, BeiDou satellite train positioning should mainly focus on how to improve the precision and reliability of the positioning results. Based on the BeiDou positioning principle, the dissertation proposed algorithms of BeiDou train positioning. The main contributions and innovation are as follows:
(1) Considering the features of the BeiDou triple frequency carrier, combinations of the BeiDou triple frequency satellite carrier phase are explored and the ionosphere residual combined methods are proposed to reduce the impacts of ionosphere residuals. BeiDou triple frequency Ionosphere-Free Geometry-Free combination, and carrier phase hardware delay model is established, the method of rapid estimation for the deviation of the BeiDou receiver carrier phase hardware delay are proposed to effectively eliminate the carrier phase combinations deviation.
(2) As the BeiDou satellite carrier phase is affected by observation error, receiver clock jumps and nonlinear error, three methods of cycle slip detection are proposed. The method of BeiDou triple frequency phase combinations less pseudorange cycle slip detection reduced the influence of pseudorange measurement error and enhanced the resolution cycle slip detection. The method of multiple observation equations fusion applied in cycle slip detection, fused with the detection results of multiple combined observation equations by adaptive kalman filter, along with the single frequency supplying high precision and multi-frequency combination distinguishing clock jumps, improved the precision of the cycle slip detection. The method of adaptive particle filter applied in cycle slip detection by real time updating filter model coefficients, enhanced accuracy of the nonlinear carrier phase observation equation cycle slip detection, coupled with characteristics of simpler initialization and faster convergence.
(3) BeiDou high-precision point positioning algorithm is put forward to meet the demand for train positioning precision. On account of the high precision of carrier BeiDou satellite phase and no ambiguity of pseudorange, the pseudo-range measurement noise is reduced and the ionosphere delay is eliminated by dual frequency carrier phase smoothing pseudo-range algorithm. The BeiDou satellite Difference Code Bias(DCB) model is estimated and all kinds of errors are removed, which ultimately improve the precision of BeiDou point positioning.
(4) BeiDou/GPS dual-mode point positioning algorithm is proposed to insure the high reliability of train positioning technology. BeiDou/GPS dual-mode positioning increases satellite data redundancy, improves the spatial geometry of visible satellites. The integrity monitoring algorithm can remove the failed satellites effectively and finally enhances the reliability of the positioning results.
The theory and algorithms put forward in the dissertation are proved by the calculation of the raw data obtained from BeiDou and GPS satellites, can effectively improve the accuracy and reliability of BeiDou train positioning.
引文
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