基于在道环境中脉冲观测的列车自主定位方法的研究
Jianqiang Shi1, Youpeng Zhang1, Guangwu Chen1
1School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China.
Sensors (Basel, Switzerland)
|September 14, 2024
概括
本研究介绍了一种使用道脉冲观测的自主列车定位方法. 该系统通过整合传感器数据和先进的过技术,实现连续,高精度的定位.
科学领域:
- 工程 工程师 工程师 工程师
- 计算机科学 计算机科学
- 地质物理学 地质物理学
背景情况:
- 中国铁路运输系统的快速发展需要先进的火车本地化.
- 传统方法在具有挑战性的道环境中难以高精度定位.
- 现有的技术无法满足无列车定位的需求.
研究的目的:
- 为道环境提出一个自主列车定位方法.
- 提高火车定位数据的精度和连续性.
- 在封闭环境中克服传统本地化技术的局限性.
主要方法:
- 使用Letts标准来消除异常的陀螺数据.
- 采用CEEMDAN用于信号分解和连续平均平方误差/标准分类方法.
- 实现了前向线性过和动态值过以减少噪音.
- 建立了一个具有18维状态空间的SINS/OD集成本地化模型.
- 应用EM算法以减轻非视线和多路径错误.
- 将优化的模型集成到一个具有动态噪声共变性调整的卡尔曼波器中.
主要成果:
- 成功地消除了异常的陀螺数据和降低了噪音.
- 为道环境开发了一个强大的集成本地化模型.
- 实现了连续的高精度位置信息输出.
- 有效地解决了非视线和多路径错误.
结论:
- 拟议的自主定位方法可确保在道中持续高精度列车定位.
- 集成的SINS/OD模型与先进的信号处理和过是有效的.
- 这种方法在具有挑战性的铁路环境中显著提高了火车定位准确性和可靠性.
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