一个由GRU-IBiLSTM辅助的火车因子图融合定位方法,用于低成本的SINS/GNSS
Cheng Chen1, Guangwu Chen1, Xinye Ma2
1School of Electronic and Information Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China.
Sensors (Basel, Switzerland)
|February 27, 2026
概括
本研究引入了一种用于铁路导航的新型因子图优化框架. 它使用混合神经网络在全球导航卫星系统 (GNSS) 中断期间保持定位准确性.
科学领域:
- 导航系统工程 导航系统工程
- 交通运输中的人工智能
- 地理学工程 工程地质学
背景情况:
- 在铁路定位方面,SINS/全球导航卫星系统 (GNSS) 集成至关重要.
- 传统的过方法与历史数据作斗争,并在GNSS中断时失败.
- 对于GNSS中断的现有解决方案往往会导致严重的错误积累.
研究的目的:
- 为铁路定位系统开发一个增强的数据利用框架.
- 在全球导航卫星系统 (GNSS) 信号中断期间提高导航准确性和连续性.
- 在动态环境中克服传统过方法的局限性.
主要方法:
- 实施因子图优化 (FGO) 框架,以提高数据效率.
- 整合一个门式循环单元 (GRU) 和改进的双向长期短期记忆 (IBiLSTM) 网络.
- 使用混合神经网络来弥合GNSS中断的伪GNSS观测的生成.
- 在无GNSS条件下使用模拟和车载车辆数据进行评估.
主要成果:
- 拟议的GRU-IBiLSTM网络在停机期间相比传统方法显著减少了49.22% (模拟) 和36.24% (车载车辆) 的水平根平均平方误差 (RMSE).
- 随后的因子图优化进一步提高了准确性,将RMSE额外降低了46.67% (模拟) 和35.31% (车载车辆).
- 该方法在保持定位准确性和导航连续性方面表现强.
结论:
- 使用混合神经网络开发的因子图优化框架为列车定位提供了强大的解决方案.
- 这种方法有效地减轻定位错误,并在全球导航卫星系统 (GNSS) 中断时确保可靠的导航.
- 这些发现突出了先进的人工智能技术的潜力,以提高导航系统在具有挑战性的环境中的弹性.
相关概念视频
01:30Types of Global Positioning System Surveys
393
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
393
01:28Field Application of Global Positioning System
339
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
339
01:30Introduction to Global Positioning System
635
The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
635
01:26Errors in Global Positioning System
370
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
370
01:30Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device
427
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
427
01:29Application of Linearization and Approximation
121
A drone flying through complex terrain often relies on more than one sensing method to estimate small changes in altitude. Along with direct measurements, air pressure provides a useful indirect indicator of vertical movement. Atmospheric pressure decreases as altitude increases, and this relationship is commonly described using an exponential model. Although accurate, converting pressure measurements into altitude values requires calculations that are too complex to perform repeatedly during...
121