北斗二代在西部低密度铁路中的应用

上官伟; 袁重阳; 蔡伯根; 王剑; 刘江

doi:10.19818/j.cnki.1671-1637.2016.05.015

北斗二代在西部低密度铁路中的应用

doi: 10.19818/j.cnki.1671-1637.2016.05.015

上官伟^{1, 2, 3, 4,},
袁重阳¹,
蔡伯根^{1, 3},
王剑^{1, 2, 3},
刘江^{1, 2, 3}

1.
北京交通大学电子信息工程学院, 北京 100044
2.
北京交通大学轨道交通控制与安全国家重点实验室, 北京 100044
3.
北京交通大学北京市轨道交通电磁兼容与卫星导航工程技术研究中心, 北京 100044
4.
伦敦大学学院交通研究中心, 伦敦 WCIE 6BT

基金项目:

国家自然科学基金项目 61490705

国家自然科学基金项目 U1334211

国家国际科技合作专项项目 2014DFA80260

中央高校基本科研业务费专项资金项目 2013JBM007

北京高等学校青年英才计划项目 YETP0538

详细信息

作者简介:
上官伟(1979-), 男, 陕西乾县人, 北京交通大学副教授, 工学博士, 从事交通信息工程及控制研究

中图分类号: U283.2
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- 被引次数: 0
出版历程
- 收稿日期: 2016-06-21
- 刊出日期: 2016-10-25

Application of BDS in western low-density railway lines

SHANGGUAN Wei^{1, 2, 3, 4
,},
YUAN Zhong-yang¹,
CAI Bo-gen^{1, 3},
WANG Jian^{1, 2, 3},
LIU Jiang^{1, 2, 3}

1.
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China
2.
State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
3.
Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation, Beijing Jiaotong University, Beijing 100044, China
4.
Centre for Transport Studies, University College London, London WCIE 6BT

More Information

Author Bio:
SHANGGUAN Wei(1979-), male, associate professor, PhD, +86-10-51687111, wshg@bjtu.edu.cn

摘要

摘要: 考虑西部铁路线低密度、低成本、高可靠性等应用需求, 研究了基于北斗二代卫星导航系统和惯性导航系统的组合定位技术, 结合地图匹配技术, 能够满足面向西部低密度铁路的列车连续无缝定位需求。当列车经过铁路沿线隧道与山区时, 北斗卫星信号会因遮挡而失效, 采用加速度计和陀螺仪构成的惯性导航系统进行参数短时推算, 能够提供列车的运行姿态、速度与位置信息, 解决短时间内因卫星信号失效导致列车无法定位的问题。研究了面向铁路直线线路和有岔区段的地图匹配技术, 并结合轨道地图数据库进行了测试。设计并搭建了应用于西部低密度铁路的北斗二代卫星导航列车定位系统, 在实验室单点静态定位和青藏铁路现场连续动态定位测试条件下, 对系统的定位功能进行了测试和验证。试验结果表明: 在单点静态定位条件下, 定位误差平均为0.558m, 在动态定位条件下, 定位误差平均为0.258m;结合基于轨道地图数据库的地图匹配技术, 列车运行轨迹点匹配正确率达98.6%, 系统定位误差能够满足西部低密度铁路的全局定位需求。
- 信息工程 /
- 西部低密度铁路 /
- 北斗二代卫星导航系统 /
- 组合定位 /
- 地图匹配 /
- 无缝定位
Abstract: Considering the application requirements of low-density, low-cost and high-reliability of western railway lines, the integrated positioning technology of Beidou satellite navigation system and the inertial navigation system was studied, and the requirement of continuous and seamless positioning of train aimed at western low-density railway lines could be satisfied based on the map matching technology.When train passed through the tunnel and the mountainous area along railway lines, the Beidou satellite navigation system signal would failed due to obstacle.The short-term parameters could be derived and calculated by using the inertial navigation system constructed with accelerometer and gyroscope, train information of attitude, speed and position could be provided, which could solve the positioning problem of train because satellite signal failed in a short time.The map matching technology on the straight line and switch section ofrailway was studied, and the test was carried out based on the track map database.The Beidou satellite navigation positioning system of train aimed at western low-density railway lines was designed and established.Under the conditions of single-point static positioning in the laboratory and continuous dynamic positioning in the Qinghai-Tibet Railway Lines, the positioning functions of the system were tested.Test result shows that the average positioning error of train is 0.558 m under single-point static positioning condition, the average positioning error of train is 0.258 m under dynamic positioning condition, and the matching accuracy rate of train running trajectory point is 98.6% combining with the map matching technology based on track map database, so the system positioning errors can meet the overall positioning requirements of western low-density railway lines.
- information engineering /
- western low-density railway line /
- Beidou satellite navigation system /
- integrated positioning /
- map matching /
- seamless positioning

HTML全文

图 1 局域差分系统结构

Figure 1. Structure of local area differential system

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图 2 捷联惯性导航系统定位原理

Figure 2. Positioning principle of SINS

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图 3 位置点匹配原理

Figure 3. Principle of position point matching

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图 4 有岔区段地图匹配原理

Figure 4. Map matching principle of switch section

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图 5 车载设备结构

Figure 5. Structure of on-board equipments

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图 6 定位终端设备硬件结构

Figure 6. Hardware structure of positioning terminal equipments

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图 7 车载设备

Figure 7. On-board equipment

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图 8 数据处理中心

Figure 8. Data processing center

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图 9 定位终端设备软件设计

Figure 9. Software design of positioning terminal equipments

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图 10 现场静态定位结果

Figure 10. Static positioning result in field

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图 11 现场动态定位结果

Figure 11. Dynamic positioning results in field

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图 12 加速度计采集数据

Figure 12. Accelerator measured data

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图 13 陀螺仪采集数据

Figure 13. Gyroscope measured data

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图 14 BDS/INS组合定位结果

Figure 14. Integrated positioning result of BDS/INS

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图 15 地图匹配测试结果

Figure 15. Test result of map matching

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