| 基于列车运动约束的惯导误差抑制研究 |
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| 引用本文： | 杨菊花,于月,陈光武,刘射德,王迪. 基于列车运动约束的惯导误差抑制研究[J]. 铁道学报, 2020, 0(2): 65-72 |
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| 作者姓名： | 杨菊花 于月 陈光武 刘射德 王迪 |
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| 作者单位： | 兰州交通大学交通运输学院;甘肃省高原交通信息工程及控制重点实验室;兰州交通大学自动控制研究所 |
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| 基金项目： | 国家自然科学基金（61863024;71761023） |
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| 摘 要： | 为提高基于GNSS/SINS的列车定位精度,在隧道、路堑等卫星定位不可用区域实现列车的无缝定位,在研究SINS误差模型的基础上,通过引入车辆运动约束条件,在列车低动态运行的情况下,对MIMU输出进行机动判别,推导了捷联惯导的误差模型,进而对水平姿态进行修正,抑制MEMS系统的误差发散,从而保证在单纯依靠惯导定位情况下的稳定可用。通过仿真和实测结果表明,该方法能够有效抑制SINS误差,为列车提供姿态参考。
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| 关 键 词： | GNNS/SINS 运动约束 误差抑制 低动态 |
Research on Inertial Navigation Error Suppression Based on Vehicle Motion Constraints |
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| YANG Juhua,YU Yue,CHEN Guangwu,LIU Shede,WANG Di. Research on Inertial Navigation Error Suppression Based on Vehicle Motion Constraints[J]. Journal of the China railway Society, 2020, 0(2): 65-72 |
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| Authors: | YANG Juhua YU Yue CHEN Guangwu LIU Shede WANG Di |
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| Affiliation: | (School of Traffic and Transportation,Lanzhou Jiaotong University,Lanzhou 730070,China;Gansu Provincial Key Laboratory of Traffic Information Engineering and Control,Lanzhou 730070,China;Automatic Control Research Institute,Lanzhou Jiaotong University,Lanzhou 730070,China) |
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| Abstract: | In order to improve the accuracy of train positioning based on GNSS/SINS and to realize the seamless positioning of trains in areas such as tunnel and cutting where satellite positioning is unavailable,a method based on the research of the SINS error model and the constraints of vehicle motion were introduced.In the case of low dynamic train operation,the discrimination of the MIMU output and the established error model of SINS were proposed to correct the error of horizontal posture and restrain the error divergence of MEMS system,which ensured the stability and availability in the case of relying solely on inertial navigation positioning.The simulation and experimental results show that this method can effectively restrain SINS error and provide attitude reference for train positioning. |
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| Keywords: | GNSS/SINS motion constraint error suppression low dynamic |
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