CN109212575A - A kind of combination speed-position detection technology based on Beidou and inertial navigation - Google Patents
A kind of combination speed-position detection technology based on Beidou and inertial navigation Download PDFInfo
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- CN109212575A CN109212575A CN201811175935.8A CN201811175935A CN109212575A CN 109212575 A CN109212575 A CN 109212575A CN 201811175935 A CN201811175935 A CN 201811175935A CN 109212575 A CN109212575 A CN 109212575A
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- speed
- position detection
- method described
- beidou
- inertial navigation
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- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000005516 engineering process Methods 0.000 title claims abstract description 6
- 239000000725 suspension Substances 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 24
- 238000005339 levitation Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims 1
- 238000013459 approach Methods 0.000 abstract description 3
- 210000003781 tooth socket Anatomy 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 230000006698 induction Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000005211 surface analysis Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The combination speed-position detection technology based on Beidou and inertial navigation that the invention discloses a kind of.The problem of for the purpose of the present invention the purpose of the present invention is to solve magnetic suspension speed-position detection systems approach detection accuracy in the prior art is inadequate, noise is excessive, is unable to get accurate real-time speed.The present invention is completed to a kind of research applied to high speed maglev non-stator the tooth socket real time speed measuring relied on and consecutive tracking technology, and the real time speed measuring and consecutive tracking technical effect of the maglev non-stator tooth socket dependence of high speed of application are preferable, there is its significance to autonomous domestic magnetic suspension construction, and precision has biggish promotion.
Description
Technical field
The present invention relates to a kind of real time speed measurings and consecutive tracking relied on applied to the maglev non-stator tooth socket of high speed
Technology.
Background technique
In recent years, China's track transportation industry is quickly grown, and magnetic suspension has become the construction of many urban track traffics
One of emphasis and hot spot, existing magnetic-levitation train, which is tested the speed and positioned, mainly takes following method:
1, induction magnetic pole of the stator tests the speed.Using the magnetic pole of the stator signal source sensed, pass through signal rising edge when speed is low
Speed is calculated with failing edge, receives pulse measuring and calculating speed by counting when speed is high.
2, induction encoder absolute fix.One induction encoder signal source of installation spaced apart along track,
It realizes the absolute fix to train, then comes by the integral that accumulation induction long stator magnetic pole tests the speed in two induction encoder sections
Realize relative positioning.
Although these methods are now using good but real-time speed and traction control of the continuous position signal for magnetic-levitation train
System and operation control are all particularly important parameters, and single speed and position signal source, it is difficult to it is reliable to meet system
Property demand；On the other hand, there are track distances to increase for magnetic suspension system, and electromagnetic coupling precision reduces, and the speed of service is faster
Problem, traditional track circuit method are difficult to meet high-acruracy survey requirement.Therefore consider that method for locating speed measurement proposes one now
The method that kind is positioned using integrated navigation and location system.
Summary of the invention
The purpose of the present invention is to solve magnetic suspension speed-position detection systems approach detection accuracy in the prior art is inadequate,
The problem of signal source is single, is unable to get accurate real-time speed.
The technical scheme is that
It is analyzed according to the method at present applied to magnetic suspension positioning, its deficiency is discussed, is discussed to its disadvantage
And obtain new solution.
Main localization method to be used is that 1) induction magnetic pole of the stator tests the speed on magnetic-levitation train at present.Determined using what is sensed
Speed is calculated by signal rising edge and failing edge when speed is low in sub- magnetic-pole signals source, receives pulse by counting when speed is high
Calculate speed.(2) induction encoder absolute fix.One induction encoder signal of installation spaced apart along track
The absolute fix to train is realized in source, in the product that two induction encoder sections are then tested the speed by accumulation induction long stator magnetic pole
Divide to realize relative positioning.It is easily lost for both methods is current and consumes, real-time speed and continuous higher with maintenance cost
Position signal is all particularly important parameter for the traction control and operation control of magnetic-levitation train, but single speed and position
Confidence source, it is difficult to meet system reliability demand；On the other hand, there are track distances to increase for magnetic suspension system, electromagnetism coupling
Closing precision reduces, and the problem that the speed of service is very fast, and traditional track circuit method is difficult to meet high-acruracy survey requirement.It utilizes
Pulsewidth coding formula absolute pointing device realizes the absolute fix of magnetic suspension train, and advantage is that magnetic-levitation train absolute fix is completely independent
Work, is not interfered by extraneous factor, reliably can obtain train position information in real time, this point has reference significance.However this
The scheme proposed in article, amendment error amount is not accurate enough, and high-precision requirement is not achieved.
On this basis, propose that proposed adoption integrated navigation system carries out positioning-speed-measuring, i.e. Beidou-inertial navigation integrated navigation system
System.Integrated navigation has the advantages that high-precision, high reliability, height automation property.And data source multiplicity, it disobeys and is against single signal
Source can achieve more accurate purpose.
Traditional solution is according to absolute fix, and the solutions such as long stator solve the problems, such as speed-position detection, however this side
Method not only consumes energy but also does not ensure that real-time safety can not then carry out speed-position detection, easily if the system breaks down
Cause inconvenience, therefore Beidou-inertial navigation speed-position detection system is applied in magnetic suspension speed-position detection by this patent suggestion, is capable of providing more
Source processing scheme is no longer rely on single signal source, have stronger adaptability with can dependence.
Specific embodiment
Below in conjunction with Detailed description of the invention a specific embodiment of the invention, it should be understood that the implementation for showing and describing in attached drawing
Mode is merely exemplary, it is intended that is illustrated the principle of the present invention and method, and is not intended to limit the scope of the invention.
A kind of filtering method of high speed magnetic suspension speed-position detection of the present invention.Fig. 1 shows of the present invention
The principle model of integrated navigation system need to first erect rate pattern by scheming us, and rate pattern is as follows:
By analyzing train running speed, and to spot sampling, we can tentatively build magnetic suspension train fortune
The model and formula of velocity variations when row.As shown in following equation:
V=t (t < 60), (3.3.1)
V=60 (60≤t < 120), (3.3.2)
V=0.33t+20 (120≤t < 180), (3.3.3)
V=80, (180≤t < 240), (3.3.4)
V=280-0.833t (240≤t < 300), (3.3.5)
V=30 (300≤t < 360), (3.3.6)
V=150-0.333t (360≤t < 420), (3.3.7)
V=33.33-0.056t (t > 420), (3.3.8)
Fig. 2 shows inertial navigation system schematic diagrames maglev in the detection method.It is appreciated that process shown in Fig. 2
Figure is only illustrative, wherein the step of can be omitted and/or increase other steps.The positioning of lower surface analysis satellite navigation system
Principle.
GPS mainly provides two class observed quantities: pseudorange and carrier phase.Wherein the observational equation of pseudorange is as follows:
ρ=r+I+T+c (δ tu-δts)+O+Mρ+ερ
The observational equation of carrier phase is listed below:
Wherein:
ρ-expression pseudo range observed quantity；
Indicate carrier phase observed quantity；
R- indicates receiver to the geometric distance of satellite；
I- ionospheric error；
T- tropospheric error；
δtsSatellite error；
O- satellite orbital error；
M- multipath error；
ε-receiver noise；
tuReceiver clock-offsets
The fuzziness of complete cycle included in N- carrier phase
Fig. 3 gives the schematic diagram that the integrated navigation system is combined positioning.Use-case can be specifically designed according to this scheme
It is tested.
The advantage that a kind of magnetic suspension speed-position detection signal filtering method of the invention is tested the speed using integrated navigation system, centering
High-speed magnetic levitation speed-position detection system carries out proposing high-precision operation, not only ensure that relatively high accuracy, it is ensured that reality
When corrective, adaptivity, strong followability.
In addition, although describing the operation of the method for the present invention in the accompanying drawings with particular order, this do not require that or
Hint must execute these operations in this particular order, or must have gone through all operationss and be just able to achieve expected knot
Fruit.On the contrary, can be by omitting certain steps, multiple steps are combined into a step or a step being decomposed into multiple steps
It is rapid to realize original function.
Detailed description of the invention
Fig. 1, the schematic diagram of speed-measuring method of the present invention
Fig. 2, inertial navigation system schematic diagram of the invention
Fig. 3, magnetic suspension speed-position detection systems approach of the invention realize schematic diagram.
Claims (6)
1. a kind of combination speed-position detection technology based on Beidou and inertial navigation, comprising:
Model is built according to magnetic-levitation train speed-position detection rule；According to location algorithm, it is programmed；Initial model is established, is introduced
Train movement velocity model；
It is compared by speed-position detection result and previous method for locating speed measurement.
2. according to the method described in claim 1, wherein, algorithm is carried out using emulation tool and is write and by its Module-embedding
Simulink module.
3. generating one according to the method described in claim 1, wherein, being simulated to train driving and referring to two-dimensional curve, make
It is inputted as linear equation, to reach application request.
4. according to the method described in claim 1, wherein, it should be noted that comparison of design in modelling level, and can be used for pair
Than the two advantage and disadvantage.
5. according to the method described in claim 1, wherein, in order to highlight as a result, magnetic suspension will be summed up from a large amount of detection samples
The speed-position detection that vehicle is encountered, so that is designed a model removes primary quantity, to preferably be adapted to.
6. according to the method described in claim 1, wherein, new method for locating speed measurement can preferably be suitable for high speed magnetcisuspension
Floating speed-position detection system, and power can be saved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811175935.8A CN109212575A (en) | 2018-10-10 | 2018-10-10 | A kind of combination speed-position detection technology based on Beidou and inertial navigation |
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| CN201811175935.8A CN109212575A (en) | 2018-10-10 | 2018-10-10 | A kind of combination speed-position detection technology based on Beidou and inertial navigation |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357643A (en) * | 2008-08-21 | 2009-02-04 | 北京交通大学 | Accurate train positioning method and system realized by digital trail map and GPS |
| CN107894232A (en) * | 2017-09-29 | 2018-04-10 | 湖南航天机电设备与特种材料研究所 | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system |
| CN108454652A (en) * | 2017-02-22 | 2018-08-28 | 中车株洲电力机车研究所有限公司 | A kind of method, apparatus and system of safe and reliable real time speed measuring and consecutive tracking |
-
2018
- 2018-10-10 CN CN201811175935.8A patent/CN109212575A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357643A (en) * | 2008-08-21 | 2009-02-04 | 北京交通大学 | Accurate train positioning method and system realized by digital trail map and GPS |
| CN108454652A (en) * | 2017-02-22 | 2018-08-28 | 中车株洲电力机车研究所有限公司 | A kind of method, apparatus and system of safe and reliable real time speed measuring and consecutive tracking |
| CN107894232A (en) * | 2017-09-29 | 2018-04-10 | 湖南航天机电设备与特种材料研究所 | A kind of accurate method for locating speed measurement of GNSS/SINS integrated navigations and system |
Non-Patent Citations (1)
| Title |
|---|
| 陈特放等: "中低速磁悬浮列车测速定位中的滤波方法研究", 《现代城市轨道交通》 * |
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Effective date of registration: 20210707 Address after: Yuelu District City, Hunan province 410083 Changsha Lushan Road No. 932 Applicant after: CENTRAL SOUTH University Applicant after: CRRC ZHUZHOU LOCOMOTIVE Co.,Ltd. Address before: Yuelu District City, Hunan province 410083 Changsha Lushan Road No. 932 Applicant before: CENTRAL SOUTH University |
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Application publication date: 20190115 |
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