CN112526570A - Train positioning method and device - Google Patents
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- 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
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Abstract
The invention discloses a train positioning method and a train positioning device, wherein the train positioning method comprises the following steps: acquiring differential position information of a train from a satellite receiver and acquiring traveling information of the train from an inertial navigation unit; and positioning calculation is carried out according to the difference position information and the running information so as to output positioning information of the train. The invention improves the positioning precision, reduces the error, is convenient to implement and deploy and has low construction cost.
Description
Technical Field
The invention relates to the technical field of rail transit train positioning, in particular to a real-time high-precision positioning method and device for an intelligent tramcar.
Background
The train position information has an important position in the automatic train control technology, and the realization of almost every subfunction requires the position information of the train as one of the parameters, so the train positioning is a very important link in the train control system. Accurate position information is also a precondition for safe and efficient operation of the train.
The intelligent rail electric car is a novel multi-marshalling rubber-tyred car running in two directions. The track-like running under the virtual track is realized by adopting a full-axle steering control technology based on the design concept of the traditional track traffic system and carrying out electronic constraint on running through active safety control, vehicle-mounted signal control, machine vision and the like. Subsystems such as intelligent driving and communication signals have higher requirements on real-time effective high-precision positioning of the train.
At present, the smart rail electric car generally adopts a vehicle-mounted data positioning mode, namely, the vehicle-mounted end prestores the position data of a line, and the position data is calculated and obtained by combining the information collected by a vehicle speed sensor in the running process.
However, the above positioning method has the disadvantages of low positioning accuracy, large error, high construction cost, etc., and cannot well meet the positioning requirements of the smart rail electric car, and cannot provide real-time reliable high-accuracy positioning information for the smart driving and communication signal system.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
The invention aims to overcome the defects that the positioning requirement of an intelligent rail electric car cannot be well met due to low positioning precision, large error and high construction cost of a train positioning mode in the prior art, and provides a train positioning method and a train positioning device.
The technical problem is solved by the following technical scheme:
a train positioning method, comprising:
acquiring differential position information of a train from a satellite receiver and acquiring traveling information of the train from an inertial navigation unit; and the number of the first and second groups,
and performing positioning calculation according to the difference position information and the running information so as to output positioning information of the train.
Optionally, the step of obtaining the differential location information of the train from the satellite receiver includes:
in response to obtaining the differential data information from the differential server, the satellite receiver performs satellite differential positioning calculation based on the differential data information to output differential position information.
Optionally, the step of obtaining the differential data information from the differential server includes:
the satellite receiver sends self-positioning information to a differential server;
and the differential server selects a differential reference station according to the self-positioning information and outputs differential data information corresponding to the differential reference station to the satellite receiver.
Optionally, a directional antenna and a positioning antenna are provided on the satellite receiver.
Optionally, the inertial navigation unit comprises a gyroscope and an accelerometer;
the travel information includes angular rate information and acceleration information.
Optionally, the step of performing positioning calculation according to the differential position information and the driving information includes:
performing strapdown resolving on the driving information by adopting a strapdown resolving algorithm;
and performing data fusion based on the received differential position information and the running information subjected to strapdown calculation so as to output the positioning information of the train.
Optionally, the method further comprises:
and after data fusion, filtering the fused data by adopting a centralized Kalman filter so as to output the positioning information of the train.
Optionally, the train comprises a smart rail electric car.
A computer readable medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the train positioning method as described above.
A train positioning device comprises a satellite receiver, an inertial navigation unit and a resolving module, wherein the satellite receiver, the inertial navigation unit and the resolving module are respectively arranged on a train;
the satellite receiver is configured to acquire differential position information of the train and send the differential position information to the resolving module;
the inertial navigation unit is configured to collect the running information of the train and send the running information to the resolving module;
the calculating module is configured to perform positioning calculation according to the differential position information and the running information so as to output positioning information of the train.
Optionally, the satellite receiver is configured to:
and responding to the differential data information acquired from the differential server, and performing satellite differential positioning calculation according to the differential data information to output the differential position information to the calculation module.
Optionally, the satellite receiver is further configured to:
sending self-positioning information to a differential server;
the differencing server is configured to:
and selecting a differential reference station according to the received self-positioning information, and outputting differential data information corresponding to the differential reference station to the satellite receiver.
Optionally, the train positioning device further comprises a wireless communication module;
the wireless communication module is arranged on the train;
the wireless communication module is in communication connection with the differential server through a wireless network;
the wireless communication module is configured to obtain the differential data information from the differential server and transmit the differential data information to the satellite receiver.
Optionally, a directional antenna and a positioning antenna are arranged on the satellite receiver;
the satellite receiver is configured to generate self-positioning information from the directional signal received from the directional antenna and the positioning signal received from the positioning antenna.
Optionally, the inertial navigation unit comprises a gyroscope and an accelerometer;
the driving information comprises angular rate information and acceleration information;
the gyroscope is configured to acquire the angular rate information and send the angular rate information to the resolving module;
the accelerometer is configured to collect the acceleration information and send the acceleration information to the resolution module.
Optionally, the calculation module is further configured to:
performing strapdown resolving on the driving information by adopting a strapdown resolving algorithm;
and performing data fusion based on the received differential position information and the running information subjected to strapdown calculation so as to output the positioning information of the train.
Optionally, the calculation module is configured to:
and after data fusion, filtering the fused data by adopting a centralized Kalman filter so as to output the positioning information of the train.
Optionally, the train comprises a smart rail electric car.
On the basis of the common knowledge in the field, the preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention provides a positioning solution combining an inertial navigation technology and a differential satellite positioning technology based on an intelligent electric rail car system, which not only solves the defect that the simple satellite differential positioning is restricted by the environment, but also realizes the real-time high-precision positioning of the intelligent electric rail car, thereby improving the positioning precision, reducing the error, being convenient for implementation and deployment and having low construction cost.
Drawings
The features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 is a schematic flow chart of a train positioning method according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a train positioning system according to an embodiment of the present invention.
FIG. 3 is a schematic block diagram of a combined navigation system according to an embodiment of the present invention.
FIG. 4 is a design diagram of a strapdown solution algorithm according to an embodiment of the invention.
FIG. 5 is a schematic diagram illustrating an operation principle of a GNSS/INS integrated navigation system according to an embodiment of the present invention.
Description of reference numerals:
a train positioning device 1;
a satellite receiver 11;
an inertial navigation unit 12;
a resolving module 13;
a wireless communication module 14;
a directional antenna 15;
a positioning antenna 16;
a difference server 2;
a differential reference station 3;
an intelligent driving system 4;
a communication signal system 5.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
The following description is presented to enable any person skilled in the art to make and use the invention and is incorporated in the context of a particular application. Various modifications, as well as various uses in different applications will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the practice of the invention may not necessarily be limited to these specific details. In other instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The intelligent tramcar (intelligent rail express train) is a novel rail transit product which is independently researched and developed by China Central Bank electric locomotive research institute, Inc., has virtual track following capability and takes a full-electric drive rubber-tyred vehicle as a carrier, and integrates respective advantages of modern tramcars and buses.
The vehicle does not need to lay steel rails, a ground marking is marked on the existing road, ground marking information is collected through equipment such as a camera and a detection radar which are arranged on the vehicle, track tracking control is carried out by utilizing a marking virtual track and a multi-axis steering system, an energy storage battery is arranged on the vehicle to store electric quantity, and the vehicle is driven to run on the road after charging.
The intelligent rail electric car is designed to have the maximum speed of 70 kilometers per hour, the minimum turning radius of 15 meters and head-tail bidirectional running, can adopt 3-6 sections to flexibly marshal, and the maximum passenger carrying number of three-section marshalling can reach 300 persons.
The intelligent rail electric car adopts a virtual rail following control technology, identifies a road surface virtual rail circuit through various vehicle-mounted sensors, transmits running information to a train central control unit, and can accurately control the train to run on a set virtual track while ensuring normal actions of traction, braking, steering and the like of the electric car according to a brain instruction, so that intelligent running is realized.
The vehicle adopts design modes such as a multi-axis steering system and the like, and intelligently tracks and controls the virtual track. The turning radius of the whole electric vehicle is equal to that of the common bus, and the turning radius is smaller than that of the common bus, so that the turning problem caused by the overlong bus body is solved.
The intelligent rail electric car adopts a double-head design similar to a high-speed rail, and the trouble of turning around is saved.
Compared with the traditional medium and low traffic volume rail transit system, the intelligent rail electric car has the unique advantages of low investment cost, short construction period, flexible operation and the like. The intelligent tramcar can be put into use only by simple road modification under the condition that the capacity of the intelligent tramcar is the same as that of a modern tramcar, and the investment of the whole line is about one fifth of that of the modern tramcar.
At present, the smart rail electric car generally adopts a vehicle-mounted data positioning mode, namely, the vehicle-mounted end prestores the position data of a line, and the position data is calculated and obtained by combining the information collected by a vehicle speed sensor in the running process.
However, the above positioning method has the disadvantages of low positioning accuracy, large error, high construction cost, etc., and cannot well meet the positioning requirements of the smart rail electric car, and cannot provide real-time reliable high-accuracy positioning information for the smart driving and communication signal system.
In order to overcome the above-mentioned defects of the current positioning method, the present embodiment provides a train positioning method, which includes the following steps: acquiring differential position information of a train from a satellite receiver, and acquiring running information of the train from an inertial navigation unit; and performing positioning calculation according to the differential position information and the running information to output positioning information of the train.
Preferably, in the present embodiment, the train is an intelligent rail electric train, but the type of the train is not particularly limited, and the train positioning method may be applied to other conventional electric trains.
In the embodiment, the train positioning method improves the positioning accuracy, reduces errors, is convenient to implement and deploy, and is low in construction cost.
Specifically, as shown in fig. 1, as an embodiment, the train positioning method includes the following steps:
In the present embodiment, referring to fig. 2, according to the specific line coverage requirement of the smart-rail electric vehicle, a single set or multiple sets of differential reference stations 3 (i.e. a first differential reference station, a second differential reference station, and an … nth differential reference station) are deployed on the ground for receiving and processing satellite observation signals respectively. Each differential reference station 3 transmits satellite observations to the differential server 2 via a wireless or wired network connection.
The intelligent rail electric vehicle is provided with a set of vehicle-mounted combined inertial navigation equipment (namely a train positioning device 1), which mainly comprises a satellite receiver 11, an inertial navigation unit 12, a resolving module 13, a wireless communication module 14, a directional antenna 15, a positioning antenna 16 and the like.
In the present embodiment, the directional antenna 15 and the positioning antenna 16 are respectively disposed on the satellite receiver 11.
In the present embodiment, the Inertial navigation unit 12 (IMU) mainly includes a gyroscope and an accelerometer.
In this embodiment, the wireless communication module 14 includes one or more of a 2G (second generation mobile communication) module, a 3G (third generation mobile communication) module, a 4G (fourth generation mobile communication) module, a 5G (fifth generation mobile communication) module and a Wi-Fi (wireless fidelity) module, but the type of the wireless communication module 14 is not particularly limited, and may be selected and adjusted according to actual conditions and user requirements.
In this step, the satellite receiver 11 generates self-positioning information from the directional signal received from the directional antenna 15 and the positioning signal received from the positioning antenna 16, and transmits the self-positioning information to the wireless communication module 14.
Preferably, in this step, the wireless communication module 14 transmits the self-location information to the differential server 2 through an LTE (long term evolution of universal mobile telecommunications technology) wireless private network or a 4G/5G channel.
And 102, calculating and selecting a proper difference reference station by the difference server, and sending the difference data information to the satellite receiver.
In this step, in response to receiving the self-position information, the difference server 2 selects an appropriate difference reference station 3 according to the self-position information calculation, acquires difference data information from the difference reference station 3, and transmits the difference data information corresponding to the difference reference station 3 to the satellite receiver 11.
And 103, the satellite receiver performs satellite differential positioning calculation according to the received differential data information.
In this step, in response to the acquisition of the differential data information from the differential server 2, the satellite receiver 11 performs satellite differential positioning calculation based on the differential data information to output differential position information to the calculation module 13.
Preferably, in the present embodiment, a differential satellite positioning scheme compatible with BD (Beidou satellite navigation system)/GPS (global positioning system) support is adopted, but not limited to this positioning scheme.
And step 104, measuring the running information of the train in real time by the inertial navigation unit.
In the present embodiment, step 104 is executed in parallel with step 101, step 102 and step 103, and the execution order of step 104 is not particularly limited as long as it is executed before step 105.
In this step, the inertial navigation unit 12 mainly obtains three-axis attitude angle (or angular velocity) information and acceleration information of the train, that is, running information of the train, through the gyroscope and the accelerometer, and outputs the obtained running information such as the angular velocity information and the acceleration information to the calculation module 13, respectively.
Generally, an inertial navigation unit comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, so as to measure angular velocity and acceleration of the object in three-dimensional space and calculate the attitude of the object.
And 105, resolving by a resolving module according to the difference position information and the driving information.
In this step, the calculation module 13 calculates the difference position information output from the satellite receiver 11 and the travel information such as the angular velocity information and the acceleration information output from the inertial navigation unit 12 by using a software algorithm, and outputs the high-precision positioning information of the train.
Preferably, in this step, the calculating module 13 firstly performs a strapdown calculation on the driving information by using a strapdown calculation algorithm, so as to perform coordinate conversion on the original driving information.
The calculation module 13 performs data fusion based on the received differential position information and the driving information subjected to strapdown calculation.
After the data are fused, the calculation module 13 performs filtering processing on the fused data by using a centralized kalman filter, feeds back an error to the strapdown calculation step through the filtering processing, performs strapdown calculation again through the fed-back data, and finally outputs the high-precision positioning information of the train, wherein the process is an iterative process.
Specifically, as shown in fig. 3, the solution is mainly divided into three parts, namely an IMU part, a strapdown solution part, and a kalman filter part.
The IMU part is mainly used for completing data acquisition and error compensation of information of the gyroscope and the accelerometer. The core of the method is error compensation, the error compensation is a key technology for improving the use precision of the inertial navigation system, and the error compensation mainly comprises temperature compensation and orthogonal compensation. The purpose of temperature compensation is to reduce the influence of the zero offset and the scale coefficient error of the instrument on the use precision of the system. The orthogonal compensation is mainly used for compensating the installation error angle of the instrument. The precision of an inertial device in an inertial system is mainly related to the ambient temperature, the temperature gradient and the temperature change rate. Ambient temperature will not only cause zero offset temperature errors for the gyroscope and accelerometer, but will also cause scale factor temperature errors for the accelerometer.
The core of the strapdown resolving algorithm is a posture updating algorithm which is a decisive factor for determining whether an inertial navigation system can work normally. Due to the irreplaceability of the limited rotation of the rigid body, the traditional attitude updating algorithm inevitably introduces irreplaceable errors, and particularly when the carrier is in a high dynamic environment, the errors are very large and must be overcome by adopting effective measures.
In the embodiment, the non-vector rotation angle is processed to be equivalent to a vector by adopting an equivalent rotation vector method, the quaternion differential equation is replaced by an equivalent rotation vector equation, the irreplaceability error in the quaternion is eliminated, and the irreplaceability error is compensated by a corresponding multi-subsample error compensation algorithm. The specific high-dynamic college strapdown algorithm research technical process is shown in fig. 4.
Because the error of the Navigation parameter of the inertial Navigation System accumulates with time, in this embodiment, the accuracy and reliability of the System are improved by using a GNSS (Global Navigation Satellite System)/INS (inertial Navigation System) integrated Navigation technology, specifically, a centralized kalman filtering method is used to perform data fusion.
GNSS is an observation that uses pseudoranges, ephemeris, satellite transmit times, etc. from a set of satellites, and the user clock error must also be known. GNSS is a space-based radio navigation positioning system that can provide users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or near-earth space.
The GNSS/INS integrated navigation system estimates the error of the INS by using the difference value of the position and speed information of the GNSS and the INS as an observed quantity through a centralized Kalman filter, corrects the INS in real time, reduces the error of the INS and improves the precision of the system. The working principle is shown in fig. 5.
And step 106, outputting the positioning information of the train.
In this step, the calculating module 13 sends the output high-precision train positioning information to the intelligent driving system 4 and the communication signal system 5 respectively for system operation.
The present embodiment also provides a computer readable medium, on which computer instructions are stored, which when executed by a processor implement the steps of the train positioning method as described above.
The train positioning method provided by the embodiment adopts a mode of combining an inertial navigation technology with a differential satellite positioning technology, and realizes a real-time effective high-precision positioning function of the smart electric rail car.
In the embodiment, the inertial navigation unit is adopted as a compensation mode when the satellite signal is not good, and the purpose of high-precision positioning is achieved through a software fitting algorithm. The train positioning method provided by the embodiment improves the positioning precision, reduces errors, is simple and convenient to deploy and low in cost, effectively solves the problem of real-time and effective high-precision positioning of the intelligent tramcar, and can meet the requirements of various subsystems such as intelligent driving and communication signals.
In order to overcome the above drawbacks of the current positioning method, the present embodiment further provides a train positioning device, where the train positioning device includes a satellite receiver, an inertial navigation unit, and a resolving module, and the satellite receiver, the inertial navigation unit, and the resolving module are respectively disposed on a train; the satellite receiver is configured to acquire differential position information of the train and send the differential position information to the resolving module; the inertial navigation unit is configured to acquire running information of the train and send the running information to the resolving module; the calculating module is configured to perform positioning calculation according to the differential position information and the running information to output positioning information of the train.
Preferably, in the present embodiment, the train is an intelligent rail electric train, but the type of the train is not particularly limited, and the train positioning method may be applied to other conventional electric trains.
In this embodiment, above-mentioned train positioner has promoted positioning accuracy, has reduced the error, is convenient for implement moreover and deploys, and the construction cost is low.
Specifically, as shown in fig. 2, the present embodiment provides a train positioning device 1 and a train positioning system including the train positioning device 1 as an embodiment, and the train positioning device 1 and the train positioning system utilize the train positioning method as described above.
The train positioning system mainly comprises a train positioning device 1 (vehicle-mounted combined inertial navigation equipment), a differential server 2 and a plurality of differential reference stations 3.
In the present embodiment, referring to fig. 2, according to the specific line coverage requirement of the smart-rail electric vehicle, a single set or multiple sets of differential reference stations 3 (i.e. a first differential reference station, a second differential reference station, and an … nth differential reference station) are deployed on the ground for receiving and processing satellite observation signals respectively. Each differential reference station 3 transmits satellite observations to the differential server 2 via a wireless or wired network connection.
The train positioning device 1 mainly includes a satellite receiver 11, an inertial navigation unit 12, a resolving module 13, a wireless communication module 14, a directional antenna 15, a positioning antenna 16, and the like.
In the present embodiment, the directional antenna 15 and the positioning antenna 16 are respectively disposed on the satellite receiver 11.
In the present embodiment, the inertial navigation unit 12 mainly includes a gyroscope and an accelerometer.
In this embodiment, the wireless communication module 14 includes one or more of a 2G module, a 3G module, a 4G module, a 5G module and a Wi-Fi module, but the type of the wireless communication module 14 is not particularly limited, and may be selected and adjusted according to actual conditions and user requirements.
The satellite receiver 11 is configured to generate self-positioning information from the directional signal received from the directional antenna 15 and the positioning signal received from the positioning antenna 16, and transmit the self-positioning information to the wireless communication module 14.
Preferably, in this step, the wireless communication module 14 is configured to transmit the self-location information to the difference server 2 through an LTE wireless private network or a 4G/5G channel.
The differential server 2 is configured to select a suitable differential reference station 3 in accordance with the self-positioning information calculation in response to receiving the self-position information, acquire differential data information from the differential reference station 3, and transmit the differential data information corresponding to the differential reference station 3 to the satellite receiver 11.
The satellite receiver 11 is also configured to perform satellite differential positioning calculation based on the differential data information in response to the acquisition of the differential data information from the differential server 2 to output differential position information to the calculation module 13.
Preferably, in the present embodiment, a differential satellite positioning scheme compatible with BD/GPS support is adopted, but not limited to this positioning scheme.
The inertial navigation unit 12 is configured to acquire three-axis attitude angle (or angular velocity) information and acceleration information of the train, that is, running information of the train, through the gyroscope and the accelerometer, and output the acquired running information such as the angular velocity information and the acceleration information to the resolving module 13, respectively.
Generally, an inertial navigation unit comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, so as to measure angular velocity and acceleration of the object in three-dimensional space and calculate the attitude of the object.
The calculation module 13 is configured to perform settlement by using a software algorithm by integrating the differential position information output from the satellite receiver 11 and the travel information such as the angular velocity information and the acceleration information output from the inertial navigation unit 12, so as to output the high-precision positioning information of the train.
Preferably, in the present embodiment, the calculation module 13 is further configured to perform a strapdown calculation on the driving information by using a strapdown calculation algorithm to perform coordinate conversion on the original driving information.
The calculation module 13 is further configured to perform data fusion again based on the received differential position information and the strapdown calculated traveling information.
After the data are fused, the calculation module 13 is further configured to perform filtering processing on the fused data by using a centralized kalman filter, feed back an error to the strapdown calculation step through the filtering processing, perform strapdown calculation again on the fed-back data, where the process is an iterative process, and finally output the high-precision positioning information of the train.
Specifically, as shown in fig. 3, the solution is mainly divided into three parts, namely an IMU part, a strapdown solution part, and a kalman filter part.
The IMU part is mainly used for completing data acquisition and error compensation of information of the gyroscope and the accelerometer. The core of the method is error compensation, the error compensation is a key technology for improving the use precision of the inertial navigation system, and the error compensation mainly comprises temperature compensation and orthogonal compensation. The purpose of temperature compensation is to reduce the influence of the zero offset and the scale coefficient error of the instrument on the use precision of the system. The orthogonal compensation is mainly used for compensating the installation error angle of the instrument. The precision of an inertial device in an inertial system is mainly related to the ambient temperature, the temperature gradient and the temperature change rate. Ambient temperature will not only cause zero offset temperature errors for the gyroscope and accelerometer, but will also cause scale factor temperature errors for the accelerometer.
The core of the strapdown resolving algorithm is a posture updating algorithm which is a decisive factor for determining whether an inertial navigation system can work normally. Due to the irreplaceability of the limited rotation of the rigid body, the traditional attitude updating algorithm inevitably introduces irreplaceable errors, and particularly when the carrier is in a high dynamic environment, the errors are very large and must be overcome by adopting effective measures.
In the embodiment, the non-vector rotation angle is processed to be equivalent to a vector by adopting an equivalent rotation vector method, the quaternion differential equation is replaced by an equivalent rotation vector equation, the irreplaceability error in the quaternion is eliminated, and the irreplaceability error is compensated by a corresponding multi-subsample error compensation algorithm. The specific high-dynamic college strapdown algorithm research technical process is shown in fig. 4.
Because the error of the navigation parameter of the inertial navigation system accumulates along with time, the accuracy and reliability of the system are improved by adopting the GNSS/INS integrated navigation technology, specifically, the data fusion is performed by adopting a centralized kalman filtering method.
GNSS is an observation that uses pseudoranges, ephemeris, satellite transmit times, etc. from a set of satellites, and the user clock error must also be known. GNSS is a space-based radio navigation positioning system that can provide users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or near-earth space.
The GNSS/INS integrated navigation system estimates the error of the INS by using the difference value of the position and speed information of the GNSS and the INS as an observed quantity through a centralized Kalman filter, corrects the INS in real time, reduces the error of the INS and improves the precision of the system. The working principle is shown in fig. 5.
The resolving module 13 is further configured to send the output high-precision train positioning information to the intelligent driving system 4 and the communication signal system 5 respectively for system operation.
The train positioning device provided by the embodiment adopts a mode of combining an inertial navigation technology with a differential satellite positioning technology, and realizes a real-time effective high-precision positioning function of the smart electric rail car.
In the embodiment, the inertial navigation unit is adopted as a compensation mode when the satellite signal is not good, and the purpose of high-precision positioning is achieved through a software fitting algorithm. The train positioner that this embodiment provided has promoted positioning accuracy, has reduced the error, deploys simple and conveniently, the cost is lower, has solved the real-time effectual high accuracy location problem of smart rail trolley bus effectively, can satisfy the demand of each subsystem such as intelligent driving and communication signal.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (18)
1. A train positioning method, comprising:
acquiring differential position information of a train from a satellite receiver and acquiring traveling information of the train from an inertial navigation unit; and the number of the first and second groups,
and performing positioning calculation according to the difference position information and the running information so as to output positioning information of the train.
2. The train positioning method of claim 1, wherein the step of obtaining differential position information of the train from the satellite receiver comprises:
in response to obtaining the differential data information from the differential server, the satellite receiver performs satellite differential positioning calculation based on the differential data information to output differential position information.
3. The train positioning method according to claim 2, wherein the step of obtaining the differential data information from the differential server comprises:
the satellite receiver sends self-positioning information to a differential server;
and the differential server selects a differential reference station according to the self-positioning information and outputs differential data information corresponding to the differential reference station to the satellite receiver.
4. The train positioning method according to claim 1, wherein a directional antenna and a positioning antenna are provided on the satellite receiver.
5. The train positioning method of claim 1, wherein the inertial navigation unit comprises a gyroscope and an accelerometer;
the travel information includes angular rate information and acceleration information.
6. The train positioning method according to claim 1, wherein the step of performing positioning calculation based on the differential position information and the travel information comprises:
performing strapdown resolving on the driving information by adopting a strapdown resolving algorithm;
and performing data fusion based on the received differential position information and the running information subjected to strapdown calculation so as to output the positioning information of the train.
7. The train positioning method as claimed in claim 6, further comprising:
and after data fusion, filtering the fused data by adopting a centralized Kalman filter so as to output the positioning information of the train.
8. The train positioning method according to any one of claims 1 to 7, wherein the train comprises a smart rail car.
9. A computer readable medium, characterized in that computer instructions are stored thereon, which when executed by a processor implement the steps of the train localization method according to any of claims 1-8.
10. The train positioning device is characterized by comprising a satellite receiver, an inertial navigation unit and a resolving module, wherein the satellite receiver, the inertial navigation unit and the resolving module are respectively arranged on a train;
the satellite receiver is configured to acquire differential position information of the train and send the differential position information to the resolving module;
the inertial navigation unit is configured to collect the running information of the train and send the running information to the resolving module;
the calculating module is configured to perform positioning calculation according to the differential position information and the running information so as to output positioning information of the train.
11. The train positioning apparatus of claim 10, wherein the satellite receiver is configured to:
and responding to the differential data information acquired from the differential server, and performing satellite differential positioning calculation according to the differential data information to output the differential position information to the calculation module.
12. The train positioning apparatus of claim 11, wherein the satellite receiver is further configured to:
sending self-positioning information to a differential server;
the differencing server is configured to:
and selecting a differential reference station according to the received self-positioning information, and outputting differential data information corresponding to the differential reference station to the satellite receiver.
13. The train positioning device of claim 11, wherein the train positioning device further comprises a wireless communication module;
the wireless communication module is arranged on the train;
the wireless communication module is in communication connection with the differential server through a wireless network;
the wireless communication module is configured to obtain the differential data information from the differential server and transmit the differential data information to the satellite receiver.
14. The train positioning device of claim 10, wherein the satellite receiver is provided with a directional antenna and a positioning antenna;
the satellite receiver is configured to generate self-positioning information from the directional signal received from the directional antenna and the positioning signal received from the positioning antenna.
15. The train locating apparatus of claim 10, wherein the inertial navigation unit includes a gyroscope and an accelerometer;
the driving information comprises angular rate information and acceleration information;
the gyroscope is configured to acquire the angular rate information and send the angular rate information to the resolving module;
the accelerometer is configured to collect the acceleration information and send the acceleration information to the resolution module.
16. The train positioning apparatus of claim 10, wherein the resolving module is further configured to:
performing strapdown resolving on the driving information by adopting a strapdown resolving algorithm;
and performing data fusion based on the received differential position information and the running information subjected to strapdown calculation so as to output the positioning information of the train.
17. The train positioning apparatus of claim 16, wherein the resolving module is configured to:
and after data fusion, filtering the fused data by adopting a centralized Kalman filter so as to output the positioning information of the train.
18. A train locating arrangement as claimed in any one of claims 10 to 17 wherein the train comprises a smart rail car.
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| WO2023023936A1 (en) * | 2021-08-24 | 2023-03-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
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