CN108983270A - A kind of train security positioning system and method based on Multi-sensor Fusion - Google Patents
A kind of train security positioning system and method based on Multi-sensor Fusion Download PDFInfo
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- CN108983270A CN108983270A CN201810614872.5A CN201810614872A CN108983270A CN 108983270 A CN108983270 A CN 108983270A CN 201810614872 A CN201810614872 A CN 201810614872A CN 108983270 A CN108983270 A CN 108983270A
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of train security positioning system and method based on Multi-sensor Fusion, and wherein system includes two difference GNSS data acquisition modules, for acquiring two groups of difference GNSS datas；GNSS data logic module, for accordingly being compared acquire two groups of GNSS datas；Two IMU data acquisition modules, for acquiring two groups of IMU data；IMU Data Service Model, for accordingly being compared acquire two groups of IMU data；Two ODO data acquisition modules, for acquiring two groups of ODO data；ODO Data Service Model, for comparing collected two groups of ODO data；Two data fusion modules, for carrying out fusion treatment twice simultaneously to the data of GNSS data logic module, IMU Data Service Model, the output of ODO Data Service Model.Using the present invention, the problem that Information Security is low, location information is discontinuous and at high cost is able to solve in existing train positioning system.
Description
Technical field
The present invention relates to rail traffic control field more particularly to a kind of train secure localizations based on Multi-sensor Fusion
System and method.
Background technique
Safe operation, tune of the train positioning system as the core component in train operation control system, to train
Degree commander and driving efficiency have important role.Positioning method traditional at present mostly uses greatly odometer, transponder, track
Circuit, Doppler radar etc., wherein wheel-slip, abrasion are easy to cause odometer range rate error to become larger；Although transponder precision
It is higher, but must be within certain measurement range (near transponder), and need that a large amount of transponder is installed along the railway,
Not convenient for safeguarding, higher cost；Track circuit is to form a circuit reflux with two rail according to the train of process, to detect
To train position, but train can only be got in section, and the specific location of train cannot be determined, position error compared with
Greatly.Doppler radar is influenced to have certain fluctuating error by speed, therefore can only be used as a kind of aiding sensors.
As the traditional train positioning method of the fast development of China express railway has been difficult to meet novel train fortune
The requirement of row control system, therefore there is an urgent need to a kind of novel Low-cost Train Positioning Systems.Recently as satellite navigation
The fast development of technology, many researchers start to be applied to railway territory especially train positioning aspect.Mueller,K T
Differential GPS location technology is applied to train positioning field, designs a set of train positioning system, but does not consider that satellite-signal loses
Orientation problem in the case of lock；Liu Jiang et al. in Design Orientation system in such a way that GPS is combined with Inertial Measurement Unit, though
Seamless positioning function is so realized, but the design of system fails the reliability and security in view of train operation.Yin Qin et al.,
GPS is combined with original train odometer, devises a kind of integrated positioning system based on GPS/ODO, but system data is defeated
Safety out is difficult to ensure.
Therefore, in order to meet the requirement of novel train operation control system, the present invention, which provides, is based on Multi-sensor Fusion
Train security positioning system and method.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of train security positioning system based on Multi-sensor Fusion
And method, to solve the problems, such as that Information Security is low in existing train positioning system, location information is discontinuous and at high cost.
The present invention provides a kind of train security positioning system based on Multi-sensor Fusion, including two difference GNSS datas
Acquisition module, the GNSS data logic module being connected with described two difference GNSS data acquisition modules, two IMU data are adopted
Collect module, the IMU Data Service Model being connected with described two IMU data acquisition modules, two ODO data acquisition modules,
The ODO Data Service Model and two data fusion modules being connected with described two ODO data acquisition modules；Wherein,
Described two difference GNSS data acquisition modules, for acquiring two groups of difference GNSS datas, the collected difference of institute
GNSS data includes longitude, latitude, height, east orientation speed, north orientation speed and sky orientation speed；
The GNSS data logic module, two groups of GNSS for acquiring described two difference GNSS data acquisition modules
Data are accordingly compared, if two groups of GNSS data comparisons are consistent, seek the average value of two groups of GNSS datas；
Described two IMU data acquisition modules, for acquiring two groups of IMU data, the collected IMU data of institute include x-axis
Speed, y-axis speed, z-axis speed, course angle, pitch angle and roll angle；
The IMU Data Service Model, for by two groups of IMU data of described two IMU data collecting module collecteds into
The corresponding comparison of row, if two groups of IMU data comparisons are consistent, seeks the average value of two groups of data；
Described two ODO data acquisition modules, for acquiring two groups of ODO data, the collected ODO data of institute include train
Traffic direction speed；
The ODO Data Service Model, two groups of ODO data for arriving described two ODO data collecting module collecteds
It compares, if two groups of ODO data comparisons are consistent, seeks the average value of two groups of ODO data；
Described two data fusion modules, for the GNSS data logic module, the IMU Data Service Model,
The data of the ODO Data Service Model output carry out fusion treatment twice simultaneously.
Furthermore it is preferred that scheme be, described two difference GNSS data acquisition modules be respectively provided with difference GNSS data acquisition
On plate, the GNSS data logic module is arranged on GNSS data logic card；Wherein,
The difference GNSS data collection plate is electrically connected with the GNSS data logic card.
Furthermore it is preferred that scheme be that described two IMU data acquisition modules are arranged in IMU data acquisition board, described
IMU Data Service Model is arranged on IMU mathematical logic plate；Wherein,
The IMU data acquisition board is electrically connected with the IMU mathematical logic plate.
Furthermore it is preferred that scheme be, described two ODO data acquisition modules be respectively provided with ODO data acquisition on, the ODO
Data Service Model is arranged on ODO mathematical logic plate；Wherein,
The ODO data acquisition is electrically connected with the ODO mathematical logic plate.
Furthermore it is preferred that scheme be, described two data fusion modules be respectively set the first data fusion plate and second number
According on fusion plate, wherein
The GNSS data logic card is electrically connected with the first data fusion plate, the second data fusion plate respectively；
The IMU mathematical logic plate is electrically connected with the first data fusion plate, the second data fusion plate respectively；
The ODO mathematical logic plate is electrically connected with the first data fusion plate, the second data fusion plate respectively.
Furthermore it is preferred that scheme be further include safety power supply plate and output board, wherein the safety power supply plate, difference
GNSS data collection plate, IMU data acquisition board, ODO data acquisition board, GNSS data logic card, IMU mathematical logic plate, ODO number
Be installed in industrial chassises according to logic card, the first data fusion plate, the second data fusion plate, output board, and each plate with
Form of a blade is inserted into the industrial chassises.
The present invention also provides a kind of train safe positioning method based on Multi-sensor Fusion, comprising:
Step 1: the two groups of difference GNSS datas, two groups of IMU data, two groups of ODO data of train are acquired；
Step 2: comparing collected two groups of difference GNSS datas, if two groups of GNSS data comparisons are consistent, asks
Take the average value of two groups of GNSS datas；
Collected two groups of IMU data are compared, if two groups of IMU data comparisons are consistent, seek two groups of data
Average value；
Collected two groups of ODO data are compared, if two groups of ODO data comparisons are consistent, seek two groups of ODO data
Average value；
Step 3: according to the comparing result of two groups of difference GNSS datas, two groups of IMU data, two groups of ODO data, output three
Cell mean or output train fault alarm；
Step 4: three cell mean data of output are subjected to Data Fusion twice；
Step 5: comparing the data after fusion treatment, if comparison is consistent, exports comparing result, otherwise defeated
Train fault alarm out；
Step 6: the data after fusion treatment are compared into consistent result and are input in on-vehicle safety computer.
Furthermore it is preferred that scheme be in step 2, collected two groups of difference GNSS datas are compared, if two groups
When GNSS data comparison is consistent, during the average value for seeking two groups of GNSS datas,
The collected difference GNSS data of institute includes longitude, latitude, height, east orientation speed, north orientation speed and day to speed
Degree；
By longitude, latitude, height, east orientation speed, north orientation speed and the day of collected two groups of difference GNSS datas to speed
Degree corresponding comparison respectively, if the Error Absolute Value of longitude, latitude, degree of contrast within 1m, and east orientation speed, north orientation speed
Degree, sky orientation speed Error Absolute Value are within 0.1m/s, then two groups of GNSS data comparisons are consistent, are averaged；
Wherein, Δ L indicates longitude error；Δ λ indicates latitude error；Δ H indicates height error；ΔVEIndicate east orientation speed
Error；ΔVNIndicate north orientation speed error；ΔVUIndicate sky orientation speed error.
Furthermore it is preferred that scheme be in step 2, collected two groups of IMU data to be compared, if two groups of IMU numbers
When according to comparing consistent, during the average value for seeking two groups of data,
The collected IMU data of institute include that the collected IMU data of institute include x-axis speed, y-axis speed, z-axis speed, boat
To angle, pitch angle and roll angle；
By x-axis speed, y-axis speed, z-axis speed, course angle, pitch angle and the roll angle of collected two groups of IMU point
Not not accordingly compare, if x-axis speed, y-axis speed, the Error Absolute Value of z-axis velocity contrast within 0.1m/s, and east orientation speed
Degree, north orientation speed, sky orientation speed Error Absolute Value are within 1 °, then two groups of IMU data comparisons are consistent, are averaged；
Wherein, Δ ψ indicates course angle error；Δ θ indicates pitching angle error；Δ γ indicates roll angle error；ΔVxIndicate x
Axle speed error；ΔVyIndicate y-axis velocity error；|ΔVz| indicate z-axis velocity error.
Furthermore it is preferred that scheme be in step 2, collected two groups of ODO data to be compared, if two groups of ODO numbers
When according to comparing consistent, during the average value for seeking two groups of ODO data,
The collected ODO data of institute are current of traffic speed, and collected two groups of ODO data are compared, if
The Error Absolute Value of current of traffic velocity contrast is within 0.1m/s, then ODO data comparison is consistent, averages；
|ΔVODO|≤0.1m/s
Wherein, Δ VODOIndicate the velocity error of current of traffic.
Furthermore it is preferred that scheme be, in step 4: three cell mean data of output are carried out Data Fusion twice
During,
(1) source data of fusion treatment includes following four component: difference GNSS data and IMU data, difference GNSS number
According to ODO data, IMU data and ODO data, difference GNSS data, IMU data and ODO data, and by this data component be two
Class: the combination containing difference GNSS data, the combination without difference GNSS data；
(2) if containing difference GNSS data in the source data of fusion treatment, the result of Data Fusion is GNSS
Location information, it may be assumed that
Pfusion=[L λ H]T
Wherein, PfusionThree-dimensional position after indicating data fusion；
(3) if not containing difference GNSS data in the source data of fusion treatment, data group is combined into: IMU data and ODO number
According to the calculating of fusion treatment is as follows at this time:
The rate conversion of odometer ODO can be indicated into odometer coordinate system are as follows:
Attitude matrix can be obtained by the course angle in IMU data, pitch angle, roll angle are as follows:
Wherein,Pose transformation matrix of the expression b system to n system；B indicates carrier coordinate system；N indicates navigational coordinate system；
Since IMU sensor and train are connected, odometer coordinate system and carrier coordinate system are overlapped, then the speed of ODO is being led
The result navigated under coordinate system are as follows:
According to strap inertial navigation algorithm, the differential equation of final position resolving can be obtained are as follows:
Wherein, RNh=RMD+hODO,RMh=RND+hODO, RMDAnd RNDThe son respectively calculated using dead reckoning geographical location
Noon encloses and the prime vertical principal radius of curvature, then fused position result are as follows:
Pfusion=[LODO λODO hODO]T
Wherein, PfusionThree-dimensional position after indicating data fusion.
It can be seen from the above technical scheme that train security positioning system provided by the invention based on Multi-sensor Fusion and
Method, can obtain it is following the utility model has the advantages that
(1) present invention uses satellite positioning, inertial navigation, odometer Multi-source Information Fusion, can be improved train positioning letter
Continuity, reliability and the positioning accuracy of breath；
(2) present invention is compared using the comparison and the fused result of data of same type of sensor initial data, in very great Cheng
It can be improved the safety of train location data and the reliability of hardware system on degree；
(3) present invention use standard vehicle-mounted 3U chassis design, each plate using blade type can plug design, both met column
The vehicle-mounted hardware device of vehicle requires have stability and anti-interference again.
To the accomplishment of the foregoing and related purposes, one or more aspects of the present invention includes the spy being particularly described below
Sign.Certain illustrative aspects of the invention is described in detail in the following description and the annexed drawings.However, these aspect instructions are only
It is that some of the various ways in the principles of the present invention can be used.In addition, the present invention is intended to include all such aspects with
And their equivalent.
Detailed description of the invention
By reference to the explanation below in conjunction with attached drawing, and with a more complete understanding of the present invention, of the invention is other
Purpose and result will be more clearly understood and understood.In the accompanying drawings:
Fig. 1 is the train safe positioning method system logic structure based on Multi-sensor Fusion according to the embodiment of the present invention
Block diagram；
Fig. 2 is the train security positioning system structure front view based on Multi-sensor Fusion according to the embodiment of the present invention；
Fig. 3 is the train safe positioning method flow chart based on Multi-sensor Fusion according to the embodiment of the present invention.
Appended drawing reference therein includes: safety power supply plate 1, difference GNSS data collection plate 2, IMU data acquisition board 3, ODO
Data acquisition board 4, GNSS data logic card 5, IMU mathematical logic plate 6, ODO mathematical logic plate 7, data fusion plate A8, the second number
According to fusion plate B9, output board 10, industrial chassises 11, on-vehicle safety computer 12.
Identical label indicates similar or corresponding feature or function in all the appended drawings.
Specific embodiment
In the following description, for purposes of illustration, it in order to provide the comprehensive understanding to one or more embodiments, explains
Many details are stated.It may be evident, however, that these embodiments can also be realized without these specific details.
Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In order to illustrate the train security positioning system provided by the invention based on Multi-sensor Fusion, Fig. 1 to Fig. 2 respectively from
Different angle has carried out exemplary mark to the structure of the train security positioning system based on Multi-sensor Fusion.Specifically, Fig. 1
Show the train safe positioning method system logic structure according to an embodiment of the present invention based on Multi-sensor Fusion；Fig. 2 shows
The train security positioning system forward sight structure according to an embodiment of the present invention based on Multi-sensor Fusion is gone out.
As shown in Figure 1 to Figure 2, a kind of train security positioning system based on Multi-sensor Fusion provided by the invention includes
Two difference GNSS data acquisition modules (difference GNSS data acquisition module A, difference GNSS data acquisition module B), with two
GNSS data logic module that difference GNSS data acquisition module is connected, two IMU data acquisition modules (IMU data acquisitions
Modules A, IMU data acquisition module B), the IMU Data Service Model, two ODO that are connected with two IMU data acquisition modules
Data acquisition module (ODO data acquisition module A, ODO data acquisition module B) is connected with two ODO data acquisition modules
ODO Data Service Model and two data fusion modules (data fusion module A, data fusion module B).
Wherein, difference GNSS data acquisition module A, difference GNSS data acquisition module B are respectively provided with difference GNSS data and adopt
Collect on plate 2, GNSS data logic module is arranged on GNSS data logic card 5；Wherein, difference GNSS data collection plate 2 with
GNSS data logic card 5 is electrically connected, and difference GNSS data collection plate 2 is electrically connected using RS232 with GNSS data logic card 5
Serial communication connection.
Wherein, IMU data acquisition module A, IMU data acquisition module B is arranged in IMU data acquisition board 3, IMU number
It is arranged on IMU mathematical logic plate 6 according to logic module；Wherein, IMU data acquisition board 3 is electrically connected with IMU mathematical logic plate 6.
Wherein, ODO data acquisition module A, ODO data acquisition module B is respectively provided in ODO data acquisition board 4, ODO data
Logic module is arranged 7 on ODO mathematical logic plate；Wherein, ODO data acquisition board 4 is electrically connected with ODO mathematical logic plate 7.
Wherein, data fusion module A is arranged on data fusion plate A8 (the first data fusion plate), data fusion module B
It is arranged on data fusion plate B9 (the second data fusion plate), wherein data fusion plate A8 is also referred to as the first data fusion plate, data
Fusion plate B9 is also referred to as the second data fusion plate.
GNSS data logic card 5 is electrically connected with data fusion plate A8, data fusion plate B9 respectively；IMU mathematical logic plate 6 divides
It is not electrically connected with data fusion plate A8, data fusion plate B9；ODO mathematical logic plate 7 respectively with data fusion plate A8, data fusion
Plate B9 electrical connection.
Train security positioning system of the invention further includes safety power supply plate 1 and output board 10, wherein safety power supply plate 1,
Difference GNSS data collection plate 2, IMU data acquisition board 3, ODO data acquisition board 4, GNSS data logic card 5, IMU mathematical logic
Plate 6, ODO mathematical logic plate 7, data fusion plate A8, data fusion plate B9, output board 10 are installed in industrial chassises 11, and
And each plate is in form of a blade insertion industrial chassises 11.
Whole system is mounted in the industrial chassises 11 of 3U size, and each plate is to be entirely in form of a blade insertion cabinet
The forward sight of system such as such as Fig. 2, from left to right successively are as follows: safety power supply plate 1, difference GNSS data collection plate 2, IMU data acquisition board
3, ODO data acquisition board 4, GNSS data logic card 5, IMU mathematical logic plate 6, ODO mathematical logic plate 7, data fusion plate A8,
Data fusion plate B9, output board 10.
Wherein, IMU sensor used is 3DM-AHRS300A in IMU data acquisition board 3.GNSS data logic card 5, IMU
Microprocessor used is STM32F103ZET6 in mathematical logic plate 6 and ODO mathematical logic plate 7.5 He of GNSS data logic card
Data fusion plate A8 electrical connection is connected using CAN bus.Difference GNSS data collection plate 2 uses GNS sensor, and ODO data are adopted
Collect plate 4 and uses ODO sensor.
In the embodiment shown in fig. 1, two difference GNSS data acquisition modules, for acquiring two groups of difference GNSS numbers
According to the collected difference GNSS data of institute includes longitude, latitude, height, east orientation speed, north orientation speed and sky orientation speed.
GNSS data logic module, for carrying out two groups of GNSS datas of two difference GNSS data acquisition module acquisitions
Corresponding comparison seeks the average value of two groups of GNSS datas if two groups of GNSS data comparisons are consistent.
Two IMU data acquisition modules, for acquiring two groups of IMU data, the collected IMU data of institute include x-axis speed,
Y-axis speed, z-axis speed, course angle, pitch angle and roll angle；
IMU Data Service Model, for mutually being coped with two groups of IMU data of two IMU data collecting module collecteds
Than seeking the average value of two groups of data if two groups of IMU data comparisons are consistent；
Two ODO data acquisition modules, for acquiring two groups of ODO data, the collected ODO data of institute include train operation
Direction speed；
ODO Data Service Model, for by two ODO data collecting module collecteds to two groups of ODO data compare,
If two groups of ODO data comparisons are consistent, the average value of two groups of ODO data is sought；
Two data fusion modules, for GNSS data logic module, IMU Data Service Model, ODO mathematical logic mould
The data of block output carry out fusion treatment twice simultaneously.
It is corresponding with above system, the present invention also provides a kind of train safe positioning method based on Multi-sensor Fusion,
Fig. 3 shows the train safe positioning method process according to an embodiment of the present invention based on Multi-sensor Fusion.
As shown in figure 3, the train safe positioning method provided by the invention based on Multi-sensor Fusion, including step 1:
Acquire two groups of difference GNSS datas, two groups of IMU data, the two groups of ODO data of train；
Step 2: comparing collected two groups of difference GNSS datas, if two groups of GNSS data comparisons are consistent, asks
Take the average value of two groups of GNSS datas；
Collected two groups of IMU data are compared, if two groups of IMU data comparisons are consistent, seek two groups of data
Average value；
Collected two groups of ODO data are compared, if two groups of ODO data comparisons are consistent, seek two groups of ODO data
Average value；
Step 3: according to the comparing result of two groups of difference GNSS datas, two groups of IMU data, two groups of ODO data, output three
Cell mean or output train fault alarm；
Step 4: three cell mean data of output are subjected to Data Fusion twice；
Step 5: comparing the data after fusion treatment, if comparison is consistent, exports comparing result, otherwise defeated
Train fault alarm out；
Step 6: the data after fusion treatment are compared into consistent result and are input in on-vehicle safety computer.
The above-mentioned detailed step for the train secure localization provided by the invention based on Multi-sensor Fusion, wherein in step
In rapid one, S101: two groups of difference GNSS datas of acquisition, S102: two groups of IMU data of acquisition, S103: two groups of ODO data of acquisition；
In step 2, S104: comparing collected two groups of difference GNSS datas, if two groups of GNSS data comparisons
When consistent, the average value of two groups of GNSS datas is sought,
The collected difference GNSS data of institute includes longitude, latitude, height, east orientation speed, north orientation speed and day to speed
Degree；
By longitude, latitude, height, east orientation speed, north orientation speed and the day of collected two groups of difference GNSS datas to speed
Degree corresponding comparison respectively, since data are there are certain fluctuation, if the Error Absolute Value of longitude, latitude, degree of contrast
Within 1m, and east orientation speed, north orientation speed, sky orientation speed Error Absolute Value be within 0.1m/s, then two groups of GNSS numbers
It is consistent according to comparison, it is averaged；
Wherein, Δ L indicates longitude error；Δ λ indicates latitude error；Δ H indicates height error；ΔVEIndicate east orientation speed
Error；ΔVNIndicate north orientation speed error；ΔVUIndicate sky orientation speed error.
In step 2, S105: comparing collected two groups of IMU data, if two groups of IMU data comparisons are consistent,
The average value of two groups of data is sought,
The collected IMU data of institute include that the collected IMU data of institute include x-axis speed, y-axis speed, z-axis speed, boat
To angle, pitch angle and roll angle, it may be assumed that three axis (x, y, z) acceleration information and three-axis attitude information；
By x-axis speed, y-axis speed, z-axis speed, course angle, pitch angle and the roll angle of collected two groups of IMU point
Not not accordingly compare, if x-axis speed, y-axis speed, the Error Absolute Value of z-axis velocity contrast within 0.1m/s, and east orientation speed
Degree, north orientation speed, sky orientation speed Error Absolute Value are within 1 °, then two groups of IMU data comparisons are consistent, are averaged；
Wherein, Δ ψ indicates course angle error；Δ θ indicates pitching angle error；Δ γ indicates roll angle error；ΔVxIndicate x
Axle speed error；ΔVyIndicate y-axis velocity error；|ΔVz| indicate z-axis velocity error.
In step 2, S106: comparing collected two groups of ODO data, if two groups of ODO data comparisons are consistent,
The average value of two groups of ODO data is sought,
The collected ODO data of institute are current of traffic speed, and collected two groups of ODO data are compared, if
The Error Absolute Value of current of traffic velocity contrast is within 0.1m/s, then ODO data comparison is consistent, averages；
|ΔVODO|≤0.1m/s
Wherein, Δ VODOIndicate the velocity error of current of traffic.
Step 3: S107: calculating consistent channel number, if more consistent number is more than or equal to 2, by comparison result
It exports respectively, otherwise stops data and export and make fault alarm (S108).
In step 4: during three cell mean data of output are carried out Data Fusion twice, step 3
The different types of sensing data of middle output carries out Data Fusion S109, S110 twice simultaneously, and will be after two processing
Data compare S111.
(1) source data of fusion treatment includes following four component: difference GNSS data and IMU data, difference GNSS number
According to ODO data, IMU data and ODO data, difference GNSS data, IMU data and ODO data, and by this data component be two
Class: the combination containing difference GNSS data, the combination without difference GNSS data；
(2) if containing difference GNSS data in the source data of fusion treatment, the result of Data Fusion is GNSS
Location information, it may be assumed that
Pfusion=[L λ H]T
Wherein, PfusionThree-dimensional position after indicating data fusion；
(3) if not containing difference GNSS data in the source data of fusion treatment, data group is combined into: IMU data and ODO number
According to the calculating of fusion treatment is as follows at this time:
The rate conversion of odometer ODO can be indicated into odometer coordinate system are as follows:
Attitude matrix can be obtained by the course angle in IMU data, pitch angle, roll angle are as follows:
Wherein,Pose transformation matrix of the expression b system to n system；B indicates carrier coordinate system；N indicates navigational coordinate system；
Since IMU sensor and train are connected, odometer coordinate system and carrier coordinate system are overlapped, then the speed of ODO is being led
The result navigated under coordinate system are as follows:
According to strap inertial navigation algorithm, the differential equation of final position resolving can be obtained are as follows:
Wherein, RNh=RMD+hODO,RMh=RND+hODO, RMDAnd RNDThe son respectively calculated using dead reckoning geographical location
Noon encloses and the prime vertical principal radius of curvature, then fused position result are as follows:
Pfusion=[LODO λODO hODO]T
Wherein, PfusionThree-dimensional position after indicating data fusion.
Step 5: two output results in step 4 being compared, are exported if consistent, data output is otherwise stopped
And make fault alarm S108.
The principle that described two output results are compared are as follows: the difference of longitude, latitude in result coordinate and height
Absolute value is less than or equal to 1m and is judged as than more consistent, otherwise the system failure.
Step 6: the result in step 5 is sent into on-vehicle safety computer S112.
By above embodiment as can be seen that the train secure localization system provided by the invention based on Multi-sensor Fusion
System and method using satellite positioning, inertial navigation, odometer Multi-source Information Fusion can be improved the continuous of train location information
Property, reliability and positioning accuracy；Compared using the comparison of same type of sensor initial data and the fused result of data, very big
It can be improved the safety of train location data and the reliability of hardware system in degree；In addition, using the vehicle-mounted 3U of standard
Chassis design, each plate using blade type can plug design, not only met train-installed hardware device requirement but also had certain stabilization
Property and anti-interference.
The train in Multi-sensor Fusion proposed according to the present invention is described in an illustrative manner above with reference to attached drawing to pacify
Full positioning system and method.It will be understood by those skilled in the art, however, that for aforementioned present invention proposed in multisensor
The train security positioning system and method for fusion can also make various improvement on the basis of not departing from the content of present invention.Cause
This, protection scope of the present invention should be determined by the content of appended claims.
Claims (11)
1. a kind of train security positioning system based on Multi-sensor Fusion, which is characterized in that including two difference GNSS datas
Acquisition module, the GNSS data logic module being connected with described two difference GNSS data acquisition modules, two IMU data are adopted
Collect module, the IMU Data Service Model being connected with described two IMU data acquisition modules, two ODO data acquisition modules,
The ODO Data Service Model and two data fusion modules being connected with described two ODO data acquisition modules；Wherein,
Described two difference GNSS data acquisition modules, for acquiring two groups of difference GNSS datas, the collected difference GNSS of institute
Data include longitude, latitude, height, east orientation speed, north orientation speed and sky orientation speed；
The GNSS data logic module, two groups of GNSS datas for acquiring described two difference GNSS data acquisition modules
It is accordingly compared, if two groups of GNSS data comparisons are consistent, seeks the average value of two groups of GNSS datas；
Described two IMU data acquisition modules, for acquiring two groups of IMU data, the collected IMU data of institute include x-axis speed,
Y-axis speed, z-axis speed, course angle, pitch angle and roll angle；
The IMU Data Service Model, for two groups of IMU data of described two IMU data collecting module collecteds to be carried out phase
Reply ratio seeks the average value of two groups of data if two groups of IMU data comparisons are consistent；
Described two ODO data acquisition modules, for acquiring two groups of ODO data, the collected ODO data of institute include train operation
Direction speed；
The ODO Data Service Model, two groups of ODO data for arriving described two ODO data collecting module collecteds carry out
Comparison, if two groups of ODO data comparisons are consistent, seeks the average value of two groups of ODO data；
Described two data fusion modules, for the GNSS data logic module, the IMU Data Service Model, described
The data of ODO Data Service Model output carry out fusion treatment twice simultaneously.
2. the train security positioning system based on Multi-sensor Fusion as described in claim 1, which is characterized in that
Described two difference GNSS data acquisition modules are respectively provided on difference GNSS data collection plate, the GNSS data logic mould
Block is arranged on GNSS data logic card；Wherein,
The difference GNSS data collection plate is electrically connected with the GNSS data logic card.
3. the train security positioning system based on Multi-sensor Fusion as described in claim 1, which is characterized in that
Described two IMU data acquisition modules are arranged in IMU data acquisition board, and the IMU Data Service Model setting exists
On IMU mathematical logic plate；Wherein,
The IMU data acquisition board is electrically connected with the IMU mathematical logic plate.
4. the train security positioning system based on Multi-sensor Fusion as described in claim 1, which is characterized in that
Described two ODO data acquisition modules are respectively provided in ODO data acquisition board, and the ODO Data Service Model is arranged in ODO
On mathematical logic plate；Wherein,
The ODO data acquisition is electrically connected with the ODO mathematical logic plate.
5. the train security positioning system according to any one of claims 1-4 based on Multi-sensor Fusion, which is characterized in that
Described two data fusion modules are respectively set on the first data fusion plate and the second data fusion plate, wherein
The GNSS data logic card is electrically connected with the first data fusion plate, the second data fusion plate respectively；
The IMU mathematical logic plate is electrically connected with the first data fusion plate, the second data fusion plate respectively；
The ODO mathematical logic plate is electrically connected with the first data fusion plate, the second data fusion plate respectively.
6. such as the described in any item train security positioning systems based on Multi-sensor Fusion of claim 5, which is characterized in that
It further include safety power supply plate and output board, wherein the safety power supply plate, difference GNSS data collection plate, IMU data are adopted
Collect plate, ODO data acquisition board, GNSS data logic card, IMU mathematical logic plate, ODO mathematical logic plate, the first data fusion plate,
Second data fusion plate, output board are installed in industrial chassises, and each plate is inserted into the industrial chassises with form of a blade
In.
7. a kind of train safe positioning method based on Multi-sensor Fusion characterized by comprising
Step 1: the two groups of difference GNSS datas, two groups of IMU data, two groups of ODO data of train are acquired；
Step 2: comparing collected two groups of difference GNSS datas, if two groups of GNSS data comparisons are consistent, seeks two
The average value of group GNSS data；
Collected two groups of IMU data are compared, if two groups of IMU data comparisons are consistent, seek being averaged for two groups of data
Value；
Collected two groups of ODO data are compared, if two groups of ODO data comparisons are consistent, seek the flat of two groups of ODO data
Mean value；
Step 3: according to the comparing result of two groups of difference GNSS datas, two groups of IMU data, two groups of ODO data, export three groups it is flat
Mean value or output train fault alarm；
Step 4: three cell mean data of output are subjected to Data Fusion twice；
Step 5: comparing the data after fusion treatment, if comparison is consistent, exports comparing result, otherwise output column
Vehicle fault alarm；
Step 6: the data after fusion treatment are compared into consistent result and are input in on-vehicle safety computer.
8. the train safe positioning method based on Multi-sensor Fusion as claimed in claim 7, which is characterized in that
In step 2, collected two groups of difference GNSS datas are compared, if two groups of GNSS data comparisons are consistent, are sought
During the average value of two groups of GNSS datas,
The collected difference GNSS data of institute includes longitude, latitude, height, east orientation speed, north orientation speed and sky orientation speed；
By longitude, latitude, height, east orientation speed, north orientation speed and the sky orientation speed of collected two groups of difference GNSS datas point
Do not compare not accordingly, if the Error Absolute Value of longitude, latitude, degree of contrast within 1m, and east orientation speed, north orientation speed, day
To velocity error absolute value within 0.1m/s, then two groups of GNSS data comparisons are consistent, averaged；
Wherein, Δ L indicates longitude error；Δ λ indicates latitude error；Δ H indicates height error；ΔVEIndicate east orientation speed error；
ΔVNIndicate north orientation speed error；ΔVUIndicate sky orientation speed error.
9. the train safe positioning method based on Multi-sensor Fusion as claimed in claim 7, which is characterized in that
In step 2, collected two groups of IMU data are compared, if two groups of IMU data comparisons are consistent, seek two groups of numbers
According to average value during,
The collected IMU data of institute include the collected IMU data of institute include x-axis speed, y-axis speed, z-axis speed, course angle,
Pitch angle and roll angle；
The x-axis speed of collected two groups of IMU, y-axis speed, z-axis speed, course angle, pitch angle and roll angle are distinguished into phase
Cope with ratio, if x-axis speed, y-axis speed, the Error Absolute Value of z-axis velocity contrast within 0.1m/s, and east orientation speed, north
To speed, sky orientation speed Error Absolute Value within 1 °, then two groups of IMU data comparisons are consistent, averaged；
Wherein, Δ ψ indicates course angle error；Δ θ indicates pitching angle error；Δ γ indicates roll angle error；ΔVxIndicate x-axis speed
Spend error；ΔVyIndicate y-axis velocity error；|ΔVz| indicate z-axis velocity error.
10. the train safe positioning method based on Multi-sensor Fusion as claimed in claim 7, which is characterized in that
In step 2, collected two groups of ODO data are compared, if two groups of ODO data comparisons are consistent, seek two groups
During the average value of ODO data,
The collected ODO data of institute are current of traffic speed, collected two groups of ODO data are compared, if train
The Error Absolute Value of traffic direction velocity contrast is within 0.1m/s, then ODO data comparison is consistent, averages；
|ΔVODO|≤0.1m/s
Wherein, Δ VODOIndicate the velocity error of current of traffic.
11. the train safe positioning method based on Multi-sensor Fusion as claimed in claim 7, which is characterized in that
In step 4: during three cell mean data of output are carried out Data Fusion twice,
(1) source data of fusion treatment includes following four component: difference GNSS data and IMU data, difference GNSS data and
ODO data, IMU data and ODO data, difference GNSS data, IMU data and ODO data, and be two classes by this data component:
Combination containing difference GNSS data, the combination without difference GNSS data；
(2) if containing difference GNSS data in the source data of fusion treatment, the result of Data Fusion is the position of GNSS
Confidence breath, it may be assumed that
Pfusion=[L λ H]T
Wherein, PfusionThree-dimensional position after indicating data fusion；
(3) if not containing difference GNSS data in the source data of fusion treatment, data group is combined into: IMU data and ODO data,
The calculating of fusion treatment is as follows at this time:
The rate conversion of odometer ODO can be indicated into odometer coordinate system are as follows:
Attitude matrix can be obtained by the course angle in IMU data, pitch angle, roll angle are as follows:
Wherein,Pose transformation matrix of the expression b system to n system；B indicates carrier coordinate system；N indicates navigational coordinate system；
Since IMU sensor and train are connected, odometer coordinate system and carrier coordinate system are overlapped, then the speed of ODO is sat in navigation
Result under mark system are as follows:
According to strap inertial navigation algorithm, the differential equation of final position resolving can be obtained are as follows:
Wherein, RNh=RMD+hODO,RMh=RND+hODO, RMDAnd RNDThe meridian circle respectively calculated using dead reckoning geographical location
With the prime vertical principal radius of curvature, then fused position result are as follows:
Pfusion=[LODO λODO hODO]T
Wherein, PfusionThree-dimensional position after indicating data fusion.
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