CN112162305A - Fusion positioning method and system for rail transit - Google Patents
Fusion positioning method and system for rail transit Download PDFInfo
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- CN112162305A CN112162305A CN202011029180.8A CN202011029180A CN112162305A CN 112162305 A CN112162305 A CN 112162305A CN 202011029180 A CN202011029180 A CN 202011029180A CN 112162305 A CN112162305 A CN 112162305A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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Abstract
The invention discloses a fusion positioning method and a fusion positioning system for rail transit. The method comprises the following steps: combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure; determining a current fusion positioning structure body according to a preset positioning priority, a Beidou state code, an inertial navigation state code, a milemeter state code and an electronic tag state code; the current fusion positioning structure body is a Beidou-inertial navigation data structure body, a Beidou data structure body, an inertial navigation-electronic tag data structure body or a milemeter-electronic tag data structure body; and correcting the positioning data corresponding to the current fusion positioning structure by using the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data. The invention solves the problem that the locomotive in the tunnel can not be continuously, stably and accurately positioned.
Description
Technical Field
The invention relates to the technical field of rail transit positioning, in particular to a fusion positioning method and a fusion positioning system for rail transit.
Background
The satellite positioning is a necessary trend based on the next-generation track-free circuit train positioning technology, the civil positioning precision of the third generation Beidou global satellite positioning navigation system in Asia-Pacific areas in China reaches 5 meters, and the Beidou based train positioning technology becomes necessary. However, one of the difficulties to be overcome is positioning in the tunnel to ensure the continuity of positioning. The existing tunnel positioning technology is a general problem, a mature and reliable technology is not available for solving the problem that the continuous, stable and accurate positioning of the locomotive in the tunnel cannot be carried out.
Disclosure of Invention
Therefore, it is necessary to provide a fusion positioning method and system for rail transit to solve the problem that continuous, stable and accurate positioning of vehicles in tunnels cannot be performed.
In order to achieve the purpose, the invention provides the following scheme:
a fusion positioning method for rail transit comprises the following steps:
acquiring Beidou data, inertial navigation data, odometer data and electronic tag data; the Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values;
combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure;
determining a current fusion positioning structure body according to a preset positioning priority, the Beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body;
and correcting the positioning data corresponding to the current fusion positioning structure by adopting the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data.
Optionally, after the correction value corresponding to the current fused positioning structure is adopted to correct the positioning data corresponding to the current fused positioning structure, and fusion positioning data is obtained, the method further includes:
and matching the fused positioning data with a pre-input electronic map, and marking the fused positioning data in the electronic map when the longitude and latitude data of the electronic map are consistent with the fused positioning data.
Optionally, the current fusion positioning structure body is determined by the preset positioning priority, the beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code, and the method specifically includes:
determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially from top to bottom;
when the Beidou state code and the inertial navigation state code are both effective values, determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body;
when the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body;
when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are both effective values, determining the inertial navigation-electronic tag data structure as a current fusion positioning structure;
and when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
Optionally, the correcting value corresponding to the current fusion positioning structure is adopted to correct the positioning data corresponding to the current fusion positioning structure, so as to obtain fusion positioning data, and the method specifically includes:
when the current fusion positioning structure body is a Beidou-inertial navigation data structure body, correcting the inertial navigation positioning data by using a correction value corresponding to the Beidou-inertial navigation data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data;
when the current fusion positioning structure body is an inertial navigation-electronic tag data structure body, correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data;
when the current fusion positioning structure body is an odometer-electronic tag data structure body, correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure body, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data.
The invention also provides a fusion positioning system for rail transit, which comprises:
the data acquisition module is used for acquiring Beidou data, inertial navigation data, odometer data and electronic tag data; the Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values;
the data structure body construction module is used for combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure body, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure body, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure body;
the fusion positioning structure body determining module is used for determining the current fusion positioning structure body according to a preset positioning priority, the Beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body;
and the correction module is used for correcting the positioning data corresponding to the current fusion positioning structure by adopting the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data.
Optionally, the fusion positioning system for rail transit further includes:
and the matching module is used for matching the fusion positioning data with a pre-input electronic map and marking the fusion positioning data in the electronic map when the longitude and latitude data of the electronic map are consistent with the fusion positioning data.
Optionally, the fusion localization structural body determining module specifically includes:
a positioning priority determining unit for determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially from top to bottom;
the fusion positioning structure body determining unit is used for determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body when the Beidou state code and the inertial navigation state code are both effective values; when the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body; when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are both effective values, determining the inertial navigation-electronic tag data structure as a current fusion positioning structure; and when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
Optionally, the correction module specifically includes:
the first correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the Beidou-inertial navigation data structure when the current fusion positioning structure is the Beidou-inertial navigation data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data;
the second correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure when the current fusion positioning structure is the inertial navigation-electronic tag data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data;
the third correction unit is used for correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure when the current fusion positioning structure is the odometer-electronic tag data structure, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a fusion positioning method and a fusion positioning system for rail transit, which are used for carrying out fusion processing on positioning information of Beidou high-precision positioning, inertial navigation, a mileometer and an electronic tag, can realize continuous, stable and accurate positioning of a vehicle under any environmental conditions (such as open and shielded environments) in the driving process, and meanwhile, the positioning precision reaches 5 m; the maintenance of the positioning precision in the tunnel is realized through the odometer and the electronic tag technology in a shielding environment (such as a tunnel and a station canopy), and the distribution density of the electronic tags is reduced, so that the product cost is reduced; and a combined data structure body is constructed, so that when any one positioning mode fails, the other positioning mode can be switched to, and continuous, stable and accurate positioning is better realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a fusion positioning method for rail transit according to an embodiment of the present invention;
fig. 2 is a block diagram of an implementation of the fusion positioning method for rail transit according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a fusion positioning system for rail transit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The fusion positioning method and the fusion positioning system for the rail transit provided by the invention have the advantages that on the basis of satellite-based high-precision positioning, inertial navigation technology is adopted for tunnel positioning, and a virtual electronic tag technology is combined, so that the problem that a locomotive in a tunnel cannot be continuously, stably and accurately positioned is solved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a fusion positioning method for rail transit according to an embodiment of the present invention.
Referring to fig. 1, the fusion positioning method for rail transit of the present embodiment includes:
step 101: and acquiring Beidou data, inertial navigation data, odometer data and electronic tag data.
The Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values.
The Beidou positioning data comprises longitude and latitude, elevation, speed, course, satellite star number and the like acquired by a Beidou satellite. When all data in the big dipper location data are all effective, big dipper state code is the valid value, and when big dipper location data disappearance or had not reached the location state yet, big dipper state code is the invalid value. The Beidou correction value is used for correcting Beidou positioning terminal chip data by Beidou positioning differential station correction data.
The inertial navigation positioning data comprise longitude and latitude, vector speed, direction and other data acquired by an inertial navigation system. When all data in the inertial navigation positioning data are effective, the inertial navigation state code is an effective value, and when the inertial navigation system fails, the inertial navigation positioning data are missing or the positioning state is not reached, the inertial navigation state code is an invalid value. The inertial navigation correction value is correction data provided for inertial navigation by the speedometer and the electronic tag fixed position information.
The odometer positioning data comprises the number of turns, the number of pulses, the mileage and the speed collected by the odometer. The determination method of whether the odometer status code is valid is the same as above, and is not described herein again. The odometer correction value is correction data provided by Beidou speed information, inertial navigation speed information and electronic tag position information on the speed and mileage of the odometer.
The electronic tag positioning information comprises longitude and latitude, mileage, altitude and turnout numbers acquired by the electronic tag. The method for determining whether the electronic tag status code is valid is the same as above, and is not described herein again. The electronic tag meter correction value comprises electronic tag positioning data and correction data provided by virtual electronic tag data to inertial navigation positioning data.
Step 102: combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure.
Step 103: determining a current fusion positioning structure body according to a preset positioning priority, the Beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body. The method specifically comprises the following steps:
determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially arranged from top to bottom. The Beidou data structure is constructed by the Beidou data.
And when the Beidou state code and the inertial navigation state code are both effective values, determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body.
When the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body;
and when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are effective values, determining that the inertial navigation-electronic tag data structure is a current fusion positioning structure.
And when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
Step 104: and correcting the positioning data corresponding to the current fusion positioning structure by adopting the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data. The method specifically comprises the following steps:
1) when the current fusion positioning structure body is a Beidou-inertial navigation data structure body, correcting the inertial navigation positioning data by using a correction value corresponding to the Beidou-inertial navigation data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; and the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data. Specifically, the method comprises the following steps:
the correction process of the odometer speed in the odometer positioning data to the inertial navigation positioning data is as follows: when the speed of the odometer is detected and judged to be smooth and stable by the calibration program, the speed of the odometer is continuously sent to the inertial navigation, and the correction of inertial navigation positioning data is completed through the Kalman filtering of the inertial navigation.
The correction process of the electronic tag positioning data (electronic tag fixed position information) to the inertial navigation positioning data comprises the following steps: when the calibration program detects the electronic tag positioning data, the electronic tag positioning data is assigned to the inertial navigation positioning data, and final positioning data is output.
2) When the current fusion positioning structure body is an inertial navigation-electronic tag data structure body, correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data. Specifically, the method comprises the following steps:
the correction process of the virtual electronic tag data to the inertial navigation positioning data comprises the following steps: when the calibration program detects that the Beidou positioning data is invalid through the Beidou state codes and detects that the inertial navigation positioning precision exceeds 10m/s, the calibration of the virtual electronic tag data to the inertial navigation positioning data is started, the virtual electronic tag data continuously provides a measurement value for the inertial navigation positioning data, and the calibration and correction process is completed through the Kalman filtering carried by the inertial navigation. The process of correcting the inertial navigation positioning data by the electronic tag positioning data is the same as the step 1).
3) When the current fusion positioning structure body is an odometer-electronic tag data structure body, correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure body, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data. The method specifically comprises the following steps:
the correction process of the Beidou positioning data to the odometer positioning data comprises the following steps: when the calibration program detects that the odometer speed in the odometer positioning data changes suddenly and the Beidou speed in the Beidou positioning data is stable and smooth, the Beidou speed is assigned to the odometer speed, and the odometer speed is corrected.
The correction process of the inertial navigation positioning data to the odometer positioning data comprises the following steps: when the calibration program judges that the Beidou signal is invalid by detecting the Beidou state code, the calibration program detects that the speed of the odometer changes suddenly and the inertial navigation speed in the inertial navigation positioning data is stable and smooth, the inertial navigation speed is assigned to the speed of the odometer, and the correction of the speed of the odometer is completed.
The correction process of the electronic tag positioning data to the odometer positioning data comprises the following steps: and when the calibration program reads the data information of the fixed position of the electronic tag, assigning the data to odometer positioning data to finish the correction of the odometer positioning data.
Step 105: and matching the fused positioning data with a pre-input electronic map, and marking the fused positioning data in the electronic map when the longitude and latitude data of the electronic map are consistent with the fused positioning data.
As shown in fig. 2, in practical application, the fusion positioning method for rail transit in the above embodiment is implemented as follows:
step 1: the following sensor data were collected in real time: big dipper high accuracy location, inertial navigation, odometer, electronic tags.
Step 2: and extracting necessary data information from each path of acquired data to construct a corresponding data structure body. Specifically, the method comprises the following steps:
(1) and extracting information such as longitude and latitude, elevation, speed, course angle and the like in the acquired Beidou data, simultaneously adding information such as Beidou state codes and Beidou correction values, and constructing the two types of data into a structural body. The structure is a set of different types of data variables.
The state code is formed by combining at least 1 effective message. And extracting data indicating the state code from the acquired sensor information, establishing a corresponding relation with the state code according to the type of information acquired by the sensor, and judging whether the state code is effective or not. And (3) judging: when all the information is valid, the state code position is valid, and the program resolves the state code to be valid. When the acquired sensor fails, data is lost and the positioning state is not reached, the corresponding state code position is invalid, and the state code is prompted to be invalid. The invalid state code is not used for judging that the structural body is invalid, and when the state code in the structural body is invalid, the structural body can be used as a single-path debugging and checking data source. The single Beidou structure body data provides Beidou positioning data for Beidou and inertial navigation positioning combination, and simultaneously provides data for Beidou positioning single-path output.
The correction value is the correction of the Beidou positioning differential station correction data on Beidou positioning terminal chip data, the correction process is that the differential station outputs differential correction information to the positioning terminal, the correction of the positioning data is realized through an RTK differential correction algorithm carried by the positioning chip, and the final positioning data is output.
(2) And extracting data information such as longitude and latitude, vector speed, direction and the like in the acquired inertial navigation data, simultaneously adding information such as a new inertial navigation state code, real-time positioning precision, inertial navigation correction value and the like, and constructing different types of data into a structural body. The data of the single inertial navigation structure body provides inertial navigation data for the inertial navigation and electronic tag structure body, and provides a data source for checking and debugging the single-path state of the module. The inertial navigation correction value is correction data provided for inertial navigation by the speedometer and the electronic tag fixed position information. The correction process of the odometer speed to the inertial navigation positioning comprises the following steps: when the speed of the odometer is detected and judged to be smooth and stable by the calibration program, the speed data of the odometer is continuously sent to the inertial navigation, and the correction of inertial navigation positioning data is completed through Kalman filtering carried by the inertial navigation; the inertial navigation correction process of the electronic tag fixed position information comprises the following steps: and when the electronic tag data is detected by the calibration program, assigning the electronic tag data to inertial navigation positioning data, and outputting final positioning data.
(3) And extracting information such as the number of turns, the pulse number, the mileage and the speed in the acquired odometer data, simultaneously adding information such as an odometer state code and an odometer correction value, and constructing the different types of data into a structural body. The odometer correction value is calibration data of the speed information of the Beidou and inertial navigation to the odometer, the calibration program preferentially uses the Beidou speed data to calibrate the speed of the odometer, and when the calibration program detects that the speed data of the odometer is suddenly changed and the Beidou speed data is stable and smooth, the Beidou speed data is assigned to the odometer to finish speed correction of the odometer; and when the calibration program judges that the Beidou signal is invalid through detecting the state of the state code and detects that the speed data of the odometer changes suddenly and the inertial navigation speed data is stable and smooth, the inertial navigation speed data is assigned to the odometer, so that the speed calibration of the odometer is completed. The single-mile structure is designed into a structure of 'mile meter + electronic label' to provide mile meter data and provide a data source for checking and debugging the module single-path positioning state.
(4) And extracting information such as longitude and latitude, mileage, altitude, turnout number and the like in the acquired label data, adding information such as an electronic label state code and an electronic label correction value, and constructing the different types of data into a structural body. The correction value is virtual electronic tag data. The single label structure body is designed into a structure body of 'milemeter + electronic label', and a structure body of 'inertial navigation + electronic label' provides label data, and provides a data source for checking and debugging the module single-path positioning state.
(5) And extracting the information of mileage, speed and the like of the odometer structure body and the information of mileage, section number, turnout number and the like of the electronic tag structure body, simultaneously adding the information of an odometer correction value, an electronic tag correction value and the like, and combining the different types of data to form a new odometer-electronic tag data structure body.
The structural body state code is formed by combining the state code of the independent odometer and the state code of the electronic tag, the combined body state code is valid only when the two state codes are valid, and the combined body state code is invalid if one or all of the two state codes are invalid.
The correction value corresponding to the data structure body of the odometer-electronic tag is the correction value of the Beidou, inertial navigation and electronic tag to the odometer. The process of correcting the odometer by the Beidou and inertial navigation correction values is shown in the process of correcting the odometer by the Beidou and inertial navigation correction values in the odometer structure (step (3)). The electronic tag is used for correcting the odometer by assigning data to the odometer when the calibration program reads data information of a fixed position of the electronic tag, so that the data of the odometer is corrected.
(6) And extracting data information such as longitude and latitude, vector speed, direction and the like of inertial navigation and information such as longitude and latitude, altitude, correction value and the like of the electronic tag, and combining the different types of information to form a new inertial navigation-electronic tag data structure.
The structural body state code is formed by combining a state code of independent inertial navigation and an electronic tag state code, the combined state code is valid only when the two state codes are valid, and the combined state code is invalid if one or all of the two state codes are invalid.
The correction value corresponding to the inertial navigation-electronic tag data structure body is the correction value of electronic tag data and virtual electronic tag data to inertial navigation positioning data. The process of correcting the inertial navigation positioning data by the virtual electronic tag comprises the following steps: when the calibration program detects that the Beidou positioning data is invalid through the state codes and detects that the inertial navigation positioning precision exceeds 10m/s, the calibration of the virtual electronic tag on the inertial navigation is started, the virtual electronic tag data continuously provide a measurement value for the inertial navigation, and the calibration correction process is completed through the Kalman filtering carried by the inertial navigation. And (3) the fixed electronic tag corrects the inertial navigation in a calibration process (2).
(7) And extracting information such as the longitude and latitude, the speed, the elevation and the like of the Beidou, information such as the longitude and latitude, the vector speed, the vector direction, the correction value and the like of inertial navigation, and combining the different types of data to form a novel Beidou + inertial navigation data structure body. The correction value in the structure body is the correction of the odometer and the electronic tag data to the inertial navigation positioning data, and the correction process is the same as the step (2).
The structure body state code is formed by combining the state code of the Beidou alone and the inertial navigation state code, the combination body state code is effective only when the two state codes are effective, and the combination body state code is ineffective if one or all of the two state codes are ineffective.
And step 3: and performing mutual calibration and data fusion of the parameters of the data structure body of each sensor through a data calibration subprogram. (the state correction and calibration in the second step are realized through the step, the real-time data updating is realized through the correction data, and the data fusion is carried out at the same time, and the specific process is not repeated here)
(1) The electronic tag calibrates the odometer. When the data calibration program detects that the electronic tag in the 'odometer-electronic tag' structure has a reading, the position data of the tag is assigned to the odometer, and meanwhile, the counting of the odometer is reset, so that the error calibration of the electronic tag on the odometer is realized.
(2) And calibrating inertial navigation by the electronic tag. When the data calibration program detects that the electronic tag in the inertial navigation-electronic tag structure has a reading, the tag position data is sent to the inertial navigation module, and error calibration of the electronic tag on inertial navigation is realized.
(3) The process of constructing the virtual electronic tag comprises the following steps: the electronic tag can accurately provide longitude and latitude information of a fixed position, and the process is to match mileage data of non-longitude and latitude with longitude and latitude data of a corresponding position, so the process is also called to construct a virtual electronic tag. The purpose of constructing the virtual electronic tag is to facilitate the calibration of inertial navigation and the display conversion of longitude and latitude and mileage. The specific process is as follows: the Beidou high-precision positioning equipment collects longitude and latitude information on an operating line in real time, the first collection point is used as a starting point, the distance between the continuously collected collection point and the first collection point is calculated, when the distance is smaller than 1 m, the collection point is discarded, when the first data larger than 1 m appears, the record is carried out, the process is continued by using the point as the starting point, the collection length is the whole line, a newly-built mileage-longitude and latitude matching data file is completed, the mileage data is matched with the longitude and latitude data of the corresponding position in real time, and a virtual electronic tag text database is formed.
(4) And constructing a milemeter mileage-longitude and latitude matching file according to a virtual electronic tag text formed by the line test.
(5) And calibrating inertial navigation by using the virtual electronic tag. And after a mileage-longitude and latitude matching file is formed, the data is sent to the electronic tag structural body correction value for later use. When the state is judged to adopt the positioning combination of inertial navigation and electronic tag, and the inertial navigation positioning precision exceeds 10m/s (see step 2), the correction value information is continuously sent to the inertial navigation module to provide a measurement value reference for inertial navigation position calculation, and the constraint and precision calibration of inertial navigation divergence are realized through a Kalman filtering algorithm embedded in inertial navigation.
(6) And (5) calibrating the odometer by the Beidou. Extracting speed information in the Beidou data structure body constructed in the step (1) in the step 2, and assigning the Beidou speed to the odometer when the program detects that the speed of the odometer changes suddenly and the data of the Beidou speed is smooth, so as to realize the calibration of idling or sideslip of the odometer; and meanwhile, comparing the speed information calculated by the odometer every 1km, and assigning the Beidou speed information to the odometer when the speeds are inconsistent.
And 4, step 4: and (3) setting a positioning priority, monitoring and analyzing the state code of each data structure body in the step 2, judging whether the state code is effective or not, and selecting a corresponding positioning combination mode according to the design rule of the state code. And judging which structural body data is output, correcting the corresponding structural data by the corresponding correction value, and outputting the positioning data.
The setting of the positioning priority is as follows from high to low: big dipper + inertial navigation, big dipper, inertial navigation + electronic tags, odometer + electronic tags.
The state code design rule is as follows: when the Beidou navigation satellite system and the inertial navigation state code are analyzed to be in normal states, the positioning combination is preferentially used; when the inertial navigation state is analyzed to be invalid or failed and the Beidou state code is analyzed to be valid, Beidou positioning is used for outputting; when the Beidou state code is analyzed to be invalid, the inertial navigation and electronic tag positioning combination is preferentially used; and when the inertial navigation state code is analyzed to be invalid, divergent or faulty, a combination of the odometer and the electronic tag is used for positioning.
And 5: state output and state switching thereof
And matching the output positioning data of the step 4 with the electronic map. The electronic map is a high-precision map display module which is pre-installed on a system user display interface, and when the electronic map detects positioning data which is consistent with the longitude and latitude data of the electronic map, the positioning data map is marked out, and the matching and the display of the positioning data on the electronic map are completed. Since the mileage and the latitude and longitude are matched with each other in the embodiment (see (3) in the step 3), the display process can realize the real-time switching display of the latitude and longitude and the mileage as required.
The front-end data of this embodiment adopts the mode of being divided into two, sends data for main controller board and corresponding integrated circuit board module simultaneously, when some data is unusual, can guarantee the degree of accuracy and the stability of data. The split working mode consists of a logic circuit, a driver, a trigger latch and a gate circuit, and meets the requirement of long-distance high-power stable transmission of signals.
The embodiment is designed in a cabinet type plugging mode, and the golden fingers with high stability are physically connected in a backboard golden finger slot mode.
The electronic tag comprises a main controller board, an inertial navigation board card module (inertial guide board for short), a Beidou board card module (Beidou board for short), odometer equipment, electronic tag equipment and an upper computer system.
The main controller board is physically connected with the inertial navigation board card module and the Beidou board card module through the backboard in a golden finger slot mode. Meanwhile, the main controller board and each independent system board card module adopt a chrysanthemum topology structure and a star topology structure respectively among the independent modules, and the two link modes are combined, so that communication links can be established between the main controller and the board card modules and between the board card modules, and the data of front-end equipment can be transmitted in the shortest path and the shortest time. In addition, the work between the board card modules is independently completed, so that the mutual interference among the board card modules is avoided, and the running stability of the board card modules is improved.
The main controller board is responsible for the work of total data information collection and summarization, fusion, storage backup and the like, the inertial navigation board is mainly responsible for the processing of inertial navigation data information, and the Beidou board is mainly responsible for the processing of Beidou and GPS satellite data. The three are communicated through a serial bus or a parallel bus, and a communication link is established between any two, so that the cross use among different data is met, and the position precision is improved. The odometer device and the electronic tag device mainly provide independent position information for the main controller board and the inertial navigation board. The odometer is connected with the main controller board through orthogonal signals, and the main controller board can identify the stroke and the direction of the odometer according to the characteristics of the orthogonal signals. The electronic tag is connected with the main controller board through an RS-232 interface. And the main controller board fuses the data information of the inertial navigation board card module and the Beidou board card module again, and sends positioning data to an upper computer system in a UART (universal asynchronous receiver/transmitter) communication mode according to a state judgment result.
The embodiment provides seven modes of position location information, which are respectively an inertial navigation mode, a Beidou mode, a milemeter mode, an electronic tag mode, an inertial navigation + Beidou combined mode, an odometer + electronic tag combined mode and an inertial navigation + electronic tag combined mode. The system can provide at least one path of position information output at any time by combining the automatic switching of the environment of a specific use place, and monitors the actual position of the locomotive in real time.
The fusion positioning method for rail transit in the embodiment is different from the existing positioning switching mode, and is characterized in that: firstly, all positioning data resources are fused and used in parallel, and are not simply switched and selected; secondly, intelligent switching of positioning combination is realized through state code analysis and positioning priority design, and continuous, stable and accurate output of positioning data is guaranteed; thirdly, the data resources of each path of sensor are fully utilized to carry out mutual calibration, and the positioning precision is improved. And fourthly, the fault guide safety design is adopted, and the continuous and stable output of the fusion positioning data of the terminal is not influenced when any one positioning sensor fails.
The invention also provides a fusion positioning system for rail transit, and fig. 3 is a schematic structural diagram of the fusion positioning system for rail transit provided by the embodiment of the invention. Referring to fig. 3, the fusion positioning system for rail transit of the present embodiment includes:
the data acquisition module 301 is used for acquiring Beidou data, inertial navigation data, odometer data and electronic tag data; the Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values.
A data structure construction module 302, configured to combine the compass data and the inertial navigation data to construct a compass-inertial navigation data structure, combine the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure, and combine the odometer data and the electronic tag data to construct an odometer-electronic tag data structure.
A fusion positioning structure body determining module 303, configured to determine a current fusion positioning structure body according to a preset positioning priority, the beidou state code, the inertial navigation state code, the odometer state code, and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body.
And the correction module 304 is configured to correct the positioning data corresponding to the current fusion positioning structure by using the correction value corresponding to the current fusion positioning structure, so as to obtain fusion positioning data.
As an optional implementation manner, the fusion positioning system for rail transit further includes:
the matching module 305 is configured to match the fused positioning data with a pre-input electronic map, and mark the fused positioning data in the electronic map when the longitude and latitude data of the electronic map is consistent with the fused positioning data.
As an optional implementation manner, the fused positioning structure determining module 303 specifically includes:
a positioning priority determining unit for determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially arranged from top to bottom.
The fusion positioning structure body determining unit is used for determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body when the Beidou state code and the inertial navigation state code are both effective values; when the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body; when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are both effective values, determining the inertial navigation-electronic tag data structure as a current fusion positioning structure; and when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
As an optional implementation manner, the correction module 304 specifically includes:
the first correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the Beidou-inertial navigation data structure when the current fusion positioning structure is the Beidou-inertial navigation data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; and the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data.
The second correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure when the current fusion positioning structure is the inertial navigation-electronic tag data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data.
The third correction unit is used for correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure when the current fusion positioning structure is the odometer-electronic tag data structure, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A fusion positioning method for rail transit is characterized by comprising the following steps:
acquiring Beidou data, inertial navigation data, odometer data and electronic tag data; the Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values;
combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure;
determining a current fusion positioning structure body according to a preset positioning priority, the Beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body;
and correcting the positioning data corresponding to the current fusion positioning structure by adopting the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data.
2. The fusion positioning method for rail transit according to claim 1, wherein after the correction value corresponding to the current fusion positioning structure is adopted to correct the positioning data corresponding to the current fusion positioning structure, so as to obtain fusion positioning data, the method further comprises:
and matching the fused positioning data with a pre-input electronic map, and marking the fused positioning data in the electronic map when the longitude and latitude data of the electronic map are consistent with the fused positioning data.
3. The fusion positioning method for rail transit according to claim 1, wherein the determining a current fusion positioning structure from the preset positioning priority, the beidou status code, the inertial navigation status code, the odometer status code and the electronic tag status code specifically comprises:
determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially from top to bottom;
when the Beidou state code and the inertial navigation state code are both effective values, determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body;
when the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body;
when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are both effective values, determining the inertial navigation-electronic tag data structure as a current fusion positioning structure;
and when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
4. The fusion positioning method for rail transit according to claim 1, wherein the correcting the positioning data corresponding to the current fusion positioning structure by using the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data specifically comprises:
when the current fusion positioning structure body is a Beidou-inertial navigation data structure body, correcting the inertial navigation positioning data by using a correction value corresponding to the Beidou-inertial navigation data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data;
when the current fusion positioning structure body is an inertial navigation-electronic tag data structure body, correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure body, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data;
when the current fusion positioning structure body is an odometer-electronic tag data structure body, correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure body, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data.
5. A fusion positioning system for rail transit, comprising:
the data acquisition module is used for acquiring Beidou data, inertial navigation data, odometer data and electronic tag data; the Beidou data comprises Beidou positioning data, Beidou state codes and Beidou correction values; the inertial navigation data comprise inertial navigation positioning data, inertial navigation state codes and inertial navigation correction values; the odometer data comprises odometer positioning data, an odometer state code and an odometer correction value; the electronic tag data comprises electronic tag positioning information, electronic tag state codes and electronic tag meter correction values;
the data structure body construction module is used for combining the Beidou data and the inertial navigation data to construct a Beidou-inertial navigation data structure body, combining the inertial navigation data and the electronic tag data to construct an inertial navigation-electronic tag data structure body, and combining the odometer data and the electronic tag data to construct an odometer-electronic tag data structure body;
the fusion positioning structure body determining module is used for determining the current fusion positioning structure body according to a preset positioning priority, the Beidou state code, the inertial navigation state code, the odometer state code and the electronic tag state code; the current fusion positioning structure body is the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body or the odometer-electronic tag data structure body;
and the correction module is used for correcting the positioning data corresponding to the current fusion positioning structure by adopting the correction value corresponding to the current fusion positioning structure to obtain fusion positioning data.
6. The fusion positioning system for rail transit of claim 5, further comprising:
and the matching module is used for matching the fusion positioning data with a pre-input electronic map and marking the fusion positioning data in the electronic map when the longitude and latitude data of the electronic map are consistent with the fusion positioning data.
7. The fusion positioning system for rail transit according to claim 5, wherein the fusion positioning structure determining module specifically comprises:
a positioning priority determining unit for determining a preset positioning priority; the preset positioning priority is that the Beidou-inertial navigation data structure body, the Beidou data structure body, the inertial navigation-electronic tag data structure body and the odometer-electronic tag data structure body are sequentially from top to bottom;
the fusion positioning structure body determining unit is used for determining the Beidou-inertial navigation data structure body as a current fusion positioning structure body when the Beidou state code and the inertial navigation state code are both effective values; when the Beidou state code is an effective value and the inertial navigation state code is an invalid value, determining that the Beidou data structure body is a current fusion positioning structure body; when the Beidou state code is a failure value and the inertial navigation state code and the electronic tag state code are both effective values, determining the inertial navigation-electronic tag data structure as a current fusion positioning structure; and when the inertial navigation state code is a failure value and the odometer state code and the electronic tag state code are both effective values, determining the odometer-electronic tag data structure as a current fusion positioning structure.
8. The fusion positioning system for rail transit according to claim 5, wherein the correction module specifically comprises:
the first correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the Beidou-inertial navigation data structure when the current fusion positioning structure is the Beidou-inertial navigation data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the Beidou-inertial navigation data structure body is correction data provided by odometer positioning data and electronic tag positioning data to inertial navigation positioning data;
the second correction unit is used for correcting the inertial navigation positioning data by adopting a correction value corresponding to the inertial navigation-electronic tag data structure when the current fusion positioning structure is the inertial navigation-electronic tag data structure, and determining the corrected inertial navigation positioning data as fusion positioning data; the correction value corresponding to the inertial navigation-electronic tag data structure is correction data provided by electronic tag positioning data and virtual electronic tag data to inertial navigation positioning data; the virtual electronic tag data is a matching file of odometer positioning data and electronic tag positioning data;
the third correction unit is used for correcting the odometer positioning data by adopting a correction value corresponding to the odometer-electronic tag data structure when the current fusion positioning structure is the odometer-electronic tag data structure, and determining the corrected odometer positioning data as fusion positioning data; and the correction value corresponding to the odometer-electronic tag data structure body is correction data provided by Beidou positioning data, inertial navigation positioning data and electronic tag positioning data to odometer positioning data.
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