CN117233818A - Method for enhancing stability of tamping car mileage positioning technology based on Beidou/GNSS - Google Patents
Method for enhancing stability of tamping car mileage positioning technology based on Beidou/GNSS Download PDFInfo
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Abstract
The invention relates to the technical field of railway Beidou/GNSS navigation positioning multisource data fusion, and discloses a method for enhancing the stability of a tamping vehicle mileage positioning technology based on Beidou/GNSS, which comprises the steps of S101, collecting Beidou/GNSS data, analyzing a positioning result in a GGA format, judging whether the Beidou/GNSS data is available, and if so, executing S102; if the vehicle is not available, the odometer is used for positioning independently, the unavailable time is recorded, and when the unavailable time reaches a threshold value, the tamping vehicle is braked and the vehicle is alarmed; s102, correcting the idle running error of the wheel of the odometer when the tamping car starts according to Beidou/GNSS data; s103, synchronizing the data of the pulse signal counter according to Beidou/GNSS data and the like; the method is excellent in improving the continuity and stability of high-precision positioning of the tamping car, ensures the seamless connection of full-line positioning and the uniformity of mileage references, and provides an effective and practical solution for precisely measuring and precisely stamping mileage references of the tamping car and improving the high-precision positioning stability of Beidou/GNSS.
Description
Technical Field
The invention relates to a multi-source data fusion technology of railway Beidou/GNSS navigation positioning, in particular to a method and a system for enhancing the stability of a tamping car mileage positioning technology based on Beidou/GNSS satellites.
Background
In railways, railway ballasts are crushed stone materials for supporting rail sleepers, which are helpful for absorbing load, heat and noise generated when a train passes by and ensuring the stability of rail gauges. However, over time, due to the nature of the materials, the ballasts may be displaced in multiple directions at unequal distances, which may lead to deviations of the rail from the ideal position, resulting in track irregularities. To ensure driving safety and passenger comfort, it is necessary to regularly measure the linear geometrical parameters of the railway using a rail gauge and then correct them using a large tamper. The traditional tamping operation depends on an odometer on a tamping car for positioning, and the positioning method is different from a coordinate positioning method of a rail inspection instrument, so that the positioning accuracy, error accumulation, initial reference and the like of the conventional tamping operation are greatly different. This often results in a misalignment of the mileage between the tamping car and the track gauge, creating a "non-uniform measurement" problem that further affects the tamping effect and the improvement of the Track Quality Index (TQI).
The Beidou/GNSS positioning system is utilized to carry out mileage positioning of the tamping car, so that the principle, precision and reference of mileage positioning of the tamping car and the rail inspection instrument are kept consistent, and the dislocation problem is solved. The technology is realized by receiving satellite differential data from nearby reference stations through a 4G/5G network so as to correct Beidou/GNSS satellite positioning errors of the tamping car, thereby achieving real-time centimeter-level positioning accuracy. However, the following problems still exist in the technology, and the stability of the positioning precision of the tamping car is affected:
1. in a conventional railway environment, the precision of RTK positioning of beidou/GNSS may float in a short time, for example, when a tamping car passes through a large structure or is interfered by external electromagnetic signals, the satellite signals may be temporarily interrupted; meanwhile, instability of 4G/5G network communication may also cause data transmission delay, which affects positioning accuracy.
2. In a specific railway environment, such as a remote mountain area or an unmanned area of a new-storage railway, a communication operator may not establish a base station due to cost consideration, so that the Beidou/GNSS receiver cannot communicate with a reference station, and cannot obtain centimeter-level positioning service of the network RTK.
3. In some specific environments, such as in tunnels, the beidou/GNSS signals may be blocked, so that the beidou/GNSS system cannot provide positioning, navigation and timing services.
In order to solve the above problems, to improve the measurement and the tamping continuity and stability of the tamping vehicle equipped with the Beidou/GNSS receiver, and to improve the quality of the tamping operation of the large road maintenance machinery, a method for enhancing the stability of the tamping vehicle mileage positioning technology based on the Beidou/GNSS satellite is urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method and a system for enhancing the stability of the tamping car mileage positioning technology based on Beidou/GNSS.
In order to achieve the above object, the present invention provides the following technical solutions:
a method for enhancing the stability of a tamping car mileage positioning technology based on Beidou/GNSS comprises the following steps: s101, acquiring Beidou/GNSS data, analyzing a positioning result in a GGA format, judging whether the Beidou/GNSS data is available, and if so, executing S102; if the vehicle is not available, the odometer is used for positioning independently, the unavailable time is recorded, and when the unavailable time reaches a threshold value, the tamping vehicle is braked and the vehicle is alarmed; s102, correcting the idle running error of the wheel of the odometer when the tamping car starts according to Beidou/GNSS data; s103, synchronizing the data of the pulse signal counter according to Beidou/GNSS data; s104, establishing an acceleration drift model of the tamping car; s105, selecting errors of the speed of Beidou/GNSS data and the speed measured by an odometer as state quantities by using an acceleration drift model, and carrying out Kalman filtering on the speed errors; s106, correcting a speed value and a mileage value of the odometer by using a result obtained by Kalman filtering; s107, executing S103 to S106 on an epoch-by-epoch basis, resulting in a corrected speed value and mileage value for each epoch.
In the present invention, preferably, the S102 includes: s1021, calculating an acceleration difference value, wherein the formula is as follows:wherein->For the acceleration difference at the present moment, +.>For the acceleration difference of the last moment, +.>Acceleration of the odometer at the current time, +.>Acceleration of Beidou\GNSS data at the current moment; s1022, will->And a preset maximum limit value->Comparing if->Judging that the tamping car is idling or sliding, if +.>Judging that the tamping car does not idle or slide; s1023, if the tamping car idles or slides, repairing the speed and displacement errors caused by the idling or sliding by taking the speed of the Beidou/GNSS data as a reference, wherein the formula is as follows: />，/>Wherein->The speed of the tamping car at the current moment; />Measuring the current moment speed for Beidou/GNSS data; />Is the sum of errors;the displacement of the tamping car measured at the last moment; />And (5) synchronizing measurement periods for the Beidou/GNSS data and the odometer.
In the present invention, preferably, the S104 includes: s1041, establishing a state equation and an observation equation of acceleration of the tamping car, wherein the state equation is as follows:the observation equation is:wherein->For the displacement at the current moment +.>For the acceleration at the next moment, +.>Is the current mean value of random acceleration, +.>The acceleration at the present moment can also be designated +.>，/>The disturbance acceleration at the current moment can also be denoted as +.>，/>For the disturbance acceleration at the next moment there is +.>=，/>Is Gaussian white noise->Is a constant; s1042, a state vector is established as follows: />The acceleration drift model is established as follows:
，
wherein,for displacement (I)>Is->Speed of time period->Is->Acceleration of time period->Is the current mean value of random acceleration, +.>Is Gaussian white noise->Is constant.
In the present invention, preferably, the S105 includes: s1051, a state vector and a measurement model are established by using an acceleration drift model, and a state vector equation is as follows:the measurement model equation is:wherein->Is->Time state vector->,Is->Speed measured by Beidou/GNSS moment, < + >>Is->Speed of the moment odometer measurement, +.>Is->Time to->State transition matrix of time->For the observance of the state matrix, +.>In order to observe the matrix,，/>is system noise->Is observation noise->And->All are subject to->Distributed zero-mean gaussian white noise; s1052, according to a discrete Kalman filter equation of a sampling period T, carrying out state prediction, wherein the formula is as follows:
，
，
wherein,for the state prediction vector of moment k-1 versus moment k +.>Is->Time to->State transition matrix of time->For the state prediction vector at time k-1, < >>Sampling period of the system; s1053, calculating prior error covariance, wherein the formula is as follows:
，
，
wherein,for filtering at +.>Time a priori error covariance matrix,>for filtering at +.>Time posterior error covariance matrix, +.>Is->Time to->Time state transition matrix,/->A noise variance matrix of the system; s1054, calculating Kalman gain according to the prior error covariance, wherein the formula is as follows:
，
wherein,for Kalman gain, ++>For filtering at +.>Time a priori error covariance matrix,>for observing matrix +.>For measuring the variance matrix of the noise +.>，/>Covariance parameters of an observation matrix which is a speed difference value; s1055, updating the state estimation value of the posterior according to the Kalman gain matrix, wherein the formula is as follows:
，
wherein,for the state estimation vector of moment k-1 versus moment k +.>For the state estimation vector at time k +.>Is a Kalman gain matrix, < >>Is an observed quantity matrix of the state matrix, +.>Is an observation matrix; s1056, updating the state error covariance, wherein the formula is as follows: />Wherein->Is->The a priori error covariance matrix of the moment in time,for filtering at +.>Time a priori error covariance matrix,>for Kalman gain, ++>Is an observation matrix.
In the present invention, preferably, when the tamping car is in the area without the 4G/5G mobile network signal, the method further comprises: s001, establishing a precise measurement control network, connecting the precise measurement control network with an original control network point or a national control point, and performing data processing according to the precision of second class GNSS; s002, erecting a reference station, erecting a tripod on an original control site or a national control site, installing a reference station receiver on a tripod base, and centering, leveling and measuring the instrument height; s003, receiving Beidou/GNSS data by using a reference station, configuring a reference coordinate, a cut-off height angle, a sampling interval and instrument height, and setting a host data chain as a radio station; s004, installing a receiver antenna on the mobile station, fixing the mobile station on a D point support of a tamping car, and setting a radio station channel, a differential message format and a baud rate to be consistent with those of a reference station; s005, the mobile station obtains the three-dimensional coordinates of the D point position of the tamping car by differentiating the acquired data of the base station data and the acquired data of the mobile station, and then S101 to S107 are executed.
In the present invention, preferably, when the tamping vehicle is in the beidou/GNSS satellite refusal environment area, the method further includes: s201, arranging RFID positioning tags on the sleeper in the Beidou/GNSS satellite refusal environment area at preset intervals, performing track fine measurement through a track gauge to obtain the fine measurement mileage of the sleeper, and writing the fine measurement mileage of the sleeper into the corresponding RFID positioning tags; s202, closing a Beidou/GNSS data channel of the tamping vehicle at the moment when the tamping vehicle runs to the Beidou/GNSS satellite refusing environment area; s203, after the tamping car enters the Beidou/GNSS satellite refusing environment area, acquiring the precise measurement mileage of the current sleeper by reading each RFID positioning tag, and synchronizing and mutually calibrating with the odometer result to eliminate the accumulated error of the odometer; s204, after the tamping car leaves the Beidou\GNSS satellite refusing environment area, initializing Beidou\GNSS data, and starting a Beidou\GNSS data channel after the positioning accuracy is stable.
System for reinforcing tamping car mileage positioning technique stability based on big dipper\GNSS includes: the acquisition module is used for acquiring Beidou/GNSS data, analyzing a positioning result of the GGA format, judging whether the Beidou/GNSS data is available, independently using an odometer for positioning when the Beidou/GNSS data is unavailable, recording the unavailable time, and braking the tamping vehicle and alarming when the unavailable time reaches a threshold value; the first correction module is used for correcting the idle running and sliding errors of the wheels of the odometer when the tamping car starts according to the Beidou/GNSS data; the synchronization module is used for synchronizing the data of the pulse signal counter according to the Beidou/GNSS data; the model building module is used for building an acceleration drift model of the tamping car; the filtering module is used for selecting Beidou/GNSS data and a speedometer measuring speed error as state quantity by using the acceleration drift model and carrying out Kalman filtering on the speed error; the second correction module is used for correcting the speed value and the mileage value of the speedometer by using the result obtained by the Kalman filtering; the traversal module is used for controlling the synchronization module, the model building module, the filtering module and the second correction module to be matched with each other, and correcting the speed value and the mileage value of the odometer one epoch by one epoch.
In the present invention, preferably, when the tamping car is in the area without the 4G/5G mobile network signal, the method further comprises: the precise measurement control network is connected with the original control network point or the national control point and performs data processing according to the second class GNSS precision; the standard station is erected on an original control network point or a national control point through a tripod; and the mobile station is provided with a receiver antenna, is fixed on a D point support of the tamping car, and keeps the station channel, the differential message format and the baud rate of the mobile station consistent with those of the reference station.
In the present invention, preferably, when the tamping vehicle is in the beidou/GNSS satellite refusing environment area, the method further includes: the RFID positioning tags are arranged on sleepers in the Beidou/GNSS satellite refusing environment area at preset intervals, and corresponding precise measuring mileage is written in the RFID positioning tags; the data channel control module is used for closing the Beidou/GNSS data channel of the tamping vehicle at the moment when the tamping vehicle runs to the Beidou/GNSS satellite refusal environment area, initializing the Beidou/GNSS data after the tamping vehicle runs out of the Beidou/GNSS satellite refusal environment area, and opening the Beidou/GNSS data channel after the positioning accuracy is stable; and the tag synchronization module is used for acquiring the accurate measurement mileage of the current sleeper by reading each RFID positioning tag after the tamping car enters the Beidou/GNSS satellite refusing environment area, synchronizing and mutually calibrating with the odometer result, and eliminating the accumulated error of the odometer.
A computer readable storage medium comprising instructions that when run on a computer cause the computer to perform the method of enhancing the stability of a Beidou/GNSS based tamper vehicle mileage positioning technique of any one of the above.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention combines the Kalman filtering algorithm to integrate the Beidou/GNSS positioning technology with the traditional tamping car positioning method based on the odometer. When the Beidou/GNSS satellite signals are temporarily interrupted, the odometer can independently provide navigation and positioning information; after the Beidou/GNSS signals are recovered, the Beidou/GNSS measurement information can continuously calibrate the odometer positioning system, so that the accumulated error of the odometer positioning system is remarkably reduced. In this way, the invention fully utilizes the advantages of each positioning subsystem and realizes a tamping car positioning system with high precision and high reliability.
2. The invention fully considers various external environment factors faced by railway lines and enhances the adaptability of the Beidou/GNSS positioning technology. In places where network signals cannot be received, such as unmanned areas or mountain areas, the invention improves the data transmission mode between the base station and the mobile station, introduces an enhanced radio station and establishes a communication link, and ensures that the mobile receiver of the tamping car can regain centimeter-level real-time positioning service.
3. The invention provides a combined navigation mode for the tamping car, which is used for seamlessly switching between inside and outside of a tunnel. The problem that errors are accumulated in the odometer system because the Beidou/GNSS system cannot provide position service when the tunnel works inside is solved. Outside the tunnel, the system adopts the combination navigation of Beidou/GNSS and an odometer; when entering the tunnel, the system switches to integrated navigation of the odometer and RFID. The accuracy of the odometer is ensured, and the positioning result of the odometer is continuously corrected through the information of the RFID card, so that the system has the remarkable advantages of stability, high precision, low cost and the like.
Drawings
Fig. 1 is a flowchart of a method for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to an embodiment of the present invention.
Fig. 2 is a logic diagram of a method for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to an embodiment of the present invention.
Fig. 3 is a flowchart of S102 in a method for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to an embodiment of the present invention.
Fig. 4 is a flowchart of S104 in a method for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to an embodiment of the present invention.
Fig. 5 is a flowchart of S105 in a method for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to an embodiment of the present invention.
Fig. 6 is a flowchart of a portion of an increase in a method of enhancing the stability of a Beidou/GNSS-based tamper mileage positioning technique when the tamper vehicle is in an area without 4G/5G mobile network signals, in accordance with another embodiment of the present invention.
Fig. 7 is a logic diagram of an added portion of a method for enhancing the stability of a Beidou/GNSS-based tamper mileage positioning technique when the tamper vehicle is in an area without 4G/5G mobile network signals, in accordance with another embodiment of the present invention.
Fig. 8 is a flowchart of a portion of a method of enhancing the stability of a beidou/GNSS based tamper vehicle mileage positioning technique when the tamper vehicle is in a beidou/GNSS satellite rejection environment area, according to another embodiment of the present invention.
Fig. 9 is a logic diagram of an added portion of a method for enhancing the stability of a beidou/GNSS based tamper vehicle mileage positioning technique when the tamper vehicle is in a beidou/GNSS satellite rejection environment area, in accordance with another embodiment of the present invention.
Fig. 10 is a schematic diagram of a tamping vehicle in a beidou/GNSS satellite rejection environment according to another embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a system for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS according to another embodiment of the present invention.
Fig. 12 is a schematic structural diagram of a system for enhancing the stability of a Beidou/GNSS-based tamper mileage positioning technology when the tamper vehicle is in an area without 4G/5G mobile network signals according to another embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a system for enhancing stability of a beidou/GNSS-based tamper mileage positioning technique when the tamper vehicle is in a beidou/GNSS satellite rejection environment area according to another embodiment of the present invention.
In the accompanying drawings: 1. an acquisition module; 2. a first correction module; 3. a synchronization module; 4. a model building module; 5. a filtering module; 6. a second correction module; 7. traversing the module; 8. a fine control net; 9. a reference station; 10. a rover station; 11. an RFID positioning tag; 12. a data channel control module; 13. and a label synchronization module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a preferred embodiment of the present invention provides a method for enhancing the stability of a tamping car mileage positioning technique based on beidou/GNSS, wherein in a general railway application scenario where beidou/GNSS data is available for most of the time, a system for positioning a tamping car combination of beidou/gnss+odometer is adopted. Firstly, a motion model of a tamping car is established, then, beidou/GNSS and an odometer are selected to measure speed errors as state quantities, finally, kalman filtering is carried out on the speed errors, the speed of the odometer is corrected, and a mileage result is calculated, as shown in fig. 1, the method specifically comprises the following steps:
s101, acquiring Beidou/GNSS data, analyzing a positioning result in a GGA format, judging whether the Beidou/GNSS data is available, and if so, executing S102; if the vehicle is not available, the odometer is used for positioning independently, the unavailable time is recorded, and when the unavailable time reaches a threshold value, the tamping vehicle is braked and the vehicle is alarmed.
And analyzing the positioning result of the GGA format to judge whether the Beidou/GNSS data is available or not by collecting the Beidou/GNSS data, if not, positioning by using the odometer alone and setting a threshold value of the unavailable time of the Beidou/GNSS, alarming by exceeding a threshold system, braking the tamping vehicle, waiting for the recovery of the Beidou/GNSS signals or resetting the odometer, and taking other measures such as alarming.
S102, correcting the idle running error of the wheel of the odometer when the tamping car starts according to the Beidou/GNSS data.
If the Beidou/GNSS is available, correcting the idle running error of the odometer wheel when the tamping car is started, and adopting an acceleration detection method, specifically, as shown in fig. 3, S102 includes:
s1021, calculating an acceleration difference value, wherein the formula is as follows:
，
in the method, in the process of the invention,for the acceleration difference at the present moment, +.>For the acceleration difference of the last moment, +.>Acceleration of the odometer at the current time, +.>Acceleration of Beidou\GNSS data at the current moment;
s1022 is toAnd a preset maximum limit value->Comparing if->Judging that the tamping car is idling or sliding, if +.>Judging that the tamping car does not idle or slide;
s1023, if the tamping car idles or slides, repairing the speed and displacement errors caused by the idling or sliding by taking the speed of the Beidou/GNSS data as a reference, wherein the formula is as follows:
，
，
in the method, in the process of the invention,the speed of the tamping car at the current moment; />Measuring the current moment speed for Beidou/GNSS data; />Is the sum of errors; />The displacement of the tamping car measured at the last moment; />And (5) synchronizing measurement periods for the Beidou/GNSS data and the odometer.
S103, synchronizing the data of the pulse signal counter according to the Beidou/GNSS data.
And (3) clearing a pulse signal counter, wherein the counter takes a 1PPS signal of the Beidou/GNSS as a reference, records the pulse number sent during the odometer, realizes the synchronization of the Beidou/GNSS and the odometer data acquisition, and simultaneously provides an odometer with an odometer position reference for the Beidou/GNSS.
S104, establishing an acceleration drift model of the tamping car.
Specifically, as shown in fig. 4, S104 may include:
s1041, establishing a state equation and an observation equation of acceleration of the tamping car,
the state equation is:
，
the observation equation is:
，
wherein,for the displacement at the current moment +.>For the acceleration at the next moment, +.>Is the current mean value of random acceleration, +.>The acceleration at the present moment can also be designated +.>，/>The disturbance acceleration at the current moment can also be denoted as +.>，/>For the disturbance acceleration at the next moment there is +.>=/>，
Is Gaussian white noise->Is a constant;
s1042, a state vector is established as follows:
，
the acceleration drift model is established as follows:
，
wherein,for displacement (I)>Is->Speed of time period->Is->Acceleration of time period->Is the current mean value of random acceleration, +.>Is Gaussian white noise->Is constant.
S105, the acceleration drift model is utilized to select errors of the speed of Beidou/GNSS data and the speed measured by the odometer as state quantities, and Kalman filtering is carried out on the speed errors.
Specifically, as shown in fig. 5, S105 includes:
s1051, establishing a state vector and a measurement model by using an acceleration drift model,
the state vector equation is:
，
the measurement model equation is:
，
wherein,is->Time state vector->,/>Is->Speed measured by Beidou/GNSS moment, < + >>Is->Speed of the moment odometer measurement, +.>Is->Time to->State transition matrix of time->For the observance of the state matrix, +.>For observing matrix +.>，Is system noise->Is observation noise->And->All are subject to->Distributed zero-mean gaussian white noise;
s1052, according to a discrete Kalman filter equation of a sampling period T, carrying out state prediction, wherein the formula is as follows:
，
，
wherein,for the state prediction vector of moment k-1 versus moment k +.>Is->Time to->State transition matrix of time->For the state prediction vector at time k-1, < >>Sampling period of the system;
s1053, calculating prior error covariance, wherein the formula is as follows:
，
，
wherein,for filtering at +.>Time a priori error covariance matrix,>for filtering at +.>Time posterior error covariance matrix, +.>Is->Time to->Time state transition matrix,/->A noise variance matrix of the system;
s1054, calculating Kalman gain according to the prior error covariance, wherein the formula is as follows:
，
wherein,for Kalman gain, ++>For filtering at +.>Time a priori error covariance matrix,>for observing matrix +.>For measuring the variance matrix of the noise +.>，/>Covariance parameters of an observation matrix which is a speed difference value;
s1055, updating the state estimation value of the posterior according to the Kalman gain matrix, wherein the formula is as follows:
，
wherein,for the state estimation vector of moment k-1 versus moment k +.>For the state estimation vector at time k +.>Is a Kalman gain matrix, < >>Is an observed quantity matrix of the state matrix, +.>Is an observation matrix;
s1056, updating the state error covariance, wherein the formula is as follows:
wherein,is->Time a priori error covariance matrix,>for filtering at +.>Time a priori error covariance matrix,>for Kalman gain, ++>Is an observation matrix.
After obtaining the new state estimation, the state error covariance needs to be updated to prepare for calculating the prior state covariance matrix at the next moment.
S106, correcting the speed value and the mileage value of the odometer by using the result obtained by Kalman filtering.
S107, executing S103 to S106 on an epoch-by-epoch basis, resulting in a corrected speed value and mileage value for each epoch.
The calculated result corrects the speed value of the odometer, and the mileage change value of the odometer is obtained according to the sampling period TAnd->Substituted into->At this time, S103 to S106 are repeatedly performed, and the mileage value of the combined system is calculated epoch by epoch.
The basic logic of the method of this embodiment is shown in fig. 2.
In a preferred embodiment of the invention, in areas such as a special remote mountain area and an unmanned area, 4G/5G mobile network signals cannot be acquired, and an enhanced radio station is added on the basis of Beidou/GNSS+odometer combined navigation positioning. Firstly, a control network needs to be laid, then a reference station is erected on a control point, and finally, a radio station is started to conduct data interaction between the reference station and a mobile station, as shown in fig. 6, the method specifically comprises the following steps:
s001, establishing a precise measurement control network, connecting the precise measurement control network with an original control network point or a national control point, and performing data processing according to the precision of second class GNSS;
s002, erecting a reference station, erecting a tripod on an original control site or a national control site, installing a reference station receiver on a tripod base, and centering, leveling and measuring the instrument height;
s003, receiving Beidou/GNSS data by using a reference station, configuring a reference coordinate, a cut-off height angle, a sampling interval and instrument height, and setting a host data chain as a radio station;
s004, installing a receiver antenna on the mobile station, fixing the mobile station on a D point support of a tamping car, and setting a radio station channel, a differential message format and a baud rate to be consistent with those of a reference station;
s005, the mobile station obtains the three-dimensional coordinates of the D point position of the tamping car by differentiating the acquired data of the base station data and the acquired data of the mobile station, and then S101 to S107 are executed.
The basic logic of this part of the method is shown in fig. 7.
In the Beidou/GNSS satellite refusing environment (usually tunnel), a combined positioning system of odometer and RFID is adopted, as shown in fig. 10. Firstly, a control network is arranged in a tunnel, then mileage information is bound into an RFID chip on a sleeper, when a tamping car works in the tunnel, the tamping car is mainly positioned by an odometer, and finally, the positioning result of the odometer is compensated and corrected by scanning the RFID chip with fixed intervals. As shown in fig. 8, the method specifically comprises the following steps:
s201, arranging RFID positioning tags on the sleeper in the Beidou/GNSS satellite refusal environment area at preset intervals, performing track fine measurement through a track gauge to obtain the fine measurement mileage of the sleeper, and writing the fine measurement mileage of the sleeper into the corresponding RFID positioning tags;
s202, closing a Beidou/GNSS data channel of the tamping vehicle at the moment when the tamping vehicle runs to the Beidou/GNSS satellite refusing environment area;
s203, after the tamping car enters the Beidou/GNSS satellite refusing environment area, acquiring the precise measurement mileage of the current sleeper by reading each RFID positioning tag, and synchronizing and mutually calibrating with the odometer result to eliminate the accumulated error of the odometer;
s204, after the tamping car leaves the Beidou\GNSS satellite refusing environment area, initializing Beidou\GNSS data, and starting a Beidou\GNSS data channel after the positioning accuracy is stable.
The basic logic of this part of the method is shown in fig. 9.
Another embodiment of the present invention further provides a system for enhancing stability of a tamping car mileage positioning technique based on beidou/GNSS, as shown in fig. 11, including:
the acquisition module 1 is used for acquiring Beidou/GNSS data, analyzing a positioning result of the GGA format, judging whether the Beidou/GNSS data is available, independently using an odometer for positioning when the Beidou/GNSS data is unavailable, recording the unavailable time, and braking the tamping vehicle and alarming when the unavailable time reaches a threshold value;
the first correction module 2 is used for correcting the idle running and sliding errors of the wheels of the odometer when the tamping car starts according to Beidou/GNSS data;
the synchronization module 3 is used for synchronizing the data of the pulse signal counter according to the Beidou/GNSS data;
the model building module 4 is used for building an acceleration drift model of the tamping car;
the filtering module 5 is used for selecting Beidou/GNSS data and a speedometer measurement speed error as state quantities by using an acceleration drift model and carrying out Kalman filtering on the speed error;
the second correction module 6 is used for correcting the speed value and the mileage value of the odometer by using the result obtained by Kalman filtering;
the traversing module 7 is used for controlling the synchronizing module 3, the model building module 4, the filtering module 5 and the second correcting module 6 to mutually cooperate, and correcting the speed value and the mileage value of the odometer element by element.
In another preferred embodiment of the present invention, when the tamping car is in an area without 4G/5G mobile network signals, as shown in fig. 12, further comprising:
the accurate measurement control network 8 is connected with the original control network point or the national control point, and data processing is carried out according to the second class GNSS precision;
the reference station 9 is erected on the original control network point or the national control point through a tripod;
the mobile station 10, the mobile station 10 is provided with a receiver antenna, the mobile station 10 is fixed on a tamping car D point support, and a station channel, a differential message format and a baud rate of the mobile station 10 are consistent with those of the reference station 9.
In another preferred embodiment of the present invention, when the tamping car is in the Beidou/GNSS satellite refusal environment area, as shown in fig. 13, the tamping car further comprises:
the RFID positioning labels 11 are arranged on sleepers in the Beidou/GNSS satellite refusing environment area at preset intervals, and corresponding precise measuring mileage is written in the RFID positioning labels 11;
the data channel control module 12 is configured to close the beidou/GNSS data channel of the tamping vehicle at a time when the tamping vehicle is running to the beidou/GNSS satellite rejection environment area, initialize the beidou/GNSS data after the tamping vehicle is running out of the beidou/GNSS satellite rejection environment area, and open the beidou/GNSS data channel after the positioning accuracy is stable;
and the tag synchronization module 13 is used for acquiring the precise measurement mileage of the current sleeper by reading each RFID positioning tag 11 after the tamping car enters the Beidou/GNSS satellite refusing environment area, synchronizing and mutually calibrating with the odometer result, and eliminating the accumulated error of the odometer.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium is stored with a computer program, which when being executed by a processor, realizes the processes of the method embodiment for enhancing the stability of the tamping car mileage positioning technology based on Beidou/GNSS, and can achieve the same technical effect. Among them, a computer readable storage medium such as Read-Only Memory (ROM), random access Memory (Random Access Memory RAM), magnetic disk or optical disk, and the like.
The foregoing description is directed to the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the invention, and all equivalent changes or modifications made under the technical spirit of the present invention should be construed to fall within the scope of the present invention.
Claims (10)
1. The method for enhancing the stability of the tamping car mileage positioning technology based on Beidou/GNSS is characterized by comprising the following steps:
s101, acquiring Beidou/GNSS data, analyzing a positioning result in a GGA format, judging whether the Beidou/GNSS data is available, and if so, executing S102; if the vehicle is not available, the odometer is used for positioning independently, the unavailable time is recorded, and when the unavailable time reaches a threshold value, the tamping vehicle is braked and the vehicle is alarmed;
s102, correcting the idle running error of the wheel of the odometer when the tamping car starts according to Beidou/GNSS data;
s103, synchronizing the data of the pulse signal counter according to Beidou/GNSS data;
s104, establishing an acceleration drift model of the tamping car;
s105, selecting errors of the speed of Beidou/GNSS data and the speed measured by an odometer as state quantities by using an acceleration drift model, and carrying out Kalman filtering on the speed errors;
s106, correcting a speed value and a mileage value of the odometer by using a result obtained by Kalman filtering;
s107, executing S103 to S106 on an epoch-by-epoch basis, resulting in a corrected speed value and mileage value for each epoch.
2. The method for enhancing the stability of the beidou/GNSS based tamping car mileage positioning technique of claim 1, wherein S102 includes:
s1021, calculating an acceleration difference value, wherein the formula is as follows:
，
in the method, in the process of the invention,for the acceleration difference at the present moment, +.>For the acceleration difference of the last moment, +.>Acceleration of the odometer at the current time, +.>Acceleration of Beidou\GNSS data at the current moment;
s1022 is toAnd a preset maximum limit value->Comparing if->Judging that the tamping car is idling or sliding, if +.>Judging that the tamping car does not idle or slide;
s1023, if the tamping car idles or slides, repairing the speed and displacement errors caused by the idling or sliding by taking the speed of the Beidou/GNSS data as a reference, wherein the formula is as follows:
，
，
in the method, in the process of the invention,the speed of the tamping car at the current moment; />Measuring the current moment speed for Beidou/GNSS data;is the sum of errors; />The displacement of the tamping car measured at the last moment; />And (5) synchronizing measurement periods for the Beidou/GNSS data and the odometer.
3. The method for enhancing the stability of the beidou/GNSS based tamping car mileage positioning technique according to claim 2, wherein S104 includes:
s1041, establishing a state equation and an observation equation of acceleration of the tamping car,
the state equation is:
，
the observation equation is:
，
wherein,for the displacement at the current moment +.>For the next momentAcceleration (I)>Is the current mean value of random acceleration, +.>The acceleration at the present moment can also be designated +.>，/>The disturbance acceleration at the current moment can also be denoted as +.>，/>For the disturbance acceleration at the next moment there is +.>=/>，
Is Gaussian white noise->Is a constant;
s1042, a state vector is established as follows:
，
the acceleration drift model is established as follows:
，
wherein,for displacement (I)>Is->Speed of time period->Is->Acceleration of time period->Is the current mean value of random acceleration, +.>Is Gaussian white noise->Is constant.
4. The method for enhancing the stability of the beidou/GNSS based tamping car mileage positioning technique of claim 1, wherein S105 includes:
s1051, establishing a state vector and a measurement model by using an acceleration drift model,
the state vector equation is:
，
the measurement model equation is:
，
wherein,is->Time state vector->,/>Is->Speed measured by Beidou/GNSS moment, < + >>Is->Speed of the moment odometer measurement, +.>Is->Time to->State transition matrix of time->For the observance of the state matrix, +.>For observing matrix +.>，/>Is system noise->Is observation noise->And->All are subject to->Distributed zero-mean gaussian white noise;
s1052, according to a discrete Kalman filter equation of a sampling period T, carrying out state prediction, wherein the formula is as follows:
，
，
wherein,for the state prediction vector of moment k-1 versus moment k +.>Is->Time to->State transition matrix of time->Is k-state prediction vector at time-1, +.>Sampling period of the system;
s1053, calculating prior error covariance, wherein the formula is as follows:
，
，
wherein,for filtering at +.>Time a priori error covariance matrix,>for filtering at +.>Time posterior error covariance matrix, +.>Is->Time to->Time state transition matrix,/->A noise variance matrix of the system;
s1054, calculating Kalman gain according to the prior error covariance, wherein the formula is as follows:
，
wherein,for Kalman gain, ++>For filtering at +.>Time a priori error covariance matrix,>for observing matrix +.>For measuring the variance matrix of the noise +.>，/>Covariance parameters of an observation matrix which is a speed difference value;
s1055, updating the state estimation value of the posterior according to the Kalman gain matrix, wherein the formula is as follows:
，
wherein,for the state estimation vector of moment k-1 versus moment k +.>For the state estimation vector at time k +.>Is a Kalman gain matrix, < >>Is an observed quantity matrix of the state matrix, +.>Is an observation matrix;
s1056, updating the state error covariance, wherein the formula is as follows:
wherein,is->Time a priori error covariance matrix,>for filtering at +.>Time a priori error covariance matrix,>for Kalman gain, ++>Is an observation matrix.
5. The method of enhancing the stability of a beidou/GNSS based tamper vehicle mileage positioning technology according to any one of the claims 1 to 4, further comprising, when the tamper vehicle is in an area without 4G/5G mobile network signals:
s001, establishing a precise measurement control network, connecting the precise measurement control network with an original control network point or a national control point, and performing data processing according to the precision of second class GNSS;
s002, erecting a reference station, erecting a tripod on an original control site or a national control site, installing a reference station receiver on a tripod base, and centering, leveling and measuring the instrument height;
s003, receiving Beidou/GNSS data by using a reference station, configuring a reference coordinate, a cut-off height angle, a sampling interval and instrument height, and setting a host data chain as a radio station;
s004, installing a receiver antenna on the mobile station, fixing the mobile station on a D point support of a tamping car, and setting a radio station channel, a differential message format and a baud rate to be consistent with those of a reference station;
s005, the mobile station obtains the three-dimensional coordinates of the D point position of the tamping car by differentiating the acquired data of the base station data and the acquired data of the mobile station, and then S101 to S107 are executed.
6. The method of enhancing the stability of a beidou/GNSS based tamper vehicle mileage positioning technique according to any one of claims 1 to 4, further comprising, when the tamper vehicle is in a beidou/GNSS satellite refusal environment area:
s201, arranging RFID positioning tags on the sleeper in the Beidou/GNSS satellite refusal environment area at preset intervals, performing track fine measurement through a track gauge to obtain the fine measurement mileage of the sleeper, and writing the fine measurement mileage of the sleeper into the corresponding RFID positioning tags;
s202, closing a Beidou/GNSS data channel of the tamping vehicle at the moment when the tamping vehicle runs to the Beidou/GNSS satellite refusing environment area;
s203, after the tamping car enters the Beidou/GNSS satellite refusing environment area, acquiring the precise measurement mileage of the current sleeper by reading each RFID positioning tag, and synchronizing and mutually calibrating with the odometer result to eliminate the accumulated error of the odometer;
s204, after the tamping car leaves the Beidou\GNSS satellite refusing environment area, initializing Beidou\GNSS data, and starting a Beidou\GNSS data channel after the positioning accuracy is stable.
7. The system for enhancing the stability of the tamping car mileage positioning technology based on Beidou/GNSS is characterized by comprising:
the acquisition module is used for acquiring Beidou/GNSS data, analyzing a positioning result of the GGA format, judging whether the Beidou/GNSS data is available, independently using an odometer for positioning when the Beidou/GNSS data is unavailable, recording the unavailable time, and braking the tamping vehicle and alarming when the unavailable time reaches a threshold value;
the first correction module is used for correcting the idle running and sliding errors of the wheels of the odometer when the tamping car starts according to the Beidou/GNSS data;
the synchronization module is used for synchronizing the data of the pulse signal counter according to the Beidou/GNSS data;
the model building module is used for building an acceleration drift model of the tamping car;
the filtering module is used for selecting Beidou/GNSS data and a speedometer measuring speed error as state quantity by using the acceleration drift model and carrying out Kalman filtering on the speed error;
the second correction module is used for correcting the speed value and the mileage value of the speedometer by using the result obtained by the Kalman filtering;
the traversal module is used for controlling the synchronization module, the model building module, the filtering module and the second correction module to be matched with each other, and correcting the speed value and the mileage value of the odometer one epoch by one epoch.
8. The system for enhancing the stability of a Beidou/GNSS based tamper vehicle mileage positioning technology of claim 7, further comprising, when the tamper vehicle is in an area without 4G/5G mobile network signals:
the precise measurement control network is connected with the original control network point or the national control point and performs data processing according to the second class GNSS precision;
the standard station is erected on an original control network point or a national control point through a tripod;
and the mobile station is provided with a receiver antenna, is fixed on a D point support of the tamping car, and keeps the station channel, the differential message format and the baud rate of the mobile station consistent with those of the reference station.
9. The system for enhancing the stability of a Beidou/GNSS based tamper vehicle mileage positioning technology of claim 7, wherein when the tamper vehicle is in a Beidou/GNSS satellite refusal environment area, further comprising:
the RFID positioning tags are arranged on sleepers in the Beidou/GNSS satellite refusing environment area at preset intervals, and corresponding precise measuring mileage is written in the RFID positioning tags;
the data channel control module is used for closing the Beidou/GNSS data channel of the tamping vehicle at the moment when the tamping vehicle runs to the Beidou/GNSS satellite refusal environment area, initializing the Beidou/GNSS data after the tamping vehicle runs out of the Beidou/GNSS satellite refusal environment area, and opening the Beidou/GNSS data channel after the positioning accuracy is stable;
and the tag synchronization module is used for acquiring the accurate measurement mileage of the current sleeper by reading each RFID positioning tag after the tamping car enters the Beidou/GNSS satellite refusing environment area, synchronizing and mutually calibrating with the odometer result, and eliminating the accumulated error of the odometer.
10. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of enhancing the stability of a beidou/GNSS based tamper mileage positioning technique according to any one of claims 1 to 6.
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