北斗失效隧道场景下列车自适应定位方法研究

doi:10.19665/j.issn1001-2400.20250202

摘要/Abstract

摘要：

高可靠的列车定位技术是列车运行控制系统的基础。当列车运行至隧道严重遮挡场景时,北斗卫星导航系统BDS将失效,导致列车定位误差累积,严重影响定位性能。为了提高列车在隧道严重遮挡场景下的定位性能,提出了一种北斗失效隧道严重遮挡场景下的列车自适应定位方法。首先,对北斗失效场景下,SINS定位误差进行分析,利用航位推算DR算法,解决了SINS自校准失效问题。其次,提出了基于无迹卡尔曼的隧道严重遮挡场景下定位误差自适应估计与补偿方法,根据定位误差分析,构建隧道列车组合定位状态方程和观测方程。最后,设计基于无迹卡尔曼滤波的优化估计方法,实现了对列车连续位置信息的校准和补偿,提高了列车在北斗卫星信号失效时隧道定位的性能。通过列车定位仿真试验与银西高速铁路隧道线路数据对文中所提方法进行有效验证,结果表明,所提方法较对比方法,能够有效提高列车在北斗失效隧道严重遮挡场景下的定位性能,且具有更好的稳定性。

关键词: 隧道列车定位, 北斗卫星导航失效, 捷联惯性导航系统, 无迹卡尔曼滤波, 航位推算

Abstract:

High reliability train positioning technology is the foundation of the train operation control system.When the train reaches a scene where the tunnel is severely obstructed,the Beidou Satellite Navigation System(BDS) will fail,leading to the accumulation of positioning errors and seriously affecting the positioning performance of the train.In order to improve the positioning performance of trains in severely obstructed tunnel scenes,this paper proposes an adaptive positioning method for trains in severely obstructed tunnel fields with Beidou failure.First,the positioning error of SINS in the scenario of Beidou failure is analyzed,and the dead reckoning DR algorithm is used to solve the problem of SINS self-calibration failure.Second,an adaptive estimation and compensation method for positioning errors in severely obstructed tunnel scenes is prsented.Based on the analysis of positioning errors,the state equation and observation equation for tunnel train combination positioning are constructed.Finally,the Unscented Kalman Filter algorithm is designed to optimize the estimation of positioning errors,achieving calibration and compensation of the continuous position information on the train,and improving the performance of tunnel positioning when the Beidou satellite signal fails.The proposed method is effectively validated through train positioning simulation experiments and actual measurement data of the Yinxi high-speed railway tunnel route.The results show that compared with the comparative methods,the proposed method can effectively improve the positioning performance of trains in severe occlusion scenarios of Beidou failure tunnels,and has a better stability.

Key words: tunnel train positioning, Beidou satellite navigation failure, strapdown inertial navigation system, unscented Kalman filtering, dead reckoning

中图分类号:

TP391

陈永, 陶瑄, 袁姣姣. 北斗失效隧道场景下列车自适应定位方法研究[J]. 西安电子科技大学学报, 2025, 52(2): 179-189.

CHEN Yong, TAO Xuan, YUAN Jiaojiao. Research on the adaptive positioning method for trains in the scenario of the tunnel caused by BeiDou failure[J]. Journal of Xidian University, 2025, 52(2): 179-189.

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不同方法	平均误差	误差最大值	误差方差
文献[10]	16.9	31.74	123.95
文中方法	0.51	3.57	0.67