基于矢量跟踪的GPS/INS深耦合列车自主定位算法研究

摘要

To solve the performance deterioration problem of traditional loosely integrated GPS/INS under the complex positioning environment,a deeply integrated GPS/INS solution for automatic train positioning based on vector tracking was designed and proposed,and the realization flow of the automatic train positioning algo-rithm was given,while the mathematic model of the signal tracking filter was also established.In view of the non-linear problem of the train positioning system,the thought of strong tracking filtering was introduced to improve the conventional cubature Kalman filtering algorithm and up-grade its stability and robustness.The ef-fectiveness and practicality of the proposed solution were verified by computer simulation,using the train’s op-eration data in a section of the Qinghai-Tibet Railway.%为解决传统的 GPS/INS松耦合方式在复杂列车定位环境下的性能恶化问题，结合矢量跟踪技术原理，设计并提出基于矢量跟踪的深耦合列车自主定位方法，给出深耦合列车自主定位算法实现流程，建立相应的信号跟踪滤波数学模型；针对复杂环境下的列车组合定位系统非线性问题，引入强跟踪滤波思想对传统的容积卡尔曼滤波算法进行改进以提升算法的稳定性与鲁棒性。以青藏线某区间列车运行数据为基础，通过计算机仿真验证了所提算法在复杂环境下实现列车自主定位过程的有效性与实用性。