一种基于GPS/DR/MM组合的列车定位方法研究

摘要

针对我国铁路列车定位精度低和实时性差的问题,阐述一种基于 GPS/DR/MM 组合的列车定位系统框架,同时利用离散平稳小波变换和Kalman组合滤波的方式对列车定位数据进行处理.通过引入离散平稳小波变换,弥补Kalman滤波的非线性差以及需要建立精确系统数学模型的缺点,从而减小定位数据的状态估计偏差.通过 GPS/DR/MM 的组合定位方法,引入负反馈调节机制,不断修正DR的累积误差,提高列车定位的精度,保证及时、准确、可靠地获取列车的位置信息.通过实验验证,该方法能够满足列车连续和高精度定位要求,对实际工程应用具有一定的参考价值.%In view of the train problems of poor positioning accuracy and poor real-time ability, a train positioning system framework based on the combination of GPS/DR/MM was introduced. At the same time, the processing train positioning data was disposed by using discrete stationary wavelet transform and Kalman filtering method. The discrete stationary wavelet transform was introduced to make up the shortcomings of the nonlinear difference of the Kalman filter which needs to establish accurate mathematical model of the system, thereby reducing the state estimation error of the location data. Through the combined positioning method of GPS/DR/MM which contains negative feedback regulation mechanism to correct the cumulative error of DR, the accuracy of train positioning was improved, and the system had access to the location of the train information timely, accurately and reliably. Experimental examples show that the method can meet the requirements of continuous and high-accuracy positioning of train, which has the reference value for the practical engineering application.