Research on RTK-GPS/INS-based Train Combination Positioning Method

被引：0
作者：
Chen G. [1 ,2 ]
Liu H. [1 ,2 ]
Wei Z. [1 ,2 ]
Zhang L. [1 ,2 ]
机构：
[1] Automatic Control Research Institute, Lanzhou Jiaotong University, Lanzhou
[2] Gansu Provincial Key Laboratory of Traffic Information Engineering and Control, Lanzhou
来源：
Liu, Hao (liuhao19941225@163.com) | 1600年 / Science Press卷 / 42期
关键词：
Adaptive RLS; Inertial navigation system; Integrated navigation; Particle swarm optimization; RTK-GPS; UT lossless transfor;
D O I：
10.3969/j.issn.1001-8360.2020.10.010
中图分类号：
学科分类号：
摘要：
In railway transportation, neither satellite positioning nor inertial positioning can provide higher accuracy. Therefore, in this paper, a high-precision RTK-GPS and inertial platform combined positioning and navigation system was proposed. The system mainly includes satellite base station, sensor input part, state detection part, data fusion part and positioning data output part. In the overall system, Kalman filter was used in the data fusion part. An adaptive RLS filter improved by particle swarm algorithm combined with the lossless transform was used in the sensor input part. At the same time, the integrated navigation process was used to learn the data fusion error correction equation. In the case of satellite lock out, the data of the filtered inertial measurement unit was continuously corrected using the learning result. Finally, the results of the semi-physical verification and physical tests on the proposed data fusion algorithm and integrated navigation system show that in the train operating environment with complex disturbances, with the algorithm and the system, the requirements of higher accuracy of the real time positioning of the train can be met. The proposed train combination positioning method has a certain degree of adaptability and practical application value. © 2020, Department of Journal of the China Railway Society. All right reserved.
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页码：67 / 75
页数：8
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