基于卡尔曼滤波的组合定位技术在现代有轨电车的应用研究

Application of Combined Location Technology Based on Kalman Filtering to Modern Trams

针对现代有轨电车定位系统实时性、高精确度等要求,结合有轨电车工程设计的需求,设计一种新的有轨电车定位系统。系统采用组合定位方式,以GPS定位为主、DR/RFID定位为辅,采用分段式组合定位技术,在满足有轨电车工程中造价低的特点的同时确保列车运行安全。利用坐标转换对数据进行融合,再通过卡尔曼滤波对定位数据进行优化,从而有效地提高有轨电车的定位精度。实验测试结果表明,该方法能够有效地减少有轨电车的定位误差,提高定位精度和系统稳定性,满足行车要求。

A new tram positioning system aimed at the real-time and high accuracy requirements of modern tram positioning systems,combined with the requirements of tram engineering design,is proposed in this paper.A combined positioning method is adopted for the system,with a GPS and DR/RFID used to obtain the main and auxiliary positions,utilizing sectional combined positioning technology that has a low associated cost and ensures the safety of train operation.In this paper,a coordinate transformation is used to combine the data,and a Kalman filter is used to optimize the positioning data,which effectively improves the positioning accuracy of the trams.The experimental results demonstrate that this method can effectively reduce the positioning error of modern trams.Thus,the positioning accuracy and system stability can be improved to meet the driving requirements.