采用时域相关匹配信息融合的列车定位方法

Train Locatig by Time-domain Correlation and Matching Based on Information Fusion

提出了一种基于陀螺和速度传感器融合的列车定位方法,通过对陀螺和速度传感器测得的列车运行的角速度和速度的计算,实时地获得航向角对里程的导数的测量值。航向角对里程的导数表征了线路曲率情况,对于一条线路,航向角对里程的导数可以被认为是固定不变的,而且可以用来与预先获得的线路数据库进行实时匹配,进而获得列车的里程值。首先根据固定门限对获得的航向角对里程的导数进行判断列车是否进入了曲线区段,即是否启动匹配过程,然后将航向角对里程的导数与线路数据库中的数据进行时域相关匹配,最后根据相关系数的大小确定匹配的结果,并用此值对单纯采用速度传感器计算的里程值进行校正。为了验证所提出的方法的效果,进行了车载的数据采集试验,通过对试验数据的离线计算和匹配获得了列车的位置。通过与单纯采用速度传感器的列车位置的比较,证明了所提出的方法的有效性和可行性,列车的位置误差被限制在有限的范围内。

A novel train locating method based on the gyrometer and odometer is presented. The heading angle and train velocities measured by the gyrometer and odometer are used to calculate the derivatives of the course angles to kilometrages. The derivatives represent curvatures of railway lines. With regard to one railway line, the derivative may be considered as fixed and be used to complete real time matching with the preprocessed railway database to obtain the train kilometer. Firstly, according to the predefined threshold, judge whether a train enters a curve section. If a curve is detected, the time-domain correlation matching process is started. Then, calculate the correlation coefficients between the derivatives and the data from the railway database. The kilometrage of the maximum coefficient is the result of matching, which is used to adjust the kilometrages calculated simply by means of the odometer. To evaluate the method presented, an onboard data collection experment was carried out; through offline calculation, the matching process was performed; train locating was finalized. The effectiveness and practicability of the method are proved. Error of displacement is limited within a certain range.