基于简易IMU的低成本列车定位系统研究

Study of the Low-cost Train Positioning System Based on Simplified IMU

针对我国当前列车定位技术中存在的不足,并结合列车定位的使用环境和实际需要,忽略列车的海拔高度、天向速度和部分姿态角信息,对传统惯性导航系统进行了简化设计,提出了一种低成本的简易惯性测量装置(简易IMU)。文中仅采用一个单自由度陀螺仪和两个加速度计作为惯性测量器件,构成简易IMU,通过导航解算获得列车的即时速度和位置,从而实现列车的导航定位。文中设计了该简易IMU的系统结构,并经详细推导获得其导航定位解算方法。仿真结果表明,该简易IMU能够全天候地对列车进行连续可靠的自主导航定位,导航信息全面且定位精度较高,并显著地降低系统的成本、复杂性和计算量,为解决现有列车定位技术中存在的问题,进行了有益的尝试。

To overcome the shortcomings currently existing in the train positioning technologies in China , the traditional inertial navigation system was simplified and a low-cost simplified Inertial Measurement Unit （IMU） for trains was structured. In the design process, the operating environment and actual requirements of train positioning were considered, and the altitude, vertical velocity and partial attitude angles of the train were ignored. In this simplified IMU, only one gyroscope with the single degree of freedom and two accelerometers were taken as the inertial measuring instruments and the instant velocity and position of the train were obtained to realize train positioning by the positioning computing method, The system structure of this simplified IMU was designed, and the positioning computing method was deduced in detail. Simulation results show that this simplified IMU can implement faithful continuous positioning for the train in all-weather conditions independently. Moreover, the positioning information from the simplified IMU was comprehensive, and the positioning accuracy was high. The cost, complexity and calculation amount of the system were reduced evidently. Thereby, a beneficial trial was made for the solution to the problems existing in the current train positioning technologies.