低成本列车组合定位系统容错算法设计

Fault-tolerant Algorithm Design of Low-cost Integrated Train Positioning System

列车实时定位是列车控制系统的重要环节。在安全苛求的现代列车控制系统中,列车定位系统需要在实现高精度列车定位的同时具备容错能力,以保证系统安全。针对列车定位的安全性需求,从保障列车定位系统的容错性能出发,利用低成本GPS接收机、惯性测量器件以及里程计等定位传感器构成列车组合定位平台,给出列车组合定位系统的结构与功能,将小波变换方法用于组合系统故障检测并制定相应的故障隔离策略,以H∞鲁棒滤波为基础设计联邦结构的多传感器容错信息融合算法用于定位计算。利用自制轨道推车进行的实验及仿真结果表明,组合定位系统能够满足列车定位的精度要求,并具有较强的容错能力,能够在不同定位条件下保证定位高效与安全。

Real-time positioning is an important part of train control.In the modern safety-critical train control system,the fault-tolerant ability of train positioning is highly demanded to guarantee the safety of the whole system.Starting from the safety requirements of train positioning,based on the consideration of fault-tolerant performance,an integrated train positioning system is formed by integration of the low-cost GPS receiver,inertial measurement unit and odometer.The structure and function of the integrated system are given,the wavelet transform theory is employed for fault detection,the fault isolation strategies are analyzed,and the fault-tolerant information fusion algorithm in the federated structure is designed based on the H∞ robust filter.Results from experiment and simulation demonstrate that the integrated positioning system can meet the precision requirement with high fault-tolerance,and keep train positioning efficiently and safely in various environments.