摘要
With the development of rail transit,subway is playing an increasingly important role in peoples daily life.The positioning technology of subway is the key of communication based on train control system(CBTC).Considering that the global positioning system(GPS)cant be utilized in the subway and the ground equipment is complex and expensive,a self-positioning method based on inertial measurement unit(IMU)and speed sensor is put forward,and the track electronic map is used to reduce the error.This method can suppress the error divergence of Strapdown inertial navigation system(SINS)and reduce the cumulative error of dead reckoning(DR)due to attitude error.In accordance with the particularity of railway lines,using the least squares method to match the line and revise the error caused by the navigation,can greatly improve the positioning accuracy and reduce the dependency on the ground equipment,and the costs of construction and maintenance can be lowered.
基金
Gansu Province Natural Youth Fund(No.1606RJYA225)
Gansu Province Science and Technology Support Program(No.1604GKCA009)
Natural Science Foundation of Gansu Province(No.1606RJYA225)
Gansu Province Science and Technology Support Program(No.1604GKCA009)
