基于卡尔曼滤波器的索道轿厢相对定位方法及应用

Relative Positioning Method and Application of Lift Car of Ropeway Based on Kalman Filter

索道轿厢的实时精准定位在客运索道安全运营中至关重要,而GPS信号在索道运营区域常常出现信号不稳定、定位精度不高等问题。提出了一种基于卡尔曼滤波器的索道轿厢相对定位方法,研究了GPS经纬度与索道轿厢位移的换算关系,建立了适合于索道轿厢GPS定位的卡尔曼滤波器模型。实验结果表明:所提出的方法不仅满足了定位精准度,又保证了数据的实时性,其结果符合索道的运营要求。本方法已成功应用于索道行业,为国内诸多知名景区的索道轿厢定位提供了解决方案。

The real-time accurate positioning of the lift car of ropeway is very important in the safe operation of ropeway transport,but the GPS signal is often unstable and the positioning accuracy is not high in the ropeway operation area.This paper presents a new relative positioning method of the lift car of ropeway based on kalman filter,studys the conversion relation between GPS latitude、longitude and the displacement of lift car of ropeway,builds Kalman filter model suitable for GPS positioning in lift car of ropeway.Through the experimental results,it is proved that the method not only satisfies the positioning accuracy,but also guarantees the real-time data,and the results meet the operation requirements of the ropeway.This method has been successfully applied to the ropeway industry and provides a solution for the positioning of ropeway cars in many well-known scenic spots in China.