基于克里金法的列车定位方法研究

Research of Train Positioning Method Based on the Kriging Method

为解决卫星观测视野不良或导航信号受干扰时,北斗定位解算失效导致列车失去定位,提出基于克里金法的场强定位方法对卫星导航定位方式进行有效替代。利用列车沿线性轨道固定往复运行且信号交织覆盖的特性,通过克里金法对采集的无线场强进行插值,能够在降低无线数据采集工作量的同时实现无线场强数据库快速建立和动态更新。通过Tower Collector软件,同步采集GNSS定位数据和基站场强数据,利用克里金法插值后的无线场强数据库对终端位置进行实时解算。结果表明,基于克里金法的场强定位精度与GNSS定位的平均误差为70.5 m,最大误差243.5 m,可在卫星定位失效时,有效地为列车提供参考定位,该方法可行性较高。

In order to solve the problem of poor field of view of satellite observation or interference of navigation signal, the field strength positioning method based on Kriging method is proposed, which can effectively replace the positioning method when the BeiDou positioning solution fails. Utilizing the characteristics of the train running along the linear track and the signal interweaving and covering, the Kriging method is used to interpolate the collected wireless field strength, which can reduce the workload of wireless data collection and realize the rapid establishment and dynamic update of the wireless field strength database. Through Tower Collector software, GNSS positioning data and base station field strength data are collected synchronously, and the wireless field strength database after kriging interpolation is used to calculate the terminal position in real time. The results show that, compared with GNSS positioning data, the field strength positioning accuracy based on the kriging method has an average error of 70.5 meters and the maximum error of 243.5 meters, which can effectively provide reference positioning for the train when the satellite positioning fails. The feasibility of the method is proved practically.