基于单天线载波相位差分的列车姿态解算方法研究

Research on Train Attitude Calculation Method Based on Single Antenna Carrier Phase Difference

轨道占用的正确识别是列车安全运行的保障,为了进一步提高列车轨道占用自主识别的准确性,将列车姿态测量引入到自主定位过程中辅助判断列车在道岔区段轨道占用状态。基于此提出一种基于全球卫星导航系统双差载波相位的单天线姿态解算方法,与双天线测姿算法相比其安装成本和难度更低,且无需考虑后期天线支架形变的问题。通过使用时间差分与星间差分相结合的双差模型,将卫星定位过程中的卫星钟差、接收机钟差、对流层误差、电离层误差以及整周模糊度消除。利用卡尔曼滤波算法求解历元间位移矢量坐标,并根据位移矢量坐标进一步求解列车的二维姿态。为了验证测姿算法的有效性,选择了两组青藏线列车真实数据进行仿真实验,结果证明单天线测姿算法偏航角误差均方根可以分别达到0.118 5°和0.160 1°。

Correct identification of track occupation is the guarantee for the safe operation of trains. In order to improve the accuracy of autonomous identification of the train track occupation, the train attitude measurement is applied in the autonomous positioning process, to assist in judging the track occupation status of the train in the turnout section. This paper proposed an attitude calculation method using single antenna based on Global Navigation Satellite System(GNSS) with double differential carrier phase measurements. Compared with the attitude measurement algorithm using double antenna, this method has lower installation cost and difficulty, with no need to consider the problem of the deformation of antenna bracket in the later period. By using a double-difference model combined with time difference and inter-satellite difference, the satellite clock error, receiver clock error, tropospheric error, ionospheric error and integer ambiguity were eliminated in the process of satellite positioning. The displacement vector coordinates between epochs were solved by Kalman filter, before the two-dimensional attitude of the train was further solved according to the vector coordinates. To evaluate the performance of the proposed algorithm, two groups of train data from the Qinghai-Tibet railway were selected for simulation experiments. The results prove that the root mean square error of yaw angle of the single-antenna attitude measurement algorithm can reach 0.1185 degree and 0.1601 degree respectively.