中低速磁浮列车多传感器融合测速方法

Multi-sensor fusion speed measurement method for medium-low speed maglev trains

针对中低速磁浮列车测速问题,文章以凤凰中低速磁浮快线为研究对象进行分析,提出一种多传感器融合的测速方法。首先,分析涡流传感器的测速原理及其测速不准的主要原因;其次,针对中低速磁浮线路测速不准问题,从算法层面和运动学原理角度提出处理方法;最后,采用卡尔曼滤波算法对涡流传感器、雷达和加速度计的信息进行融合测速。试验结果表明,当列车速度大于1 m/s时,该方法的测速相对误差在±2%之内,满足磁浮列车的测速精度要求。

Aiming at the speed measurement problem of medium-low speed maglev trains,a multi-sensor fusion speed measurement method is proposed with the medium-low magnetic levitation express line in Phoenix as the research object.Firstly,the speed measurement principle of eddy current sensors and the main reasons of inaccurate speed measurement are summarized.Secondly,for the problem of inaccurate speed measurement of medium-low speed maglev lines,the processing method is proposed from the algorithmic level and the perspective of the principle of kinematics.Finally,the speed measurement is carried out by fusing the information from eddy current sensors,radar and accelerometers using Kalman filtering algorithm.The test results show that when the train speed is greater than 1m/s,the relative error of the speed measurement with this method is within±2%,which meets the speed measurement accuracy requirements of the maglev train.