基于BDS/INS的列车组合定位建模仿真方法研究

Research on Modeling and Simulation Method of Train Integrated Positioning Based on BDS/INS System

基于北斗卫星导航系统(BDS)的列车定位可减少列控系统地面设备,降低建设成本。然而列车运行环境复杂多变,如车站、隧道等场景可能导致卫星信号被遮挡,仅依靠BDS难以保障列车定位的连续性和准确性。为此,采用卡尔曼滤波算法实现BDS与惯性导航系统(INS)的组合解算,以提高列车定位的连续性和定位精度。采用基于Simulink的形式化建模方法,根据BDS/INS组合定位架构及其数据处理算法仿真逻辑,构建完整的BDS/INS组合系统仿真模型,利用青藏铁路现场采集的数据验证组合定位模型及算法的有效性。仿真结果表明:基于BDS/INS的列车组合定位在隧道场景下仍能输出定位结果,保障了列车定位的连续性;在开阔场景下,与单BDS定位模式相比,BDS/INS组合定位北向精度提高11.20%,东向精度提高4.17%,水平方向精度提高9.41%。

The train positioning based on BeiDou Navigation Satellite System(BDS)can reduce the trackside equipment of train control system and the construction costs.However,due to the complex train operation environment,such as railway stations and tunnels etc.,BDS signal can be blocked in such environments.Thus,BDS-only solution is difficult to ensure the continuity and accuracy of train positioning.This paper applies Kalman filtering algorithm to realize the combined solution of BDS and Inertial Navigation System(INS)and improve both continuity and positioning accuracy of train positioning.According to the modeling method based on Simulink,a BDS/INS integrated system simulation model is constructed based on the BDS/INS integrated positioning architecture and its algorithm.The Qinghai—Tibet Railway field collected data is used to verify the effectiveness of integrated positioning model and algorithm.The simulation results show that the train integrated positioning based on BDS/INS can still output positioning results in tunnel scenarios,ensuring the continuity of train positioning.In open scenarios,compared with the single BDS mode,the BDS/INS integrated positioning accuracy increases by 11.20%in the north direction,4.17%in the east direction,and 9.41%in the horizontal direction.