When using global positioning system/BeiDou navigation satellite(GPS/BDS)dual-mode navigation system to locate a train,Kalman filter that is used to calculate train position has to be adjusted according to the feature...When using global positioning system/BeiDou navigation satellite(GPS/BDS)dual-mode navigation system to locate a train,Kalman filter that is used to calculate train position has to be adjusted according to the features of the dual-mode observation.Due to multipath effect,positioning accuracy of present Kalman filter algorithm is really low.To solve this problem,a chaotic immune-vaccine particle swarm optimization_extended Kalman filter(CIPSO_EKF)algorithm is proposed to improve the output accuracy of the Kalman filter.By chaotic mapping and immunization,the particle swarm algorithm is first optimized,and then the optimized particle swarm algorithm is used to optimize the observation error covariance matrix.The optimal parameters are provided to the EKF,which can effectively reduce the impact of the observation value oscillation caused by multipath effect on positioning accuracy.At the same time,the train positioning results of EKF and CIPSO_EKF algorithms are compared.The eastward position errors and velocity errors show that CIPSO_EKF algorithm has faster convergence speed and higher real-time performance,which can effectively suppress interference and improve positioning accuracy.展开更多
以HMR3000磁罗经和BeeL ine GPS组成组合导航系统,对系统功能和其中的关键难题进行了研究。推导了HMR3000误差模型,根据误差模型与BeeL ine GPS系统进行最优组合;针对此系统及组合算法,进行了一系列的试验测试。试验数据表明,组合导航...以HMR3000磁罗经和BeeL ine GPS组成组合导航系统,对系统功能和其中的关键难题进行了研究。推导了HMR3000误差模型,根据误差模型与BeeL ine GPS系统进行最优组合;针对此系统及组合算法,进行了一系列的试验测试。试验数据表明,组合导航系统在天线基线长度大于5m时,航向误差小于0.05°,其精度优于单独的BeeL ine和HMR3000;并解决了该组合系统航向连续性等难题。展开更多
提出了一种基于调频高斯小波变换的GPS软故障诊断算法.该算法可以对GPS失锁、方差奇异等软故障进行在线检测.以HM R 3000磁罗经和B eeL ine GPS实际系统跑车试验数据显示,利用调频高斯小波变换方法后,系统航向可用性从原来的72%提高到了...提出了一种基于调频高斯小波变换的GPS软故障诊断算法.该算法可以对GPS失锁、方差奇异等软故障进行在线检测.以HM R 3000磁罗经和B eeL ine GPS实际系统跑车试验数据显示,利用调频高斯小波变换方法后,系统航向可用性从原来的72%提高到了100%;系统的误差减小到原来的60%.因此,调频高斯小波变换方法有效地解决了磁罗经/GPS中在线软故障检测的难题.展开更多
基金National Natural Science Foundation of China(Nos.61662070,61363059)Youth Science Fund Project of Lanzhou Jiaotong University(No.2018036)。
文摘When using global positioning system/BeiDou navigation satellite(GPS/BDS)dual-mode navigation system to locate a train,Kalman filter that is used to calculate train position has to be adjusted according to the features of the dual-mode observation.Due to multipath effect,positioning accuracy of present Kalman filter algorithm is really low.To solve this problem,a chaotic immune-vaccine particle swarm optimization_extended Kalman filter(CIPSO_EKF)algorithm is proposed to improve the output accuracy of the Kalman filter.By chaotic mapping and immunization,the particle swarm algorithm is first optimized,and then the optimized particle swarm algorithm is used to optimize the observation error covariance matrix.The optimal parameters are provided to the EKF,which can effectively reduce the impact of the observation value oscillation caused by multipath effect on positioning accuracy.At the same time,the train positioning results of EKF and CIPSO_EKF algorithms are compared.The eastward position errors and velocity errors show that CIPSO_EKF algorithm has faster convergence speed and higher real-time performance,which can effectively suppress interference and improve positioning accuracy.
文摘以HMR3000磁罗经和BeeL ine GPS组成组合导航系统,对系统功能和其中的关键难题进行了研究。推导了HMR3000误差模型,根据误差模型与BeeL ine GPS系统进行最优组合;针对此系统及组合算法,进行了一系列的试验测试。试验数据表明,组合导航系统在天线基线长度大于5m时,航向误差小于0.05°,其精度优于单独的BeeL ine和HMR3000;并解决了该组合系统航向连续性等难题。
文摘提出了一种基于调频高斯小波变换的GPS软故障诊断算法.该算法可以对GPS失锁、方差奇异等软故障进行在线检测.以HM R 3000磁罗经和B eeL ine GPS实际系统跑车试验数据显示,利用调频高斯小波变换方法后,系统航向可用性从原来的72%提高到了100%;系统的误差减小到原来的60%.因此,调频高斯小波变换方法有效地解决了磁罗经/GPS中在线软故障检测的难题.
