基于BDS的数字轨道辅助列车定位方法研究
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摘要
基于列车轨道线路的拟合和插值算法,生成辅助列车定位的数字轨道线路,提出轨道线路定位误差修正方法,可以得到列车更加精确的位置估计.采用哈尔滨至长春货运铁路线的某段轨道数据对数字轨道线路生成方法进行了模拟与分析.分析结果表明,在低精度下,三次样条曲线拟合法优于三次B样条曲线拟合;在高精度下,基于反求控制点的三次B样条曲线插值更符合线路实际情况.通过北斗卫星导航系统(BDS)和数字轨道线路相结合的定位方法可以提高列车定位的准确性,对提高货运列车可靠性和安全性具有实际意义.
Based on the fitting and interpolation algorithm of train track line,the digital track line of auxiliary train positioning is generated,and the BDS data are corrected by using the track line positioning correction method to obtain more accurate position estimation of the train. The data track line is simulated and analyzed by using some measured data from Harbin to Changchun freight line. The analysis results show that cubic spline curve fitting method is better than cubic B-spline curve fitting at low precision,and cubic B-spline curve interpolation based on the reverse control point is more suitable for actual situation of the line under high precision. Through the combination of digital track line and Beidou Satellite Navigation System(BDS),the accuracy and positioning accuracy of the train positioning track can be improved,which has practical significance for improving the reliability and safety of the freight train.
Based on the fitting and interpolation algorithm of train track line,the digital track line of auxiliary train positioning is generated,and the BDS data are corrected by using the track line positioning correction method to obtain more accurate position estimation of the train. The data track line is simulated and analyzed by using some measured data from Harbin to Changchun freight line. The analysis results show that cubic spline curve fitting method is better than cubic B-spline curve fitting at low precision,and cubic B-spline curve interpolation based on the reverse control point is more suitable for actual situation of the line under high precision. Through the combination of digital track line and Beidou Satellite Navigation System(BDS),the accuracy and positioning accuracy of the train positioning track can be improved,which has practical significance for improving the reliability and safety of the freight train.
引文
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[3]Z JIANG. Digital Route Model Aided Integrated Satellite Navigationand Low-cost Inertial Sensors for High-performance Positioningon the Railways[D]. london:University College London,2010.
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[5]KIM K,SEOL S,KONG S H. High-speed Rrain Navigation System Based on Multi-sensor Data Fusion and Map Matching Algorithm[J]. International Journal of Control Automation&Systems,2015,13(3):503-512.
[6]秦方方,易思蓉,杨长根.基于三次样条曲线的铁路既有曲线整正方法[J].中国铁道科学,2010,31(2):18-23.
[7]李卫东,侯丽虹.基于北斗卫星的缓和曲线信息列车运行综合地图匹配方法研究[J].大连交通大学学报,2015,36(2):75-79.
[8]GERLACH K,H? RSTE M M Z. A precise digital map for GALILEO-based train positioning systems[C]//International Conference on Intelligent Transport Systems Telecommunications. Lille France:IEEE,2010:343-347.
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