现代有轨电车组合定位系统
发布时间：2018-10-08 11:16
【摘要】：随着科技的进步，由传统电车发展而来的现代有轨点电车逐渐在现代城市交通体系中推广开来。作为一种新兴的城市轨道交通方式，现代有轨电车拥有运载量大、环境友好和智能化水平高等优点。其智能化水平主要体现在其列车运行控制系统、色灯信号系统和旅客信息系统等方面。要使上面各系统有效的运转，我们就需要为现代有轨电车提供实时、可靠、高精度的列车定位信息。 近年来，导航定位技术快速发展，组合导航定位技术率先在航空、航天与航海等领域得到了广泛应用，但随着相关技术的发展，组合导航技术已经开始应用在陆地车辆的定位与导航中。大量实验与应用表明，基于多传感器的组合导航定位技术完全可以满足地面运输载体定位的需求。本文在分析了现代有轨电车自身特点的基础上，提出建立一个低成本的GPS/IMU/ODO组合定位系统来实现对现代有轨电车的实时定位，本系统主要依靠全球卫星定位系统GPS、惯性测量单元IMU、里程计ODO等多源传感器来采集数据。分析了系统中各硬件的原理与特点之后，在控制整体成本的基础上结合实际，设计适用于现代有轨电车的硬件平台，并根据设计特点阐述系统的软件设计流程与关键问题的处理。根据系统数据输出的特点，分析应用于组合定位导航的信息融合技术，根据算法特点与系统需求，采用联邦卡尔曼滤波原理来综合处理数据，进行信息融合。随后基于联邦卡尔曼滤波算法的建立数学模型并进行仿真，分析多传感器组合定位的优点。列车组合定位系统平台的建立无论从理论上还是实际实验应用中都证明了它的可行性与有效性，但由于系统的复杂程度，，平台各部分都会带来一定的误差，有些误差会明显的影响最终的输出数据精度，这些误差主要来自于各传感器，所以要对各误差进行逐一分析，并提出误差消除措施。在此基础上，本文还提出两个方面来降低误差，一是设计一个基于应答器的参考系统，对列车进行绝对位置修正，以降低传感器带来的累积误差，再一个是根据轨道交通的特点用最短距离法对位置输出点进行优化，使最终输出的数据位置都统一在轨道上。这些误差优化措施会进一步使输出数据精度提高。 组合定位系统输出现代有轨电车列车的相对位置信息。系统的主要功能是为列车提供高精度的实时定位，它可以完全独立于现有的闭塞方式，也可以与现有各系统综合使用，最终能够以较小的成本实现现代有轨电车的精确定位。
[Abstract]:With the development of science and technology, the modern tram developed by traditional trams is gradually popularized in the modern urban transportation system. As a new way of urban rail transit, modern trams have many advantages, such as large capacity, friendly environment and high level of intelligence. Its intelligent level is mainly reflected in its train operation control system, color light signal system and passenger information system. To make the above systems work effectively, we need to provide real-time, reliable and high accuracy train positioning information for modern trams. In recent years, with the rapid development of navigation and positioning technology, integrated navigation and positioning technology has been widely used in aviation, aerospace, navigation and other fields, but with the development of related technology, Integrated navigation technology has been applied to land vehicle positioning and navigation. A large number of experiments and applications show that the multi-sensor integrated navigation and positioning technology can completely meet the needs of ground transportation vehicle positioning. Based on the analysis of the characteristics of modern trams, a low-cost GPS/IMU/ODO integrated positioning system is proposed to realize the real-time positioning of modern trams. The system mainly depends on GPS, inertial measurement unit (GPS,), IMU, odometer, ODO and other multi-source sensors to collect data. After analyzing the principle and characteristics of the hardware in the system, the hardware platform suitable for the modern tram is designed on the basis of controlling the whole cost and combining with the practice. According to the design characteristics, the system software design flow and key problems are discussed. According to the characteristics of system data output, the information fusion technology applied in integrated positioning and navigation is analyzed. According to the characteristics of algorithm and system requirements, the federated Kalman filter principle is adopted to synthetically process data and carry out information fusion. Then the mathematical model based on the federated Kalman filter algorithm is established and simulated to analyze the advantages of multi-sensor combined location. The establishment of the platform of train integrated positioning system has proved its feasibility and effectiveness in both theory and practical application. However, due to the complexity of the system, every part of the platform will bring some errors. Some errors will obviously affect the precision of the final output data, these errors mainly come from each sensor, so we should analyze each error one by one, and put forward the error elimination measures. On this basis, this paper also proposes two aspects to reduce the error. One is to design a reference system based on transponder to correct the absolute position of the train, so as to reduce the cumulative error caused by the sensor. The second one is to optimize the position output points by using the shortest distance method according to the characteristics of the rail transit, so that the final output data positions are unified on the track. These error optimization measures will further improve the accuracy of the output data. The integrated positioning system outputs the relative position information of modern tram trains. The main function of the system is to provide high precision real-time positioning for the train. It can be completely independent of the existing block mode, and can also be used comprehensively with the existing systems. Finally, the accurate positioning of modern trams can be realized at a lower cost.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U482.1;U492.433
本文编号：2256551
[Abstract]:With the development of science and technology, the modern tram developed by traditional trams is gradually popularized in the modern urban transportation system. As a new way of urban rail transit, modern trams have many advantages, such as large capacity, friendly environment and high level of intelligence. Its intelligent level is mainly reflected in its train operation control system, color light signal system and passenger information system. To make the above systems work effectively, we need to provide real-time, reliable and high accuracy train positioning information for modern trams. In recent years, with the rapid development of navigation and positioning technology, integrated navigation and positioning technology has been widely used in aviation, aerospace, navigation and other fields, but with the development of related technology, Integrated navigation technology has been applied to land vehicle positioning and navigation. A large number of experiments and applications show that the multi-sensor integrated navigation and positioning technology can completely meet the needs of ground transportation vehicle positioning. Based on the analysis of the characteristics of modern trams, a low-cost GPS/IMU/ODO integrated positioning system is proposed to realize the real-time positioning of modern trams. The system mainly depends on GPS, inertial measurement unit (GPS,), IMU, odometer, ODO and other multi-source sensors to collect data. After analyzing the principle and characteristics of the hardware in the system, the hardware platform suitable for the modern tram is designed on the basis of controlling the whole cost and combining with the practice. According to the design characteristics, the system software design flow and key problems are discussed. According to the characteristics of system data output, the information fusion technology applied in integrated positioning and navigation is analyzed. According to the characteristics of algorithm and system requirements, the federated Kalman filter principle is adopted to synthetically process data and carry out information fusion. Then the mathematical model based on the federated Kalman filter algorithm is established and simulated to analyze the advantages of multi-sensor combined location. The establishment of the platform of train integrated positioning system has proved its feasibility and effectiveness in both theory and practical application. However, due to the complexity of the system, every part of the platform will bring some errors. Some errors will obviously affect the precision of the final output data, these errors mainly come from each sensor, so we should analyze each error one by one, and put forward the error elimination measures. On this basis, this paper also proposes two aspects to reduce the error. One is to design a reference system based on transponder to correct the absolute position of the train, so as to reduce the cumulative error caused by the sensor. The second one is to optimize the position output points by using the shortest distance method according to the characteristics of the rail transit, so that the final output data positions are unified on the track. These error optimization measures will further improve the accuracy of the output data. The integrated positioning system outputs the relative position information of modern tram trains. The main function of the system is to provide high precision real-time positioning for the train. It can be completely independent of the existing block mode, and can also be used comprehensively with the existing systems. Finally, the accurate positioning of modern trams can be realized at a lower cost.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U482.1;U492.433
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