Self-adaption fault-tolerant train integrated positioning method

Abstract

The invention provides a self-adaption fault-tolerant train integrated positioning method. The self-adaption fault-tolerant train integrated positioning method includes the steps that a GNSS / INS tight-integration train integrated navigation positioning method based on a pseudo-range / pseudo-range rate is adopted to calculate the position and speed of an integrated train, and a measurement matrix and measurement noise covariance are calculated; according to the measurement matrix, the measurement noise covariance and an actual measurement value of a receiver, a test statistic value is calculated, and a test threshold is set; the test statistic value is compared with the test threshold, whether or not faults exist in a system is determined according to comparison results, and after it is judged that a satellite with a glitch exits, through a self-adaption fault-tolerant method, the position and speed of the integrated train are adjusted. By the adoption of the self-adaption fault-toleranttrain integrated positioning method, successive train position and speed information can be obtained; through an FDP method, the faults are detected, identified and correspondingly processed, and thefault tolerance of the system is improved; the self-adaption fault-tolerant train integrated positioning method is suitable for train real-time positioning and post-processing position calculation and analysis and has the advantages of being high in continuity and reliability.

Description

technical field [0001] The invention relates to the technical field of train positioning, in particular to an adaptive fault-tolerant combined train positioning method. Background technique [0002] Rail transit is the main artery of the national economy, the backbone of mass transportation and the operation of modern cities. It is a national key infrastructure and an important basic industry. It plays an irreplaceable overall support role for my country's economic and social development, improvement of people's livelihood and national security. During the operation of the train, the realization of the train operation control function depends on the accurate acquisition of information such as the speed, position, and speed of the train. At present, my country's high-speed railway train operation control system generally uses ground transponders to assist wheel sensors to realize the acquisition of train position status, and uses track circuits to realize train occupancy chec...

AI Technical Summary

Problems solved by technology

The satellite navigation system is easily affected by clock error, signal transmission interference, etc., and the train operating environment is complex, GNSS signals are easily interfered or introduced faults, affecting the positioning accuracy of the train and affecting driving safety, so it is necessary to introduce fault diagnosis, identification and fault processing technology , real-time detection of system faults and processing of faults, improving system fault tolerance and reliability

[0007] At present, there is no in-depth research on the fault tolerance of GNSS / INS tight combination train combination positioning system based on satellite navigation positioning in the prior art

Images