Train speed estimation method based on particle filter and multi-sensor information fusion

Abstract

The invention discloses a train speed estimation method based on particle filter and multi-sensor information fusion. The method comprises the following steps: S1, detecting a train moving shaft speedby using an axle rotating speed sensor and carrying out particle filtering on an output result of the axle rotating speed sensor to obtain a first estimated value of the train speed; S2, detecting the train speed by a vehicle-mounted GPS and carrying out particle filtering on a detection result of the vehicle-mounted GPS to obtain a second estimated value of the train speed; and S3, on the basisof a scalar weighted linear minimum variance fusion criterion, carrying out optimal fusion estimation on the two estimated values of the train speed to obtain a final train speed estimation value. According to the invention, the train speed is estimated by using the particle filter algorithm and no special requirement and limitation are set on the noise characteristics. The train speed is detectedby using two different kinds of methods; and after particle filtering, the optimal fusion estimation is carried out on the two obtained train speed estimation values, so that the detection accuracy is effectively improved.

Description

technical field [0001] The invention relates to train speed estimation, in particular to a train speed estimation method based on particle filter and multi-sensor information fusion. Background technique [0002] Accurate and fast detection of train speed is very important in the application of train adhesion control, which directly determines the final result and effect of adhesion control. At present, the train speed measurement methods can be divided into two categories: direct method and estimation method. Direct methods include pulse speed measurement method, GPS speed measurement method, Doppler radar speed measurement method, transponder speed measurement method, cross induction loop speed measurement method, etc. These speed detection methods are affected by factors such as the external environment, railway lines, idling or skidding caused by poor adhesion, and the measured train speed cannot be directly used by the adhesion control system, and the speed signal outp...

AI Technical Summary

Problems solved by technology

[0006] At the same time, the current speed measurement method of the train is relatively simple. In the complex operating environment of the train, it is difficult to obtain high-precision train speed information by relying on a certain speed measurement method alone.

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