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An autonomous navigation and positioning method for subway trains

A positioning method and autonomous navigation technology, applied in the field of navigation, can solve the problems of accumulation of positioning errors and poor positioning accuracy of inertial navigation equipment, and achieve the effects of eliminating historical accumulated errors, high positioning accuracy, and enhancing autonomous navigation capabilities

Active Publication Date: 2021-01-15
CHINA CREC RAILWAY ELECTRIFICATION BUREAU GRP +2
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  • Abstract
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AI Technical Summary

Problems solved by technology

However, inertial navigation equipment has long-term positioning error accumulation, resulting in poor positioning accuracy, which needs to be solved in the subway application environment

Method used

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  • An autonomous navigation and positioning method for subway trains
  • An autonomous navigation and positioning method for subway trains
  • An autonomous navigation and positioning method for subway trains

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Embodiment Construction

[0047] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0048] This embodiment discloses a method for autonomous navigation and positioning of subway trains, such as figure 1 shown, including the following steps:

[0049] Step S1, obtaining the initial attitude, velocity and position information of the inertial components installed on the train;

[0050] Obtain the initial attitude, velocity and position information of the inertial components according to the position information obtained from the outside;

[0051] Specifically, the location information acquired externally can be obtained by identifying and locating the two-dimensional code of the set location coordinates arranged beside the subway track t...

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Abstract

The invention, which belongs to the technical field of navigation, relates to an autonomous navigation positioning method of a subway train, thereby solving a problem of autonomous positioning of thesubway train. The method comprises the following steps: acquiring initial attitude, speed and position information of an inertial component mounted on a train; performing inertia calculation accordingto angular velocity and acceleration data measured by the inertia assembly; detecting whether the train is at zero speed; if so, entering a zero-speed correction state, and correcting the posture ofthe inertia assembly; and otherwise, entering a motion constraint state, and carrying out filtering correction on the inertia calculation data. According to the method, the autonomous navigation capability of the subway train is enhanced by adopting an inertial navigation technology, historical accumulative errors are eliminated in the stop stage of the subway train through a zero-speed correctiontechnology; and in the running process of the train, a train motion constraint technology is adopted, so that the high positioning precision of the train in the running stage is kept.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to an autonomous navigation and positioning method for subway trains. Background technique [0002] The operation of the subway train needs to obtain its own accurate position information and speed information, which is used to control the train operation. In the past, the autonomous navigation and positioning method of speed sensor + transponder was used, but the cost was high and the compatibility was poor. [0003] Since subway trains cannot receive satellite navigation signals, they can only rely on autonomous navigation equipment. The inertial navigation system has the characteristics of autonomous navigation, conforms to the navigation mode without information interaction, does not require other auxiliary equipment, and has no compatibility issues. It is suitable for autonomous navigation of subway trains position. However, inertial navigation equipment has long-term posi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/12G01C21/16G01C25/00
CPCG01C21/12G01C21/16G01C25/00G01C25/005
Inventor 林云志何小飞牟玉涛周砚南非白子杰
Owner CHINA CREC RAILWAY ELECTRIFICATION BUREAU GRP
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