基于多传感器信息融合的列车定位方法研究
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摘要
列车定位子系统在列车运行控制系统中起着非常重要的作用：列车定位方法的精度和可靠性是确定列车安全防护距离的重要因素，会关系到列车的运行间隔，会影响轨道交通系统的效率；列车定位方法的机理和采用的传感器是确定列车运行控制系统制式的重要因素之一，会关系到闭塞控制的方式，会影响到列车运行控制系统的兼容性和生命周期费用。因此深入研究列车定位方法，对于推动列车运行控制系统的研究和轨道交通系统的发展具有重大和深远的意义。
本文介绍了列车运行控制系统和列车定位方法的发展。通过对当前国内外列车定位方法的研究和试验项目的分析，可以看到基于多传感器信息融合的列车定位方法是未来的研究方向。
本文研究了基于多传感器信息融合的列车定位方法的结构，组建了基于多传感器信息融合的列车定位方法的实验平台。针对基于速度传感器的列车定位方法中存在的空转和滑行问题，合理选择传感器组合，提出了一种以速度传感器为核心传感器的多传感器信息融合列车定位方法。
本文研究了空转和滑行检测与空转和滑行补偿之间的制约关系，提出了存在空转和滑行情况下，速度传感器的定位误差模型。发现在空转和滑行补偿误差一定的情况下，基于速度传感器的列车定位方法的定位误差与空转和滑行检测的门限有关，空转和滑行检测门限过高和过低都将造成定位误差的增加。研究了基于加速度计增强速度传感器的空转滑行检测方法。研究了加速度计的误差对空转滑行检测方法的影响。通过车载试验验证了基于加速度计增强速度传感器的空转和滑行检测方法的有效性。
本文提出了基于线路曲率信息匹配的定位方法。该方法通过对速度传感器和陀螺的输出进行变频采样来提取线路的曲率信息。该方法不要求采用高精度的陀螺，对陀螺的温漂误差和列车是否匀速运行不敏感。通过车载试验验证了基于线路曲率信息匹配的定位方法的有效性。
本文通过分析地形辅助导航方法的原理，从匹配定位的原理上将地形辅助导航方法与查询应答器修正定位的方法统一了起来。匹配定位的一个重要问题就是判断匹配结果正确与否，是否可用，通常称之为可信度分析。为了研究基于线路曲率信息的匹配定位方法的可信度，通过与地形高程熵的类比，提出了线路曲率信息熵的概念。研究了相似度度量、信噪比、线路曲率信息熵和列车运行速度等因素对匹配可信度的影响。
试验结果表明：本文所提出的以速度传感器为核心传感器的多传感器信息融合列车定位方法是有效的：具有检测微弱的空转滑行的能力，能够降低空转滑行带来的定位误差；具有实时获取线路曲率信息的能力，能够通过线路曲率信息匹配定位的方法获得列车的位置信息。
Train location subsystem plays a very important role in Automatic Train Control System. Its accuracy and reliability are important factors for headway in Train Control System. It will affect the efficiency of transport systems. The sensors and the mechanism, which are used in train location subsystem, are related with compatibility of Train Control System and life cycle costs. So it has great significance to study the train location method deeply.
This paper introduces the evolution of Train Control System and train location method. According to research on train location method all over the world, it is shown that multi-sensor information fusion based train location method is a research direction in future. In this paper, the structure of multi-sensor information fusion based train location method is studied. An experiment platform of multi-sensor information fusion based train location method is set up. According to the research on the problems in existhing methods, presents an odometer-core multi-sensor information fusion based train location method.
In this paper, accroding to research on balance between slide and slip detection and compensation, a novel odometer location error model is proposed. It is founded that error of location is related with threshold of slide & slip detection, in given error conditions. Too high and low threshold would increase error of location. Odometer based location and slide & slip detection based on information fusion with odometer and accelerometer are studied. The effect of accelerometer error to slide & slip detection is analysed. The Effectiveness of slide & slip detection based on information fusion with odometer and accelerometer has been validated by experiment. A novel location method based on the track curvature match is presented. In this method, track curvature is obtained by information fusion with gyrometer & odometer. This method doesn't use high grade gyrometer, and is not sensitive to the gyro drift error and train speed. The Effectiveness of this location method has been validated by experiment. Based on the analysis of the theory of terrain-aided navigation, unity between terrain-aided navigation and balise is accomplished in match location theory. In order to study the trustiness of location method based on the track curvature match, the track curvature entropy is defiend, which is similar with the terrain elevation entropy. The trustness of location method based on the track curvature match is studied by analysis of similarity, and signal-to-noise ratio, and track curvature entropy, and train speed. Experiments results show that the odometer-core multi-sensor information fusion based train location method is effective. It has the alility to detect weak slide & slipe in order to reduce error. This method can measure track curvature, and obtain train location through matching with database of track curvature.
本文介绍了列车运行控制系统和列车定位方法的发展。通过对当前国内外列车定位方法的研究和试验项目的分析，可以看到基于多传感器信息融合的列车定位方法是未来的研究方向。
本文研究了基于多传感器信息融合的列车定位方法的结构，组建了基于多传感器信息融合的列车定位方法的实验平台。针对基于速度传感器的列车定位方法中存在的空转和滑行问题，合理选择传感器组合，提出了一种以速度传感器为核心传感器的多传感器信息融合列车定位方法。
本文研究了空转和滑行检测与空转和滑行补偿之间的制约关系，提出了存在空转和滑行情况下，速度传感器的定位误差模型。发现在空转和滑行补偿误差一定的情况下，基于速度传感器的列车定位方法的定位误差与空转和滑行检测的门限有关，空转和滑行检测门限过高和过低都将造成定位误差的增加。研究了基于加速度计增强速度传感器的空转滑行检测方法。研究了加速度计的误差对空转滑行检测方法的影响。通过车载试验验证了基于加速度计增强速度传感器的空转和滑行检测方法的有效性。
本文提出了基于线路曲率信息匹配的定位方法。该方法通过对速度传感器和陀螺的输出进行变频采样来提取线路的曲率信息。该方法不要求采用高精度的陀螺，对陀螺的温漂误差和列车是否匀速运行不敏感。通过车载试验验证了基于线路曲率信息匹配的定位方法的有效性。
本文通过分析地形辅助导航方法的原理，从匹配定位的原理上将地形辅助导航方法与查询应答器修正定位的方法统一了起来。匹配定位的一个重要问题就是判断匹配结果正确与否，是否可用，通常称之为可信度分析。为了研究基于线路曲率信息的匹配定位方法的可信度，通过与地形高程熵的类比，提出了线路曲率信息熵的概念。研究了相似度度量、信噪比、线路曲率信息熵和列车运行速度等因素对匹配可信度的影响。
试验结果表明：本文所提出的以速度传感器为核心传感器的多传感器信息融合列车定位方法是有效的：具有检测微弱的空转滑行的能力，能够降低空转滑行带来的定位误差；具有实时获取线路曲率信息的能力，能够通过线路曲率信息匹配定位的方法获得列车的位置信息。
Train location subsystem plays a very important role in Automatic Train Control System. Its accuracy and reliability are important factors for headway in Train Control System. It will affect the efficiency of transport systems. The sensors and the mechanism, which are used in train location subsystem, are related with compatibility of Train Control System and life cycle costs. So it has great significance to study the train location method deeply.
This paper introduces the evolution of Train Control System and train location method. According to research on train location method all over the world, it is shown that multi-sensor information fusion based train location method is a research direction in future. In this paper, the structure of multi-sensor information fusion based train location method is studied. An experiment platform of multi-sensor information fusion based train location method is set up. According to the research on the problems in existhing methods, presents an odometer-core multi-sensor information fusion based train location method.
In this paper, accroding to research on balance between slide and slip detection and compensation, a novel odometer location error model is proposed. It is founded that error of location is related with threshold of slide & slip detection, in given error conditions. Too high and low threshold would increase error of location. Odometer based location and slide & slip detection based on information fusion with odometer and accelerometer are studied. The effect of accelerometer error to slide & slip detection is analysed. The Effectiveness of slide & slip detection based on information fusion with odometer and accelerometer has been validated by experiment. A novel location method based on the track curvature match is presented. In this method, track curvature is obtained by information fusion with gyrometer & odometer. This method doesn't use high grade gyrometer, and is not sensitive to the gyro drift error and train speed. The Effectiveness of this location method has been validated by experiment. Based on the analysis of the theory of terrain-aided navigation, unity between terrain-aided navigation and balise is accomplished in match location theory. In order to study the trustiness of location method based on the track curvature match, the track curvature entropy is defiend, which is similar with the terrain elevation entropy. The trustness of location method based on the track curvature match is studied by analysis of similarity, and signal-to-noise ratio, and track curvature entropy, and train speed. Experiments results show that the odometer-core multi-sensor information fusion based train location method is effective. It has the alility to detect weak slide & slipe in order to reduce error. This method can measure track curvature, and obtain train location through matching with database of track curvature.
引文
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