铁道科学与工程学报2018，Vol.15Issue(6)：1578-1585,8.
基于GNSS与IMU的现代有轨电车组合定位方法研究
Combined positioning method for modern trams based on CNSS and IMU
摘要
Abstract
The navigation system composed of the combination of GNSS and IMU has the advantages of all-weather, day time, high dynamic and no error accumulation with time. Combined with modern tram positioning characteristics, the paper proposed a combined positioning method based on GNSS and IMU. The method utilize the two sensors of GNSS and IMU placed at different locations to collect data. A fusion algorithm was proposed in the light of a new voting mechanism, which can compromise the merits of fuzzy decision for the complete data fusion of multi-sensors (IMU) and reduce the random error. The failure criterion was put forward after the analysis of the fault diagnosis and isolation methods of the GNNS, and the optimal fusion and fault tolerant processing of the data of GNNS and IMU were realized by the application of the Federal adaptive Kalman filter algorithm. Analysis showed that: This design can achieve high precision and reliable positioning. Compared with the traditional GNSS and IMU positioning, the positioning accuracy is reduced by 40.2％, and the failure tolerance gains further improvements.关键词
GNSS/组合导航系统/现代有轨电车/模糊投票机制/卡尔曼滤波Key words
GNSS/integrated positioning system/modern trolley/fuzzy voting mechanism/CKF分类
交通工程引用本文复制引用
石建强,王迪,陈光武,刘射德,徐琛..基于GNSS与IMU的现代有轨电车组合定位方法研究[J].铁道科学与工程学报,2018,15(6):1578-1585,8.基金项目
甘肃省基础研究创新群体资助项目(1606RJIA327) （1606RJIA327）
甘肃省自然科学基金资助项目(1606RJYA225,1610RJYA033) （1606RJYA225,1610RJYA033）
兰州交通大学校青年基金资助项目(2015035) （2015035）
陇原青年创新人才扶持计划资助项目(2016-43) （2016-43）
甘肃省重点研发能力提升计划资助项目(20160404) （20160404）
兰州交通大学优秀平台资助项目(201702) （201702）
