铁路通信信号工程技术2026，Vol.23Issue(3)：15-23,97,10.DOI:10.3969/j.issn.1673-4440.2026.03.003
基于双自适应容积卡尔曼滤波的西部高原铁路列车组合定位方法
Train Integrated Positioning Method for Western Plateau Railway Based on Dual Adaptive Cubature Kalman Filter
摘要
Abstract
To address the issues of high maintenance costs,insufficient accuracy,and weak anti-disturbance capability in traditional train integrated positioning systems for western plateau railways,this paper proposes a train integrated positioning method based on Dual Adaptive Square-root Cubature Kalman Filter(DASCKF)by combining pulse velocity sensors,GNSS,electronic maps,and accelerometers.Firstly,on the basis of the standard Cubature Kalman Filter(CKF),the Sage-Husa adaptive noise estimator and fading factor are introduced to dynamically adjust the system noise covariance matrix,enabling the proposed method to adapt to varying noise characteristics in complex environments and thereby improving train positioning accuracy.A dual-filter structure is employed to achieve asynchronous filtering,enhancing the filters' smoothing performance.Secondly,to address the filter divergence problem potentially caused by the Sage-Husa estimator,a square root algorithm is introduced to improve the system's anti-disturbance capability,and the filter divergence criterion is refined to further enhance system stability.Finally,an electronic map is modeled based on actual railway lines,and a simulation environment is built to validate the proposed algorithm.Simulation results demonstrate that,compared with the standard CKF,the proposed algorithm reduces the Root Mean Square Error(RMSE)in the eastward,northward,and mileage directions by 59.2％,56.3％,and 57.9％,respectively.Additionally,compared to non-adaptive filters,the proposed algorithm effectively suppresses filter divergence issues,significantly improves positioning accuracy,exhibits smooth prediction capabilities,and demonstrates a certain level of robustness.关键词
铁路信号/列车定位/信息融合/容积卡尔曼滤波/组合定位/自适应滤波Key words
railway signaling/train positioning/information fusion/cubature Kalman filter/integrated positioning/adaptive filter分类
交通工程引用本文复制引用
周奕汛,席光荣,张亚东,付朝伟,刘剑,王梓丞..基于双自适应容积卡尔曼滤波的西部高原铁路列车组合定位方法[J].铁路通信信号工程技术,2026,23(3):15-23,97,10.基金项目
四川省自然科学基金项目(2022NSFSC1878) （2022NSFSC1878）
上海航天科技创新基金资助项目(SAST2021-072) （SAST2021-072）
