基于 SINS-里程计-地图匹配的地铁列车定位方法研究

针对地铁列车运行环境特殊、定位信息获取困难的问题, 文章提出一种联合导航方法。该方法基于捷联惯性导航系统(strapdown inertial navigation system, SINS)-里程计组合与改进地图匹配算法的联合使用, 在导航时, 首先收集 SINS 和里程计输出的速度、角速度和姿态数据, 利用卡尔曼滤波算法进行组合定位计算, 再通过地图匹配算法对输出数据进行修正, 得到最终的定位数据。仿真实验结果表明, 在地铁列车环境中进行 SINS-里程计组合导航, 可以很大程度地减小定位误差, 所得定位数据经过地图匹配算法修正后, 定位精度在多种轨迹实验中能达到 m 级, 相较于 SINS 导航最大可提升 80% 以上。该文联合导航方法适合用于地铁列车的准确定位。

In view of the special operating environment of metro trains and the difficulty in obtaining positioning information, this paper proposes a combined navigation method. This method is based on the joint use of strapdown inertial navigation system (SINS)-odometer combination and an improved map matching algorithm. During navigation, the speed, angular velocity and attitude data output by the SINS and odometer are first collected, and the combined positioning calculation is carried out using the Kalman filtering algorithm. Then, the output data is corrected through the map matching algorithm to obtain the final positioning data. The results of simulation experiments show that the SINS-odometer combined navigation in the metro train environment can greatly reduce the positioning error. After the positioning data is corrected by the map matching algorithm, the positioning accuracy can reach the meter level in various trajectory experiments, demonstrating a maximum improvement of more than 80% over SINS navigation. It is suitable for the accurate positioning of metro trains.