北京航空航天大学学报 ›› 2022, Vol. 48 ›› Issue (4): 632-638.doi: 10.13700/j.bh.1001-5965.2020.0647

• 论文 • 上一篇    下一篇

基于SINS/RFID的隧道列车高精度定位方法

张辰东1,2, 王兆瑞1, 金声震1, 艾国祥1   

  1. 1. 中国科学院国家天文台, 北京 100101;
    2. 中国科学院大学 天文与空间科学学院, 北京 100049
  • 收稿日期:2020-11-20 发布日期:2022-04-27
  • 通讯作者: 王兆瑞 E-mail:zhaorui_w@nao.cas.cn
  • 基金资助:
    国家重点研发计划(2016YFB0501900);国家自然科学基金(U1931125,11603041)

High-precision positioning method based on SINS/RFID for trains in tunnel

ZHANG Chendong1,2, WANG Zhaorui1, JIN Shengzhen1, AI Guoxiang1   

  1. 1. National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100101, China;
    2. School of Astronomy and Space Science, University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2020-11-20 Published:2022-04-27

摘要: 为了获取高速铁路列车在隧道这种导航卫星不可见环境下的定位信息,提出一种基于捷联惯性导航系统(SINS)和射频识别技术(RFID)的组合定位方法。通过响应时间模型来计算标签的定位精度,依据实际轨道环境增加标签对列车姿态校准的能力,同时结合惯性导航系统解算得到连续的定位数据。仿真结果表明:在30 km长的隧道利用射频识别标签位置信息进行校准,可以很大程度地减小惯性导航系统的误差积累,提高定位精度。引入姿态信息后,可以在陀螺仪性能与标签间隔的多种组合中保持隧道全线定位精度在米级,最高能够达到0.5 m。

关键词: 组合导航, 隧道定位, 射频识别技术(RFID), 捷联惯性导航系统(SINS), 动态姿态校准

Abstract: based on strapdown inertial navigation system (SINS) and radio frequency identification (RFID), an integrated positioning method is proposed for the position acquisition of high-speed trains in satellite-denied environment such as tunnels. The positioning accuracy of RFID tags is calculated by the response time model. The tags could also calibrate the attitude by adding actual railway information. Setting RFID tags on tunnel wall and at the same time combining with inertial navigation system provide continuous dynamic positioning data. Simulation results show that utilizing RFID tags in position calibration significantly decreases the error accumulation of inertial navigation system and increases positioning accuracy in 30 km tunnel. After the addition of attitude information, the positioning accuracy of the whole tunnel railway maintains at the level of meters in a variety of combinations of gyroscope performance and RFID tag interval, the best of which is 0.5 m.

Key words: integrated navigation, tunnel positioning, radio frequency identification (RFID), strapdown inertial navigation system (SINS), dynamic attitude calibration

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