Robust train localisation method based on advanced map matching measurement-augmented tightly-coupled GNSS/INS with error-state UKF

IF 1.9 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation Pub Date : 2023-03-01 DOI:10.1017/S0373463323000097

Dan Liu, Wei Jiang, B. Cai, O. Heirich, J. Wang, W. Shangguan

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引用次数: 0

Abstract

Abstract This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked areas, an advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via an error-state unscented Kalman filter (UKF). The advanced MM generates a matched position using a one-step predicted position from a UKF time update step with binary search algorithm and a point–line projection algorithm. The matched position inputs as an additional measurement to fuse with the INS position to augment the degraded GNSS pseudorange measurement to optimise the state estimation in the UKF measurement update step. Both the real train test on the Qinghai–Tibet railway and the simulation were carried out and the results confirm that the proposed advanced MM measurement-augmented TC GNSS/INS with error-state UKF provides the best horizontal positioning accuracy of 0 ⋅ 67 m, which performs an improvement of about 71% and 90% with respect to TC GNSS/INS with only error-state UKF and only error-state Extended Kalman filter in GNSS partly blocked areas.

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基于先进地图匹配测量增强GNSS/INS与误差状态UKF的鲁棒列车定位方法

摘要本文通过将全球导航卫星系统（GNSS）与惯性导航系统（INS）在紧密耦合（TC）策略中融合，提出了一种鲁棒的列车定位系统。为了提高GNSS部分阻塞区域的导航性能，提出了一种通过误差状态无迹卡尔曼滤波器（UKF）增强TC GNSS/INS的高级地图匹配（MM）测量方法。高级MM使用二进制搜索算法和点-线投影算法，使用UKF时间更新步骤中的一步预测位置生成匹配位置。在UKF测量更新步骤中，匹配的位置输入作为与INS位置融合的附加测量，以增强降级的GNSS伪距测量，从而优化状态估计。在青藏铁路上进行了实车试验和仿真，结果证实了所提出的先进MM测量增强TC GNSS/INS误差状态UKF的水平定位精度为0·67m，其相对于在GNSS部分阻塞区域中仅具有误差状态UKF且仅具有误差态扩展卡尔曼滤波器的TC GNSS/INS执行约71%和90%的改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Navigation 工程技术-工程：海洋

CiteScore

6.10

自引率

4.20%

发文量

审稿时长

4.6 months

期刊介绍： The Journal of Navigation contains original papers on the science of navigation by man and animals over land and sea and through air and space, including a selection of papers presented at meetings of the Institute and other organisations associated with navigation. Papers cover every aspect of navigation, from the highly technical to the descriptive and historical. Subjects include electronics, astronomy, mathematics, cartography, command and control, psychology and zoology, operational research, risk analysis, theoretical physics, operation in hostile environments, instrumentation, ergonomics, financial planning and law. The journal also publishes selected papers and reports from the Institute’s special interest groups. Contributions come from all parts of the world.