The invention discloses a train speed tracking method based on a multi-mode switching rapid iteration UKF (Unscented Kalman Filter), which comprises the following steps of: introducing UT into a traditional Kalman filter to form the UKF suitable for a nonlinear system; controlling linear and nonlinear line operation sections of the motion model by adopting KF and UKF respectively, and enhancing the tracking performance of a filter by presetting different Q values; by referring to related ideas in an iterative control theory, iterative control is introduced into UKF control, and multiple sampling of sample points is carried out to improve the tracking stability of a controller; according to the method, a fading factor is introduced into a designed iteration UKF by referring to an introduction method of the fading factor in the fast strong tracking UKF, a fast iteration UKF algorithm is formed, the filtering operand is reduced, and the tracking precision of a freight train automatic driving speed tracking control system is ensured.

    本发明公开了一种基于多模切换快速迭代UKF的列车速度追踪方法,将UT变换引入传统Kalman滤波器中,组成适用于非线性系统的UKF;对运动模型线性及非线性的线路运行区段,分别采用KF和UKF进行控制,且通过预设不同的Q值,增强滤波器的跟踪性能;借鉴迭代控制理论中相关思想,将迭代控制引入UKF控制中,进行样本点的多次采样以提高控制器的追踪稳定性;借鉴快速强跟踪UKF中渐消因子的引入方法,将渐消因子引入设计的迭代UKF中,组成快速迭代UKF算法,降低滤波的运算量,保证货运列车自动驾驶速度追踪控制系统的追踪精度。


    Access

    Download


    Export, share and cite



    Title :

    Train speed tracking method based on multi-mode switching rapid iteration UKF (Unscented Kalman Filter)


    Additional title:

    基于多模切换快速迭代UKF的列车速度追踪方法


    Contributors:
    YI LINGZHI (author) / YI YU (author) / YU HUANG (author) / HUANG JIANXIONG (author) / LAN YONGHONG (author) / LAN ZHIYONG (author)

    Publication date :

    2022-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



    Unscented Kalman Filter

    Zarchan, Paul / Musoff, Howard | AIAA | 2015


    Unscented Kalman filter for visual curve tracking

    Li, P. / Zhang, T. / Ma, B. | British Library Online Contents | 2004


    Freight train speed tracking and anti-slip control based on unscented Kalman observer

    YI LINGZHI / YI YU / XIE CHENG et al. | European Patent Office | 2023

    Free access

    Iterated Unscented Kalman Filter for Passive Target Tracking

    Zhan, Ronghui / Wan, Jianwei | IEEE | 2007