The invention provides a train positioning method and device based on a Kalman filtering algorithm, equipment and a medium, and the method comprises the steps: respectively obtaining first position information of a target train in an SINS (Strapdown Inertial Navigation System); second position information of the target train in the GNSS global navigation satellite system and third position information of the target train acquired by a Tag arranged on the target train; determining an initial position observation value of the target train in each positioning subsystem according to the first position information, the second position information and the third position information; determining observability of each positioning subsystem according to the state vector of the observation value of the initial position and the observation noise; determining a candidate position observation value of the target train according to the observability of each positioning subsystem; and filtering the candidate position observation value of the target train in the train positioning system by using an unscented Kalman filtering algorithm to obtain target position information. By the adoption of the method, high-precision positioning of the train is achieved.
本申请提供了基于卡尔曼滤波算法的列车定位方法、装置、设备及介质,其中,分别获取的SINS惯性导航系统中目标列车的第一位置信息,GNSS全球导航卫星系统中目标列车的第二位置信息以及由设置在目标列车上的Tag标签采集得到的目标列车的第三位置信息;根据第一位置信息和第二位置信息和第三位置信息确定出各定位子系统中目标列车的初始位置观测值;根据初始位置观测值的状态向量和观测噪声确定出各定位子系统的可观测度;根据各定位子系统的可观测度确定出目标列车的候选位置观测值;利用无迹卡尔曼滤波算法对列车定位系统中目标列车的候选位置观测值进行滤波得到目标位置信息。采用上述方法,以实现对列车的高精度定位。
Train positioning method, device and equipment based on Kalman filtering algorithm and medium
基于卡尔曼滤波算法的列车定位方法、装置、设备及介质
2023-09-15
Patent
Electronic Resource
Chinese
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