The invention relates to a method for estimating the speed of a rail vehicle (100), the rail vehicle comprising an inertial measurement unit (1) configured to receive GNSS signals associated with a satellite navigation system, the method comprising the steps of:-analyzing (1031) the received GNSS signals to determine the reliability of these GNSS signals; a step of defining a measurement vector comprising measurements made by the inertial measurement unit; defining a state vector comprising components associated with said speed of the vehicle, the attitude of the vehicle and deviation errors in the acceleration and angular velocity measurements; applying (1035) a state estimator to estimate a state vector using the measurement vector; correcting the estimation of the state vectors based on the GNSS signals according to the determined reliability of these GNSS signals; -extracting a speed of the rail vehicle and an error associated with the speed of the rail vehicle (100) from the corrected state vector.
本发明涉及一种用于估算轨道车辆(100)的速度的方法,轨道车辆包括惯性测量单元(1),其被构造为接收与卫星导航系统相关联的GNSS信号,该方法包括以下步骤:‑分析(1031)所接收的GNSS信号以确定这些GNSS信号的可靠性;‑限定测量向量的步骤,测量向量包括由惯性测量单元进行的测量;‑限定状态向量,状态向量包含与车辆的所述速度、车辆的姿态以及加速度和角速度测量中的偏差误差相关联的分量;‑应用(1035)状态估算器以使用测量向量估算状态向量;‑基于GNSS信号根据由这些GNSS信号的经确定可靠性来校正对状态向量的估算;‑从经校正的状态向量提取轨道车辆的速度以及与轨道车辆(100)的速度相关联的误差。
Method for estimating speed of rail vehicle and associated inertial measurement unit
用于估算轨路车辆的速度的方法及相关惯性测量单元
2024-07-09
Patent
Electronic Resource
Chinese
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