【摘要】：隨著科技的進步，由傳統(tǒng)電車發(fā)展而來的現(xiàn)代有軌點電車逐漸在現(xiàn)代城市交通體系中推廣開來。作為一種新興的城市軌道交通方式，現(xiàn)代有軌電車擁有運載量大、環(huán)境友好和智能化水平高等優(yōu)點。其智能化水平主要體現(xiàn)在其列車運行控制系統(tǒng)、色燈信號系統(tǒng)和旅客信息系統(tǒng)等方面。要使上面各系統(tǒng)有效的運轉，我們就需要為現(xiàn)代有軌電車提供實時、可靠、高精度的列車定位信息。 近年來，導航定位技術快速發(fā)展，組合導航定位技術率先在航空、航天與航海等領域得到了廣泛應用，但隨著相關技術的發(fā)展，組合導航技術已經(jīng)開始應用在陸地車輛的定位與導航中。大量實驗與應用表明，基于多傳感器的組合導航定位技術完全可以滿足地面運輸載體定位的需求。本文在分析了現(xiàn)代有軌電車自身特點的基礎上，提出建立一個低成本的GPS/IMU/ODO組合定位系統(tǒng)來實現(xiàn)對現(xiàn)代有軌電車的實時定位，本系統(tǒng)主要依靠全球衛(wèi)星定位系統(tǒng)GPS、慣性測量單元IMU、里程計ODO等多源傳感器來采集數(shù)據(jù)。分析了系統(tǒng)中各硬件的原理與特點之后，在控制整體成本的基礎上結合實際，設計適用于現(xiàn)代有軌電車的硬件平臺，并根據(jù)設計特點闡述系統(tǒng)的軟件設計流程與關鍵問題的處理。根據(jù)系統(tǒng)數(shù)據(jù)輸出的特點，分析應用于組合定位導航的信息融合技術，根據(jù)算法特點與系統(tǒng)需求，采用聯(lián)邦卡爾曼濾波原理來綜合處理數(shù)據(jù)，進行信息融合。隨后基于聯(lián)邦卡爾曼濾波算法的建立數(shù)學模型并進行仿真，分析多傳感器組合定位的優(yōu)點。列車組合定位系統(tǒng)平臺的建立無論從理論上還是實際實驗應用中都證明了它的可行性與有效性，但由于系統(tǒng)的復雜程度，，平臺各部分都會帶來一定的誤差，有些誤差會明顯的影響最終的輸出數(shù)據(jù)精度，這些誤差主要來自于各傳感器，所以要對各誤差進行逐一分析，并提出誤差消除措施。在此基礎上，本文還提出兩個方面來降低誤差，一是設計一個基于應答器的參考系統(tǒng)，對列車進行絕對位置修正，以降低傳感器帶來的累積誤差，再一個是根據(jù)軌道交通的特點用最短距離法對位置輸出點進行優(yōu)化，使最終輸出的數(shù)據(jù)位置都統(tǒng)一在軌道上。這些誤差優(yōu)化措施會進一步使輸出數(shù)據(jù)精度提高。 組合定位系統(tǒng)輸出現(xiàn)代有軌電車列車的相對位置信息。系統(tǒng)的主要功能是為列車提供高精度的實時定位，它可以完全獨立于現(xiàn)有的閉塞方式，也可以與現(xiàn)有各系統(tǒng)綜合使用，最終能夠以較小的成本實現(xiàn)現(xiàn)代有軌電車的精確定位。
[Abstract]:With the development of science and technology, the modern tram developed by traditional trams is gradually popularized in the modern urban transportation system. As a new way of urban rail transit, modern trams have many advantages, such as large capacity, friendly environment and high level of intelligence. Its intelligent level is mainly reflected in its train operation control system, color light signal system and passenger information system. To make the above systems work effectively, we need to provide real-time, reliable and high accuracy train positioning information for modern trams. In recent years, with the rapid development of navigation and positioning technology, integrated navigation and positioning technology has been widely used in aviation, aerospace, navigation and other fields, but with the development of related technology, Integrated navigation technology has been applied to land vehicle positioning and navigation. A large number of experiments and applications show that the multi-sensor integrated navigation and positioning technology can completely meet the needs of ground transportation vehicle positioning. Based on the analysis of the characteristics of modern trams, a low-cost GPS/IMU/ODO integrated positioning system is proposed to realize the real-time positioning of modern trams. The system mainly depends on GPS, inertial measurement unit (GPS,), IMU, odometer, ODO and other multi-source sensors to collect data. After analyzing the principle and characteristics of the hardware in the system, the hardware platform suitable for the modern tram is designed on the basis of controlling the whole cost and combining with the practice. According to the design characteristics, the system software design flow and key problems are discussed. According to the characteristics of system data output, the information fusion technology applied in integrated positioning and navigation is analyzed. According to the characteristics of algorithm and system requirements, the federated Kalman filter principle is adopted to synthetically process data and carry out information fusion. Then the mathematical model based on the federated Kalman filter algorithm is established and simulated to analyze the advantages of multi-sensor combined location. The establishment of the platform of train integrated positioning system has proved its feasibility and effectiveness in both theory and practical application. However, due to the complexity of the system, every part of the platform will bring some errors. Some errors will obviously affect the precision of the final output data, these errors mainly come from each sensor, so we should analyze each error one by one, and put forward the error elimination measures. On this basis, this paper also proposes two aspects to reduce the error. One is to design a reference system based on transponder to correct the absolute position of the train, so as to reduce the cumulative error caused by the sensor. The second one is to optimize the position output points by using the shortest distance method according to the characteristics of the rail transit, so that the final output data positions are unified on the track. These error optimization measures will further improve the accuracy of the output data. The integrated positioning system outputs the relative position information of modern tram trains. The main function of the system is to provide high precision real-time positioning for the train. It can be completely independent of the existing block mode, and can also be used comprehensively with the existing systems. Finally, the accurate positioning of modern trams can be realized at a lower cost.
【學位授予單位】：蘭州交通大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U482.1;U492.433

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本文編號：2256551