基于超宽带技术的轨道交通定位算法研究

Research on Location Algorithms for Rail Transit Based on UWB

摘要:

针对目前轨道交通应答器加里程计的定位方式存在定位精度不足、成本高等局限性,研究了一种基于超宽带(Ultra Wide Band)技术的定位方法。根据待测物的运动特点与UWB模块的测距性能,设计了有约束条件的定位综合算法,算法融合使用最小二乘法、Taylor递归法、Kalman滤波,并加入轨道方程约束和连续性约束两种约束条件。该算法解决了地面参考基站所包围区域的外部定位精度差的问题,克服了UWB模块因非视距、多径效应而出现较大误差的不足。实验分析与计算结果显示,当待测物体在地面参考基站50 m范围内,定位误差在10 cm以内；此方法定位速度快、误差小,具有较高的工程应用价值。

Abstract:

Some limitations exist in the positioning method of current rail transit based on transponder and odometer, such as the lack of positioning accuracy and high cost, thus, a positioning method based on Ultra Wide Band technology has been studied. According to the motion characteristics of the object to be tested and the ranging performance of the UWB module, a positioning synthesis algorithm withSsome constraintSconditions is designed. The algorithm using the least square method, Taylor recursion method and Kalman filter together, and two kinds of constraint conditions including orbital equation and continuity are added. The algorithm solves the problem of poor positioning accuracy of the external part of the area enclosed by ground reference base stations, and overcomes the disadvantage of large error caused by non-line-of-sight and multi-path effect when using UWB module. Experimental analysis and calculation results show that when the object to be tested is within 50m from the ground reference base station, the positioning error is within 10cm, and the method with fast positioning speed and small error has high engineering application value.