CAJ | 학술논문

为解决传统的 GPS/INS松耦合方式在复杂列车定位环境下的性能恶化问题，结合矢量跟踪技术原理，设计并提出基于矢量跟踪的深耦合列车自主定位方法，给出深耦合列车自主定位算法实现流程，建立相应的信号跟踪滤波数学模型；针对复杂环境下的列车组合定位系统非线性问题，引入强跟踪滤波思想对传统的容积卡尔曼滤波算法进行改进以提升算法的稳定性与鲁棒性。以青藏线某区间列车运行数据为基础，通过计算机仿真验证了所提算法在复杂环境下实现列车自主定位过程的有效性与实用性。
위해결전통적 GPS/INS송우합방식재복잡열차정위배경하적성능악화문제，결합시량근종기술원리，설계병제출기우시량근종적심우합열차자주정위방법，급출심우합열차자주정위산법실현류정，건립상응적신호근종려파수학모형；침대복잡배경하적열차조합정위계통비선성문제，인입강근종려파사상대전통적용적잡이만려파산법진행개진이제승산법적은정성여로봉성。이청장선모구간열차운행수거위기출，통과계산궤방진험증료소제산법재복잡배경하실현열차자주정위과정적유효성여실용성。
To solve the performance deterioration problem of traditional loosely integrated GPS/INS under the complex positioning environment,a deeply integrated GPS/INS solution for automatic train positioning based on vector tracking was designed and proposed,and the realization flow of the automatic train positioning algo-rithm was given,while the mathematic model of the signal tracking filter was also established.In view of the non-linear problem of the train positioning system,the thought of strong tracking filtering was introduced to improve the conventional cubature Kalman filtering algorithm and up-grade its stability and robustness.The ef-fectiveness and practicality of the proposed solution were verified by computer simulation,using the train’s op-eration data in a section of the Qinghai-Tibet Railway.