Subway location method based on SINS/DR integrated navigation and map-matching technology

XU Chen1,2， CHEN Guang-wu1,2， FAN Ze-yuan3， LIU She-de1,2

(1. Automatic Control Research Institute, Lanzhou Jiaotong University， Lanzhou 730070， China; 2. Gansu Provincial Key Laboratory of Traffic Information Engineering and Control， Lanzhou 730070， China；3. College of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070， China)

Abstract： With the development of rail transit, subway is playing an increasingly important role in peoples daily life. The positioning technology of subway is the key of communication based on train control system (CBTC). Considering that the global positioning system (GPS) cant be utilized in the subway and the ground equipment is complex and expensive, a self-positioning method based on inertial measurement unit (IMU) and speed sensor is put forward, and the track electronic map is used to reduce the error. This method can suppress the error divergence of Strapdown inertial navigation system (SINS) and reduce the cumulative error of dead reckoning (DR) due to attitude error. In accordance with the particularity of railway lines, using the least squares method to match the line and revise the error caused by the navigation, can greatly improve the positioning accuracy and reduce the dependency on the ground equipment, and the costs of construction and maintenance can be lowered.

Key words：  subway location; Strapdown inertial navigation system (SINS); dead reckoning (DR); map-matching

CLD number： U284 Document code： A

Article ID： 1674-8042（2017）04-0378-06 doi： 10.3969/j.issn.1674-8042-2017-04-011

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基于SINS/DR组合导航和地图匹配技术的地铁定位方法研究

徐琛1,2，陈光武1,2，樊泽园3，刘射德1,2

（1. 兰州交通大学 自动控制研究所，甘肃 兰州 730070； 2. 甘肃省高原交通信息工程及控制重点实验室，甘肃 兰州 730070；3. 兰州交通大学 自动化与电气工程学院，甘肃 兰州 730070）

摘要:随着轨道交通的发展，地铁在人们日常生活中扮演着越来越重要的角色，地铁的定位技术也是移动闭塞实现的关键。本文针对地铁无法使用GPS且地面设备复杂，成本高的缺点，提出了一种基于惯性测量单元(IMU)和速度传感器辅以轨道电子地图的自主定位方法，在抑制捷联惯导系统（SINS）的误差发散的同时，减少了航迹推算（DR）由于姿态角误差造成的累计误差。根据铁路线路的特殊性，提出了运用最小二乘进行地图匹配的方法校正组合定位带来的误差，极大提高了定位的精度，同时减少了对轨旁设备的依赖性，降低了造价和维护成本。

关键词:地铁定位；捷联惯导系统（SINS）；航迹推算（DR）；地图匹配

引用格式：XU Chen， CHEN Guang-wu， FAN Ze-yuan, et al. Subway location method based on SINS/DR integrated navigation and map-matching technology. Journal of Measurement Science and Instrumentation, 2017, 8(4)： 378-383. ［doi： 10.3969／j.issn.1674-8042.2017-04-011］

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