Research Of Train Positioning Method In Stations Based On BDS-INS Integrated Navigation System

Train Positioning System is an important part of Train Control System, and location information is the principal reference information to System for making control decisions. Autonomous train positioning based on Global Navigation Satellite System (GNSS) is the practical requirements for the information and intelligence development of the Train Control System. Station is the important scene to the train’s operation, in which the numerous and complicated lines as well as the adverse visual conditions for GNSS satellites make the autonomous positioning simply by satellite navigation unable to meet the application demand of reliability and continuity. So, it needs new efficient methods.By applying the Beidou satellite navigation system (BDS), MEMS inertial sensors and other new technologies, this thesis focused on the requirements and implementation bottlenecks of the autonomous train positioning in stations, discussed the positioning method in the station environment based on the BDS-INS integrated navigation system.The contents and innovations of the thesis are as follows:(1) The design of integrated location achievement. Considering the positioning requirements, the functional framework and operating logic of the integrated location method based on the BDS and MEMS Strapdown INS (SINS) is proposed and elaborated, providing the guidance for the realization of integrated positioning systems which proposed in this thesis.(2) Identification method of the track occupancy for the train in the station. The low horizontal accuracy of satellite positioning cannot support the parallel track occupancy in the station, so this thesis designed the gyro-assisted identification method. According to the heading angular rate information of the train’s movement provided by the gyroscope, combined the station line topology, this method make inference of the train route by the syntactic structure pattern recognition, so that the track occupancy can be effectively identified.(3) Autonomous train positioning under the conditions of satellite positioning failure. For reducing the influence to the effectiveness of satellite positioning results which is caused by the semi-closed environment of stations, this thesis designed a SINS-aided train positioning method. This method achieved the continuous output of location data under the satellite positioning failure conditions, to ensure full-time positioning of train. Exploring the SINS positioning error and correction method, this thesis used Kalman filter to achieve zero velocity update (ZUPT) in different SINS operating scenarios, to ensure the validity of SINS positioning results.At the end of this thesis, the actual train operating data from Han Yi Railway is used for the simulation and verifies of the theory and methods based on MATLAB. Verification results shows that methods discussed in this thesis can be effectively achieved track occupancy identification of complex lines and continues train positioning in stations, and the integrated positioning systems can achieve the function of autonomous positioning while the train is running in the station environment.