Railway Train Positioning Based On BDS/INS Integrated Navigation

With the development and progress of satellite navigation and positioning technology.navigation technology has brought more and more convenience to our daily life,especially in the area of transportation.Railway is not only one of the most basic public facilities in the country,but also an important standard to measure the economic strength of a country.How to safely and efficiently locate the location is obviously very important.China's BDS second generation satellite navigation system has high precision,wide area coverage,but the data update rate is low,in the city buildings and sheltered forests will be unable to receive signal.The inertial navigation system has strong independence,and high data update rate,but the positioning error will be accumulated with time and can't support separate navigation for a long time.For existing respective insufficiency of Beidou second-generation navigation system and inertial navigation system,this article uses the BDS second generation satellite navigation system combined with inertial navigation system for train positioning,it's helps to real-time observation the status information of the train.By installing monitoring terminals on the train,people can receive the positioning information of the train more faster and convenient.It makes up for the lack of second-generation satellite positioning system separate BDS-vehicle device can not receive the satellite signal in normal time,At the same time,the join of inertial system improves the positioning data update rate.It has the vital significance to improving the efficiency and safety of railway transportation for our country.This article uses kalman filter as a main method for the whole process of data processing,In basis of Establishing several typical combination train positioning mathematical model(equation of state and observation equations),The article using improved kalman filter and federated kalman filter overcome the data nonlinear problems in the simulation model and the coupling problems between multiple variables.Finally against blind positioning of train problem,it put forward two kinds of corresponding solutions.I.e.,When in the blind zone with higher terrain,using acceleration sensor algorithm and kalman filtering algorithm for blind location,In the flat terrain using DR algorithm and extended kalman filtering algorithm for blind location.At the seam time,the article conducts MATLAB simulation experiments for the two solutions,Results show that these two kinds of methods are feasible and can meet the Beidou second-generation navigation positioning system basic requirements of 10m position error precision.