Research And Implementation Of Tram Positioning System Based On Beidou And Inertial Integrated Navigation Technology

The tram positioning system based on Beidou and inertial integrated navigation technology is designed to realize the real-time positioning of the tram.This system mainly includes two parts: location information collection device and location information service system.The position information collection device based on the Beidou and inertial integrated navigation technology is composed of a Beidou and inertial integrated navigation module and a dedicated wireless cluster module.When the train is driving in the open air,the positioning is achieved by the Beidou satellite.When the tram enters the tunnel or is blocked by obstacles and the satellite signal is lost,the positioning information of the satellite navigation and the relative angular motion and linear motion measurement functions of the inertial sensor will be used,and use multidimensional Extended Kalman.Filtering technology and other specific algorithms can calculate the position of the tram at that time.The location information oftram includes time,longitude,latitude,speed,direction and altitude.After the data is encoded,it is uploaded to the location information service system of the control center at a frequency of once per second through the dedicated wireless relay module.The location information service system obtains the location information of the tram by correcting the deviation and matching the map to realize the real-time positioning of the tram on the whole line.This is the first railway transportation case in China that uses Beidou and inertial integrated navigation technology to realize tram positioning in tunnels without public network signals.As an important part of urban rail transit,trams have important reference significance for future urban rail transit construction.