Application of Kalman Filtering Algorithm in the Tramcar GPS Positioning

ZHANG Shan; LI Hui; TANG Yong

doi:10.13890/j.issn.1000-128x.2017.02.026

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Application of Kalman Filtering Algorithm in the Tramcar GPS Positioning

更新时间：2021-12-13

- Application of Kalman Filtering Algorithm in the Tramcar GPS Positioning
- Electric Drive for Locomotives Issue 2, Pages: 106-109(2017)
- 作者机构：
  
  1. 株洲中车时代电气股份有限公司,湖南,株洲,412001
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- DOI：10.13890/j.issn.1000-128x.2017.02.026
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ZHANG Shan, LI Hui, TANG Yong. Application of Kalman Filtering Algorithm in the Tramcar GPS Positioning. [J]. Electric Drive for Locomotives (2):106-109(2017)
DOI：

ZHANG Shan, LI Hui, TANG Yong. Application of Kalman Filtering Algorithm in the Tramcar GPS Positioning. [J]. Electric Drive for Locomotives (2):106-109(2017) DOI： 10.13890/j.issn.1000-128x.2017.02.026.

摘要

由于定位和成本的原因，有轨电车系统不同于地铁在轨道铺设大量的应答器进行辅助定位，而通常会采用铺设少量的应答器/ 信标并结合速度传感器、GPS 的方式进行综合定位，因此GPS 的定位精度是定位准确性的重要条件之一。由于卫星、接收机钟差以及传播途径等因素会导致GPS 定位精度下降，为了提高定位精度，采用卡尔曼滤波对有轨电车位置进行最优估计，通过Matlab 分别仿真匀速运动、匀加速运动和变加速运动情况下的目标轨迹。仿真结果表明：采用卡尔曼滤波算法后，目标位置误差值大大降低，很好地降低了噪声影响，提高

Abstract

In subway system, a lot of transponder are paved on the track to assist the positioning. While the positioning of tramcars is different from the subway because of the positioning and the cost, the tramcars system usually adopt the method of combination of a few transponders or beacons, the speed sensors and GPS to position comprehensively. Therefore, the positioning precision of GPS is one of the most important conditions of positioning veracity. Due to the influence of the satellite offset, the GPS receiver offset and the route of transmission, the precision of GPS positioning decreased. In order to improve the precision of GPS positioning, Kalman filtering method was employed to best estimate the position of tramcars. The target track in different situations such as uniform motion, uniformly accelerated motion and variable accelerated motion were simulated and the results showed that the positioning error was greatly reduced by adopting the Kalman filtering algorithm. From the results of simulation, Kalman filtering method could reduce the impact of noise and greatly improve the precision of positioning.

关键词

有轨电车GPS车辆定位定位精度卡尔曼滤波

Keywords

tramcarGPSpositioning of vehiclepositioning precisionKalman filtering

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