Abstract
When a high-speed train is running in a tunnel, the global navigation satellite system (GNSS) signal is completely lost. Relying only on the inertial navigation system (INS) composed of Micro-electromechanical Systems (MEMS) devices leads to large navigation errors. To solve this problem, an integrated micro inertial measurement unit (MIMU), odometer (ODO), and motion constraint (MC) tunnel navigation method is proposed. This method first establishes a motion constraint model based on the installation angles of MIMU; secondly, the effect of turning on the motion constraint model and the odometer is analyzed and the use condition of the motion constraints is obtained; the installation angles of MIMU are then estimated when GNSS signal is good and the use condition of the motion constraints is met; finally, the forward speed measured by the odometer and the motion constraints are applied to suppress the error of the INS and improve the navigation accuracy in the tunnel. Based on this method, high-speed train navigation tests were carried out both in areal tunnel environment and in a case study with an artificially disconnected GNSS signal. The experimental results showed that the navigation accuracy of the train in the tunnel was significantly improved. Seamless navigation was achieved inside and outside the tunnel, which verified the effectiveness of the method.
Highlights
As the high-speed railway network becomes denser and the number of trains running on the network increases, the safety of high-speed trains has become an issue of great concern [1,2]
In order to further analyze the effectiveness and navigation accuracy of the micro inertial measurement unit (MIMU)/ODO/motion constraint (MC) algorithm inside the tunnel, a section of open area data was selected, and the smoothed result of the global navigation satellite system (GNSS)/MIMU integrated navigation was used as reference
We propose a MIMU/ODO/MC integrated navigation method to solve the problem of the large positioning errors when depending solely on inertial navigation system (INS) composed of MEMS in tunnels
Summary
As the high-speed railway network becomes denser and the number of trains running on the network increases, the safety of high-speed trains has become an issue of great concern [1,2]. There is a requirement for real-time, continuous, accurate, and reliable navigation information for the operation control system to control, schedule, and monitor train movements [1,3,4]. Traditional train positioning uses speed and distance measurement methods such as track circuits, transponders, axle-counting equipment, and Doppler radar to unify the speed and location of the moving train under one-dimensional coordinates [4].Currently, the positioning accuracy of distances required by the European Train Control System (ETCS) and the Chinese Train Control System (CTCS), based on balise groups placed on the track and odometer readings, is ± 5 m + 5% measured distance [5]. Traditional methods are associated with poor positioning accuracy, less train information, complicated system maintenance, and inability to meet the requirements of high-speed train positioning in long tunnels [6]
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