Abstract
In recent years, modern trams have developed rapidly. In order to ensure the daily operation of modern trams, we need to use rail inspection vehicles to detect the track conditions of the relevant lines, and the mileage deviation in the detection process will have a certain impact on the detection results. In this paper, aiming at the mileage deviation problem in the mileage measurement of the trough rail track of modern trams, a vehicle dynamic model is established to assist the Strapdown Inertial Navigation System to correct the mileage deviation of the rail inspection vehicle. That is, a vehicle dynamic model is established, and the fourth-order Runge-Kutta method is used to solve the speed information in real time. The SINS error equation is used as the state equation, and the speed difference between the dynamic model and the SINS solution is the observed value. The cubature kalman filter is used, and the estimated state error is used to correct the Strapdown Inertial navigation, that is, the output mileage data of the Integrated Navigation System assisted by the vehicle dynamics model is used to correct the mileage data of the original Strapdown Inertial Navigation System. The simulation results show that the measurement accuracy of the mileage data after mileage correction is improved by 20%, and the divergence of mileage error is effectively restrained.
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