一种快速高精度GPS组合定位方法研究.pdfVIP

３９ ２ Vol.３９ No.２ ２ ０ １ ７ ２ JOURNAL OF T HE CHINA RAILWAY SOCIETY February ２０１７ ：１００１‐８３６０（２０１７）０２‐００６７‐０７ GPS １ ，２ １ ，２ １ ，２ ， ， （１. ， ７３００７０ ；２. ， ７３００７０） ：GPS ， GPS 。 GPS ， GPS ，， ；／（SINS ／DR ） ，LSKF GPS ／SINS ／DR 。 ， ，GPS 。 ：； GPS ； SINS ／DR ； ：U ２８４ ：A doi ：１０.３９６９／ .issn.１００１‐８３６０.２０１７.０２.０１０ j Study on a Fast and Precise GPS Integrated Positioning Method WANG Di１ ，２ ， CHEN Guangw u１ ，２ ， YANG Ting１ ，２ （１. Automatic Control Research Institute ， Lanzhou Jiaotong U niversity ， Lanzhou ７３００７０ ， China ； ２. Gansu Provincial Key Laboratory of T raffic Information Engineering and Control ， Lanzhou ７３００７０ ， China ） Abstract ：In order to solve the positioning errors caused by the interruption of satellite signal during the train positioning using high‐speed railway GPS ， a fast and high precision GPS combined positioning method was presented in this paper ． On the one hand ， based on the original GPS satellite receiver ， and combined with ODO and three axis accelerometer gyroscope sensor ， the Doppler shift of the satellite signal was introduced in ‐ to the GPS satellite receiver w hen train operated at high speed ． A mathematical model for the acquisition of the high speed train satellite signal was established to improve the efficiency of signal acquisition and search ． On the other hand ， to deal with the issue of data convergence with the SINS ／DR system w hen satellite positioning data are interrupted ， the GPS ／SINS ／DR train location method based on LSKF algorithm was proposed ． T he simulation results sh