毕业设计（论文）-基于多传感器信息融合测速方法研究精选.docxVIP

摘要随着城市轨道交通的快速发展，列车测速技术已经成为列车运行自动控制的重要技术之一，列车测速准确性直接影响列车的行车安全和运行效率。而实时、准确地获得列车速度信息是列车安全、高效运行的保障。因此本文对列车测速方法进行深入研究，对于提高列车测速的精确度和可靠性具有重要意义。论文以轮轴测速传感器和多普勒雷达速度传感器为研究对象，由于轮轴测速传感器的测速方法存在轮对空转和滑行等问题，而多普勒雷达速度传感器在列车速度较低时，多普勒效应不明显，因此单一的速度传感器很难达到所要求的测速精度，但是将这两种传感器结合起来进行多传感器信息融合，发挥各个传感器的优势，就能使测速系统达到较高的精度和可靠性。本文通过对几种常见的信息融合结构的分析，选用了多级式融合结构对轮轴测速传感器和多普勒雷达速度传感器进行结构融合，建立测速系统的算法模型和状态方程，用Kalman滤波器进行滤波，最后获得最优状态的估计值。同时，完成了列车测速系统的硬件结构。关键词：列车测速；轮轴测速传感器；多普勒雷达速度传感器；信息融合；Kalman滤波AbstractWith the rapid development of urban rail transit, the speed measurement technology has become an important technique of automaticcontrol for train operation; the train speed directly affects the accuracy of the train traffic safety and operational efficiency. The real-time and accurately access to train speedinformation isthe protectionofthe safe and efficient operationof the trains. Thespeed measurement methods are studied to improve the accuracy of train speed and the reliability of the train operation.Axle speed sensor and Doppler radar speed sensor are the study objects, because the axle speed sensor wheel speed measurementmethod has problems in idling and taxiing, and when the train speed is low, the Doppler effect is obvious, so a single speed sensor is difficult to achieve the required speed accurately, But the two sensors are combined for multi-sensor data fusion can play all the advantages of the speed sensor system in achieving high accuracy and reliability. Based on the analysisof information fusion of several common structure, the choice of multi-stage structure on axle speed sensor fusion combined with the fusion Doppler radar velocity sensor structure, speed measurement system algorithm model is established and the Kalman filteris used to filter, and finally obtain the optimal state estimation value.Meanwhile, the train speed system hardware structure is completed.Keywords: Train speedmeasurement,Wheel speed sensor, Doppler radar speed sensor, Information fusion, Kalman filter目录摘要IAbstractII目录II1