面向列车运行控制的无缝定位方法研究

Train operation control is a key factor for realizing the safe operation of the railway system. The satellite navigation-based train control system has remarkable advantages in the cost-efficiency and autonomy capability. It is capable of contributing significantly to the intelligentization of the railway system and the innovation of new generation train control systems. Aiming at solving the “last kilometer problem” of satellite positioning under constrained operation environments like the railway stations and tunnels, the seamless positioning has been a major bottleneck which has to be effectively tackled. However, existing seamless positioning methods have to face their severe disadvantages in the inherent capability, integration level and evaluation effectiveness. In this project, based on the safety requirement of the train control systems, the key scientific issues for the pseudolite-based seamless train positioning are summarized corresponding to the capability enhancement, performance optimization, safety evaluation and verification. Accordingly, research and innovation works on the seamless positioning topic are planned to be performed concerning the optimization of pseudolites location model with time-spatial constraints, performance enhancement of information fusion of pseudolites/GNSS and assistant sensors, and the risk allocation and availability verification considering multiple risk resources. The prospective results of this research will contribute to the improvement of theory and method system in the multi-source information fusion domain. Furthermore, it would greatly promote the development and innovation in train control systems based on BeiDou Navigation Satellite System (BDS), and provides an effective fundamental basis for next generation train control with the seamless positioning capability.

列车运行控制系统是确保铁路运营安全的关键因素，基于卫星导航的列车运行控制因其成本效益与自主性的显著优势，已成为国内外铁路智慧化发展以及列控系统革新的重要方向。为了解决卫星定位在车站、隧道等受限环境下的“最后一公里”问题，无缝定位已成为当前亟待解决的一项关键瓶颈。然而，现有的无缝定位方法存在“本体能力不足、融合层次不深、评估检验不严密”等突出问题。为此，本项目从列车运行控制对定位的安全需求出发，从引入伪卫星实施无缝定位所需的能力优化、性能增强及评估检验等方面挖掘关键科学问题，在基于列车运行时空特征约束的伪卫星空间布局优化、伪卫星/GNSS/辅助传感器协同信息融合与性能增强、兼容多种风险源的无缝定位风险分配与可用性检验等方面开展创新研究。项目成果将有效充实多源信息融合理论方法体系，促进我国基于北斗卫星导航的列控系统发展实施与自主创新，为基于无缝定位实现列车运行控制提供基础理论与方法保障。

列车运行控制系统是确保铁路行车安全的关键装备，随着我国北斗卫星导航系统的建设与发展，基于自主化北斗导航系统的新型列车控制系统能够实现“车载中心化”特征，达到更优的自主性与灵活性。然而，以卫星定位为基础的列车定位易于受到运行环境影响而导致定位可用性受到制约，使得卫星定位的优势效益无法始终得到充分体现。本项目从列车连续无缝定位这一主题入手，基于列车控制系统的特定安全需求，从列车无缝定位的基础能力构建、性能优化增强、特征检验评估三个层次，逐步由信息条件优化、处理逻辑加固向整体测试检验递进，深入研究了实现多源信息融合无缝定位所需的相关方法。项目研究工作取得的主要成果可概括为三个方面：1）提出了面向铁路特定卫星定位受限环境的伪卫星空间布局优化方法，分别从新型智能优化算法、卫星观测质量网格化建模方法、伪卫星布局设计等方面形成了可行方案；2）提出了综合卫星定位、伪卫星、惯性导航、轮轴测速、轨道电子地图等多源信息的融合估计方法，通过卫星星座组合、鲁棒自适应滤波估计、定位干扰主动防护等方面实现了多源融合连续无缝定位性能的增强；3）提出了面向多源列车定位的监测评估和可用性检验方法，分别从定位完好性监测、面向列车控制应用的定位测试评估等方面进行了方法设计与测试验证。项目研究与列车定位单元研制、仿真测试环境构建、现场试验验证紧密协同，为将卫星导航应用于新型列控系统研制并支撑相关规范编制、零现场测试评估提供了技术基础，有助于优化基于北斗的新型列车定位方案在复杂铁路现场环境中的适用性，并为未来构建更加全面的列车运行状态全息感知体系提供了技术储备。