基于加权鲁棒Kalman/H∞混合滤波融合的高速列车测速方法
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兰州交通大学 自动化与电气工程学院学院

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U271.91

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甘肃省自然科学基金(21JR7RA321, 22JR5RA358)


High-speed train speed measurement method based on weighted robust Kalman/H∞ hybrid filtering fusion
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School of Automation and Electrical Engineering, Lanzhou Jiaotong University

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    摘要:

    针对高速列车多传感器融合测速过程中因模型参数不确定导致测速精度偏低与鲁棒性较差等问题。提出一种对角阵加权误差方差约束下的鲁棒Kalman/H∞混合滤波融合方法。首先,构建高速列车运动模型,通过轮轴速度传感器、雷达速度传感器和加速度计对列车速度、距离和加速度进行观测;然后,设计加权鲁棒Kalman/H∞混合滤波器。引入状态误差约束下的增广系统模型,在满足3个性能指标下,通过求解两个Riccati方程来获得误差方差约束下的滤波器;其次,采用多级式融合结构,通过估计误差协方差阵确定各局部滤波器的最优加权系数,再进行多速度融合;最后,对设计方法和算法进行了仿真,并对仿真结果进行了分析和对比。结果表明:本文提出的加权鲁棒混合滤波融合算法能减小高速列车速度、距离及加速度的测量误差,并能进一步提高测速精度与系统的鲁棒性,为高速列车的高精度控制与高效、安全运行提供技术支持。

    Abstract:

    Aiming at the problems of low accuracy and poor robustness of speed measurement due to uncertain model parameters in the speed measurement fusion process of multi-sensors for high-speed trains, a robust Kalman/H∞ hybrid filter and fusion method under the constraint of diagonal array weighted error variance is put forward. Firstly, the high-speed train motion model is constructed, and the speed, position, and acceleration of the train are observed by axle speed sensor, radar speed sensor, and acceleration sensor; Secondly, a weighted robust Kalman/H∞ hybrid filter is designed, and the augmented system model of the state error constraint is introduced. Under the filter satisfies the three performance indexes, the filter is obtained by solving two Riccati equations with the error variance constraint; Thirdly, a multi-stage fusion structure is used to determine the optimal weighting coefficients of each local filter by estimating the error covariance matrix, and then multi-speed fusion is carried out; Finally, the designed method and algorithm are simulated, and the simulation results are analysed and compared, The results show that the weighted robust hybrid filtering algorithm proposed in this paper can reduce the detection error of speed and acceleration of high-speed trains, further improve the accuracy of speed measurement and the robustness of the system, and provide technical support for the high-precision speed control and efficient and safe operation of high-speed trains.

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赵廷阳,侯涛. 基于加权鲁棒Kalman/H∞混合滤波融合的高速列车测速方法[J]. 科学技术与工程, , ():

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  • 收稿日期:2023-08-09
  • 最后修改日期:2023-11-17
  • 录用日期:2023-12-02
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