Open Access
 Issue JNWPU Volume 39, Number 3, June 2021 624 - 632 https://doi.org/10.1051/jnwpu/20213930624 09 August 2021

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

## 1 车辆运动学约束

### 1.1 列车运动约束关系

m系到b系变换矩阵Cmb由安装角a=[aθ aγ aψ]T构成。列车在非转弯情况下, vxmvzm的噪声可视为零均值高斯白噪声。

### 1.2 列车转弯对运动约束的影响

 图1轨道曲线线路平面图

 图2转向架实物图

 图3列车转弯几何分析

### 1.3 运动学约束的阈值

 图4z轴陀螺测量数据

## 2 组合导航模型及算法流程

### 2.1 MIMU/GNSS松组合模型

GNSS/MIMU组合的观测模型表示为

### 2.2 MIMU/GNSS/运动约束组合模型

GNSS和运动约束的联合观测方程为

(22) 式改写为

### 2.4 定位算法的流程

 图5定位算法流程图

## 3 试验说明

 图6组合导航及数据采集系统

## 4 试验结果与分析

### 4.1 MIMU安装角估计结果

 图7MIMU安装角估计

### 4.2 隧道出口处定位结果

 图81 412 m隧道出口处定位轨迹

 图99 063 m隧道出口处定位轨迹

1 412 m隧道出口参考点处水平定位误差统计

9 063 m隧道口参考点处水平定位误差统计

9 063 m长隧道中包含一段长约800 m的转弯隧道。3种定位算法的平均误差百分比分别为: 3.23%, 0.80%, 0.47%。CIAMC-INS算法在隧道口参考点处水平定位误差分别比P-INS和TMC-INS减小了84.2%, 36.3%。

### 4.3 隧道内定位结果

 图10东向位置误差

 图11北向位置误差

 图12东向速度误差

 图13北向速度误差

 图14航向角误差

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## All Tables

1 412 m隧道出口参考点处水平定位误差统计

9 063 m隧道口参考点处水平定位误差统计

## All Figures

 图1轨道曲线线路平面图 In the text
 图2转向架实物图 In the text
 图3列车转弯几何分析 In the text
 图4z轴陀螺测量数据 In the text
 图5定位算法流程图 In the text
 图6组合导航及数据采集系统 In the text
 图7MIMU安装角估计 In the text
 图81 412 m隧道出口处定位轨迹 In the text
 图99 063 m隧道出口处定位轨迹 In the text
 图10东向位置误差 In the text
 图11北向位置误差 In the text
 图12东向速度误差 In the text
 图13北向速度误差 In the text
 图14航向角误差 In the text

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