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由于定位和成本的原因,有轨电车系统不同于地铁在轨道铺设大量的应答器进行辅助定位,而通常会采用铺设少量的应答器/信标并结合速度传感器、GPS的方式进行综合定位,因此GPS的定位精度是定位准确性的重要条件之一。由于卫星、接收机钟差以及传播途径等因素会导致GPS定位精度下降,为了提高定位精度,采用卡尔曼滤波对有轨电车位置进行最优估计,通过Matlab分别仿真匀速运动、匀加速运动和变加速运动情况下的目标轨迹。仿真结果表明:采用卡尔曼滤波算法后,目标位置误差值大大降低,很好地降低了噪声影响,提高了定位精度。
Because of the location and cost, the tram system is different from the subway in the track laying a large number of transponders for auxiliary positioning, but usually with a small number of transponders / beacons combined with the speed sensor, GPS way to comprehensive positioning, therefore GPS positioning accuracy is one of the important conditions for positioning accuracy. Due to the satellite, the receiver clock error and the route of transmission will lead to GPS positioning accuracy decline, in order to improve the positioning accuracy, the use of Kalman filter to estimate the location of the tram, through the simulation of uniform motion, uniform acceleration and variable motion Speed up the target trajectory. The simulation results show that the Kalman filter algorithm reduces the target position error greatly, reduces the influence of noise and improves the positioning accuracy.