中文摘要：

考虑西部铁路线低密度、低成本、高可靠性等应用需求,研究了基于北斗二代卫星导航系统和惯性导航系统的组合定位技术,结合地图匹配技术,能够满足面向西部低密度铁路的列车连续无缝定位需求。当列车经过铁路沿线隧道与山区时,北斗卫星信号会因遮挡而失效,采用加速度计和陀螺仪构成的惯性导航系统进行参数短时推算,能够提供列车的运行姿态、速度与位置信息,解决短时间内因卫星信号失效导致列车无法定位的问题。研究了面向铁路直线线路和有岔区段的地图匹配技术,并结合轨道地图数据库进行了测试。设计并搭建了应用于西部低密度铁路的北斗二代卫星导航列车定位系统,在实验室单点静态定位和青藏铁路现场连续动态定位测试条件下,对系统的定位功能进行了测试和验证。试验结果表明：在单点静态定位条件下,定位误差平均为0.558m,在动态定位条件下,定位误差平均为0.258m;结合基于轨道地图数据库的地图匹配技术,列车运行轨迹点匹配正确率达98.6%,系统定位误差能够满足西部低密度铁路的全局定位需求。

英文摘要：

Considering the application requirements of low-density, low-cost and high-reliability of western railway lines, the integrated positioning technology of Beidou satellite navigation system and the inertial navigation system was studied, and the requirement of continuous and seamless positioning of train aimed at western low-density railway lines could be satisfied based on the map matching technology. When train passed through the tunnel and the mountainous area along railway lines, the Beidou satellite navigation system signal would failed due to obstacle. The short-term parameters could be derived and calculated by using the inertial navigation system constructed with accelerometer and gyroscope, train information of attitude, speed and position could be provided, which could solve the positioning problem of train because satellite signal failed in a short time. The map matching technology on the straight line and switch section of railway was studied, and the test was carried out based on the track map database. The Beidou satellite navigation positioning system of train aimed at western low-density railway lines was designed and established. Under the conditions of single-point static positioning in the laboratory and continuous dynamic positioning in the Qinghai-Tibet Railway Lines, the positioning functions of the system were tested. Test result shows that the average positioning error of train is 0. 558 m under single-point static positioning condition, the average positioning error of train is 0. 258 m under dynamic positioning condition, and the matching accuracy rate of train running trajectory point is 98.6% combining with the map matching technology based on track map database, so the system positioning errors can meet the overall positioning requirements of western low-density railway lines. 15 figs, 25 refs.