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中文摘要：
多传感器组合定位是实现低成本、高精度列车定位的有效方法。本文针对列车车轮磨损导致轮径减小从而影响组合定位系统里程计定位精度的问题，分析列车组合定位系统里程计定位的误差特性，给出利用GPS、惯性定位传感器辅助轮径校准方法，并结合灰色预测理论，提出一种基于灰色理论的轮径校准方法。该方法通过“更新一预测一更新”的过程，在一定的校准周期内仅利用较少的传感器定位信息构成或更新灰色预测模型，而在传感器校准的较长间隔过程中利用所更新的灰色模型完成轮径预测和校准。实测数据验证及仿真结果表明，本文所提出的算法能够达到较高的精度水平，提高了系统效率与自主能力，具有一定的应用价值。
英文摘要：
Integration of multi-sensors is an effective method to accomplish train positioning precisely and reliably. Aiming at the problem that wearing of train wheels leads to decrease of wheel diameters and damage to the positioning precision of the odometer in the integrated train positioning system, the error characteristic of the odometer in integrated train positioning is analyzed. A novel wheel diameter calibration method is proposed by use of GPS and the inertial sensor aided wheel diameter calibration method on the basis of the gray theory. Following the process of updating-predicting-updating, the gray model is formed and updated with a relatively small amount of sensor information within a certain calibration period and the updated gray model accomplishes prediction and calibration in the long period of intervals between sensor aided calibration. Verification of measured data and results of simulation demonstrate that the proposed algorithm provides high precision, high sys-tem efficiency and improved independent performance and it is of some value in application.
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