scholarly journals High-Speed Train Tunnel Navigation Method Based on Integrated MIMU/ODO/MC Navigation

2021 ◽  
Vol 11 (8) ◽  
pp. 3680
Author(s):  
Zhenqian Sun ◽  
Kanghua Tang ◽  
Xueying Wang ◽  
Meiping Wu ◽  
Yan Guo
Keyword(s):  
High Speed ◽  
Satellite System ◽  
Measurement Unit ◽  
Mems Devices ◽  
High Speed Train ◽  
Motion Constraints ◽  
Constraint Model ◽  
Navigation Accuracy ◽  
Motion Constraint ◽  
Navigation Method

When a high-speed train is running in a tunnel, the global navigation satellite system (GNSS) signal is completely lost. Relying only on the inertial navigation system (INS) composed of Micro-electromechanical Systems (MEMS) devices leads to large navigation errors. To solve this problem, an integrated micro inertial measurement unit (MIMU), odometer (ODO), and motion constraint (MC) tunnel navigation method is proposed. This method first establishes a motion constraint model based on the installation angles of MIMU; secondly, the effect of turning on the motion constraint model and the odometer is analyzed and the use condition of the motion constraints is obtained; the installation angles of MIMU are then estimated when GNSS signal is good and the use condition of the motion constraints is met; finally, the forward speed measured by the odometer and the motion constraints are applied to suppress the error of the INS and improve the navigation accuracy in the tunnel. Based on this method, high-speed train navigation tests were carried out both in areal tunnel environment and in a case study with an artificially disconnected GNSS signal. The experimental results showed that the navigation accuracy of the train in the tunnel was significantly improved. Seamless navigation was achieved inside and outside the tunnel, which verified the effectiveness of the method.

scholarly journals High-speed train positioning method based on motion constraints suppressing INS error in tunnel

2021 ◽  
Vol 39 (3) ◽  
pp. 624-632
Author(s):  
Zhenqian Sun ◽  
Kanghua Tang ◽  
Meiping Wu ◽  
Yan Guo ◽  
Xueying Wang
Keyword(s):  
Navigation System ◽  
High Speed ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Mems Devices ◽  
High Speed Train ◽  
Motion Constraints ◽  
Navigation Accuracy ◽  
Constraints Model

When the high-speed train is running in tunnel, the global navigation satellite system (GNSS) signal is completely lost, and only relying on the inertial navigation system (INS) composed of micro electro mechanical system (MEMS) devices makes large navigation error. To solve this problem, a method considering the installation angles of micro inertial measurement unit (MIMU) relative to the train body for motion constraints aided inertial navigation system (CIAMC-INS) is proposed, which does not need extra sensors. This method first establishes motion constraints model based on the installation angles of MIMU; secondly, the effect of turning on the motion constraints model is analyzed, and the use condition of motion constraints is obtained; then, the installation angles of MIMU are estimated when GNSS signal is good and the use condition of motion constraints is met; finally, the estimated installation angles are applied to the motion constraints to suppress the error of pure inertial navigation system (P-INS) to improve the navigation accuracy in tunnel. Based on this method, high-speed train navigation tests are carried out both in the real tunnel environment and in the case of artificially disconnected GNSS signal. The experimental results show that the navigation accuracy of the train in the tunnel is significantly improved, which verifies the effectiveness of the method.

Seamless autonomous navigation based on the motion constraint of the mobile robot

2017 ◽  
Vol 44 (2) ◽  
pp. 178-188 ◽  
Author(s):  
Weina Chen ◽  
Qinghua Zeng ◽  
Jianye Liu ◽  
Huizhe Wang
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Content Type ◽  
Filter Model ◽  
Practical Applications ◽  
Constraint Model ◽  
Navigation Accuracy ◽  
Motion Constraint ◽  
Navigation Method

Purpose The purpose of this paper is to propose a seamless autonomous navigation method based on the motion constraint of the mobile robot, which is able to meet the practical need of maintaining the navigation accuracy during global positioning system (GPS) outages. Design/methodology/approach The seamless method uses the motion constraint of the mobile robot to establish the filter model of the system, in which the virtual observation about the speed is used to overcome the shortage of the navigation accuracy during GPS outages. The corresponding motion constraint model of the mobile robot is established. The proposed seamless navigation scheme includes two parts: the micro inertial navigation system (MINS)/GPS-integrated filter model and the motion constraint filter model. When the satellite signals are good, the system works on the MINS/GPS-integrated mode. If some obstacles block the GPS signals, the motion constraint measurement equation will be effective so as to improve the navigation accuracy of the mobile robot. Findings Three different vehicle tests of the mobile robot show that the seamless navigation method can overcome the shortage of the navigation accuracy during GPS outages, so as to improve the navigation performance in practical applications. Originality/value A seamless navigation system based on the motion constraint of the mobile robot is proposed to overcome the shortage of the navigation accuracy during GPS outages, thus improving the adaptability of the robot navigation.

Visual Tracking Using Combining Motion Constraint Model and Online Multiple Instance Boost Random Ferns

2012 ◽  
Vol 263-266 ◽  
pp. 2385-2392
Author(s):  
He Rong Zheng ◽  
Ye Jue Huang
Keyword(s):  
Object Tracking ◽  
Tracking Error ◽  
Object Motion ◽  
Motion Constraints ◽  
Video Object Tracking ◽  
Iir Filter ◽  
Error Accumulation ◽  
Constraint Model ◽  
Constraints Model ◽  
Motion Constraint

Video object tracking is essential algorithm for computer vision applications. An object tracking algorithm using combining motion constraints model and online multiple instance boost random ferns is proposed, which use IIR filter to obtain online learning for random ferns, and the random ferns are selected by online multiple instance boosting to construct classifier of online multiple instance boost random ferns. To reduce effects of tracking error accumulation, object motion constraint model is constructed to constrain the results classified by online multiple instance boost random ferns to locate object correctly, and construct positive and negative set to online update the classifier. The experiment shows that the proposed method achieves competitive detection results, which are comparable with state-of-the-art methods.

Tribological and dynamical analysis of a brake pad with multiple blocks for a high-speed train

2019 ◽  
Vol 234 (11) ◽  
pp. 1771-1788
Author(s):  
YK Wu ◽  
JL Mo ◽  
B Tang ◽  
JW Xu ◽  
B Huang ◽  
...  
Keyword(s):  
High Speed ◽  
Wear Behavior ◽  
Dynamical Analysis ◽  
Brake Disc ◽  
Brake Pad ◽  
High Speed Train ◽  
Brake Squeal ◽  
Element Analysis ◽  
Single Block ◽  
Middle Ring

In this research, the tribological and dynamical characteristics of a brake pad with multiple blocks are investigated using experimental and numerical methods. A dynamometer with a multiblock brake pad configuration on a brake disc is developed and a series of drag-type tests are conducted to study the brake squeal and wear behavior of a high-speed train brake system. Finite element analysis is performed to derive physical explanations for the observed experimental phenomena. The experimental and numerical results show that the rotational speed and braking force have important influences on the brake squeal; the trends of the multiblock and single-block systems are different. In the multiblock brake pad, the different blocks exhibit significantly different magnitudes of contact stresses and vibration accelerations. The blocks located in the inner and outer rings have higher vibration acceleration amplitudes and stronger vibration energies than the blocks located in the middle ring.

Analysis of source contribution to pass-by noise for a moving high-speed train based on microphone array measurement

Measurement ◽  
2021 ◽  
Vol 174 ◽  
pp. 109058
Author(s):  
Muxiao Li ◽  
Shuoqiao Zhong ◽  
Tiesong Deng ◽  
Ziwei Zhu ◽  
Xiaozhen Sheng
Keyword(s):  
High Speed ◽  
Microphone Array ◽  
High Speed Train ◽  
Source Contribution ◽  
Array Measurement
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