RTK-GPS/INS based combined train positioning method

The invention discloses an RTK-GPS/INS based combined train positioning method, which comprises the steps of obtaining satellite information and IMU information; selecting output satellite informationthrough evaluating the satellite state to obtain a satellite output signal; filtering the IMU information based on a PU-RLS algorithm so as to obtain the filtered IMU information; and performing datafusion on the satellite output signal and the filtered IMU information. The PU-RLS algorithm is adopted for filtering; and the PU-RLS algorithm can locate the position of a train in real time with high accuracy in a train running environment with complex interference so as to achieve the purposes of resisting the interference and improving the positioning accuracy. 本发明公开了种基于RTK-GPS/INS列车组合定位方法，包括：获取卫星信息和IMU信息；通过评估卫星状态选取输出的卫星信息，得到卫星输出信号；对所述IMU信息基于PU-RLS算法进行滤波处理，从而得到滤波后的IMU信息；将所述卫星输出信号和所述滤波后的IMU信息进行数据融合。采用了PU-RLS算法滤波；PU-RLS算法在有复杂干扰的列车运行环境中，可较高精度的实时定位列车的位置，从而达到抗干扰并提高定位精度的目的。