title: ÐÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ ÑÐ¸Ð»ÑÑÑÐ° ÐÐ°Ð»Ð¼Ð°Ð½Ð° Ð´Ð»Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð·Ð°Ð´Ð°Ñ Ð¶ÐµÐ»ÐµÐ·Ð½Ð¾Ð´Ð¾ÑÐ¾Ð¶Ð½Ð¾Ð³Ð¾ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Application of Kalman filter for navigation tasks of railway transport
Creators: name: Ð¥Ð°ÑÑÐ¼Ð¾Ð², Ð ÐµÐ½Ð°Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÑÐ°ÑÑÐ¸ÑÐµÐ½Ð½ÑÐ¹ ÑÐ¸Ð»ÑÑÑ ÐÐ°Ð»Ð¼Ð°Ð½Ð°
ÑÑÐ°ÑÐ¸ÑÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð°Ð½Ð°Ð»Ð¸Ð·
ÑÐ¸Ð»ÑÑÑ ÐÐ°Ð¹ÐµÑÐ°
positioning
extended Kalman filter
statistical analysis
Bayes filter

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«ÐÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ ÑÐ¸Ð»ÑÑÑÐ° ÐÐ°Ð»Ð¼Ð°Ð½Ð° Ð´Ð»Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð·Ð°Ð´Ð°Ñ Ð¶ÐµÐ»ÐµÐ·Ð½Ð¾Ð´Ð¾ÑÐ¾Ð¶Ð½Ð¾Ð³Ð¾ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ°Â».
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1. ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¸Ðµ ÑÐµÐ¾ÑÐµÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¾ÑÐ½Ð¾Ð² Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸;
2. Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ° Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐ°ÑÑÐ¸ÑÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¸Ð»ÑÑÑÐ° ÐÐ°Ð»Ð¼Ð°Ð½Ð° Ñ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»ÑÑ;
3. ÑÑÐ°ÑÐ¸ÑÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð°Ð½Ð°Ð»Ð¸Ð· Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ.
Ð Ð°Ð±Ð¾ÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð½Ð° Ð±Ð°Ð·Ðµ ÐÐ Â«ÐÐÐÐÐ¡Â», Ð³Ð´Ðµ Ð±ÑÐ»Ð¸ Ð¿Ð¾Ð»ÑÑÐµÐ½Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÐµ Ð´Ð°Ð½Ð½ÑÐµ. ÐÐ»Ñ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð»ÑÑ ÑÐ°ÑÑÐ¸ÑÐµÐ½Ð½ÑÐ¹ ÑÐ¸Ð»ÑÑÑ ÐÐ°Ð»Ð¼Ð°Ð½Ð°. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ ÑÑÐ°ÑÐ¸ÑÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð°Ð½Ð°Ð»Ð¸Ð· Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÑÐºÐ¸ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÐ¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐ¸Ð»ÑÑÑÐ°. Ð ÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ¸Ð»ÑÑÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐ·ÑÐºÐ° Ð¡++. ÐÐ½Ð°Ð»Ð¸Ð· ÑÑÐ°ÑÐ¸ÑÑÐ¸ÐºÐ¸ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÑÐ»ÑÑ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ matlab.
Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐ¸Ð»ÑÑÑÐ° Ð±ÑÐ»Ð¸ Ð¿Ð¾Ð»ÑÑÐµÐ½Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ, Ð´Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÑÑÐ¸Ðµ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¸Ð»ÑÑÑÐ°. ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ ÑÑÐ°ÑÐ¸ÑÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð±ÑÐ»Ð¾ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¾, ÑÑÐ¾ Ð»ÑÑÑÐµ Ð²ÑÐµÐ³Ð¾ ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸ Ð±ÑÐ´ÐµÑ Ð¿Ð¾Ð´Ð´Ð°Ð²Ð°ÑÑÑÑ ÑÐºÐ¾ÑÐ¾ÑÑÑ, ÑÑÐ¶Ðµ Ð°Ð·Ð¸Ð¼ÑÑ, Ð¸ ÐµÑÐµ ÑÑÐ¶Ðµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ.
description: The theme of the final qualification work: "The application of the Kalman filter for navigation problems of railway transport."
This work is devoted to solving positioning problems using the extended Kalman filter. Tasks that were solved during the research:
1. consideration of the theoretical foundations of navigation and search;
2. processing navigation data using the extended filter;
3. statistical analysis of navigation data.
The work was carried out on the basis of JSC NIIAS, where navigation data were obtained. An extended Kalman filter was used to process navigation data. A statistical analysis of navigation data was carried out to check the effectiveness of the filter The filter is implemented using the C ++ language. Statistical analysis was performed using Matlab.
The results prove the effectiveness of a given filter model. According to the results of the statistical analysis, the speed was revealed. The azimuth is worse and the coordinates are even worse.