Resilient Positioning Navigation and Timing System and Key Technologies for Rail Transit
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摘要:
精确、连续的位置信息是保障轨道交通列车安全、高效运营的关键. 然而，在隧道、高架、城市峡谷及郊区等构成的复杂运营环境中，实现无缝的精确定位仍是当前列车定位系统面临的严峻挑战. 弹性导航、定位与授时(Positioning Navigation and Timing，PNT)通过融合多种PNT信息源，能够生成连续可用、可靠、稳健的位置信息，具备抵御危害、适应风险和干扰的能力，为解决上述难题提供了可行路径，并已在军事国防、航空航天等领域展现出巨大潜力. 为促进该技术在轨道交通领域的应用与发展，本文在分析轨道交通行业用户对导航、定位与授时需求的基础上，结合当前轨道交通既有系统的导航定位能力，提出适用于轨道交通的弹性PNT体系概念与架构. 并从轨道交通PNT特殊性出发，归纳轨道交通弹性PNT系统的基本特征与评价指标，阐述弹性与精确性、完好性、连续性、可用性等指标的关系. 最后，以轨道交通多源PNT传感器（包含GNSS、应答器、5G-R等）为基础，重点探讨轨道交通弹性PNT技术体系及信息融合等关键技术，并指出多源信息深度融合与弹性融合架构是未来轨道交通实现连续无缝定位的重要研究方向.
Abstract:Accurate and uninterrupted position information is crucial for ensuring the safe and efficient operation of rail transit trains. However, realizing seamless and precise positioning still poses a significant challenge for current train positioning systems operating in complex environments such as tunnels, elevated tracks, urban canyons, and suburban areas. A resilient positioning, navigation, and timing (PNT) system can produce continuous, reliable, and robust position information by integrating diverse PNT information sources. It can withstand hazards, adapt to risks, and counteract interference, offering a viable solution to the aforementioned challenges and demonstrating significant potential in fields such as military defense and aerospace. To promote the application and development of this technology in the rail transit sector, the navigation, positioning, and timing requirements of users of the rail transit industry were analyzed. According to the existing navigation and positioning capabilities of rail transit systems, the concept and framework of a resilient PNT system tailored for rail transit was proposed. Given the unique characteristics of rail transit PNT, the fundamental characteristics and evaluation metrics of the resilient PNT system of rail transit were summarized, and the relationship between resilience and accuracy, integrity, continuity, availability, and other indicators was elaborated. On the basis of multi-source PNT sensors (including global navigation satellite system (GNSS), responders, 5G-new radio (5G-R), etc.), the key technologies of the resilient PNT technology system and information fusion for rail transit were discussed. In conclusion, deep fusion of multi-source information and resilient fusion architecture are important research directions for achieving continuous seamless positioning in future rail transit.
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Key words:
- rail transit /
- resilience /
- positioning, navigation, and timing
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图 5 轨道交通弹性PNT多源信息融合架构
Figure 5. Multi-source information fusion architecture of resilient PNT for rail transit
表 1 轨道交通弹性PNT应用场景及潜在性能要求
Table 1. Application scenarios of resilient PNT for rail transit and potential performance requirements
应用案例 服务目标/对象 使用
环境定位精度 可靠性/% 定位更新速率/s TTFF
（time to
first fix）/s定位服务延迟 其他指标 弹性等级 列车控制 列车定位，速度监督曲线计算，虚拟闭塞，列车追踪间隔预警，列车超速预警 站外/
室外绝对位置精度：水平10 ～ 30 m（概率99%），速度精度：水平5 m/s（概率9%） $\geqslant $99 0.1 <10
<30 ms连续性要求高，可用性（概率95%），可维修性和安全性要求高 4级 可穿戴设备 旅客服务，工作人员
管理站内/
车内2 m 水平 99 1 ～ 30 10 1 s 低功耗 1级 1～3 m竖直 紧急通话 列车工作人员 站外/
室外50 m 水平 95 30 60 s 可信度 3级 3 m 竖直 列车位置获取/辅助驾驶 列车管理与调度 站内/
站外1～3 m水平 99 0.1 10 30 ms 连续跟踪/抗干扰 4级 2.5 m竖直 防撞/虚拟耦合列车 列车管理与调度 站内/
站外1～3 m水平 99 0.1 10 低延迟 自组网/抗干扰 4级 2.5 m竖直 设备巡检自动驾驶 轨道巡检服务 站外 0.1 m水平 99 10 低功耗/抗干扰/信息安全 3级 0.1 m竖直 基础设施形变监测 桥梁、边坡等 沿线 0.002 m水平
0.005 m竖直95 
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