CN101159091B - Train satellite positioning and message transmison system - Google Patents
Train satellite positioning and message transmison system Download PDFInfo
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- CN101159091B CN101159091B CN200710175876XA CN200710175876A CN101159091B CN 101159091 B CN101159091 B CN 101159091B CN 200710175876X A CN200710175876X A CN 200710175876XA CN 200710175876 A CN200710175876 A CN 200710175876A CN 101159091 B CN101159091 B CN 101159091B
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Abstract
The invention discloses a train satellite positioning and information transmitting system which is suitable for the train positioning and information transmission. The system comprises a positioning subsystem, a map-matching subsystem, a data record subsystem, a communication subsystem and a main processor; wherein the positioning subsystem is used for outputting the positioning coordinates of latitude and longitude. The map-matching subsystem matches the positioning output to a data map. The data record subsystem is used for recording the data in file format in a Secure Digital memory card. The communication subsystem is used for automatically detecting the possibility of three communication signal paths and the switchover of three communication methods. The main processor is used for completing data processing and data switching. The train satellite positioning and information transmitting system is used for positioning and monitoring the train. With satellite communication, satellite integrated positioning and full-line coverage communication system, the invention meets the needs of the communication, command, dispatch, distress handling, supervision and monitoring of low density rail track.
Description
Technical field
The present invention relates to a kind of train satnav and the information transmission system, belong to field of track traffic vehicle location and information transmission technology field.
Background technology
Satnav is that modern high technology is realized a dual-use successful example.Satnav has become a kind of global new high-tech industry.In the satnav application, vehicle is used shared proportion maximum, accounts for about 50% of sum, mainly divides two big classes: vehicle tracking system and Vehicular navigation system.Over past ten years, the satnav of China is used and is also obtained development at full speed, and satellite positioning tech has been penetrated in the many typical application system of national economy, has taken leave of enlightening stage, and is dissolved in the process of China advanced information society construction.
The applied research of domsat location, communication is in urban transportation, special vehicle such as fields such as management and dispatching such as police car, armoured van, and less research in railway applications.
The application of global position system on railway mainly concentrates on aspect two at present:
(1) based on the train supervision and the dispatch control of satnav, as the LOTOUS engineering of testing on the French TGV called; ENSCO, the PINPOINT of U.S. GE company realized the remote monitoring of rolling stock running status based on GPS and satellite and cellular system; Germany SOCRATEC company has realized the accurate location of train etc. based on the SATURN/LIGHT of GPS.
(2) based on the Train Control of satnav, as the joint project LOCOPROL (Beijing Jiaotong University is its affiliate in China) of European Union (EU); ATLAS 400 series of ALSTOM company etc. all adopt satnav as the train positioning means, and build and to be the basic platform of information service, and the information of relevant train is provided for other system.
Purpose of the present invention is exactly at the actual geography of railway and environmental baseline (height above sea level, weather, basic living condition etc.), some conventional equipment are used and are restricted, a kind of train satnav and the information transmission system are proposed, equipment covers communication system based on all fronts of satellite communication, combinations of satellites location on railway, utilizes high-tech means to solve communication, the command scheduling of railway, the problems such as processing, purpose monitoring of getting into danger.
Summary of the invention
The present invention is achieved by the following technical solutions:
A kind of train satnav and the information transmission system, it mainly comprises five subsystems, is respectively the train positioning subsystem, map match subsystem, data recording subsystem, communication subsystem and primary processor.
Positioning subsystem: by GPS receiver, Inertial Measurement Unit, the current latitude and longitude coordinates of wheel detector integrated positioning output train.
The map match subsystem: the location output and the map data base of positioning subsystem are mated, obtain matching result, location output just is with respect to the position on the map.
The data recording subsystem: the locating information that reception sends over from primary processor, work state information etc. are recorded centrally in these information in the SD storage card.
Communication subsystem: detect the availability of communication channel automatically, carry out the switching of three kinds of communication modes, the status information of train operation is sent to Surveillance center.
Primary processor:, finish functions such as other module of control, exchanges data based on 32 bit processor control modules of ARM framework.
The present invention has following advantage:
1. reliable satnav;
2. the real time monitoring of online train (combining with satellite communication according to the wireless communication system that is adopted) feeds back to Surveillance center to the running status of train (position, speed or the like);
3. monitor the state of communication channel in real time, independently switch communication mode (satellite communication, GSMR, data radio station);
4. with the interface of radio locomotive signal, provide enter the station registration and departures to nullify trigger pip to radio locomotive signal;
5. with the interface of systems such as DMIS;
6. the interface of system autodiagnosis and external monitoring equipment;
7. system realizes modular design, has considered reliability, maintainability, is easy to installation and maintenance.
Description of drawings
Fig. 1 is train satnav and information transmission system structured flowchart;
Fig. 2 is the positioning subsystem structured flowchart;
Fig. 3 is a map match subsystem structure block diagram;
Fig. 4 is the recording subsystem structured flowchart;
Fig. 5 is the communication subsystem structured flowchart;
Fig. 6 is the vehicle-mounted synoptic diagram of communication subsystem;
Fig. 7 is a communication subsystem car ground satellite communication synoptic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is further described:
The train satnav and the information transmission system comprise primary processor, positioning subsystem, map match subsystem, data recording subsystem, communication subsystem as shown in Figure 1.
Positioning subsystem is made up of GPS receiver, wheel detector, Inertial Measurement Unit and location processor as shown in Figure 2, and train positioning information is provided.The satellite-signal that the GPS receiver provides by Global Positioning System (GPS) is settled accounts and is obtained latitude and longitude coordinates; Wheel detector provides car speed by the monitoring wheel motion state; Inertial Measurement Unit provides the direction and the acceleration of vehicle movement; Location processor receives the raw data of GPS receiver, wheel detector, Inertial Measurement Unit, carry out data processing, error supervision, fault diagnosis, the warm output elements of a fix of final data are to primary processor, concrete mode is: when the GPS receiver is effective, provide the train latitude and longitude coordinates by the GPS receiver, wheel detector and Inertial Measurement Unit are used for estimation of error and fault diagnosis; When the GPS receiver is invalid, calculate that at the enterprising line position of original GPS latitude and longitude coordinates wheel detector is used for estimation of error by Inertial Measurement Unit; When error surpassed limit value, positioning subsystem stopped to send locating information, and primary processor shows that the location is invalid.
Map mates subsystem as shown in Figure 3, primary processor sends to the map match processor to the elements of a fix of positioning subsystem, the map match processor reads numerical map from map data base, and the match point of search elements of a fix correspondence is used for showing train position on numerical map on numerical map.
Data recording subsystem as shown in Figure 4, data recording and processing device receive locator data that primary processor sends over, operating state data etc., and data are recorded in (hereinafter to be referred as the SD storage card) in the storage card that meets Secure Digital calliper model.Data are recorded in the SD storage card with the FAT16/32 file mode, and can read in the computing machine and analyze.The data recording and processing device is the initialization data file at first, sets up the data field, and waits for that primary processor sends data; When the reception data expire 512 bytes, write data, and updated data file information; When SD storing card data district was full, the data recording and processing device stopped record, and sent the full warning of storage card to primary processor.
Communication subsystem as shown in Figure 5, primary processor sends to communication processor to the data that needs send to external interface.Communication processor sends to needs that the data of other system send on the train data bus in the train.Communication processor sends to the data of remote monitoring center to needs, sends by three kinds of communication channels.When the GSMR channel is effective, send by GSMR; When the GSMR channel lost efficacy, send by the big-dipper satellite communication channel; When GSMR channel and the inefficacy of big-dipper satellite communication channel, send by data radio station.
The vehicle-mounted synoptic diagram of communication subsystem comprises the gps satellite location receiver as shown in Figure 6, and it provides positional information by the signal of gps satellite positioning antenna reception GPS position location satellite to train; Comprise positioning subsystem, by gps satellite location, wheel detector, Inertial Measurement Unit output positioning result; Comprise the map match subsystem, location output is matched numerical map send to primary processor; Comprise communication subsystem, realize three kinds of means of communication by big-dipper satellite antenna, data radio station antenna, GSMR antenna: big-dipper satellite communication, GSMR communication, data radio station communication, and connect train bus-line interface and radio locomotive signal interface; Comprise man-machine interface, be used for mutual with the train operator.
Communication subsystem car ground satellite communication synoptic diagram as shown in Figure 7.Big-dipper satellite receives train information, sends the army ground receiving station, arrives the train supervision center by control center of army, sky, Divine Land letter control center.
Claims (1)
1. the train satnav and the information transmission system is characterized in that it comprises: positioning subsystem, map match subsystem, data recording subsystem, communication subsystem and primary processor, wherein:
Primary processor based on 32 bit processor control modules of ARM framework, is finished control other module, data processing and exchanges data;
Positioning subsystem is made up of GPS receiver, wheel detector, Inertial Measurement Unit and location processor, and train positioning information is provided;
The data recording subsystem based on the storage card that meets Secure Digital calliper model, is finished data storage with file mode;
The map match subsystem is exported the location of positioning subsystem and map data base mates, and obtains the match point of corresponding location output on the numerical map;
Communication subsystem detects the availability of three kinds of communication channels automatically, carries out the switching of three kinds of communication modes, and the status information of train operation is sent to Surveillance center;
The satellite-signal that the GPS receiver provides by Global Positioning System (GPS) is settled accounts and is obtained latitude and longitude coordinates;
Wheel detector provides car speed by the monitoring wheel motion state; Inertial Measurement Unit provides the direction and the acceleration of vehicle movement;
Location processor receives the raw data of GPS receiver, wheel detector, Inertial Measurement Unit, carries out that data processing, error monitor, fault diagnosis, and the warm output elements of a fix of final data are to primary processor,
Concrete steps are: when the GPS receiver is effective, provide the train latitude and longitude coordinates by the GPS receiver, wheel detector and Inertial Measurement Unit are used for estimation of error and fault diagnosis; When the GPS receiver is invalid, calculate that at the enterprising line position of original GPS latitude and longitude coordinates wheel detector is used for estimation of error by Inertial Measurement Unit; When error surpassed limit value, positioning subsystem stopped to send locating information, and primary processor shows that the location is invalid;
The map match subsystem, primary processor sends to the map match processor to the elements of a fix of positioning subsystem, the map match processor reads numerical map from map data base, and searches for the match point of elements of a fix correspondence on numerical map, is used for showing on numerical map train position;
The data recording subsystem, the data recording and processing device receives locator data, the operating state data that primary processor sends over, and data are recorded in the SD storage card that meets Secure Digital calliper model; Data are recorded in the SD storage card with the FAT16/32 file mode, read in the computing machine and analyze; The data recording and processing device is the initialization data file at first, sets up the data field, and waits for that primary processor sends data; When the reception data expire 512 bytes, write data, and updated data file information; When SD storing card data district was full, the data recording and processing device stopped record, and sent the full warning of storage card to primary processor;
Communication subsystem, primary processor sends to communication processor to the data that needs send to external interface; Communication processor sends to needs that the data of other system send on the train data bus in the train; Communication processor sends to the data of remote monitoring center to needs, sends by three kinds of communication channels; When the GSMR channel is effective, send by GSMR; When the GSMR channel lost efficacy, send by the big-dipper satellite communication channel; When GSMR channel and the inefficacy of big-dipper satellite communication channel, send by data radio station.
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