CN103171598B - Method and system for positioning train - Google Patents
Method and system for positioning train Download PDFInfo
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- CN103171598B CN103171598B CN201310127510.0A CN201310127510A CN103171598B CN 103171598 B CN103171598 B CN 103171598B CN 201310127510 A CN201310127510 A CN 201310127510A CN 103171598 B CN103171598 B CN 103171598B
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Abstract
The invention discloses a method and a system for positioning a train. The method and the system are applied to the train continuously driven on an orbital ground surface. When coordinate position information emitted by an emitter arranged on the orbital ground surface is received, the coordinate position information is determined to be initial position information of the train; when the train continuously driven on the orbital ground surface receives a command of acquiring the current positioning value of the train, each dynamic parameter of the train at present is acquired according to the command; the current positioning value of the train is calculated and obtained by combining the initial position information of the train with each dynamic parameter of the train at present; and therefore, the initial position information of the train can be accurately determined by utilizing the coordinate position information emitted by an emitter arranged on the orbital ground surface, and the current positioning value of the train is obtained by combining each dynamic parameter of the train during the driving process of the train, so that blind areas or failures can be prevented, and the positioning accuracy of the train is improved.
Description
Technical field
The present invention relates to field of track traffic, particularly a kind of train locating method and system.
Background technology
At present both at home and abroad in train Positioning Technology, typically all adopt satellite positioning tech, wherein, described satellite fix skill
Art includes：Satellite sends ephemeris parameter and the time of itself, and information user obtains train through calculating after receiving these information
Three-dimensional position, three-dimensional and movement velocity and temporal information, these all must rely on accurate map line information, such as
It is possible to the not high situation of satellite fix precision occurs if fruit map line information is not real-time update.
Although satellite fix mode relative maturity, because industrial undertaking is subject to the factor shadow such as production technology, engineering construction
Ring, often arise that the situation of the frequent change of rail track, and corresponding Electronic Mapping is more difficult, and cannot and
When the circuit of change is updated, therefore, can there is a problem of positioning blind area or mistake, thus causing positioning precision not high
Problem.
Content of the invention
Problem to be solved by this invention is：There is provided a kind of train locating method and system, solving in prior art makes
The low problem of the precision that positioned with satellite Kinematic Positioning Techniquess.
A kind of train locating method, methods described is applied to persistently travel the train in rail ground, including：
When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine described coordinate bit confidence
Cease the initial position message for described train；
When the described train persistently travelling in rail ground receives the instruction obtaining the current locator value of described train,
Obtain currently every dynamic parameter of described train according to described instruction, wherein, the current dynamic parameter of described train includes：Row
The distance of car displacement, train length and train extremely described train place section front signal machine；
The train displacement of the initial position message in conjunction with described train and described train, train length and train are to institute
State the distance of train place section front signal machine, be calculated the current locator value of described train.
Preferably, described when receive install in rail ground emitter send co-ordinate position information when, determine institute
The process stating the initial position message that coordinate information is described train includes：
The interval in advance described train advanced is divided into some sections and stores the initial position message of described some sections；
Judge whether described train has passed through to install the transponder in rail ground, if it is, gathering described transponder
Identification information, determines the coordinate information corresponding with described identification information, determines the initial bit that described coordinate information is described train
Confidence ceases；
If not, when described train receives the radiofrequency signal that the radio-frequency (RF) device of the initial position being arranged on next section sends
When, using the initial position message of next section described as described train initial position message.
Preferably, when described dynamic parameter is train displacement, the process obtaining described train displacement includes：
By being arranged on the number of pulses of the sensor on Railway wheelset described in collection, using formula M=N/T, it is calculated
The wheel of described train to rotation week number, wherein, M be the wheel of described train to rotating all numbers, N is collection by described installation
The number of pulses of the sensor on Railway wheelset, T is the umber of pulse that described Railway wheelset circles；
Using formula S=π * D*M, calculate described train displacement, wherein, S is described train displacement, and D is that wheel is right
Diameter, M is the wheel of described train to rotation week number.
Preferably, when described dynamic parameter is the distance to described train place section front signal machine for the train, obtain described
Dynamic parameter is that the process of the train extremely distance of described train place section front signal machine includes：
Using formula S1=L`-S, calculates described train to the distance of described train place section front signal machine, wherein, S1For
The distance of train extremely described train place section front signal machine, L` is the length of the described train place section being pre-stored in data base
Degree, S is described train displacement.
Preferably, when described dynamic parameter is train length, the process obtaining described train length includes：
Described first wheel of train is to the time t sailing current session into1As initial point, described train the last item wheel pair
Roll the time t of described current session away from2As terminal, it is arranged on row in the time period by gathering described initial point between terminal
The number of pulses to upper sensor for the wheel, using formula M`=N`/T`, be calculated described train initial point to terminal it
Between wheel in the time period to rotating all numbers, wherein, M` is wheel in described train time period between initial point to terminal to turning
Dynamic all numbers, N` is the umber of pulse of the sensor being arranged on Railway wheelset in collection described initial point time period between terminal
Amount, T` is the umber of pulse that described Railway wheelset circles；
Using formula L=π * D*M`, calculate described train length, wherein, L is described train length, and D is wheel to diameter, M`
For the wheel in described train time period between described initial point to terminal to rotation week number.
Preferably, also include：
The locator value of described train is shown.
A kind of train positioning system, is applied to persistently travel the train in rail ground, including：Receiver module, acquisition
Module and computing module；
Described receiver module is used for, when receiving the co-ordinate position information that the emitter installing in rail ground sends,
Determine the initial position message that described co-ordinate position information is described train；
Described acquisition module is used for, and obtains described train when the described train persistently travelling in rail ground receives
Currently every dynamic parameter of described train, wherein, described train during the instruction of current locator value, is obtained according to described instruction
Current dynamic parameter includes：The distance of train displacement, train length and train extremely described train place section front signal machine；
Described computing module is used for, in conjunction with the train displacement of initial position message and the described train of described train,
Train length and train, to the distance of described train place section front signal machine, are calculated the current locator value of described train.
Preferably, described receiver module includes：Divide storing sub-units and judgment sub-unit in advance；
Wherein, the described storing sub-units that divide in advance are used for, and in advance the interval that train is advanced are divided into some sections and deposit
Store up the initial position message of described some sections；
Described judgment sub-unit is used for, and judges whether described train has passed through to install the transponder in rail ground, if
It is to gather the identification information of described transponder, determine the coordinate information corresponding with described identification information, determine described coordinate information
Initial position message for described train；
If not, when described train receives the radiofrequency signal that the radio-frequency (RF) device of the initial position being arranged on next section sends
When, using the initial position message of next section described as described train initial position message.
Preferably, described system also includes：Display module；
Described display module is used for, and the locator value of described train is shown.
As can be seen from the above technical solutions, the invention provides a kind of train locating method and system, methods described and
System is applied to persistently travel the train in rail ground, including：Send when receiving the emitter installing in rail ground
Co-ordinate position information when, determine the initial position message that described co-ordinate position information is described train, persistently travel when described
When train in rail ground receives the instruction obtaining the current locator value of described train, obtain described row according to described instruction
Currently every dynamic parameter of car, wherein, the current dynamic parameter of described train includes：Train displacement, train length, row
The distance of car extremely described train place section front signal machine, the initial position message in conjunction with described train and the train of described train
Displacement, train length, the distance of train to described train place section front signal machine, are calculated the current of described train
Locator value it can be seen that, using install in rail ground emitter transmitting co-ordinate position information can accurately determine institute
State the initial position message of train, and with reference to the every dynamic parameter obtaining during train driving, obtain determining of described train
Place value, so can avoid the occurrence of the place that there is blind area or mistake, thus improve the positioning precision of train.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of train locating method schematic flow sheet disclosed in the embodiment of the present invention one；
Fig. 2 is a kind of train locating method schematic flow sheet disclosed in the embodiment of the present invention two；
Fig. 3 is the initial position message mistake that a kind of determination co-ordinate position information disclosed in the embodiment of the present invention two is train
The schematic flow sheet of journey；
Fig. 4 is a kind of schematic flow sheet of the calculating train displacement process disclosed in the embodiment of the present invention two；
Fig. 5 is a kind of schematic flow sheet of the process of calculating train length disclosed in the embodiment of the present invention two；
Fig. 6 is a kind of structural representation of train positioning system disclosed in the embodiment of the present invention three；
Fig. 7 is a kind of structural representation of train positioning system disclosed in the embodiment of the present invention four；
Fig. 8 is a kind of structural representation of train positioning system disclosed in the embodiment of the present invention five.
Specific embodiment
At present in train Positioning Technology, major part can adopt satellite positioning tech, and in described satellite positioning tech,
Satellite is needed to send itself parameter and time to user, user can navigate to train through calculating after receiving these information
Active situation, but satellite positioning tech needs accurately clearly map route information to support, if storage in satellite
Not if real-time update, will there is the inaccurate problem of positioning in ground route information.
The present invention is mainly aiming at satellite positioning tech can be had the inaccurate problem of positioning and propose.
The present invention proposes a kind of train locating method and system, and described method and system is all applied to persistently to travel in-orbit
Train on road ground, concrete grammar includes：When receiving, the co-ordinate position information that the emitter in rail ground sends is installed
When, determine the initial position message that described co-ordinate position information is described train, persistently travel in rail ground when described
Train receives the described train of acquisition when the instruction that prelocalization is put, and obtains the currently every dynamic of described train according to described instruction
State parameter, wherein, the current dynamic parameter of described train includes：Train displacement, train length, train to described train institute
In the distance of section front signal machine, the initial position message in conjunction with described train and the train displacement of described train, train
Length, train, to the distance of described train place section front signal machine, are calculated the current locator value of described train, thus may be used
See, can accurately determine the initial bit of described train using the co-ordinate position information of the emitter transmitting installing in rail ground
Confidence ceases, and with reference to the every dynamic parameter obtaining during train driving, obtains the locator value of described train, so can keep away
Exempt from the place occurring there is blind area or mistake, thus improve the positioning precision of train.
The core concept of present invention when above, with reference to the accompanying drawing in the embodiment of the present invention, in the embodiment of the present invention
Technical scheme be clearly and completely described it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work
Under the premise of the every other embodiment that obtained, broadly fall into protection scope of the present invention.
The embodiment of the present invention one discloses a kind of train locating method, shown in Figure 1, and methods described is applied to persistently go
Sail the train in rail ground, step includes：
Step S101：When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine described
Co-ordinate position information is the initial position message of described train；
Wherein, when the described train driving surface-based emitter excessively persistently travelling, described emitter can be received
The co-ordinate position information sending, now, using described co-ordinate position information as described train initial position message；
Step S102：When the described train persistently travelling in rail ground receives the acquisition current locator value of described train
Instruction when, obtain currently every dynamic parameter of described train according to described instruction, wherein, currently dynamically the joining of described train
Number includes：The distance of train displacement, train length and train extremely described train place section front signal machine；
Step S103：The train displacement of the initial position message in conjunction with described train and described train, train length
With the distance of train to described train place section front signal machine, it is calculated the current locator value of described train.
Present embodiment discloses a kind of train locating method, methods described is applied to persistently travel the row in rail ground
Car, including：When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine described coordinate bit confidence
Cease the initial position message for described train, when the described train persistently travelling in rail ground receives the described train of acquisition
Currently every dynamic parameter of described train, wherein, described train during the instruction of current locator value, is obtained according to described instruction
Current dynamic parameter includes：Train displacement, train length, the distance of train to described train place section front signal machine,
The train displacement of the initial position message in conjunction with described train and described train, train length, train to described train institute
In the distance of section front signal machine, be calculated the current locator value of described train it can be seen that, using install in rail ground
The co-ordinate position information of emitter transmitting can accurately determine the initial position message of described train, and combine train driving
During every dynamic parameter of obtaining, obtain the locator value of described train, so can avoid the occurrence of and there is blind area or mistake
Place, thus improve the positioning precision of train by mistake.
The embodiment of the present invention two discloses a kind of train locating method, shown in Figure 2, and methods described is applied to persistently go
Sail the train in rail ground, step includes：
Step S201：When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine described
Co-ordinate position information is the initial position message of described train；
Wherein, shown in Figure 3, described step S201 specifically includes：
Step S301：The interval in advance described train advanced is divided into some sections and stores the initial of described some sections
Positional information；
Step S302：Judge whether described train has passed through to install the transponder in rail ground, if it is, execution step
S303, if not, execution step S304；
Wherein, when the signal that the transponder that the induction apparatuss on described train receive installation in rail ground sends, hold
Row step S303；
Step S303：Gather the identification information of described transponder, determine the coordinate information corresponding with described identification information, really
Fixed described coordinate information is the initial position message of described train；
It should be noted that each installs the described transponder in rail ground, all pre-set identification information, when
Described train pass through described transponder when, then can gather the identification information of described transponder, corresponding with described identification information just
It is coordinate information, determine the initial position message that described coordinate information is described train；
Step S304：When the radio frequency that the radio-frequency (RF) device that described train receives the initial position being arranged on next section sends is believed
Number when, using the initial position message of next section described as described train initial position message；
It should be noted that having been split into some sections in the interval of described train driving, when sailing out of current session, sail
When entering next section, the radio-frequency (RF) device being arranged on next section initial position will send radiofrequency signal, when described train receives
During described radiofrequency signal, then using the initial position message of next section described as described train initial position message
Wherein, the interval that described train is advanced is divided into some sections, and is connected by insulation joint between some sections, when
Train sails out of current session, when sailing next section into, can be using the insulation joint positional information in next section described as initial
Positional information, can arrange radio-frequency (RF) device in described insulation joint position in advance.
Step S202：When the described train persistently travelling in rail ground receives the acquisition current locator value of described train
Instruction when, obtain currently every dynamic parameter of described train according to described instruction, wherein, currently dynamically the joining of described train
Number includes：The distance of train displacement, train length and train extremely described train place section front signal machine；
When described dynamic parameter is train displacement, calculate the process of described train displacement, referring to Fig. 4 institute
Show, including：
Step S401：By being arranged on the number of pulses of the sensor on Railway wheelset described in collection；
Step S402：Using formula M=N/T, be calculated the wheel of described train to rotation week number, wherein, M is described
The wheel of train is the number of pulses by the described sensor being arranged on Railway wheelset of collection to rotating all numbers, N, and T is institute
State the umber of pulse that Railway wheelset circles；
Step S403：Using formula S=π * D*M, calculate described train displacement, wherein, S be described train movement away from
From D is wheel to diameter.
When the process that described dynamic parameter is the train extremely distance of described train place section front signal machine includes：Using public affairs
Formula S1=L`-S, calculates described train to the distance of described train place section front signal machine, wherein, S1For train to described train
The distance of place section front signal machine, L` is the length of the described train place section being pre-stored in data base, and S is described train
Displacement.
Further illustrate, when train the last item wheel is to rolling place section away from, start to calculate the movement of described train rear end
Distance, when operation turned back by locomotive, described distance is the distance of train leading portion to front signal machine.
When described dynamic parameter is train length, calculate the process of described train length, shown in Figure 5, including：
It should be noted that on the track ground of described train travel during, can exist mounting railway car or
It is to tear the problem subtracting compartment open, now, the length of described train will change, then the locator value of described train also can be corresponding
Change；
Step S501：Described first wheel of train is to the time t sailing current session into1As initial point, described train is
A wheel is to the time t rolling described current session away from afterwards2As terminal, by gathering described initial point time period between terminal
In be arranged on the number of pulses of sensor on Railway wheelset；
Step S502：Using formula M`=N`/T`, it is calculated in described train time period between initial point to terminal
Wheel to rotating all numbers, wherein, M` is that the wheel in described train time period between initial point to terminal is to rotating all numbers, N`
Gather the number of pulses of the sensor being arranged in described initial point time period between terminal on Railway wheelset, T` is described row
Wheel is to the umber of pulse circling；
Step S503：Using formula L=π * D*M`, calculate described train length, wherein, L is described train length, and D is wheel
To diameter, M` is wheel in described train time period between described initial point to terminal to rotating all numbers.
Further illustrate, after locomotive completes trailer action, traffic direction is judged according to handle position change, such as handle position
Constant, then for jacking operation, such as handle position inverse change, then for towage, but calculate described train length this
On parameter value, the method for use is identical.
Step S203：The train displacement of the initial position message in conjunction with described train and described train, train length
With the distance of train to described train place section front signal machine, it is calculated the current locator value of described train；
Step S204：The locator value of described train is shown.
Wherein, display herein may be mounted on train it is also possible to be arranged in train scheduling room, certainly, simultaneously
It is arranged in train and train scheduling room more convenient staff to check, furthermore, it is possible to the locator value of described train is deposited
Storage, so that the follow-up historical record to described train makes a look up.
Present embodiment discloses a kind of train locating method, methods described, on the basis of embodiment one, specifically discloses
When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine that described co-ordinate position information is described
The interval that train is advanced is divided into some sections and stores described some sections by the method for the initial position message of train in advance
Initial position message, when described train is after the transponder installing in rail ground, then gather the mark of described transponder
Knowledge information, determines the coordinate information corresponding with described identification information, determines the initial position that described coordinate information is described train
Information, if described train, not over the transponder installing in rail ground, is arranged on next when described train receives
During the radiofrequency signal that the radio-frequency (RF) device of the initial position of section sends, using the initial position message of next section described as described row
The initial position message of car, can get the initial position message of described train from many aspects, and usability is extensive, in addition originally
Embodiment also add display function, and the locator value of described train is shown by display, so can facilitate and intuitively show
Show the locator value of train so that staff can conveniently get information about the positioning scenarios of train.
The embodiment of the present invention three discloses a kind of train positioning system, is applied to persistently travel the row in rail ground
Car, shown in Figure 6, described system includes：Receiver module 101, acquisition module 102 and computing module 103；
Described receiver module 101 is used for, and installs, when receiving, the co-ordinate position information that the emitter in rail ground sends
When, determine the initial position message that described co-ordinate position information is described train；
Wherein, when the described train driving surface-based emitter excessively persistently travelling, described emitter can be received
The co-ordinate position information sending, now, using described co-ordinate position information as described train initial position message；
Described acquisition module 102 is used for, when the described train persistently travelling in rail ground receives the described row of acquisition
Currently every dynamic parameter of described train, wherein, described row during the instruction of current locator value of car, is obtained according to described instruction
The current dynamic parameter of car includes：Train displacement, train length and train are to described train place section front signal machine
Distance；
Described computing module 103 is used for, in conjunction with the initial position message of described train and the train movement of described train away from
From, train length and train to the section front signal machine of described train place, be calculated described train works as prelocalization
Value.
Present embodiment discloses a kind of train positioning system, described system includes：Receiver module, acquisition module and calculating mould
Block, described receiver module is used for, and when receiving the co-ordinate position information that the emitter installing in rail ground sends, determines institute
State the initial position message that co-ordinate position information is described train, described acquisition module is used for, persistently travel in rail when described
When train on ground receives the instruction of current locator value obtaining described train, obtain described train according to described instruction
Currently every dynamic parameter, wherein, the current dynamic parameter of described train includes：Train displacement, train length and train
To the distance of described train place section front signal machine, described computing module is used for, in conjunction with the initial position message of described train
With the distance of the train displacement, train length and train extremely described train place section front signal machine of described train, calculate
Obtain the current locator value of described train, described system as can be seen here, using install in rail ground emitter transmitting seat
Cursor position information can accurately determine the initial position message of described train, and with reference to the items obtaining during train driving
Dynamic parameter, obtains the locator value of described train, so can avoid the occurrence of the place that there is blind area or mistake, thus improving
The positioning precision of train.
The embodiment of the present invention four discloses a kind of train positioning system, is applied to persistently travel the row in rail ground
Car, shown in Figure 7, described system includes：Receiver module 101, acquisition module 102 and computing module 103；
Wherein, described acquisition module 102 and described computing module 103 and described acquisition module 102 disclosed in embodiment three
Consistent with described computing module 103；
Described receiver module 101 includes dividing storing sub-units 104 and judgment sub-unit 105 in advance；
Wherein, the described storing sub-units 104 that divide in advance are used for, and in advance the interval that train is advanced are divided into some sections simultaneously
Store the initial position message of described some sections；
Described judgment sub-unit 105 is used for, and judges whether described train has passed through to install the transponder in rail ground, such as
Fruit is to gather the identification information of described transponder, determines the coordinate information corresponding with described identification information, determines described coordinate letter
Cease the initial position message for described train；
It should be noted that each installs the described transponder in rail ground, all pre-set identification information, when
Described train pass through described transponder when, then can gather the identification information of described transponder, corresponding with described identification information just
It is coordinate information, determine the initial position message that described coordinate information is described train；
If not, when described train receives the radiofrequency signal that the radio-frequency (RF) device of the initial position being arranged on next section sends
When, using the initial position message of next section described as described train initial position message.
It should be noted that having been split into some sections in the interval of described train driving, when sailing out of current session, sail
When entering next section, the radio-frequency (RF) device being arranged on next section initial position will send radiofrequency signal, when described train receives
During described radiofrequency signal, then using the initial position message of next section described as described train initial position message
Wherein, the interval that described train is advanced is divided into some sections, and is connected by insulation joint between some sections, when
Train sails out of current session, when sailing next section into, can be using the insulation joint positional information in next section described as initial
Positional information, can arrange radio-frequency (RF) device in described insulation joint position in advance.
Present embodiment discloses a kind of train positioning system, described system includes：Receiver module, acquisition module and calculating mould
Block, wherein, described receiver module includes：Divide in advance and be stored in unit and judging unit, described division in advance stores son list
Unit is used for, and in advance the interval that train is advanced is divided into some sections and stores the initial position message of described some sections, described
Judgment sub-unit is used for, and judges whether described train has passed through to install the transponder in rail ground, if it is, collection is described should
Answer the identification information of device, determine the coordinate information corresponding with described identification information, determine that described coordinate information is described train
Initial position message, if not, when penetrating that the radio-frequency (RF) device that described train receives the initial position being arranged on next section sends
During frequency signal, using the initial position message of next section described as described train initial position message, can be from multiple sides
Face gets the initial position message of described train, and usability is extensive.
The embodiment of the present invention five discloses a kind of train positioning system, is applied to persistently travel the row in rail ground
Car, shown in Figure 8, described system includes：Receiver module 101, acquisition module 102, computing module 103 and display module 106；
Wherein, described receiver module 101, described acquisition module 102 and described computing module 103 with disclosed in embodiment three
Described receiver module 101, described acquisition module 102 are consistent with described computing module 103；
Described display module 106 is used for, and the locator value of described train is shown.
Present embodiment discloses a kind of train positioning system, described train positioning system, on the basis of embodiment three, increases
Add display module, described display module is used for being shown the locator value of described train so that staff can facilitate
The state of described train is intuitively recognized from display.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it corresponds to the method disclosed in Example, so description is fairly simple, say referring to method part in place of correlation
Bright.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple modifications to these embodiments are it will be apparent that as defined herein one for those skilled in the art
As principle can realize in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will
Will not be intended to be limited to the embodiments shown herein, and be to fit to consistent with principles disclosed herein and features of novelty
Widest range.
Claims (7)
1. a kind of train locating method, it is characterised in that methods described is applied to persistently travel the train in rail ground, wraps
Include：
When receiving the co-ordinate position information that the emitter installing in rail ground sends, determine that described co-ordinate position information is
The initial position message of described train, wherein, when the described train driving surface-based emitter excessively persistently travelling, meeting
Receive the co-ordinate position information that described emitter sends, now, using described co-ordinate position information as described train initial bit
Confidence ceases；
When the described train persistently travelling in rail ground receives the instruction of the current locator value obtaining described train, according to
Obtain currently every dynamic parameter of described train according to described instruction, wherein, the current dynamic parameter of described train includes：Train
The distance of displacement, train length and train extremely described train place section front signal machine, when described dynamic parameter is train
During displacement, the process obtaining described train displacement includes：
It is arranged on the number of pulses of the sensor on Railway wheelset by collection, using formula M=N/T, be calculated described row
The wheel of car to rotation week number, wherein, M be the wheel of described train to rotating all numbers, N be collection be arranged on train by described
The number of pulses to upper sensor for the wheel, T is the umber of pulse that described Railway wheelset circles；
Using formula S=π * D*M, calculate described train displacement, wherein, S is described train displacement, and D is wheel to straight
Footpath, M is the wheel of described train to rotation week number；
When described dynamic parameter is train length, the process obtaining described train length includes：
Described first wheel of train is to the time t sailing current session into1As initial point, described train the last item wheel is to rolling away from
The time t of described current session2As terminal, it is arranged on Train Wheel in the time period by gathering described initial point between terminal
Number of pulses to upper sensor；
Using formula M`=N`/T`, the wheel being calculated in described train time period between initial point to terminal is all to rotating
Number, wherein, M` be wheel in described train time period between initial point to terminal to rotating all numbers, N` is that collection is described initial
It is arranged on the number of pulses of the sensor on Railway wheelset, T` circles for described Railway wheelset in point time period between terminal
Umber of pulse；
Using formula L=π * D*M`, calculate described train length, wherein, L is described train length, and D is to take turns to diameter, and M` is
Wheel in described train time period between described initial point to terminal all numbers to rotation；
The train displacement of the initial position message in conjunction with described train and described train, train length and train are to described row
The distance of car place section front signal machine, is calculated the current locator value of described train.
2. method according to claim 1 is it is characterised in that the described emitter that ought receive installation in rail ground is sent out
During the co-ordinate position information going out, determine that the process of the initial position message that described co-ordinate position information is described train includes：
The interval in advance described train advanced is divided into some sections and stores the initial position message of described some sections；
Judge whether described train has passed through to install the transponder in rail ground, if it is, gathering the mark of described transponder
Information, determines the co-ordinate position information corresponding with described identification information, determines that described co-ordinate position information is the first of described train
Beginning positional information；
If not, when the radiofrequency signal that the radio-frequency (RF) device that described train receives the initial position being arranged on next section sends,
Using the initial position message of next section described as described train initial position message.
3. method according to claim 1 is it is characterised in that working as described dynamic parameter is train to described train location
The distance of section front signal machine, obtaining described dynamic parameter is the process to the distance of described train place section front signal machine for the train
Including：
Using formula S1=L`-S, calculates described train to the distance of described train place section front signal machine, wherein, S1For row
The distance of car extremely described train place section front signal machine, L` is the length of the described train place section being pre-stored in data base
Degree, S is described train displacement.
4. method according to claim 1 is it is characterised in that also include：
The locator value of described train is shown.
5. a kind of train positioning system is it is characterised in that be applied to persistently travel the train in rail ground, including：Receive
Module, acquisition module and computing module；
Described receiver module is used for, and when receiving the co-ordinate position information that the emitter installing in rail ground sends, determines
Described co-ordinate position information is the initial position message of described train, wherein, when the described train driving persistently travelling crosses installation
In the emitter on ground, the co-ordinate position information that described emitter sends can be received, now, described co-ordinate position information be made
Initial position message for described train；
Described acquisition module is used for, and obtains the current of described train when the described train persistently travelling in rail ground receives
During the instruction of locator value, obtain currently every dynamic parameter of described train according to described instruction, wherein, described train current
Dynamic parameter includes：Train displacement, train length and train, to the distance of described train place section front signal machine, work as institute
When stating dynamic parameter for train displacement, the process obtaining described train displacement includes：
It is arranged on the number of pulses of the sensor on Railway wheelset by collection, using formula M=N/T, be calculated described row
The wheel of car to rotation week number, wherein, M be the wheel of described train to rotating all numbers, N be collection be arranged on train by described
The number of pulses to upper sensor for the wheel, T is the umber of pulse that described Railway wheelset circles；
Using formula S=π * D*M, calculate described train displacement, wherein, S is described train displacement, and D is wheel to straight
Footpath, M is the wheel of described train to rotation week number；
When described dynamic parameter is train length, the process obtaining described train length includes：
Described first wheel of train is to the time t sailing current session into1As initial point, described train the last item wheel is to rolling away from
The time t of described current session2As terminal, it is arranged on Train Wheel in the time period by gathering described initial point between terminal
Number of pulses to upper sensor；
Using formula M`=N`/T`, the wheel being calculated in described train time period between initial point to terminal is all to rotating
Number, wherein, M` be wheel in described train time period between initial point to terminal to rotating all numbers, N` is that collection is described initial
It is arranged on the number of pulses of the sensor on Railway wheelset, T` circles for described Railway wheelset in point time period between terminal
Umber of pulse；
Using formula L=π * D*M`, calculate described train length, wherein, L is described train length, and D is to take turns to diameter, and M` is
Wheel in described train time period between described initial point to terminal all numbers to rotation；
Described computing module is used for, in conjunction with the train displacement of initial position message and the described train of described train, train
Length and train, to the distance of described train place section front signal machine, are calculated the current locator value of described train.
6. system according to claim 5 is it is characterised in that described receiver module includes：Divide storing sub-units in advance
And judgment sub-unit；
Wherein, the described storing sub-units that divide in advance are used for, and in advance the interval that train is advanced are divided into some sections and store institute
State the initial position message of some sections；
Described judgment sub-unit is used for, and judges whether described train has passed through to install the transponder in rail ground, if it is, adopting
Collect the identification information of described transponder, determine the co-ordinate position information corresponding with described identification information, determine described coordinate position
Information is the initial position message of described train；
If not, when the radiofrequency signal that the radio-frequency (RF) device that described train receives the initial position being arranged on next section sends,
Using the initial position message of next section described as described train initial position message.
7. system according to claim 5 is it is characterised in that described system also includes：Display module；
Described display module is used for, and the locator value of described train is shown.
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| CN201310127510.0A CN103171598B (en) | 2013-04-12 | 2013-04-12 | Method and system for positioning train |
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| CN201310127510.0A CN103171598B (en) | 2013-04-12 | 2013-04-12 | Method and system for positioning train |
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| CN107891887B (en) * | 2016-12-09 | 2019-01-11 | 比亚迪股份有限公司 | Train control method, TCMS, VOBC and train |
| CN107878511B (en) * | 2016-12-27 | 2019-01-29 | 比亚迪股份有限公司 | The localization method and system of train and trackside element |
| CN106970357B (en) * | 2017-04-26 | 2019-07-12 | 清华大学 | High-precision real-time ultrasound wave location tracking method and system |
| CN108333613A (en) * | 2017-12-20 | 2018-07-27 | 交控科技股份有限公司 | A kind of global position system being suitable for heavily loaded movable block |
| CN108411748A (en) * | 2018-02-11 | 2018-08-17 | 云南通衢工程检测有限公司 | For highway technology state testing method |
| CN109017880A (en) * | 2018-06-28 | 2018-12-18 | 武汉钢铁有限公司 | A kind of rail vehicle management system |
| CN111174785B (en) * | 2020-01-19 | 2023-07-18 | 广东自来物智能科技有限公司 | Cableway shuttle machine positioning system and positioning method |
| CN113276911B (en) * | 2021-07-08 | 2023-01-20 | 中铁二院工程集团有限责任公司 | Method and system for detecting position of suspension type monorail vehicle section train |
| CN115009329B (en) * | 2022-05-30 | 2023-06-30 | 卡斯柯信号有限公司 | Train initial positioning calculation method and positioning system based on Beidou satellite |
| CN116224226A (en) * | 2023-03-08 | 2023-06-06 | 北京航天众信科技有限公司 | Rail-mounted robot positioning method and device and computer equipment |
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| CN2032723U (en) * | 1988-06-06 | 1989-02-15 | 沈阳铁路局锦州科学技术研究所 | Digital locomotive autometer |
| CN101224752A (en) * | 2008-01-25 | 2008-07-23 | 深圳市丰泰瑞达实业有限公司 | Railway interval kilometer post amending method and device thereof |
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| FR2857644B1 (en) * | 2003-07-16 | 2006-03-10 | Inrets | DEVICE AND METHOD FOR POSITIONING AND CONTROLLING RAILWAY VEHICLES WITH ULTRA - WIDE FREQUENCY BANDS. |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2032723U (en) * | 1988-06-06 | 1989-02-15 | 沈阳铁路局锦州科学技术研究所 | Digital locomotive autometer |
| CN101224752A (en) * | 2008-01-25 | 2008-07-23 | 深圳市丰泰瑞达实业有限公司 | Railway interval kilometer post amending method and device thereof |
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