CN109606430B - Automatic positioning method, automatic positioning system and automatic driving device for rail car - Google Patents
Automatic positioning method, automatic positioning system and automatic driving device for rail car Download PDFInfo
- Publication number
- CN109606430B CN109606430B CN201811194414.7A CN201811194414A CN109606430B CN 109606430 B CN109606430 B CN 109606430B CN 201811194414 A CN201811194414 A CN 201811194414A CN 109606430 B CN109606430 B CN 109606430B
- Authority
- CN
- China
- Prior art keywords
- rail car
- positioning
- railway
- data
- data set
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012937 correction Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an automatic positioning method, an automatic positioning system and an automatic driving device for a rail car. Firstly, acquiring vehicle-mounted basic data in a rail car operation control device, and determining an initialized railway data set comprising a plurality of individuals according to the positioning accuracy of the rail car, wherein each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point; then, according to the vehicle-mounted basic data, counting longitude and latitude coordinate points of which the railway data distribution density is greater than a threshold value in the initialized railway data set, and updating the initialized railway data set according to a counting result to obtain a positioning data set of the rail car; and storing the railcar positioning data set in a railcar automatic driving system to realize the automatic positioning of the railcar. The invention combines the satellite positioning and the vehicle-mounted line data to automatically position the rail car, has accurate and reliable positioning, provides position information guarantee for the automatic driving of the rail car, and ensures that the automatic driving device of the rail car can determine the accurate position of the rail car on the railway by combining longitude and latitude coordinates.
Description
Technical Field
The invention relates to the technical field of railcar control, in particular to an automatic positioning method, an automatic positioning system and an automatic driving device for a railcar.
Background
At present, the technical scheme for generating the longitude and latitude coordinates of the railway line is as follows: setting the line number, the line type and the data time period of the railway line, and storing records of the same date, the line number and the line type in the same record file; setting a line coordinate point distance to generate a line point sequence; generating a coordinate statistical array; determining a list of record files to be used according to the set line number, the line type and the data time period; reading each record in the list, determining elements of a coordinate statistical array according to the kilometer post, and calculating the average longitude and the average latitude of a line coordinate point; eliminating noisy point records; taking all records from which the noise point records are removed as objects, and recalculating the average longitude and the average latitude of the line coordinate points; and storing the average longitude, the average latitude and the kilometer post of the coordinate points of the line to obtain the longitude and latitude coordinates of the railway line. Therefore, in the prior art, the longitude and latitude coordinates of the railway line are automatically generated through railway data by mainly utilizing a statistical principle and a big data technology. However, the existing railway line longitude and latitude coordinate data cannot be used for a rail vehicle automatic driving (GATO) system because the vehicle-mounted line data has the defect of large accumulated error.
Disclosure of Invention
The invention aims to provide an automatic positioning method, an automatic positioning system and an automatic driving device for a rail car, which combine satellite positioning and vehicle-mounted line data to automatically position the rail car, have accurate and reliable positioning, provide position information guarantee for automatic driving of the rail car and enable the automatic driving device of the rail car to determine the accurate position of the rail car on a railway by combining longitude and latitude coordinates.
In order to achieve the purpose, the invention provides the following scheme:
an automatic positioning method for a railcar, the automatic positioning method comprising:
acquiring vehicle-mounted basic data in the rail car operation control equipment;
determining an initialized railway data set according to the positioning accuracy of the rail car, wherein the initialized railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point;
counting longitude and latitude coordinate points with the railway data distribution density larger than a threshold value in the initialized railway data set according to the vehicle-mounted basic data, and updating the initialized railway data set according to a counting result to obtain a positioning data set of the rail car;
and storing the railcar positioning data set in a railcar automatic driving system to realize railcar automatic positioning.
Optionally, after the set of railcar positioning data is stored in the railcar automatic driving system to realize the automatic positioning of the railcar, the method further includes:
acquiring current position information of a rail car, wherein the position information comprises real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information;
and correcting the rail car positioning data set according to the current position information to obtain a corrected rail car positioning data set.
Optionally, the vehicle-mounted basic data includes a traffic number, a travel category, a branch number, a stock number, gradient data, curve data, tunnel data, bridge data, a line number, and a kilometer post of the railway line.
An automatic positioning system for a rail car, the automatic positioning system comprising:
the vehicle-mounted basic data acquisition module is used for acquiring vehicle-mounted basic data in the rail car operation control equipment;
the system comprises an initialization module, a positioning module and a processing module, wherein the initialization module is used for determining an initialization railway data set according to the positioning accuracy of a rail car, the initialization railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point;
the statistical module is used for counting longitude and latitude coordinate points of which the railway data distribution density is greater than a threshold value in the initialized railway data set according to the vehicle-mounted basic data, updating the initialized railway data set according to a statistical result and obtaining a positioning data set of the rail car;
and the storage module is used for storing the rail car positioning data set in an automatic rail car driving system so as to realize automatic positioning of the rail car.
Optionally, the automatic positioning system further comprises a correction module, and the correction module is used for
Acquiring current position information of a rail car, wherein the position information comprises real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information;
and correcting the rail car positioning data set according to the current position information to obtain a corrected rail car positioning data set.
A railcar autopilot device, comprising: a satellite positioning module, a rail vehicle operation control device and an automatic driving host machine of the rail vehicle, wherein,
the automatic driving host of the rail car is respectively connected with the satellite positioning module and the operation control equipment of the rail car, vehicle-mounted basic data are stored in the operation control equipment of the rail car, the satellite positioning module is used for detecting the current position information of the rail car, and the automatic driving host of the rail car is used for automatically positioning the rail car according to the automatic positioning method.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an automatic positioning method and an automatic positioning system of a rail car, which are characterized in that vehicle-mounted basic data in rail car operation control equipment are firstly obtained, an initialized railway data set is determined according to the positioning precision of the rail car, the initialized railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point; then, according to the vehicle-mounted basic data, counting longitude and latitude coordinate points of which the railway data distribution density is greater than a threshold value in the initialized railway data set, and updating the initialized railway data set according to a counting result to obtain a positioning data set of the rail car; and storing the railcar positioning data set in a railcar automatic driving system to realize railcar automatic positioning. Therefore, the automatic positioning device of the rail car combines the satellite positioning and the vehicle-mounted line data to automatically position the rail car, is accurate and reliable in positioning, provides position information guarantee for automatic driving of the rail car, and enables the automatic driving device of the rail car to determine the accurate position of the rail car on a railway by combining longitude and latitude coordinates.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of an automatic positioning method for a rail car according to an embodiment of the present invention;
fig. 2 is a block diagram of an automatic positioning system for a rail car according to an embodiment of the present invention;
fig. 3 is a block diagram of an automatic driving device of a rail car according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an automatic positioning method, an automatic positioning system and an automatic driving device for a rail car, which combine satellite positioning and vehicle-mounted line data to automatically position the rail car, have accurate and reliable positioning, provide position information guarantee for automatic driving of the rail car and enable the automatic driving device of the rail car to determine the accurate position of the rail car on a railway by combining longitude and latitude coordinates.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of an automatic positioning method for a rail car according to an embodiment of the present invention. As shown in fig. 1, the automatic positioning method includes:
step 101: and acquiring vehicle-mounted basic data in the rail car operation control equipment.
Step 102: determining an initialized railway data set according to the positioning accuracy of the rail car, wherein the initialized railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point. The railway data comprises a traffic number, a travel category, a branch number, a stock number, gradient data, curve data, tunnel data, bridge data, a line number, kilometers and the like of the railway line.
Step 103: and counting longitude and latitude coordinate points with the railway data distribution density larger than a threshold value in the initialized railway data set according to the vehicle-mounted basic data, and updating the initialized railway data set according to a counting result to obtain a positioning data set of the rail car.
Step 104: and storing the railcar positioning data set in a railcar automatic driving system to realize railcar automatic positioning.
Step 105: the method comprises the steps of obtaining current position information of the rail car, wherein the position information comprises real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information.
Step 106: and correcting the rail car positioning data set according to the current position information to obtain a corrected rail car positioning data set.
Fig. 2 is a block diagram of an automatic positioning system for a rail car according to an embodiment of the present invention. As shown in fig. 2, the automatic positioning system includes:
the vehicle-mounted basic data acquisition module 201 is used for acquiring vehicle-mounted basic data in the rail car operation control equipment;
the system comprises an initialization module 202, a storage module and a processing module, wherein the initialization module 202 is used for determining an initialization railway data set according to the positioning accuracy of a rail car, the initialization railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point;
the statistical module 203 is used for counting longitude and latitude coordinate points in the initialized railway data set, of which the distribution density of the railway data is greater than a threshold value, according to the vehicle-mounted basic data, updating the initialized railway data set according to a statistical result, and obtaining a positioning data set of the rail car;
the storage module 204 is configured to store the set of railcar positioning data in a railcar automatic driving system to achieve railcar automatic positioning.
The correcting module 205 is configured to acquire current location information of a railcar, where the location information includes real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information, and correct the railcar positioning data set according to the current location information to obtain a corrected railcar positioning data set.
Fig. 3 is a block diagram of an automatic driving device of a rail car according to an embodiment of the present invention. As shown in fig. 3, the rail car autopilot apparatus includes: a satellite positioning module 301, a railcar operation control device 302, and a railcar autopilot host 303, wherein,
the railcar automatic driving host 303 is respectively connected with the satellite positioning module 301 and the railcar operation control device 302, vehicle-mounted basic data are stored in the railcar operation control device 302, the GPS satellite positioning module 301 is used for detecting current position information of a railcar, and the railcar automatic driving host 303 is used for automatically positioning the railcar according to the automatic positioning method.
The realization principle of the automatic driving device of the rail car is as follows:
a satellite positioning module is installed in a rail vehicle automatic driving system (GATO).
The vehicle-mounted basic data in the rail vehicle operation control equipment (GYK) needs to be added with information such as gradient, curve, tunnel, bridge and station track.
And setting data record files such as the traffic route number, the row classification, the branch line number, the stock number, the line number, the kilometer post and the like of the railway line corresponding to the longitude and latitude coordinates to be generated.
Comparing the acquired longitude and latitude information with basic data of the rail car, counting concentrated longitude and latitude coordinates in information such as a traffic number, a traffic category, a branch number, a stock number, a line number, a kilometer post and the like, namely longitude and latitude coordinate points with the distribution density of the railway data being greater than a threshold value, denoising, respectively determining the basic data information of the rail car corresponding to the longitude and latitude coordinates, and storing data.
And determining the acquired longitude and latitude information during the automatic driving operation process of the rail car, and comparing the basic data of the rail car according to the stored corresponding relation.
The current position of the rail car is compared with the position of vehicle-mounted data in the monitoring equipment by utilizing a satellite positioning system with the precision of 0.5 meter and the satellite positioning information of a railway line of precise measurement and analyzing data such as the satellite positioning information, speed information, kilometer marks of the rail car, early surveying and mapping information and the like, and the position of the vehicle-mounted data is corrected by the GATO system.
The rail car operation control equipment completes automatic driving of the rail car through analysis and calculation, gravity, traction, rail car braking force, rail car operation resistance and other acting forces according to the load of the rail car, the gradient, the speed limit, the front speed limit, the speed, the gradient, the curve, the target distance, the tunnel, the bridge, the station track and other information of the position information in the vehicle-mounted data.
The precision of satellite positioning is below 0.5 meter, but the satellite positioning has sudden change and drift of the position under a certain specific environment, which is not allowed for railway train control, and vehicle-mounted line data is relatively reliable, but has the defect of accumulated errors. The automatic driving device for the rail car combines the two, utilizes a specially mapped line and a station plane map, determines the longitude and latitude information of the rail car by the vehicle-mounted satellite positioning device in the running process of the rail car, calls the existing line data of the rail car and carries out intelligent comparison to determine the position on the vehicle-mounted line of the rail car, is accurate and reliable in positioning, and can meet the precision requirement of the railway running control.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. An automatic positioning method for a rail vehicle, characterized in that it comprises:
acquiring vehicle-mounted basic data in the rail car operation control equipment;
determining an initialized railway data set according to the positioning accuracy of the rail car, wherein the initialized railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point;
counting longitude and latitude coordinate points with the railway data distribution density larger than a threshold value in the initialized railway data set according to the vehicle-mounted basic data, and updating the initialized railway data set according to a counting result to obtain a positioning data set of the rail car;
storing the set of railcar positioning data in a railcar autopilot system to achieve railcar automatic positioning;
acquiring current position information of a rail car, wherein the position information comprises real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information;
and correcting the rail car positioning data set according to the current position information to obtain a corrected rail car positioning data set.
2. The automatic positioning method of claim 1, wherein the railway data comprises a traffic number, a travel category, a branch number, a stock number, grade data, curve data, tunnel data, bridge data, a line number, and a kilometer post of the railway line.
3. An automatic positioning system for a rail car, the automatic positioning system comprising:
the vehicle-mounted basic data acquisition module is used for acquiring vehicle-mounted basic data in the rail car operation control equipment;
the system comprises an initialization module, a positioning module and a processing module, wherein the initialization module is used for determining an initialization railway data set according to the positioning accuracy of a rail car, the initialization railway data set comprises a plurality of individuals, and each individual comprises a longitude and latitude coordinate point and railway data corresponding to the longitude and latitude coordinate point;
the statistical module is used for counting longitude and latitude coordinate points of which the railway data distribution density is greater than a threshold value in the initialized railway data set according to the vehicle-mounted basic data, updating the initialized railway data set according to a statistical result and obtaining a positioning data set of the rail car;
the storage module is used for storing the railcar positioning data set in a railcar automatic driving system so as to realize automatic positioning of the railcar;
a correction module for
Acquiring current position information of a rail car, wherein the position information comprises real-time longitude and latitude information and railway data corresponding to the real-time longitude and latitude information;
and correcting the rail car positioning data set according to the current position information to obtain a corrected rail car positioning data set.
4. A railcar autopilot device, comprising: a satellite positioning module, a rail vehicle operation control device and an automatic driving host machine of the rail vehicle, wherein,
the automatic driving host of the rail car is respectively connected with the satellite positioning module and the operation control equipment of the rail car, vehicle-mounted basic data are stored in the operation control equipment of the rail car, the satellite positioning module is used for detecting the current position information of the rail car, and the automatic driving host of the rail car is used for automatically positioning the rail car according to the automatic positioning method of any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811194414.7A CN109606430B (en) | 2018-10-15 | 2018-10-15 | Automatic positioning method, automatic positioning system and automatic driving device for rail car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811194414.7A CN109606430B (en) | 2018-10-15 | 2018-10-15 | Automatic positioning method, automatic positioning system and automatic driving device for rail car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606430A CN109606430A (en) | 2019-04-12 |
| CN109606430B true CN109606430B (en) | 2021-04-06 |
Family
ID=66002358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811194414.7A Active CN109606430B (en) | 2018-10-15 | 2018-10-15 | Automatic positioning method, automatic positioning system and automatic driving device for rail car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606430B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375728B (en) * | 2019-07-24 | 2021-05-28 | 山东麦港数据系统有限公司 | GYK rail car navigation method and system based on graph database |
| CN110789579B (en) * | 2019-11-22 | 2021-09-10 | 北京明略软件系统有限公司 | Train position obtaining method and device, storage medium and electronic equipment |
| CN110933317B (en) * | 2019-12-13 | 2021-07-13 | 河南思维轨道交通技术研究院有限公司 | Intelligent steering method and system for vehicle-mounted camera |
| CN116153166A (en) * | 2023-04-21 | 2023-05-23 | 西北铁道电子股份有限公司 | Vehicle-mounted simulation method, system and equipment for rail car driver before taking out |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104880725A (en) * | 2015-06-14 | 2015-09-02 | 成都可益轨道技术有限公司 | Railroad locomotive accurate positioning system |
| CN104401368B (en) * | 2014-12-02 | 2016-04-06 | 合肥工大高科信息科技股份有限公司 | Based on locomotive position fixing system and the localization method thereof of track circuit and DGPS |
| DE102014225683A1 (en) * | 2014-12-12 | 2016-06-16 | Siemens Aktiengesellschaft | Method for position data acquisition and related rail vehicle |
| CN107229716A (en) * | 2017-05-31 | 2017-10-03 | 湖南中车时代通信信号有限公司 | A kind of method and system for generating rail track latitude and longitude coordinates |
| US9862396B2 (en) * | 2008-03-13 | 2018-01-09 | General Electric Company | System and method for determining a quality value of a location estimation of equipment |
| WO2018045401A1 (en) * | 2016-09-07 | 2018-03-15 | Thales Austria Gmbh | Method for creating a route point passing message by a moving train |
| CN107861142A (en) * | 2017-11-07 | 2018-03-30 | 河南蓝信科技股份有限公司 | A kind of positioning combined based on the Big Dipper and multi information and air navigation aid |
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357643B (en) * | 2008-08-21 | 2010-12-15 | 北京交通大学 | Accurate train positioning method and system realized by digital trail map and GPS |
| CN202728266U (en) * | 2012-08-07 | 2013-02-13 | 张健 | Train driving dynamic tracking and monitoring system based on satellite accurate positioning |
| CN103869351B (en) * | 2014-03-26 | 2017-01-25 | 中国铁道科学研究院 | Locomotive positioning method suitable for wireless switching locomotive signal and monitoring system |
| CN104875773A (en) * | 2015-05-21 | 2015-09-02 | 中国铁路总公司 | Train control system based on satellite communication and public cellular communication |
| CN206096470U (en) * | 2016-06-20 | 2017-04-12 | 株洲太昌电子信息技术股份有限公司 | Railcar fine positioning device and railcar |
| 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 |
| CN108196289B (en) * | 2017-12-25 | 2019-11-26 | 北京交通大学 | A kind of train combined positioning method under satellite-signal confined condition |
-
2018
- 2018-10-15 CN CN201811194414.7A patent/CN109606430B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9862396B2 (en) * | 2008-03-13 | 2018-01-09 | General Electric Company | System and method for determining a quality value of a location estimation of equipment |
| CN104401368B (en) * | 2014-12-02 | 2016-04-06 | 合肥工大高科信息科技股份有限公司 | Based on locomotive position fixing system and the localization method thereof of track circuit and DGPS |
| DE102014225683A1 (en) * | 2014-12-12 | 2016-06-16 | Siemens Aktiengesellschaft | Method for position data acquisition and related rail vehicle |
| CN104880725A (en) * | 2015-06-14 | 2015-09-02 | 成都可益轨道技术有限公司 | Railroad locomotive accurate positioning system |
| WO2018045401A1 (en) * | 2016-09-07 | 2018-03-15 | Thales Austria Gmbh | Method for creating a route point passing message by a moving train |
| CN107229716A (en) * | 2017-05-31 | 2017-10-03 | 湖南中车时代通信信号有限公司 | A kind of method and system for generating rail track latitude and longitude coordinates |
| CN107861142A (en) * | 2017-11-07 | 2018-03-30 | 河南蓝信科技股份有限公司 | A kind of positioning combined based on the Big Dipper and multi information and air navigation aid |
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606430A (en) | 2019-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109606430B (en) | Automatic positioning method, automatic positioning system and automatic driving device for rail car | |
| CN110758476B (en) | Train positioning method and system | |
| CA3067782C (en) | Running location identification system, running location identification apparatus, and running location identification method for railroad cars | |
| EP3842735A1 (en) | Position coordinates estimation device, position coordinates estimation method, and program | |
| US11453422B2 (en) | Vehicle control system | |
| CN111998828B (en) | Road gradient estimation method based on portable GPS | |
| CN108313089B (en) | Train real-time positioning method based on MEMS vibration sensor | |
| US20210049783A1 (en) | Systems and methods for locating objects | |
| JP2014044096A (en) | Orbital position data giving system, and orbital position data giving method | |
| CN102980589A (en) | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed | |
| CN110927755A (en) | Filtering method and device for vehicle drift point | |
| CN115743240A (en) | Train positioning method, system, storage medium and electronic equipment | |
| Zheng et al. | Integrated GNSS with different accuracy of track database for safety-critical railway control systems | |
| CN103472471B (en) | Method for judging serviceability of satellite navigation system information, processing module and terminal | |
| CN110135216A (en) | Number of track-lines Changing Area Detection method, apparatus and storage equipment in electronic map | |
| ES2732580T3 (en) | Improved procedure to determine the position and / or speed of a guided vehicle; associated system | |
| CN109754630B (en) | Method and device for determining vehicle operation line | |
| CN110194200B (en) | Method, device and medium for determining kilometer post of running vehicle | |
| Moreno et al. | A first step to diagnostic of urban transport operations by means of GPS receiver | |
| CN112731407B (en) | Train positioning method based on ultrasonic detection | |
| CN111207760B (en) | Method and device for correcting real-time track of intersection, electronic equipment and computer readable medium | |
| US11577763B2 (en) | Method and controller for determining the relationship between a track-circuit transmitted current signal and a railway vehicle location on a railway track | |
| CN109515478B (en) | Vehicle positioning method applied to safety auxiliary protection system for shunting operation of rail vehicle | |
| CN111288942B (en) | Track transponder position measuring method and device and computer equipment | |
| JP2006023886A (en) | Traffic information system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |