RU2503567C1 - Complex system for positioning mobile objects at station track development digital model - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to positioning of railway vehicles. Proposed system comprises satellite navigation system station connected to differential correction computer, data acquisition and processing unit including processor connected to data base and gateway, positioning unit including controller connected to memory unit of the station digital models and data base, computer-aided workstation and navigation communication hardware installed at moving objects. Every navigation device comprises navigation signal receiver, GSM/GPRS radio station with Wi-Fi adapter, slots for two sim-cards, inertial navigation system unit, controller two plug-in memory units and microprocessor. Besides, it includes onboard train motion controller and data transmission circuit. GSM/GPRS radio station is connected via GSM/GPRS circuit in TCP/IP protocol to data acquisition and processing unit.

EFFECT: higher accuracy and validity of location.

5 cl, 2 dwg

Description

The invention relates to the field of positioning of vehicles in railway transport to ensure the safety of train traffic at railway stations.

A known system for tracking the position of a train by using differential navigation DGPS and railway information, comprising a mobile device mounted on the train, including a receiver of navigation signals with an antenna, a radio station with an antenna and a signal processing unit included between the receiver of navigation signals and a radio station, a base station including a receiver navigation signals with an antenna and a differential correction unit, connected via a data network to a data acquisition and retrieval unit Botko differential corrections connected to transceiver for transmitting data on a radio channel on the differential corrections to the mobile radio device (KR 100742967 B1, G01S 5/14, 25.07.2007).

In the known system, the receiver of the navigation signals of the mobile device receives the coordinates of the train from the satellite navigation system, the processing unit generates a corresponding message and transmits it to the base station through a radio station. The mobile device transmits the train identification number to the base station along with the coordinate-time parameters of the absolute position of the trains received from the satellite navigation system. The base station transmits the differential correction values to the mobile device. The mobile device determines the coordinate-time parameters of the train taking into account the differential correction. Real-time train location information is used by the mobile control unit.

The known system allows in real time, taking into account the differential correction of the satellite navigation system, to determine the position of the train.

However, in places with difficult reception of satellite navigation system signals, it is not possible to determine the position of the train with a given accuracy.

A multi-level control and safety system for train traffic for large railway stations is known, containing a station device and on-board equipment, a station device consists of control computer systems, data collection controllers, electrical centralization, an electrician’s workstation, an automated workstation for a station duty station, and a reference station and signal comparison devices, on-board equipment consists of an on-board controller, unit indication, control unit, pulse sensors, satellite navigation receiver with antenna, radio station with antenna, control cabinet connected to the power and brake systems of the locomotive and electro-pneumatic attachment (RU 2403162 C1, B61L 27/00, 10.11.2010).

The well-known system monitors the location and movement of shunting locomotives at the station, automatically locating locomotives on the route, which allows you to create an information platform to optimize the operation of the station.

In this case, the differential corrections in the known system are determined based on the comparison of the coordinates of the reference station measured by the receiver of the navigation signals with respect to its known coordinates. However, in order for the comparison results to be used as differential corrections, the observed satellite constellations must match the receiver of the navigation signals of the reference station and the receivers of the navigation signals of moving objects. In real conditions, this is almost impossible to achieve.

The closest analogue is a collision avoidance system for rolling stock or a locomotive with a train arriving or sending from a station, containing a control and correction station and locomotive parts, a control and correction station consists of a satellite signal receiver, a computing unit, a radio modem, a server in the memory of which information is recorded on the movement of trains and on the electronic map of the railway station with control points indicating the boundaries of the protective zones, the display and the transmitter projected onto signals. Each locomotive part includes an onboard satellite signal receiver, a correction signal receiver, an onboard computer, the memory of which contains information about the railway station electronic map with control points indicating the boundaries of the protective zones, an actuator, a display, an onboard radio modem, traction current meter, and a sensor directions of movement, automatic coupling sensor, brake cylinder pressure sensor, brake line pressure sensor, path and speed sensor, locomotive end crane sensor and a keyboard (RU 2288856 C2, B61L 23/34, 12/10/2006).

In the known system, the physical coordinates of moving objects are determined taking into account differential corrections generated by the control and correction station, information about the location of the moving object from the moving medium is sent to the server of the control and correction station, in the memory of which information about the movement of trains and the electronic map of the railway station with control points.

In this case, the calculation of differential corrections in the known system is also carried out on the basis of a comparison of the coordinates of the control-correction station measured by the receiver of navigation signals relative to its known coordinates. In order for the comparison results to be used as differential corrections, the observed satellite constellations must match the receiver of the navigation signals of the control and correction station and the receivers of the navigation signals of moving objects. In real conditions, this is almost impossible to achieve.

The problem solved by the invention is to create an integrated system for positioning moving objects on a digital model of the station’s track development, providing continuous real-time positioning of the location of moving objects on a digital model of the station and recording their technological parameters in a unified information environment in real time.

The technical result of the invention is to increase the accuracy and reliability of determining the physical coordinates of moving objects, the possibility of continuous positioning in real time of the location of moving objects on digital models of stations and recording technological parameters of moving objects.

The technical result is achieved by the fact that the integrated positioning system of moving objects on a digital model of the station’s track development includes at least one base station of the GPS / GLONASS satellite navigation system, connected to the input of the differential correction calculation unit, a data acquisition and processing unit including a processor , the corresponding inputs / outputs of which are connected to the inputs / outputs of the database and the gateway, a positioning unit that includes a controller, to the inputs / outputs of which are connected d / inputs of the memory block of digital models of the track development of stations and databases, the automated workstation of the system administrator and navigation communication devices located on mobile objects, each of which contains a navigation signal receiver configured to operate in the differential mode of a satellite navigation system, a GSM radio station / GPRS, which additionally includes a Wi-Fi adapter and slots for two SIM cards, an inertial navigation system unit, a controller, two removable storage media, CA N-interface, power supply and microprocessor, the corresponding inputs / outputs of which are connected directly to the inputs / outputs of the controller, receiver of navigation signals, GSM / GPRS radio station and inertial navigation system unit, and through a connecting socket, with inputs / outputs of the first removable storage medium, the second removable storage medium is connected via a connecting connector to the corresponding input / output of the controller, the other input / output of which is connected via a CAN interface to the connector for connection to the on-board unit monitoring the motion parameters of the moving object, while the output of the differential corrections calculating unit, the inputs / outputs of the processor of the data acquisition and processing unit, the positioning unit controller and the hardware-software device of the system administrator’s workstation are connected to the railway data transmission network, and the GSM / GPRS radio station a navigation communication device via a radio channel through a GSM / GPRS network via TCP / IP is connected to the input / output of the gateway of the data acquisition and processing unit nyh.

To expand the functionality in the positioning system of moving objects on a digital model of the station’s track development, another input / output of the controller of the navigation communication device via a CAN interface is connected to a connector for connecting to the on-board unit for monitoring the motion parameters of a moving object.

To increase reliability, the system includes a backup similar calculator of differential corrections, the output of which is connected to the railway data transmission network, and a similar reserve positioning unit, the output of which is connected to the railway data transmission network.

The invention is illustrated by the drawings in figures 1 and 2. Figure 1 shows a structural diagram of an embodiment of an integrated system for positioning moving objects on a digital model of the track development of the station, figure 2 presents a structural diagram of an embodiment of a navigation communication device.

An integrated system for positioning moving objects on a digital model of the station’s track development includes a network of base stations 1 installed on the territory of the railway station, connected via a radio channel to the GPS / GLONASS satellite navigation system 2, each of which is connected to the input of differential correction calculation unit 3, collection unit 4 and data processing, including a processor 5, the corresponding inputs / outputs of which are connected to the inputs / outputs of the database 6 and the gateway 7, navigation communication mobile devices 8, installed on moving objects 9, a positioning unit 10 containing a controller 11, the inputs / outputs of which are connected to the outputs / inputs of a block 12 of the memory of digital models of the track development of stations and the database 13, and an automated workstation 14 of the system administrator.

In this case, the output of the calculator 3, the inputs / outputs of the processor 5 of the data acquisition and processing unit 4, the controller 11 of the positioning unit 10, and the hardware-software device 15 of the workstation 14 are connected to the railway data transmission network 16.

The navigation communication mobile device 8 of each movable object 9 includes a receiver 17 of navigation signals with an antenna and a GSM / GPRS radio station 18 with an antenna. The receiver 17 of the navigation signals is configured to determine physical coordinates taking into account differential corrections.

The GSM / GPRS 18 radio station additionally includes a Wi-Fi adapter and slots for two SIM cards and is connected via a radio channel through the corresponding base station 19 of the GSM / GPRS network via TCP / IP protocol to the network switch 20, the inputs / outputs of which are connected to the outputs / inputs gateway 7. The stability of the radio station 18 is provided due to the optional Wi-Fi adapter. Using a slot for two SIM cards allows you to connect SIM cards of various communication providers.

The navigation communication mobile device 8 also contains a microprocessor 21, a controller 22, an inertial navigation system unit 23, two removable memory carriers 24 and 25, a CAN interface 26 and a power supply unit (not shown in FIG. 2).

In this case, the corresponding inputs / outputs of the microprocessor 21 are connected directly to the outputs / inputs of the controller 22, the receiver 17 navigation signals, the radio station 18 GSM / GPRS and the unit 23 of the inertial navigation system, and through the connecting connector 27 to the output / input of the removable storage medium 24. The second removable storage medium 25 is connected through a connecting connector 27 to the corresponding input / output of the controller 22, the other input / output of which is connected via the CAN interface 26 to the socket 29 for the possibility of connecting to the on-board unit for monitoring the motion parameters of a moving object.

The receiver 17 and the radio 18 through the connecting elements 30 and 31 are connected to the respective antennas mounted on the roof of the moving object.

An integrated system for positioning moving objects on a digital model of the station’s track development works as follows.

Before starting work to the navigation communication device 9 installed on each movable object 9, connect:

- to the connector 29 input / output of the on-board unit for controlling the motion parameters of the moving object 8;

- to the connector 27, the first 24 removable memory medium containing information about the vector map of geographic coordinates to the railway objects of the station, in the technological process of which the moving object 8 is involved;

- to the connector 29 of the second 27 removable memory medium;

- to the connecting element 30 output antenna GPS / GLONASS;

- to the connecting element 31, the output of the GSM / GPRS antenna.

After turning on and initializing the navigation communication device 8, the radio station 18 automatically establishes a connection with the unit 4 for collecting and processing navigation data via the GSM / GPRS network via TCP / IP. Using the GSM / GPRS network via TCP / IP protocol allows to increase the reliability and reliability of the information exchange between the radio station 18 and the unit 4 for collecting and processing navigation data.

Moving objects 9 can be various technological mobile units associated with the provision of the transportation process:

shunting, train locomotives; mechanized track repair machines; motor vehicles of operational repair and restoration services: communications, track automation, power supply, track repair and others; motor transport road depot.

Base stations 1 are installed on the territory of the railway station. Each of the base stations 1 is equipped with GPS equipment and special software designed to receive GPS signals, analyze received measurements, calculate ionosphere errors, deviations of trajectories and satellite clocks (not shown in FIG. 1).

The data from the outputs of the base stations 1, operating in automatic mode, are sent to the differential correction calculation unit 3, which processes and analyzes the measurement results obtained from all base stations 1 of the network and calculates the value of the differential corrections.

Unit 3 in the RTCM and CMR formats sends differential correction data over the data transmission network 16 to the processor 5 of the data acquisition and processing unit 4. The processor 5 sends them to its RAM. Every 2 s, differential correction data is updated.

The receiver 17 of the navigation communication device 9 in real time provides reception of navigation signals characterizing the physical coordinates of the moving object. The time interval for updating data from the satellite navigation system 2 to the navigation receiver 17, at least 1 s. The signals from the output of the receiver 17 enter the microprocessor 21, which generates a message containing data on its coordinates at a given time, for sending it to the unit 4 for collecting and processing data. The microcontroller 21 transmits the generated message to the input of the radio station 18, which sends it to the switch 20 via the radio channel through the base station 19 of the GSM / GPRS network, in the coverage area of which the movable object 9 is located, from the output of the switch 20 through the gateway 7, the message is sent to the input of the processor 5 .

The processor 5 in response to the message of the navigation communication device 9, based on the message about the coordinates of the moving object characterizing its location at the station at a given time, generates a message that includes information about the current differential correction of the satellite navigation system, and sends it to the navigation communication device 8.

The processor 5 sends the information message about the current differential correction through the gateway 7 via the GSM / GPRS network to the radio station 18, from the output of which the message is transmitted through the microprocessor 21 to the receiver 17. The receiver 17 processes the satellite navigation signals according to the specified algorithm taking into account the differential correction and sends them to microprocessor 21. In addition, the receiver 17 sends to the microprocessor 21 data on the exact time, speed and direction of movement of the locomotive. The format of the data received from the navigation receiver 17 is NMEA GPRMS, the time interval for updating data is at least 1 s.

The microprocessor 21 requests from the removable storage medium 24 the data of the vector map of the geographic coordinates to the railway objects of the station. Based on the geographical coordinates of the moving object 9 and the station’s vector map, the microprocessor 21 determines in real time the path number on which the moving object 9 is currently located. Comparing the geographical coordinates of the moving object 9 with the coordinates of the station path, the microprocessor 21 forms a sign of the reliability of the navigation parameters .

In addition, the microprocessor 21 receives the data of the block 23 of the inertial navigation system.

Block 23 of the inertial navigation system, in the particular case, includes an inertial sensor and an altimeter.

Using an inertial sensor, block 23 determines the changes in the position of the locomotive, and using an altimeter, the pressure of atmospheric air, based on which it determines the changes in the height of the locomotive's position above sea level.

The microprocessor 21 in real time processes the data of the inertial navigation system unit 23 and the satellite navigation system and, based on the results of their comparison, forms a sign of the reliability of the navigation parameters.

In addition, the microprocessor 21 generates a sign of accounting data block 24 inertial navigation system.

The microprocessor 21 in real time automatically generates a data block in which the message identification number is present; identification number of the moving object 9; values of the geographical coordinates of the dislocation of the object (latitude and longitude); date and time values for the time zone of the Greenwich Meridian (UTC format), corresponding to the moment of determining the navigation solution; values of speed and direction of movement of the object; a sign of reliability of determining the coordinate-time parameters; sign of accounting for inertial system data; a sign of power failure of the device, as well as data coming from external devices.

The microprocessor 21 sends the data block to the controller 22.

Through the CAN interface 26 in real time to another input of the controller 22 receives data from the on-board unit for monitoring the motion parameters of a moving object. The controller 22 synchronizes in time the data of the on-board unit for controlling the motion parameters of the moving object with the data of the microprocessor 21 and generates an information message that includes the data block formed by the microprocessor 21 and the data on-board the unit for controlling the parameters of the movement of the moving object. The generated information message is transmitted by the controller 22 to the removable storage medium 25 for storage and to the microprocessor 21.

The microprocessor 21 sends an information message to the input of the radio station 18 to transmit it over the radio channel of the GSM / GPRS communication network to the data collection and processing unit 4. Information messages on the values of the navigation parameters synchronized in time with the data of the on-board unit for controlling the parameters of the movement of a moving object are transmitted over TCP / IP. The average value of the time interval for transmitting informational messages is 5 s.

In this case, the microcontroller 21 and the controller 22 also monitor the functioning of the CAN interface 26 modes and the power supply.

In addition, the controller 22 sends a message about the location of the moving object to the on-board unit for controlling the locomotive's motion parameters through the CAN interface 26.

In the event of a violation of the communication channel between the radio station 18 and the data collection and processing unit 4, the radio station 18 generates a corresponding signal and sends it to the microprocessor 21, which registers the time of its arrival. After the restoration of communication, data transmission begins with that part of information that has not been transmitted.

For this, the microprocessor 21, through the controller 22, requests data from the memory medium 25, starting from the time of recording the signal of violation of the radio communication channel, and sends them to the input of the radio station 18 for subsequent transmission to the data acquisition and processing unit 4. The use of a storage medium 25 of a memory onto which all information messages intended for transmission to the data acquisition and processing unit 4 are recorded in real time eliminates the loss of information.

The implementation of the removable storage medium 25 allows you to use it as a source of information for analyzing the operation of the movable object 9 for the period of technological operations.

In block 4 for collecting and processing data, the processor 5 processes according to a predetermined algorithm the data received from the navigation communication device 8 of the moving object 9, and the processing results are stored in the database 6. Data is stored in a database of 6 data for 1 year. Based on the stored data, the processor 5 also generates a report on the results of the analysis of the routes of the moving object 8 and sends it over the data transmission network 16 to the automated control system of the station.

The processor 5 sends the results of message processing on the data transmission network 16 to the positioning unit 10.

In the positioning unit 10, the controller 11 analyzes the results of the processing of the data collection and processing unit 2 and for each station in real time, based on the digital model of the station, determines the position of the moving object 8 on the station model, its state and sends them to the database 13. The controller 11 requests data from the digital model of a particular station in the memory unit 12.

Thus, in the database 13 the storage of information about the location, movement elements and controlled parameters of the moving objects 9.

In addition, the data about the location of moving objects at the station and their real-time status, the controller sends the data to the automated control system of the station once every 10 seconds through the data transmission network 16, which allows for operational control of the technological process of the station.

The workstation 14 of the system administrator is installed in the regional computer center of the railway. The function of the system administrator is to monitor the performance of system elements, which ensures the reliability of the system as a whole.

Thus, the proposed integrated positioning system provides high accuracy and reliability in determining the physical coordinates of moving objects, the possibility of continuous positioning in real time of the location of moving objects on digital models of stations, and the registration of technological parameters of moving objects, which improves the efficiency and safety of the station.

Claims (5)

1. An integrated positioning system for moving objects on a digital model of the station’s track development, containing at least one base station of the GPS / GLONASS satellite navigation system, with an output connected to the input of the differential correction calculation unit, a data collection and processing unit including a processor, corresponding inputs / outputs of which are connected to the outputs / inputs of the database and the gateway, a positioning unit that includes a controller, to the inputs / outputs of which the outputs / inputs of the memory block of digital models are connected track development of stations and databases, an automated workstation of the system administrator and navigation communication devices located on moving objects, each of which contains a navigation signal receiver configured to operate in the differential mode of a satellite navigation system, a GSM / GPRS radio station, additionally including a Wi-Fi adapter Fi, slots for two SIM cards, inertial navigation system unit, controller, two removable storage media and a microprocessor, corresponding I / O the outputs of which are connected directly to the outputs / inputs of the controller, navigation signal receiver, GSM / GPRS radio station and inertial navigation system unit, and through the connecting connector - with the outputs / inputs of the first removable storage medium, the second removable storage medium is connected through the connecting socket to the corresponding input / the controller’s output, the other input / output of which is connected via a CAN interface to the connector for the ability to connect to the on-board unit for monitoring the motion parameters of a moving object, while the output of the differential correction calculation unit, the inputs / outputs of the processor of the data acquisition and processing unit, the positioning unit controller, and the hardware and software device of the system administrator’s workstation are connected to the railway transport data network, and the GSM / GPRS radio station of the navigation communication device via the radio channel via the GSM network / GPRS via TCP / IP is connected to the input / output of the gateway of the data acquisition and processing unit. 2. The complex system according to claim 1, characterized in that the other input / output of the controller of the navigation communication device via a CAN interface is connected to a connector for connecting to the on-board unit for monitoring the motion parameters of a moving object. 3. The complex system according to claim 1 or 2, characterized in that it includes a backup similar calculator of differential corrections, the output of which is connected to the data network of the railway transport. 4. The complex system according to claim 1 or 2, characterized in that it includes a backup similar positioning unit, the output of which is connected to the data network of the railway transport. 5. The integrated system according to claim 3, characterized in that it includes a backup similar positioning unit, the output of which is connected to the data network of the railway transport.

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