RU95850U1 - SYSTEM FOR DETERMINING ACCELERATION AND SPEED OF MOVEMENT, LOCATION AND PASSED BY ROLLING STOCK - Google Patents

Abstract

 1. A system for determining the acceleration of movement, speed, location and distance traveled by a rolling stock, comprising a database associated with a computing device, a satellite navigation receiver and a reader of track outdoor markers, characterized in that the markers are installed on the track at points with known track coordinates with recording their values to the database, in addition, the system is additionally equipped with an accelerometer installed along the longitudinal axis of the rolling stock, connected to the computing device via A digital-to-digital converter for adjusting or replenishing the current values of the motion parameters received by the computing device. ! 2. The system according to claim 1, characterized in that the activation of the on-board reader is consistent with the expected location of the track markers. ! 3. The system according to claim 1, characterized in that the coordinate output of the satellite navigation receiver is connected to the corresponding input of the computing device, and additional information about the geographical coordinates of the track markers is included in the database. ! 4. The system according to claim 1, characterized in that the accelerometer, analog-to-digital converter, satellite navigation receiver, database and reader are synchronized in time by the clock frequency of the computing device.

Description

The utility model relates to measuring equipment and can be used to determine the acceleration of movement, speed, current location and distance traveled by railway vehicles, for example, trunk and shunting locomotives, other rolling stock with the possibility of subsequent transmission of these parameters to the traffic control system.

Contact locomotive systems are known for determining the speed of movement and the distance traveled, which determine the parameters of movement based on measuring the parameters of the rotation of the wheelset when it moves along the path [Angle sensor type L178 / 1.2 (L178SK). Product catalog of OJSC Electromechanics,]. The disadvantage of such systems is their low accuracy: the error in measuring the distance traveled using the contact method for wheel pair rotation reaches hundreds of meters, which is clearly not enough for the purpose of positioning the rolling stock not only on the stretch, but even more so on the dead ends of the station where the accuracy should be within ± 5 meters.

A self-contained on-board device for determining the position and speed of a rail crew (version with two registrars) is known (RU 2282197, IPC: G01P 3/64 (2006.01). The device contains two identical registrars (receiving-emitting devices) installed under the bottom of the vehicle at a distance 0.2-0.5 m (registration base L), one after the other in the direction of movement.The recorder consists of a control unit connected to a transmitting antenna, which is a source of microwave radiation, and a receiving antenna, which is a receiver of reflected microwave radiation connected to the gating amplifier. When moving the device over the railway track, the registrars perceive signals that are periodic in nature, due to the location of sleepers in the rail-sleeper. t ₁ fixation maximum signal received by the first registrar when passing another sleeper differs from the instant t ₂ the maximum fixing Sig la, the received second recorder by passing the same sleeper, by a time interval Δt, namely t ₂ = t ₁ + Δt.

The speed of movement is defined as the ratio of the length of the registration base L to the specified time interval Δt.

The disadvantages of the device are:

- the lack of means of direct coordinate referencing of the current location of the rolling stock, which allows you to determine the current speed and distance traveled, but does not give the current coordinate, the error of determination of which at the starting (starting) point of the beginning of movement thus constantly increases;

- low accuracy in determining the speed due to the use of only the moments of fixing the maximums of the signals reflected from the same sleepers to determine the parameter t, without using a large amount of the remaining information about the underlying surface contained in the reflected signals;

- the unreliability of the method of counting sleepers due to failures caused by traveling over completely covered sections of road metal, over turnouts, over double sleepers or over foreign objects inside the track;

- the need for information about the diagrams of laying sleepers on this section of the track (2000 sleepers / km, 1840 sleepers / km, etc.), including when working in curves;

- a high probability of missing the next maximum signal due to a decrease in its amplitude for various reasons (for example, masking it in the mass of other signals from the underlying surface);

- the need for increased irradiation power to increase the stability of identification of the maximum signal with a signal reflected from the next sleepers;

- the impossibility of autonomous determination of the direction of movement;

- for a given period of determining the speed value, the minimum measurable vehicle speed is determined and limited by the minimum registration base, which prevents the device from operating at reduced speeds.

There is a method of combining inertial navigation systems and a combined navigation system built on its basis (RU 2082098, IPC 6: G01C 23/00), the essence of which is the additional correction of the horizontal channels of inertial navigation systems by physical action of the gyroscopes by a differential signal from horizontal accelerometers and sensors of the base speeds used as receivers of satellite navigation system.

The main disadvantage of this technical solution is the low positioning accuracy of several tens of meters, as it is provided only by satellite navigation.

The navigation system of railway vehicles (RU 2280579, IPC: B61L 25/00 (2006.01) - prototype) contains an on-board computing device and a satellite navigation receiver connected to it and a means for activating and recording the responses of passive markers installed on the rail with the possibility of unambiguous determination of them installation locations using a marker database located on board or permanently connected to a computing device.

The disadvantage of the system is the discrete nature of the positioning of the rolling stock, carried out at the moments of the passage of the marker, while in the intervals between these events an additional means of measuring the distance traveled is required. The use of a satellite navigation receiver in this case impairs the accuracy of determining the coordinate reference to several tens of meters.

The objective of the claimed utility model is to increase the accuracy of measuring motion parameters and determining the current location of the rolling stock.

The solution to this problem is achieved by the fact that in the system for determining the acceleration and speed, location and distance traveled by the rolling stock, containing a database associated with the computing device, a satellite navigation receiver and a reader of track outdoor markers, unlike the prototype, markers are installed on the way at points with known path coordinates with entering their values into the database, in addition, the system is additionally equipped with an accelerometer installed along the longitudinal axis of the rolling stock, connected to the computing device through an analog-to-digital converter to adjust or make up for the current values of the motion parameters received in the computing device.

The solution to this problem is also achieved by the fact that:

- activation of the on-board reader is consistent with the expected location of the track markers;

- the coordinate output of the satellite navigation receiver is connected to the corresponding input of the computing device, and additional information on the geographical coordinates of the track markers is included in the database;

- an accelerometer, analog-to-digital converter, satellite navigation receiver, database and reader are synchronized in time by the clock frequency of the computing device.

The drawing shows a structural diagram of a system for determining acceleration and speed, location and distance traveled rolling stock.

The system includes side and floor parts. The onboard part of the system contains a computing device 4, to the inputs of which digital information from the outputs of the accelerometer 1 installed along the axis of the rolling stock, the receiver of the satellite navigation system 3, for example, the GPS or GLONASS receiver, and the on-board reader 6 are received. the airborne part of the system includes a database 5 containing information on the identification numbers and waypoints of floor markers 7 (x ₁ ) and 8 (x ₂ ) installed at a distance S from each other. Track markers with identification numbers are fixed along the locomotive's path at points with the corresponding track coordinates entered in database 5. The number of floor markers N and the intervals of their placement on the path S _i (i = 1, ..., N-1) are determined by the total length the route of the rolling stock and the required accuracy and reliability of its coordinate reference on individual sections of the route. The database 5 exchanges information with the computing device 4 in such a way that the database sends the value of its path coordinate to the computing device by the identification number of the traveling floor marker entering the database from the computing device.

The system is as follows.

The on-board equipment of the system — accelerometer 1, ADC 2, receiver 3, database 5 and reader 6 — is synchronized in a single time according to the clock frequency of computing device 4. Accurate coordinate reference (positioning) of rolling stock, for example, a locomotive, is carried out at the moments of on-board passage reader 6 above the corresponding floor marker. In this case, the electromagnetic radiation of the reader 6 activates the track marker, which in the activated state emits a signal (response) containing information about the identification number of the track marker and then recorded by the reader's receiving path. Information about the identification number of the track floor marker and the reading time from the reader output goes to the input of the computing device 4, which, in accordance with the identification number of the track floor marker, generates a request and receives from the database 5 the track coordinate of the floor marker corresponding to the coordinate of the location of the rolling stock, linking it to reading time. The time-coordinate information received from the track markers, the on-board reader 6 and the database 5 is discrete (with discreteness S of the distance between the markers). When using the receiver 3 of the satellite navigation system and accelerometer 1, this information is used to make corrective corrections to the current values of the coordinate and speed of the rolling stock, obtained in the time intervals between the passage of the markers. In this case, from the output of the receiver 3 to the computing device 4, the digital values of the current speed of the rolling stock V _{ss are received} . From the output of the unit of the accelerometer 1, through the ADC 2, the digital device 4 receives a digital signal corresponding to the current, taking into account the sign, value of acceleration a along the axis of movement of the rolling stock, the integration of which using the computing device gives the current value of the speed V _a . The current values of the speed of movement, measured using the navigation system - V _ss , have a sufficiently high accuracy of at least 0.1 km / h, but due to the specifics of the operation of satellite navigation systems they are discrete, since they come from the receiver’s output from the time delay up to several seconds and tend to disappear for tens of seconds in case of loss of communication with satellites, for example, when the control object is in the tunnels. On the other hand, the current values of acceleration along the axis of movement of the rolling stock, measured by the accelerometer, are continuous and do not have a significant signal delay time, however, when they are integrated and V _a is calculated, _a constant error arises that requires correction. Therefore, in the computing device 4 is a constant, with discrete calculations, a comparison of the values of V _a and V _ss . If there are sharp changes in these values after a known delay time of the satellite signal, the combination of the jumps in the values of V _a and V _ss on the time scale is corrected. The current value of the velocity V _{a is} corrected by the instantaneous values of V _ss taking into account the delay time of the satellite signal to obtain V _{a scores} , while the correction correction for V _{a is} stored for the delay time of the satellite signal and is refined when it appears. Integrating the values of V _{a skor} gives the values of the current path coordinates, which are adjusted by making corrections when passing the floor markers. Thus, at the output of the computing device 4, the current values of the path coordinate, the current speed of movement, as well as the instantaneous values of the acceleration of movement, that is, complete and high-precision information about the parameters of the movement of the rolling stock, obtained by three independent sensors when mutually correcting the results of their measurements, are formed, which ensures high efficiency of the proposed system.

Through the database 5, continuous tracking of the values of the traveling coordinate of the movement is provided, which makes it possible to determine the distance to the next marker along the rolling stock, turn on the on-board reader when approaching it and turn it off when it passes, which increases the resource of the on-board reader. In case of failure to read the next waypoint marker for any reason, to increase the reliability of the system and adjust the current waypoint in the area of the expected location of the unreadable marker, the value of the corresponding geographic coordinate obtained from the receiver 3 of the satellite navigation system can be used after the geographic coordinate has been transferred to the waypoint system coordinates.

The implementation of the claimed utility model provides a solution to the problem - improving the accuracy of measuring linear acceleration and speed, as well as the distance traveled, determining the current coordinates and direction of movement of the rolling stock due to the mutual correction of motion parameters, measured independently by sensors of different physical nature under conditions of periodic failure of the satellite signal navigation.

Claims (4)

1. A system for determining the acceleration of movement, speed, location and distance traveled by a rolling stock, comprising a database associated with a computing device, a satellite navigation receiver and a reader of track outdoor markers, characterized in that the markers are installed on the track at points with known track coordinates with recording their values to the database, in addition, the system is additionally equipped with an accelerometer installed along the longitudinal axis of the rolling stock, connected to the computing device via A digital-to-digital converter for adjusting or replenishing the current values of the motion parameters received by the computing device. 2. The system according to claim 1, characterized in that the activation of the on-board reader is consistent with the expected location of the track markers. 3. The system according to claim 1, characterized in that the coordinate output of the satellite navigation receiver is connected to the corresponding input of the computing device, and additional information about the geographical coordinates of the track markers is included in the database. 4. The system according to claim 1, characterized in that the accelerometer, analog-to-digital converter, satellite navigation receiver, database and reader are synchronized in time by the clock frequency of the computing device.