CN100561134C - Train GPS mileage self-correcting system and modification method thereof - Google Patents
Train GPS mileage self-correcting system and modification method thereof Download PDFInfo
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- CN100561134C CN100561134C CNB2006100890672A CN200610089067A CN100561134C CN 100561134 C CN100561134 C CN 100561134C CN B2006100890672 A CNB2006100890672 A CN B2006100890672A CN 200610089067 A CN200610089067 A CN 200610089067A CN 100561134 C CN100561134 C CN 100561134C
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Abstract
A kind of train GPS mileage self-correcting system and modification method thereof, this system comprises: a process computer, this process computer connects a GPS receiver with serial port, and this process computer connects a track checking car detection system by network with serial port.Modification method of the present invention is to combine with the artificial mileage number of revising mileage by the information of obtaining from the GPS receiver, set up mileage database, the information that basis is constantly obtained from the GPS receiver in the track checking car operational process, and constantly and the mileage database of having set up is carried out mileage coupling and mileage postpones computing, revise mileage in real time to detection system according to result of calculation; By the information travel direction angle judgment processing that obtains by GPS.Retardance when the invention solves GPS receiver output data has improved the accuracy of GPS receiver kinetic measurement, satisfies the needs of speed-raising, and the mileage calibration is not subjected to the speed considerable influence when train speed is high, and the degree of accuracy height, and is simple to operate.
Description
Technical field
The present invention relates to a kind of vehicle electric location update the system, particularly a kind of train GPS mileage self-correcting system and modification method thereof that is used for railway.
Background technology
In the railway operation system, use many railway special vehicles, for example track inspection car, rail-defect detector car, geological radar car, these special vehicles are to check the track disease, eliminate the large-scale dynamic detecting equipment of accident potential, guide line maintenance, raising circuit ride comfort, guarantee driving safety.And the mileage correction of special vehicle, the position finding of train operation just on rail track is a basic project data.In the prior art, be to represent the present position, and adding up of mileage is to rely on the number of times of the girth of wheel rotation and rotation to add up and obtain mileage number by the kilometer board number on the circuit, but owing to the wheel reason, wearing and tearing cause circumference diminishes as wheel self, or train braking skids; Perhaps the circuit reason as the kilometer board that circuit is provided with, is relocated owing to construct, and causes long-chain or short chain; Even at the connecting line of circuit, the mileage saltus step can appear.These reasons can cause the inexactness of mileage, and when special vehicle detects a certain place of circuit when problem is arranged, and coarse location will influence the speed and the efficient of line work people finder circuit disease.
Be by manually running to specific mileage place at track checking car carries out the correction of mileage in the prior art, the important means of revising disease milimeter number position is the sign to the kilometer board of track.The correction of existing milimeter number to detection system is to rely on artificial the correction, operating personnel's Tong Guo lookout window on the train of operation is observed the kilometer upright stone tablet of track both sides, when the kilometer upright stone tablet is parallel with operating personnel, press kilometer and insert key, this just requires operating personnel to import the milimeter number of next kilometer upright stone tablet in advance, and kilometer needs when inserting in time and accurately, therefore, existing technological means not only influences the degree of accuracy of measuring track disease position but also has increased the weight of operating personnel's work load.The artificial problem of revising the mileage existence is:
1) the too fast operating personnel of causing of train speed can't see kilometer board or to the mileage correction too early or slow excessively clearly;
2) the weather reason is to the influence of operating personnel's sight line, for example weather such as mist, rain, snow, wind;
3) the artificial correction makes that operating personnel's work load is heavy.
At present, along with the development of GPS technology, can adopt GPS location on the car, the latitude, longitude of output track disease goes to search disease according to longitude and latitude again, but owing to do not know the definite kilometer of disease, therefore can not proofread mileage automatically.In addition, the mode that is widely used in the mileage check and correction on the track inspection car in the art still adopts the manual keyboard input, make the mileage degree of accuracy of rail detection system be subjected to very big influence like this, and operating personnel's work load is overweight, and can't discern railway mileage board under the situation that train speed is fast and sight line is disturbed in the driving at night process.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of train GPS mileage self-correcting system and modification method thereof, receive the signal of GPS receiver by a GPS process computer, and handle in real time, thereby overcome defective of the prior art, realized providing the higher and output speed of precision electronics locator data faster the track checking car detection system.
For this reason, train GPS mileage self-correcting system of the present invention, wherein, comprise a process computer, this process computer connects a GPS receiver with serial port, and this process computer connects a track checking car detection system by network with serial port, wherein, the GPS receiver is transferred to described process computer with the GPS locator data that receives with serial port, and described track checking car detection system is also transmitted the data of track checking car with serial port.
Aforesaid train GPS mileage self-correcting system wherein, in described process computer, carries out mileage coupling and delay processing and direction judgment processing automatically, and the data transmission after the processing is given described track checking car detection system.
Aforesaid train GPS mileage self-correcting system, wherein, the GPS receiver is the GPS receiver that the ocean is used.
A kind of train GPS mileage automatic correcting method comprises that the information by obtaining from the GPS receiver combines with the artificial mileage number of revising mileage, sets up mileage database, wherein,
In the track checking car operational process,, and constantly and the mileage database of having set up is carried out the mileage coupling and mileage postpones computing, revise mileage in real time to detection system according to result of calculation according to the information of constantly obtaining from the GPS receiver;
By the information travel direction angle judgment processing that obtains by GPS.
Aforesaid mileage automatic correcting method, wherein, that the foundation of above-mentioned mileage database can be adopted is intrinsic, manually set up or by the online foundation of GPS.
Aforesaid mileage automatic correcting method, wherein, above-mentioned mileage makeover process comprises:
Step 1: receive gps data;
Step 2: judge in mileage database the coupling with current track checking car position, if do not have coupling then return step 1, if coupling is arranged then carry out step 3;
Step 3: the distance based on time delay is revised;
Step 4: calculate current mileage;
Step 5: the mileage increase and decrease is judged;
Step 6: the mileage increase and decrease is handled, and comprises subtracting the mileage processing and increasing mileage handling;
Step 7: export current mileage K
Current, current mileage K
CurrentBe non-whole kilometer data;
Step 8: non-whole kilometer blocks, and exports whole kilometer K1
Current, calculate the time t=(K1 that arrives whole kilometer from non-whole kilometer
Current-K
Curren)/V;
Step 9: through T time delay;
Step 10: revise mileage K1 to detection system output
Current
Wherein, V represents speed.
Aforesaid mileage automatic correcting method in the described step 3, is positioned at delay distance D if be in distance D nearest in current track checking car and the mileage database
DelayIn the zone of two GPS periodic distance, the distance data that promptly adopt the gps data that received to provide enter the processing of step 4, and wherein, a GPS periodic distance is D
Frequence=T
Frequece* V; If nearest distance D is in two GPS periodic distance D in current track checking car and the mileage database
FrequenceAnd distance D
DfThe zone in, the distance data that then adopt next gps data to provide enter the processing of step 4, wherein D
DfBe (GPS period T
Frequece+ time delay T
Delay+ GPS transmission time T
Transfer) * speed V.
Aforesaid mileage automatic correcting method, in the described step 6, in subtracting the mileage processing, current mileage K
CurrentDistance D-speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K+ of=coupling and the mileage database
Delay+ transmission time T
Transfer), in increasing the mileage processing procedure, current mileage K
CurrentDistance D+speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K-of=coupling and the mileage database
Delay+ transmission time T
Transfer), T wherein
DelayRefer to that average transmission time and GPS receiver self postpone sum; Transmission time T
TransferFinger is transferred to time of GPS process computer from one section gps data of GPS receiver, and the start time that equals to receive gps data subtracts the concluding time that receives gps data.
Aforesaid mileage automatic correcting method further comprises by the information travel direction angle that is obtained by GPS and judging, comprising:
Step a is for receiving gps data;
Step b is for judging in mileage database the coupling with current track checking car position, if do not have coupling then return step a, if coupling is arranged then carry out step c and d;
Step c is for judging that this moment, track checking car ran on the uplink or the downlink of the multiple line that data-base recording is consistent;
Steps d is for judging that this moment, track checking car ran on the single line that data-base recording is consistent.
Aforesaid mileage automatic correcting method among the described step c, require absolute value that the deflection of the deflection of GPS real time data and mileage database data multiple line subtracts each other less than constant 0.5, and speed will reach 5 kilometers/hour.
Aforesaid mileage automatic correcting method, in the described steps d, the absolute value that the deflection of requirement GPS real time data and the single line deflection of mileage database data subtract each other is between constant 180.5 and 179.5 or less than constant 0.5, and speed will reach 5 kilometers/hour.
Advantage and characteristics that the present invention compared with prior art possesses are:
Retardance when 1, train GPS mileage self-correcting system of the present invention and modification method thereof have solved GPS receiver output data, improved the accuracy of GPS receiver kinetic measurement greatly, and the GPS receiver that use cost is lower can make its performance meet or exceed expensive real-time GPS receiver through algorithm process.
2, train GPS mileage self-correcting system of the present invention and modification method thereof utilize the correlation parameter such as longitude, latitude, deflection of GPS receiver, with the kilometer latitude, longitude of board on the circuit of having set up and the database of deflection, carrying out matching ratio handles with postponing to export, and the definite milimeter number of the train that is being moved, and the milimeter number that will calculate in real time whenever is spaced a distance and outputs in real time in the detection system, reaches the mileage of revising detection system and indicates.And GPS mileage update the system satisfies the needs of speed-raising, and the mileage calibration is not subjected to the speed considerable influence when train speed is high.
3, train GPS mileage self-correcting system of the present invention and modification method degree of accuracy thereof are put the mileage height than manually, make the worker be engaged in people finder's track disease fast and accurately.Simple to operate, the user only needs several buttons can make automated system operation, and the course of work need not to intervene, and therefore increases work efficiency greatly, alleviates staff's burden.
4, train GPS mileage self-correcting system of the present invention and modification method thereof can be according to the traffic directions of the deflection right judgement train of GPS output, and judge the line up and down of railway line thus.
Description of drawings
Fig. 1 is the synoptic diagram of train GPS mileage self-correcting system of the present invention;
Fig. 2 is that the mileage in the train GPS mileage automatic correcting method of the present invention mates and postpone the treatment step synoptic diagram automatically;
Fig. 3 is the GPS deflection determining step synoptic diagram in the train GPS mileage automatic correcting method of the present invention.
Embodiment
Understand more and understanding accurately for technical matters, technical characterictic and obtained technique effect that train GPS mileage self-correcting system of the present invention and modification method thereof will be solved, now contrast the description of drawings specific embodiments of the invention.
Fig. 1 is the synoptic diagram of train GPS mileage self-correcting system of the present invention, as seen from the figure, train GPS mileage self-correcting system of the present invention comprises a process computer, this process computer connects a GPS receiver with serial port, this process computer connects a track checking car detection system by network with serial port, wherein, the GPS receiver is transferred to described process computer with the GPS locator data that receives with serial port, described track checking car detection system is also transmitted the data of track checking car with serial port, in described process computer, position delay, mileage judges and the direction judgment processing that the data transmission after the processing is given described track checking car detection system.
GPS receiver precision among Fig. 1 and output speed want to guarantee promptness that process computer is handled gps data and predictable.The GPS receiver of preferably selecting for use the ocean to use in the present invention, and through the processing of GPS process computer, thus can satisfy the requirement of speed, precision and real-time.In this system, too high for avoiding cost, use be non real-time GPS receiver, therefore, must position and postpone handle, otherwise on the train of advancing, just can not obtain accurate data.
Track inspection car is as the important heavy mechanical equipment to rail travelling crane safety and maintenance, mainly detect the disease position of track by detecting instrument, by shaft encoder, just utilize the girth of wheel and the number of turns accumulation calculating milimeter number of wheel rotation to determine the disease position in the detection system; And locomotive brake or track kilometer upright stone tablet own are not the errors that actual whole kilometer all causes kilometer in the system.Data transmission after the processing is revised the milimeter number of detection system after giving described track checking car detection system.
Train GPS mileage self-correcting system principle of work of the present invention is to utilize correlation parameters such as the longitude of GPS receiver, latitude, deflection, with the kilometer latitude, longitude of board on the circuit of having set up and the database of deflection, carrying out matching ratio handles with postponing to export, and the definite milimeter number of the train that is being moved, and the milimeter number that will calculate in real time whenever is spaced a distance and outputs in real time in the detection system, reaches the mileage of revising detection system and indicates.
The train GPS mileage automatic correcting method comprises that mileage mates and postpone the foundation of processing, GPS direction judgment processing and mileage database automatically.Mileage mates automatically and postpones to handle is to carry out mileage to differentiate automatically on the basis of mileage database, automatically revising is constantly to obtain data from the GPS receiver, constantly carry out and mileage database coupling and postpone to handle, obtain current mileage and export to detection system.
Fig. 2 is that the mileage in the train GPS mileage automatic correcting method of the present invention mates and postpone the treatment step synoptic diagram automatically.At first the gps data of GPS receiver is transferred in the GPS process computer by serial ports in this course, the GPS process computer mates by postponing the processing of processing and real-time gps data with mileage database, obtain real-time train position mileage number.
Be specially step 1 for receiving gps data; Step 2 is for judging whether the mileage that is complementary with current track checking car position is arranged in mileage database, if do not have the mileage that is complementary then return step 1, if the mileage that is complementary is arranged then carry out step 3; Step 3 is based on T time delay
DelayDistance revise; Step 4 is for calculating current mileage; Step 5 is judged for the mileage increase and decrease; Step 6 is handled for the mileage increase and decrease, comprises subtracting the mileage processing and increasing the mileage processing, promptly according to mileage that is complementary in the mileage database and the revised data of distance, carries out mileage increase and decrease processing, in subtracting the mileage processing, and current mileage K
CurrentDistance D-speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K+ of=coupling and the mileage database
Delay+ transmission time T
Transfer), in increasing the mileage processing procedure, current mileage K
CurrentDistance D+speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K-of=coupling and the mileage database
Delay+ transmission time T
Transfer); Step 7 is the current mileage K of output
Current, current mileage K
CurrentBe non-whole kilometer data; Step 8 is blocked for non-whole kilometer, exports whole kilometer K1
Current, calculate the time t=(K1 that arrives whole kilometer from non-whole kilometer
Current-K
Curren)/V; Step 9 is process T time delay; Step 10 is to revise mileage K1 to detection system output
Current
In step 3, be positioned at delay distance D if be in distance D nearest in current track checking car and the mileage database
Delay(time delay T
Delay* speed V) and two GPS periodic distance D
Frequence=T
FrequeceIn the zone of * V, that is: D
Delay≤ D≤2 * D
Frequence, then directly entering modification region, the distance data that promptly adopt the gps data received to provide enter the processing of step 4; If nearest distance D is in two GPS periodic distance D in current track checking car and the mileage database
FrequenceAnd distance D
Df(GPS period T
Frequece+ time delay T
Delay+ GPS transmission time T
TransferIn the zone of) * speed V, distance D
DfBe possible maximum error, that is: 2 * D
Frequence＜D≤D
DfThe distance data that then adopt next gps data to provide enter the processing of step 4, gps data that step 2 received as the instruction that is in pre-modification region.
Wherein time delay T
DelayBe meant GPS receiver self time delay; Transmission time T
TransferFinger is transferred to time of GPS process computer from one section gps data of GPS receiver, and the start time that equals to receive gps data subtracts the concluding time that receives gps data.
Fig. 3 is the GPS deflection judgment processing steps synoptic diagram in the train GPS mileage automatic correcting method of the present invention.Be specially step a for receiving gps data; Step b is for judging whether the mileage that is complementary with current track checking car position is arranged in mileage database, if do not have the mileage that is complementary then return step a, if the mileage that is complementary is arranged then carry out step c and d; Step c is for judging that this moment, track checking car ran on the uplink or the downlink of the multiple line that data-base recording is consistent, the absolute value that the deflection of requirement GPS real time data and the deflection of mileage database data multiple line subtract each other is less than constant 0.5, and speed will reach 5 kilometers/hour; Steps d is for judging that this moment, track checking car ran on the single line that data-base recording is consistent, the absolute value that the deflection of requirement GPS real time data and the single line deflection of mileage database data subtract each other is between constant 180.5 and 179.5 or less than constant 0.5, and speed will reach 5 kilometers/hour.
The GPS process computer also is a dynamic Geographic Information System simultaneously, shows rail track electronic chart and Train Dynamic running orbit, makes the user understand the particular location and the GPS relevant information of train.
The GPS process computer transmits mileage at a certain distance counts to detection system on the train, reaches the mileage mark of real-time correction detection system.
That the foundation of mileage database can be adopted is intrinsic, manually set up or by the online foundation of GPS, can adopt above-mentioned known mode to set up in the present embodiment.
By utilizing the gps system whole world, all weather operations, can provide continuous, real-time three-dimensional position for the user, three-dimensional velocity and chronometer time are not subjected to the influence of weather, the bearing accuracy height, the unit bearing accuracy is better than 10 meters, the advantage that function is many.Test train GPS mileage self-correcting system of the present invention and modification method evidence thereof in the detection system on many track inspection cars, respond well can replace manually-operated fully and revise mileage accurate.Also success be used for radar geology car, satisfied the requirements at the higher level of radar geology car to the mileage precision.
The above only is specific embodiments of the invention, and when not limiting scope of the invention process with this, i.e. equivalent variations and the modification of doing according to the present patent application claim and description generally all should still belong in the scope that patent of the present invention contains.
Claims (6)
1, a kind of train GPS mileage automatic correcting method comprises that the information by obtaining from the GPS receiver combines with the artificial mileage number of revising mileage, sets up mileage database, it is characterized in that:
In the track checking car operational process,, and constantly and the mileage database of having set up is carried out the mileage coupling and mileage postpones computing, revise mileage in real time to detection system according to result of calculation according to the information of constantly obtaining from the GPS receiver; By the information travel direction angle judgment processing that obtains by GPS;
Wherein: the foundation of above-mentioned mileage database can adopt intrinsic, manually set up or by the online foundation of GPS;
Wherein above-mentioned mileage makeover process comprises:
Step 1: receive gps data;
Step 2: judge in mileage database the coupling with current track checking car position, if do not have coupling then return step 1, if coupling is arranged then carry out step 3;
Step 3: the distance based on time delay is revised;
Step 4: calculate current mileage;
Step 5: the mileage increase and decrease is judged;
Step 6: the mileage increase and decrease is handled, and comprises subtracting the mileage processing and increasing mileage handling;
Step 7: export current mileage K
Current, current mileage K
CurrentBe non-whole kilometer data;
Step 8: non-whole kilometer blocks, and exports whole kilometer K1
Current, calculate the time t=(K1 that arrives whole kilometer from non-whole kilometer
Current-K
Curren)/V;
Step 9: through T time delay;
Step 10: revise mileage K1 to detection system output
Current
Wherein, V represents speed.
2, mileage automatic correcting method as claimed in claim 1 in the described step 3, is positioned at delay distance D if be in distance D nearest in current track checking car and the mileage database
DelayIn the zone of two GPS periodic distance, the distance data that promptly adopt the gps data that received to provide enter the processing of step 4, and wherein, a GPS periodic distance is D
Frequence=T
Frequece* V; If nearest distance D is in two GPS periodic distance D in current track checking car and the mileage database
FrequenceAnd distance D
DfThe zone in, the distance data that then adopt next gps data to provide enter the processing of step 4, wherein D
DfBe (GPS period T
Frequece+ time delay T
Delay+ GPS transmission time T
Transfer) * speed V.
3, mileage automatic correcting method as claimed in claim 1, in the described step 6, in subtracting the mileage processing, current mileage K
CurrentDistance D-speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K+ of=coupling and the mileage database
Delay+ transmission time T
Transfer), in increasing the mileage processing procedure, current mileage K
CurrentDistance D+speed the V of coupling mileage * (time delay T in the current track checking car of mileage number K-of=coupling and the mileage database
Delay+ transmission time T
Transfer), T wherein
DelayRefer to that average transmission time and GPS receiver self postpone sum; Transmission time T
TransferFinger is transferred to time of GPS process computer from one section gps data of GPS receiver, and the start time that equals to receive gps data subtracts the concluding time that receives gps data.
4, mileage automatic correcting method as claimed in claim 1 further comprises by the information travel direction angle that is obtained by GPS and judging, comprising:
Step a is for receiving gps data;
Step b is for judging in mileage database the coupling with current track checking car position, if do not have coupling then return step a, if coupling is arranged then carry out step c and d;
Step c is for judging that this moment, track checking car ran on the uplink or the downlink of the multiple line that data-base recording is consistent;
Steps d is for judging that this moment, track checking car ran on the single line that data-base recording is consistent.
5, mileage automatic correcting method as claimed in claim 4 among the described step c, require absolute value that the deflection of the deflection of GPS real time data and mileage database data multiple line subtracts each other less than constant 0.5, and speed will reach 5 kilometers/hour.
6, mileage automatic correcting method as claimed in claim 4, in the described steps d, the absolute value that the deflection of requirement GPS real time data and the single line deflection of mileage database data subtract each other is between constant 180.5 and 179.5 or less than constant 0.5, and speed will reach 5 kilometers/hour.
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| CN100561134C true CN100561134C (en) | 2009-11-18 |
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| CN101758837B (en) * | 2008-12-25 | 2011-11-16 | 中国铁道科学研究院基础设施检测研究所 | Method, device and system for automatically correcting information of steel rail flaw detection car |
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| CN103223956B (en) * | 2012-12-20 | 2016-08-03 | 唐德尧 | The abort situation robot scaling equipment of a kind of online steel rail fracture vehicle-carrying monitoring and calibrating method |
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