CN101357644A - Locomotive wheel diameter automatic calibration system and method based on satellite positioning - Google Patents
Locomotive wheel diameter automatic calibration system and method based on satellite positioning Download PDFInfo
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- CN101357644A CN101357644A CNA2008102220458A CN200810222045A CN101357644A CN 101357644 A CN101357644 A CN 101357644A CN A2008102220458 A CNA2008102220458 A CN A2008102220458A CN 200810222045 A CN200810222045 A CN 200810222045A CN 101357644 A CN101357644 A CN 101357644A
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Abstract
The invention discloses an automatic calibration system of the diameter of a vehicle wheel based on satellite positioning, and a method thereof. The system of the invention comprises five modules and a map database, wherein, the map database is used for storing relevant information of train operation lines; the five modules are respectively a positioning module, a map matching module, a data recording module, a communication module and a main processor. By introducing a satellite positioning technology, the automatic calibration of the diameter of the vehicle wheel in a positioning system is realized by GNSS positioning information so as to reduce positioning errors caused by the diameter change of the wheel due to the wheel wear, thereby improving the precision of the train positioning.
Description
Technical field
The present invention relates to a kind of locomotive wheel diameter automatic calibration system and method thereof, belong to field of track traffic, specifically belong to vehicle positioning technology field in the track traffic based on satellite positioning.
Background technology
Train positioning plays crucial effects for train operation.The actual at present train Positioning Technology that drops into application has: miles counter, track circuit, inquiry response device, inertial sensor, leaky cable, Doppler radar etc., wherein, miles counter is the most frequently used train locating method, and it is low that it has a cost, characteristics such as simple and practical.The method of utilizing miles counter to carry out train positioning is, takes advantage of its girth according to the accumulative total revolution of record wheel, can calculate the mileage that train driving is crossed.Because the track circuit of train is an one dimension, according to train travelled distance on the line, can determine the particular location of train.
Wheel wearing and tearing cause locomotive wheel directly to change being to use miles counter to carry out one of main source of train positioning time error.Miles counter is to use wheel circumference to multiply by wheel revolutions and obtains operating range, and then obtains the current position of train, if position fixing system is still directly calculated girth with pre-set wheel when locomotive wheel directly changes, will certainly cause bigger position error.And in train travelling process, the continuous attrition of wheel meeting is especially implemented braking (particularly emergency braking) afterwards at train, and the wheel wearing and tearing are more outstanding.Therefore the vehicle wheel that needs to revise in the position fixing system directly reduces error, to reach the high purpose of train positioning precision.
Present domestic railway mainly by automatically and the wheel adjusted in the position fixing system of the method that manually combines directly be worth.At automatic block district, when train passed through signal through one, the signal signaling frequency that it receives can change, and used this method to judge that locomotive has passed through the signal position, in conjunction with the length and the wheel revolutions of this block section, realize directly crossing the machine adjustment from driving wheel.In Semi-automatic Block District, through entering the station or during starting signal, the driver can manually press the adjustment key, realize that the wheel footpath adjusts, but this method is subjected to man's activity big, the error of generation is also very big.In addition, be equipped with on the circuit of responser also and can realizing the calibration of wheel footpath, but the circuit of present domestic laying responser is also less, and it is all very big to lay construction, maintenance cost that responser brought in conjunction with responser.
Global navigation satellite position fixing system (GNSS) is meant the satellite navigation system that navigation information can be provided in the world accurately, in real time.The systems such as GALILEO that mainly comprise GPS of USA, Muscovite GLONASS, Europe.Fig. 1 is a GPS positioning principle sketch, its basic fixed position principle is: satellite incessantly earthward the user send self ephemeris parameter and temporal information, after the user receives these information, through calculating three-dimensional position, three-dimensional and the kinematic velocity obtain receiver and temporal information etc.
The satellite navigation location has characteristics such as ground covers continuously, precision height, real-time positioning speed is fast, obstacle overcome ability good, strong security.Therefore, satellite positioning navigation all has important use to be worth at aspect such as military, civilian, and it can satisfy the needs of various different users, and can fundamentally solve human navigation and orientation problem on earth.The particularly important is, can realize accurate location to vehicle finishing vehicle automatic navigation function by GNSS.
Summary of the invention
In order to overcome the deficiency of prior art structure, the invention provides a kind of locomotive wheel diameter automatic calibration system and method based on satellite positioning, it is by introducing satellite positioning tech in existing position fixing system, realization utilizes the GNSS locating information that the locomotive wheel in the position fixing system is directly calibrated automatically, thereby reduce the existing miles counter that adopts as changing caused position error owing to the wheel wearing and tearing cause the wheel footpath in the train positioning system of sensor, improve the train positioning precision.The technical solution adopted for the present invention to solve the technical problems is:
A kind of locomotive wheel diameter automatic calibration system based on satellite positioning, it comprises five modules and a map data base.Wherein, described map data base is used for the relevant information of train car circulation line, as orbital data, railway exclusive data and terrain environment data; And described five subsystems are respectively: locating module, map-matching module, data recordin module, communication module and primary processor.
Wherein, described locating module location receiver via satellite positions the locomotive current location, the current latitude and longitude coordinates of output locomotive; Described map-matching module is mated the location output and the described map data base of described locating module, and the matching result that obtains is just located the relevant position of output on map; Described data recordin module is recorded centrally in these information in the SD storage card in order to receive from wheel footpath calibration information that primary processor sends over, work state information etc., is used for transferring in the future; Described communication module is responsible for communicating with train control system, sends wheel footpath calibration information; Described primary processor is a flush bonding processor, finishes the automatic calibration algorithm in wheel footpath, controls functions such as other module, data exchange.
Above-mentioned locomotive wheel diameter automatic calibration system based on satellite positioning has following annexation:
After described locating module is determined the locomotive position, carry out data communication with described primary processor, in described primary processor, adopt the automatic alignment method in locomotive wheel footpath that the wheel footpath is calibrated, and result being carried out record by described data recordin module, the wheel after communication module will be calibrated directly is worth and sends to the primary processor of being responsible for train operation control.
A kind of automatic alignment method in locomotive wheel footpath based on satellite positioning, comprise: at first, determine to take turns the position that key point is calibrated in the footpath, and set up the wheel footpath and calibrate the map data base of key point, wherein, the foundation of described map data base can or be located automatically via satellite and set up by artificial foundation; Then, by detecting train, and judge in conjunction with satellite positioning whether train arrives the described position that key point is calibrated in the footpath of taking turns through the wheel revolutions between two calibration points, the actual distance between two key points; If train does not arrive the described footpath of taking turns and calibrates the position of key point, just call wheel footpath correction algorithm automatically, thereby the described footpath of taking turns is revised automatically and realized the described footpath calibration automatically of taking turns.
In the above-mentioned automatic alignment method in locomotive wheel footpath based on satellite positioning, the described automatic correction algorithm in footpath of taking turns comprises:
Step 1 receives satellite positioning information and miles counter locating information, and carries out information synchronization, wheel slipping is slided carry out correction-compensation then;
Step 2 judges and specifically to be meant location condition, when satisfying the usable satellite number greater than condition more than 10km/h of 4 and the speed of a motor vehicle, carries out the calibration automatically of vehicle wheel footpath;
Step 4 produces wheel footpath calibration information, specifically be meant, train is after arriving key point, the moment of generation information and train control system receive between moment of this message and have certain time-delay, in this time-delay, the certain distance of train meeting traveling can produce error thus, therefore needs compensate this error.Described compensation has dual mode, and a kind of is that the capture radius size definition that key point is calibrated in wheel footpath is the function of a speed statistical property, according to the difference of train running speed, and Dynamic Definition capture radius size; Another kind is the increase along with the speed of a motor vehicle, suitably improves the output frequency of receiver;
The distance of a calibration point in the error compensation that step 5 obtains according to step 4 and the described certain distance, calculate train and take turns the actual distance travelled L that directly calibrates between key point at two, calculate the wheel revolutions n of train between two calibration points simultaneously, and according to L and the new wheel footpath Dc of n calculating, Dc=L/n π;
Whether step 6 judges new wheel footpath Dc and former value of delta of taking turns footpath D greater than former 1% of the footpath of taking turns, if greater than would revise, otherwise do not revise, and will described new wheel directly Dc directly be worth as the wheel in the train operation control system, be used for mileage calculating.
In step 1, described information synchronization is meant that the described miles counter locating information that described satellite positioning information and miles counter are sent carries out synchronously.Specifically be meant, after system finishes initialize routine, the enabling counting device begins counting, because the output of miles counter is impulse singla, the output frequency of satellite positioning receiver be per second once, therefore consider that the impulse singla to miles counter was that unit counts with 1 second, the 1pps signal that sends with satellite positioning receiver during counting is a benchmark, write down the pulse number between the arrival of 1pps signal twice, draw the running velocity of train; When the 1pps signal comes, extract the value in the described counting machine, and, realize synchronizing function restarting counting after the counter O reset.
Effect of the present invention is: according to system provided by the invention, can rely on mobile unit fully, location technology realizes that locomotive wheel calibrates automatically via satellite, the former locomotive wheel based in the train positioning system of miles counter that is widely used is directly often calibrated, and do not need the auxiliary of wayside equipment, like this, both reduced the train positioning error, under the situation that maintenance cost descends, improve the train positioning precision again, guaranteed train operating safety.
Description of drawings
Fig. 1 is according to satellite positioning simplified schematic diagram of the present invention;
Fig. 2 is the system architecture scheme drawing according to the locomotive wheel diameter automatic calibration system based on satellite positioning of the present invention;
Fig. 3 is according to the locomotive wheel footpath based on the satellite positioning of the present invention diagram of circuit of alignment method automatically;
Fig. 4 is according to the scheme drawing based on satellite locating information and miles counter information synchronization method in the automatic alignment method in locomotive wheel footpath of satellite positioning of the present invention.
The specific embodiment
For making the technical matters that will solve based on the locomotive wheel diameter automatic calibration system and the method for satellite positioning of the present invention, technical characterictic and obtained technique effect clearer and more definite, the present invention is described in further detail below in conjunction with the drawings and specific embodiments:
Embodiment 1 comprises primary processor, locating module, map-matching module, data recordin module, communication module and map data base based on the locomotive wheel diameter automatic calibration system of satellite positioning as shown in Figure 2.In train travelling process, locating module location receiver via satellite receives locomotive position information, obtains the current latitude and longitude information of locomotive after these location informations are resolved, and is converted to geodetic coordinate information according to actual needs.These locating information are carried out map match by map-matching module, and primary processor reads numerical map from map data base, and search for the cooresponding matching point of the elements of a fix on numerical map, obtain the position of train on map.Primary processor obtains wheel footpath calibration information according to train position information and wheel revolutions by related algorithm, and sends to train control system.Simultaneously, the relevant data message of data recordin module record is for later reference.
Embodiment 2 Fig. 3 are according to the locomotive wheel footpath based on the satellite positioning of the present invention diagram of circuit of alignment method automatically.The automatic alignment method in locomotive wheel footpath based on satellite positioning comprises the steps: at first, determine to take turns the position that key point is calibrated in the footpath, set up the wheel footpath and calibrate the map data base of key point, the foundation of map data base in this embodiment can be passed through artificial foundation or location foundation automatically via satellite; Then, by detecting train, and judge in conjunction with satellite positioning whether train arrives the wheel footpath and calibrate key point, thereby realize the calibration of wheel footpath through the actual distance between the wheel revolutions between two calibration points, two key points.In the present embodiment, as shown in Figure 3, its idiographic flow step that realizes the calibration of wheel footpath is as follows:
Step 1 receives satellite positioning information (being the GPS locating information) and miles counter locating information (i.e. ODO information among the figure), and carries out information synchronization and handle, and then carries out the correction-compensation that wheel slipping slides;
Step 2 is judged location condition, when satisfying the usable satellite number greater than condition more than 10km/h of 4 and the speed of a motor vehicle, carries out vehicle wheel and directly calibrates; Otherwise, the processing of repeating step 1, and proceed condition judgment, till condition satisfies, change step 3 over to;
Step 4 is obtained wheel footpath calibration information and is caught delay time error in order to correction.Have certain time-delay owing to producing between the moment of taking turns the footpath calibration information and the moment that train control system receives message, in this time-delay, the certain distance of train meeting traveling can produce error thus, therefore need compensate error.Described error is compensated dual mode: a kind of is that the capture radius size definition that key point is calibrated in the wheel footpath is the function of a speed statistical property, according to the difference of train running speed, and Dynamic Definition capture radius size; Another kind is the increase along with the speed of a motor vehicle, suitably improves the output frequency of receiver;
Step 5 is according to the error compensation of step 4 acquisition and the distance of the last calibration point of distance, obtain train at N-1 and N actual distance L that calibrates between the key point, calculate train simultaneously at N-1 and N wheel revolutions n that calibrates between the key point, calculate new wheel footpath Dc, Dc=L/n π according to L and n;
Step 6 judge new wheel footpath Dc and former value of delta of taking turns footpath D (δ=| Dc-D|) whether greater than 1% of wheel far away footpath, if greater than would revise, the revised wheel directly is: D=Dc, otherwise do not revise; And new wheel footpath Dc directly is worth as the wheel in the train operation control system, be used for mileage and calculate.
Claims (8)
1. locomotive wheel diameter automatic calibration system based on satellite positioning, its feature foot: comprise five modules and a map data base, wherein, described map data base is used for the relevant information of train car circulation line, as orbital data, railway exclusive data and terrain environment data; Described five modules are locating module, map-matching module, data recordin module, communication module and primary processor respectively.
2. a kind of locomotive wheel diameter automatic calibration system based on satellite positioning according to claim 1 is characterized in that: described locating module location receiver via satellite positions the locomotive current location, the current latitude and longitude coordinates of output locomotive; Described map-matching module is that output of the location of described locating module and described map data base are mated, and the matching result that obtains is just located the relevant position of output on map; Described data recordin module is recorded centrally in these information in the SD storage card in order to receive from wheel footpath calibration information that primary processor sends over, work state information etc., is used for transferring in the future; Described communication module is responsible for outwards sending wheel footpath calibration information; Described primary processor is a flush bonding processor, finishes the automatic calibration algorithm in wheel footpath, controls other module, data exchanging function.
3. the locomotive wheel diameter automatic calibration system based on satellite positioning according to claim 1 is characterized in that, has following annexation:
After described locating module is determined the locomotive position, the locomotive position data message is sent to primary processor, in described primary processor, adopt the automatic alignment method in locomotive wheel footpath that the wheel footpath is calibrated, and by described data recordin module result is carried out record, and the wheel after will being calibrated by communication module directly is worth and sends to the primary processor of being responsible for train operation control.
4. one kind based on the locomotive wheel of satellite positioning footpath alignment method automatically, it is characterized in that, described method comprises: at first, determine to take turns the position that key point is calibrated in the footpath, and set up the wheel footpath and calibrate the map data base of key point, wherein, the foundation of described map data base is by manually setting up or locating automatically via satellite and set up; Then, by detecting train, and judge in conjunction with satellite positioning whether train arrives the described position that key point is calibrated in the footpath of taking turns through the wheel revolutions between two calibration points, the actual distance between two key points; If train does not arrive the described footpath of taking turns and calibrates the position of key point, just call wheel footpath correction algorithm automatically, thereby the described footpath of taking turns is revised automatically and realized the described footpath calibration automatically of taking turns.
5. the automatic alignment method in locomotive wheel footpath based on satellite positioning according to claim 4 is characterized in that, the described automatic makeover process in footpath of taking turns comprises:
Step 1 receives satellite positioning information and miles counter locating information, and carries out information synchronization, wheel slipping is slided carry out correction-compensation then;
Step 2 is judged location condition, when satisfying the usable satellite number greater than condition more than 10km/h of 4 and the speed of a motor vehicle, carries out the calibration automatically of vehicle wheel footpath;
Step 3 judges whether train position has arrived the wheel footpath and calibrated in the capture radius of key point, if arrive, then extracts the milimeter number of this point and the range information of the last key point of distance from data bank;
Step 4 produces wheel footpath calibration information, is meant that specifically train is after arriving key point, the moment of generation information and train control system receive between moment of this message and have time-delay, in this time-delay, thereby the certain distance of train traveling produces error, and carries out error compensation;
Step 5 is according to the distance of the last key point of distance described in described error compensation of step 4 and the step 3, calculate train and take turns the actual distance travelled L that directly calibrates between key point at two, calculate the wheel revolutions n of train between two calibration points simultaneously, and according to L and the new wheel footpath Dc of n calculating, Dc=L/n π;
Whether step 6 judges new wheel footpath Dc and former value of delta of taking turns footpath D greater than former 1% of the footpath of taking turns, if greater than would revise, otherwise do not revise, and will described new wheel directly Dc directly be worth as the wheel in the train operation control system, be used for mileage calculating.
6. the automatic alignment method in locomotive wheel footpath based on satellite positioning according to claim 5 is characterized in that information synchronization is meant described in the step 1: described satellite positioning information and described miles counter locating information are carried out synchronously.
7. the automatic alignment method in locomotive wheel footpath based on satellite positioning according to claim 5, it is characterized in that, compensation described in the step 4 has dual mode, a kind of is that the capture radius size definition that key point is calibrated in wheel footpath is the function of a speed statistical property, according to the difference of train running speed, Dynamic Definition capture radius size; Another kind is the increase along with the speed of a motor vehicle, suitably improves the output frequency of receiver.
8. according to claim 5 or the 6 described automatic alignment methods in locomotive wheel footpath based on satellite positioning, it is characterized in that, described described satellite positioning information and described miles counter locating information specifically are meant synchronously: after system finishes initialize routine, the enabling counting device begins counting, because the output of miles counter is impulse singla, the output frequency of satellite positioning receiver be per second once, therefore consider that the impulse singla to miles counter was that unit counts with 1 second, the 1pps signal that sends with satellite positioning receiver during counting is a benchmark, write down the pulse number between the arrival of 1pps signal twice, draw the running velocity of train; When the 1pps signal comes, extract the value in the described counting machine, and, realize synchronizing function restarting counting after the counter O reset.
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