CN101513888B - Location method and system - Google Patents
Location method and system Download PDFInfo
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- CN101513888B CN101513888B CN2009100818211A CN200910081821A CN101513888B CN 101513888 B CN101513888 B CN 101513888B CN 2009100818211 A CN2009100818211 A CN 2009100818211A CN 200910081821 A CN200910081821 A CN 200910081821A CN 101513888 B CN101513888 B CN 101513888B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012937 correction Methods 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 17
- 230000004807 localization Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005855 radiation Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 3
- 238000004321 preservation Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008520 organization Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
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Abstract
The invention discloses a location method for solving the problem about inferior location precision of the prior art in a track traffic system. A radio frequency reader is mounted on a track transport facility, passive tags are mounted on the track; the method comprises the steps that: the radio frequency reader probes the passive tags and sends identification information of the probed passive tags to an on-vehicle terminal of the track transport facility; the on-vehicle terminal determines the location of the track transport facility in accordance with the received identification information of the passive tags and with a first correspondence relationship between the identification information of the passive tags and location information. The invention also discloses a location system.
Description
Technical field
The present invention relates to field of radio frequency identification, refer to a kind of localization method and system especially.
Background technology
Along with the quickening of urbanization progress and the raising of automobile popularity rate, increasingly sharpen in the urban traffic congestion, traffic accident takes place again and again, traffic environment runs down, therefore, development track traffic energetically is a kind of irreversible trend, and now, Rail Transit Systems such as subway, light rail have been shouldered the major responsibility of city traffic.
In Rail Transit System, need accurately locate the track traffic transportation means, thereby can be according to the position of track traffic transportation means, the running state of control track traffic transportation means, promptly this track traffic transportation means should quicken wherein, this track traffic transportation means should slow down wherein, wherein this track traffic transportation means this stop.At present, the technology of track traffic transportation means location mainly comprises: track circuit, meter axle, induction loop, the detection of movable block train position etc.Wherein, need the other equipment of more rail in the position fixing process of track circuit, system forms complicated, and equipment is subjected to the restriction of rail, railway roadbed traction current, track circuit limiting length etc., and accuracy of positioning is not high; Meter axle is not subjected to track restrictions, but can not delivery vehicle-ground information, thus the position that can not obtain transport facility in real time; Induction loop is not subjected to the track condition restriction, can transmit more car-ground two way communication information, and the other equipment of rail is less, but the restriction of limiting length is arranged, thereby can not accurately obtain the position of transport facility; The movable block train position detects and is not subjected to the track condition restriction, can transmit a large amount of cars-ground two way communication information, the other equipment of rail is also less, but it is to set up train position information by vehicle positioning equipment and ground auxiliary positioning equipment in conjunction with the mode in vehicle-mounted track data storehouse, its time point that provides train position information has bigger delay, so also have a certain distance for accurately locating in real time.
Therefore, present existing train positioning system not only system forms complicatedly, and accuracy of positioning is not high, along with train speed is more and more higher, requirement to accuracy of positioning is also more and more higher, and existing track traffic transportation means localization method can not reach this requirement.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of localization method and system, in order to solve the not high problem of prior art accuracy of positioning in the Rail Transit System.
The embodiment of the invention provides a kind of localization method, is applied to Rail Transit System, on the track traffic transportation means radio frequency reader is installed, and passive label is installed on the track, and this method comprises:
Described radio frequency reader is surveyed passive label, the identification information of the passive label that detects is sent to the car-mounted terminal of described track traffic transportation means;
Described car-mounted terminal is according to the identification information of the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determine the identification information corresponding position information of the described passive label that receives, according to the time of the identification information that receives passive label, and second corresponding relation of time and track traffic transportation means running velocity, determine cooresponding running velocity of the time that receives.The 3rd corresponding relation according to speed and positional error correction, determine the cooresponding positional error correction of described running velocity, according to the described location information of determining, the described radio frequency reader of preserving and the horizontal relative distance of passive label, and described positional error correction, determine the position of described track traffic transportation means.
The embodiment of the invention provides a kind of position fixing system, comprising:
Radio frequency reader is installed on the track traffic transportation means, and the passive label that is used for installing on the detection track sends to the identification information of the passive label that detects the car-mounted terminal of described track traffic transportation means;
Car-mounted terminal, be used for identification information according to the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determine the identification information corresponding position information of the described passive label that receives, according to the time of the identification information that receives passive label, and second corresponding relation of time and track traffic transportation means running velocity, determine cooresponding running velocity of the time that receives, the 3rd corresponding relation according to speed and positional error correction, determine the cooresponding positional error correction of described running velocity, according to the described location information of determining, the described radio frequency reader of preserving and the horizontal relative distance of passive label, and described positional error correction, determine the position of described track traffic transportation means.On the embodiment of the invention middle orbit transport facility radio frequency reader is installed, passive label is installed on the track, radio frequency reader is surveyed passive label like this, the identification information of the passive label that detects is sent to the car-mounted terminal of described track traffic transportation means, described car-mounted terminal is according to the identification information of the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determine the position of described track traffic transportation means, thereby can accurately determine track traffic transportation means position, realize the real-time tracing of track traffic transportation means, increased the safety of track traffic.
Description of drawings
Fig. 1 is the scheme drawing of embodiment of the invention Rail Transit System;
Fig. 2 is the diagram of circuit of embodiment of the invention track vehicle localization method;
Fig. 3 is the diagram of circuit that the embodiment of the invention is determined the positional error correction;
Fig. 4 is the Organization Chart of embodiment of the invention track vehicle position fixing system;
Fig. 5 is the diagram of circuit of embodiment of the invention control track traffic transportation means operation;
Fig. 6 is the Organization Chart of embodiment of the invention control track traffic transportation means operational system;
Fig. 7 is the constitution diagram that embodiment of the invention track traffic transportation means enters the station;
Fig. 8 is the scheme drawing of embodiment of the invention control track traffic transportation means inlet parking.
The specific embodiment
The embodiment of the invention provides a kind of localization method, be applied to Rail Transit System, at first need radio frequency reader to be installed at the track traffic transportation means, passive label is installed on the track, like this, by the information exchange between radio frequency reader and the passive label, can determine the accurate position of track traffic transportation means.Radio frequency reader can be installed in a certain position of track traffic transportation means, front end for example, bottom.
Fig. 1 is the scheme drawing of embodiment of the invention Rail Transit System, comprise track traffic transportation means, track, radio frequency reader is installed in bottom at the track traffic transportation means in the present embodiment, and passive label is installed in orbit, and the track traffic transportation means has comprised car-mounted terminal.On the track one or more passive labels can be installed, the identification information of passive label and first corresponding relation of location information have just been set up in the concrete installation site of each passive label of record in the car-mounted terminal of track traffic transportation means.
After the radio frequency reader stationkeeping of the bottom of track traffic transportation means installation, this radio frequency reader is just with fixing angle of radiation, and the pitch time of setting sends the radio frequency detectable signal, here, fixing angle of radiation can be designated θ, pitch time can be designated Δ t, and the radio frequency detectable signal can adopt the 900MHz frequency range.After the stationkeeping of radio frequency reader, the vertical distance of it and track also is fixing, thereby can be according to vertical distance, and angle of radiation calculates the horizontal relative distance of this radio frequency reader and passive label.Referring to coordinate diagram among Fig. 1, obtain radio frequency reader and passive label horizontal relative distance process as shown in Equation (1):
x＝y×tgθ (1)
Therefore, as long as determined the vertical distance y of radio frequency reader and track, and behind the angle of radiation θ, just can calculate the horizontal relative distance x of radio frequency reader and passive label, wherein, angle of radiation θ can be on the occasion of also being negative value, i.e. the direction of radio frequency reader transmission radio frequency detectable signal can be consistent with the direction of track vehicle operation, also can be opposite with the direction of track vehicle operation.For example: θ=30 °, y=0.6m, x=0.6 * tg30 °=0.35m then, θ=-30 °, y=0.6m, then x=0.6 * tg-30 °=-0.35m.Car-mounted terminal can write down the radio frequency reader that acquires and the horizontal relative distance x of passive label.
Utilize Rail Transit System shown in Figure 1, referring to Fig. 2, specific as follows to track traffic transportation means position fixing process:
Step 201: radio frequency reader is surveyed passive label, the identification information of the passive label that detects is sent to the car-mounted terminal of track traffic transportation means.
In the operational process of track traffic transportation means, radio frequency reader is with fixing angle of radiation, and the pitch time of setting sends the radio frequency detectable signal, after detecting the passive label of installing on the track when the radio frequency detectable signal, passive label contains the signal of identification information to the radio frequency reader feedback, radio frequency reader reads the identification information of this passive label, and this identification information is sent to the car-mounted terminal of track traffic transportation means.
Step 202: car-mounted terminal is according to the identification information of the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determines the position of described track traffic transportation means.
Here, car-mounted terminal can be directly according to the identification information corresponding position information of the passive label that receives, and the radio frequency reader of preserving and the horizontal relative distance of passive label are determined the position of track traffic transportation means; It is also conceivable that because the positional error that the running velocity of track vehicle causes, identification information corresponding position information according to the passive label that receives, the radio frequency reader of preserving and the horizontal relative distance of passive label, and the positional error correction, determine the position of track traffic transportation means.
Wherein, after car-mounted terminal receives identification information, can be according to first corresponding relation of preserving in advance, the identification information corresponding position information that inquiry receives, be designated as X, and car-mounted terminal has been preserved according to the radio frequency reader shown in the coordinate diagram among Fig. 1 and the vertical distance y of track, and angle of radiation θ, the horizontal relative distance x of radio frequency reader of determining and passive label, then, according to location information X, and horizontal relative distance x, can calculate the position e of track traffic transportation means by formula (2), specific as follows:
e＝X-x (2)
For example: according to first corresponding relation of preserving in advance, the identification information corresponding position information that inquiry receives is 1500m for this passive label from the distance of initial point, be X=1500m, the direction that radio frequency reader sends the radio frequency detectable signal is consistent with the direction of track vehicle operation, be the horizontal relative distance x=0.35m of radio frequency reader and passive label, e=1500m-0.35m=1499.65m then, this track traffic transportation means is 1499.65m from the distance of initial point.
When the transport facility high-speed cruising, the positional error that meeting causes because of speed, therefore, after car-mounted terminal receives identification information, at first, according to first corresponding relation of preserving in advance, the identification information corresponding position information X that inquiry receives, then, according to the time T of the identification information that receives passive label, and second corresponding relation of time and track traffic transportation means running velocity, determine the cooresponding running velocity V of the time T that receives,, determine the cooresponding positional error correction of described running velocity V Δ x according to the 3rd corresponding relation of speed and positional error correction, at last, according to this location information X, the horizontal relative distance x of the radio frequency reader of preservation and passive label, and positional error correction Δ x, calculate the position e of track traffic transportation means by formula (3), specific as follows:
e＝X-x+Δx (3)
Here, the direction of radio frequency reader transmission radio frequency detectable signal is consistent with the direction of track vehicle operation; And the direction that the direction that sends the radio frequency detectable signal when radio frequency reader and track vehicle move is when opposite, e=X-x-Δ x.For example: according to first corresponding relation of preserving in advance, the identification information corresponding position information that inquiry receives is 600m for this passive label from the distance of initial point, be X=600m, the horizontal relative distance x=-0.35m of radio frequency reader and passive label, positional error correction Δ x=0.15m then e=600m-(0.35m)-0.15m=600.2m, promptly this track traffic transportation means is 600.2m from the distance of initial point.
Certainly, the embodiment of the invention also can be determined positional error correction Δ x earlier, inquire about the identification information corresponding position information X that receives again, then according to this location information X, the radio frequency reader of preserving and the horizontal relative distance x of passive label, and positional error correction Δ x, the position e of calculating track traffic transportation means.
Wherein, car-mounted terminal determines that the detailed process of positional error correction is as follows, referring to Fig. 3, comprising:
Step 301: the time of determining to receive the identification information of passive label.
After car-mounted terminal receives the identification information of radio frequency reader transmission, the time T of recorder identification information, this time is the detection time that radio frequency reader detects this passive label.
Step 302:, determine the running velocity of track traffic transportation means according to the detection time of determining.
In the operational process of track traffic transportation means, car-mounted terminal has been preserved second corresponding relation of time and track traffic transportation means running velocity in real time, thereby can inquire about the running velocity V of the cooresponding track traffic transportation means of the detection time that obtains.
Step 303:, determine the cooresponding positional error correction of described running velocity according to the corresponding relation of speed and positional error correction.
In the operational process of track traffic transportation means, when radio frequency reader is launched the N time signal, do not detect passive label, but when radio frequency reader is launched the N+1 time signal, detect passive label, like this, in the time gap of the N time signal of emission and the N+1 time signal of emission, the range ability of track traffic transportation means is exactly the positional error correction that can think this track traffic transportation means maximum, is designated as Δ x
MAX
According to the performance of radio frequency reader, can determine to send the pitch time Δ t of detectable signal, then the corresponding relation of the running velocity v of positional error correction Δ x and track traffic transportation means is as shown in Equation (4):
Δx≤v×Δt (4)
As seen, positional error correction Δ x and running velocity v can be approximated to be relation one to one, and promptly when the speed of track traffic transportation means was zero, its positional error correction also was zero, when the speed of track traffic transportation means was maximum, its positional error correction was also maximum.In actual applications, also need to consider other errors of this Rail Transit System, for example to send the direction of radio frequency detectable signal consistent with the direction that track vehicle moves when radio frequency reader, v=180km/h, and during Δ t=2ms, Δ x then
MAX=10cm=0.1m considers other errors of this Rail Transit System final positional error correction Δ x to be decided to be 15cm, i.e. 0.15m.Therefore, car-mounted terminal can be set up the 3rd corresponding relation of speed and positional error correction.
According to the 3rd corresponding relation of having set up, the cooresponding position of the running velocity V positional error correction that obtains in can determining step 302.
According to the above-mentioned localization method of the embodiment of the invention, can be when the position of positioning track transport facility, accuracy rate can be controlled in tens centimetres, like this, can determine the position of track traffic transportation means more accurately.
Therefore, in the foregoing description, the concrete Organization Chart of Rail Transit System as shown in Figure 4, comprise track traffic transportation means, track, radio frequency reader 100 is installed in bottom at the track traffic transportation means, and passive label 200 is installed in orbit, and the track traffic transportation means has comprised car-mounted terminal 200.Wherein,
Dress radio frequency reader 100, the passive label that is used for installing on the detection track sends to the identification information of the passive label 200 that detects the car-mounted terminal 300 of described track traffic transportation means.
Car-mounted terminal 300 is used for the identification information according to the passive label 200 that receives, and first corresponding relation of the identification information of passive label and location information, determines the position of described track traffic transportation means.
Wherein, car-mounted terminal 300 further comprises: receiving element 310, memory cell 320 and processing unit 330.
Receiving element 310 is used to receive the identification information of described passive label.
Wherein, processing unit 330 can be directly according to the identification information corresponding position information of the described passive label that receives, and the radio frequency reader of preserving and the horizontal relative distance of passive label are determined the position of track traffic transportation means; It is also conceivable that because the positional error that the running velocity of track vehicle causes, identification information corresponding position information according to the passive label that receives, the radio frequency reader of preserving and the horizontal relative distance of passive label, and the positional error correction, determine the position of track traffic transportation means.
Like this, memory cell 320 also is used to store the horizontal relative distance of described radio frequency reader and passive label, then processing unit 330 also is used for the identification information corresponding position information according to the described passive label that receives, and the described memory cell 320 horizontal relative distance of preserving, determine the position of described track traffic transportation means.
Perhaps, memory cell 320 also is used for second corresponding relation of storage life and track traffic transportation means running velocity, then processing unit 330, also be used for according to described second corresponding relation, determine to receive the running velocity of cooresponding described track traffic transportation means of time of the identification information of passive label.
After the track traffic transportation means is accurately located, can realize accuracy control, thereby improve the safety of track traffic that referring to Fig. 5, the process of control track traffic transportation means operation is as follows to the track traffic transportation means:
Step 501: radio frequency reader is surveyed passive label, the identification information of the passive label that detects is sent to the car-mounted terminal of track traffic transportation means.
Step 502: car-mounted terminal is according to the identification information of the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determines the position of track traffic transportation means.
Car-mounted terminal can be according to the identification information of the passive label of preserving in advance and cooresponding first corresponding relation of location information, the identification information corresponding position information that inquiry receives, according to this location information, and the horizontal relative distance of this radio frequency reader and passive label, determine the position of track traffic transportation means.
Car-mounted terminal can also be according to the identification information of the passive label of preserving in advance and cooresponding first corresponding relation of location information, the identification information corresponding position information that inquiry receives, according to this location information, the horizontal relative distance of radio frequency reader and passive label, and the positional error correction, determine the position of described track traffic transportation means.Wherein, determine that the process of allocation error correction values is as follows, comprising:
After car-mounted terminal receives the identification information of radio frequency reader transmission, the time T of recorder identification information, according to second corresponding relation of having preserved time and track traffic transportation means running velocity, the running velocity V of the cooresponding track traffic transportation means of query time T, according to speed of preserving and the 3rd corresponding relation of positional error correction, determine the cooresponding positional error correction of this running velocity V Δ x.
Step 503: car-mounted terminal is according to the position of track traffic transportation means, and the corresponding relation of run location and tractive force, adjusts the running state of track traffic transportation means.
When the residing position of transport facility difference, the running velocity of its requirement is also different, for example: when transport facility is in the first position, transport facility is about to go up a slope, then need add large traction, when transport facility is in the second place, transport facility is about to enter the station, then need reduce tractive force, make its speed slow to setting value, when transport facility was in the 3rd position, transport facility was about to stop at desired location, then need reduce tractive force, make its speed slow to zero.Therefore, car-mounted terminal has been set up the 4th corresponding relation of position and tractive force in advance, according to the 4th corresponding relation, discovers and seizes the cooresponding tractive force of the location information that obtains in the step 502, adjusts the running state of track traffic transportation means according to this tractive force.
Therefore, the concrete Organization Chart of the system of embodiment of the invention control track vehicle as shown in Figure 6, comprise track traffic transportation means, track, radio frequency reader 100 is installed in bottom at the track traffic transportation means, passive label 200 is installed in orbit, and the track traffic transportation means has comprised car-mounted terminal 200.Wherein,
Radio frequency reader 100, the passive label that is used for installing on the detection track sends to the identification information of the passive label 200 that detects the car-mounted terminal 300 of described track traffic transportation means.
Car-mounted terminal 300, be used for identification information according to the passive label 200 that receives, and first corresponding relation of the identification information of passive label and location information, determine the position of described track traffic transportation means, according to described position, and the corresponding relation of run location and tractive force, adjust the running state of described track traffic transportation means.
Wherein, car-mounted terminal 300 further comprises: receiving element 310, memory cell 320, processing unit 330 and brake unit 340.
Receiving element 310 is used to receive the identification information of described passive label;
Brake unit 340 is used for according to described position, and the corresponding relation of the run location of cell stores and tractive force, adjusts the running state of described track traffic transportation means.
Wherein, processing unit 330 can be according to the identification information corresponding position information of the described passive label that receives, and the horizontal relative distance of described radio frequency reader and passive label, determine the position of described track traffic transportation means, can also be according to the identification information corresponding position information of the described passive label that receives, the horizontal relative distance of described radio frequency reader and passive label, and positional error correction are determined the position of described track traffic transportation means.
Like this, memory cell 320 also is used for second corresponding relation of storage life and track traffic transportation means running velocity, then processing unit 330, also be used for according to described second corresponding relation, determine to receive the running velocity of cooresponding described track traffic transportation means of time of the identification information of passive label.
Below in conjunction with Figure of description the embodiment of the invention is described in further detail.Here, track vehicle is a train, the constitution diagram that Fig. 7 enters the station for train in the present embodiment, on the track cloth four passive label: passive label-A, passive label-0, passive label-1, passive label-2, distance between passive label-A and the passive label-0 is far away, be used for the moment that definite train slows down for the first time, its cooresponding tractive force is F
1Label-0 is arranged in the ENTRANCE place, is used to detect train deceleration and whether reaches requirement, and its cooresponding tractive force is respectively F
2Label-1 and label-2 is arranged in the station, is used for determining the accurate position of train parking, and its cooresponding tractive force is respectively F
3And F
4
When train runs to label-A place with speed v, radio frequency reader reads label-A, and car-mounted terminal has determined that train has run to the primary importance place, cooresponding tractive force F
1, brake unit is according to tractive force F
1, the running velocity of the train that begins to slow down; When radio frequency reader read label-0 place, second place place, cooresponding tractive force F were arrived in train operation
2, brake unit is according to tractive force F
2, the running velocity of train is dropped to v1; When radio frequency reader reads label-1 place, train operation to the three positions, cooresponding tractive force F
3, brake unit is according to tractive force F
3, the running velocity of train is dropped to v2, when radio frequency reader reads label-2 place, train operation to the four positions, cooresponding tractive force F
4, brake unit is according to tractive force F
4, the running velocity of train is dropped to 0, i.e. stopping-down.
In the embodiment of the invention, track vehicle can be installed a plurality of radio frequency reader, also a plurality of passive labels can be installed on the track, referring to Fig. 8, two radio frequency reader are installed on the train, and radio frequency reader-1 pair radio frequency reader-2, the distance between the two are S1, on the track same cloth four passive label: passive label-A, passive label-0, passive label-1, passive label-2, wherein the distance between passive label-1 and the passive label-2 is S2.
Radio frequency reader-2 pair radio frequency reader-1 plays booster action, distance between the two is S1, when S1=S2, the two role is identical, it all is the accurate location of only realizing to train position, therefore, if when fault has appearred in radio frequency reader-1, radio frequency reader-2 can lieu of radio-frequency reader-1; When S1 and S2 have small difference, as S1-S2=x, wherein, when x is the horizontal relative distance of radio frequency reader shown in Fig. 1 and passive label, radio frequency reader-1 is read passive label-2 o'clock, and radio frequency reader-2 is not also read passive label-1, when radio frequency reader-2 reads passive label-1, radio frequency reader-1 should be just near directly over the passive label-2, reinform the car-mounted computer stopping-down this moment can make berth put more near directly over the passive label-2.Therefore by adjusting the size of S1-S2, can realize the parking more accurately of train.Because radio frequency reader is 7ms to the time for reading between passive passive label double at interval in the embodiment of the invention, near parking the time, the speed of train is slowly to 5km/h, the time train operation distance of 7ms will be less than 1cm, little to the accurate position influence of stopping, so can think that radio frequency reader-1 and radio frequency reader-2 all are synchronized operation constantly.
In sum, the embodiment of the invention provides a kind of localization method, be applied to Rail Transit System, on the track traffic transportation means radio frequency reader is installed, passive label is installed on the track, like this, the identification information of the passive label that can detect according to the described radio frequency reader that receives, and first corresponding relation of the identification information of passive label and location information, determine the position of described track traffic transportation means, can accurately determine track traffic transportation means position like this, realize the real-time tracing of track traffic transportation means, increase the safety of track traffic.After adopting the described position fixing system of this embodiment of the invention, can be with track vehicle, subway for example, the running interval time by present about 3 minutes, shorten to 1 fen half, like this, improve the capacity of subway greatly, greatly alleviate in the subway operational process passengers inside the car's congested problem peak period especially on and off duty.And because therefore system's position error can realize the accurate stopping of subway in the embodiment of the invention in tens centimetres, train car door and its cooresponding door on platform can align more accurately when subway was stopped.In the embodiment of the invention, only need on the track traffic transportation means, radio frequency reader be installed, passive label is installed on the track, like this, greatly reduce cost, save resource.
Though described the present invention by embodiment, those of ordinary skills know, without departing from the spirit and substance in the present invention, just can make the present invention that many distortion and variation are arranged, and scope of the present invention is limited to the appended claims.
Claims (9)
1. a localization method is applied to Rail Transit System, it is characterized in that, on the track traffic transportation means radio frequency reader is installed, and passive label is installed on the track, and this method comprises:
Described radio frequency reader is surveyed passive label, the identification information of the passive label that detects is sent to the car-mounted terminal of described track traffic transportation means;
Described car-mounted terminal is according to the identification information of the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determines the identification information corresponding position information of the described passive label that receives;
According to the time of the identification information that receives passive label, and second corresponding relation of time and track traffic transportation means running velocity, determine cooresponding running velocity of the time that receives;
According to the 3rd corresponding relation of speed and positional error correction, determine the cooresponding positional error correction of described running velocity;
According to the described location information of determining, the described radio frequency reader of preservation and the horizontal relative distance of passive label, and described positional error correction are determined the position of described track traffic transportation means.
2. localization method as claimed in claim 1 is characterized in that, definite process of the 3rd corresponding relation of described speed and positional error correction comprises:
Obtain the pitch time of described radio frequency reader emission radio frequency detectable signal;
According to described pitch time, the relation of displacement and speed, and systematic error are determined the corresponding relation of speed and positional error correction.
3. localization method as claimed in claim 2 is characterized in that, definite process of the horizontal relative distance of described radio frequency reader and passive label comprises:
According to the installation site of described radio frequency reader, and the angle of radiation of described radio frequency reader emission detection signal, determine to state the horizontal relative distance of radio frequency reader and passive label.
4. a position fixing system is characterized in that, comprising:
Radio frequency reader is installed on the track traffic transportation means, and the passive label that is used for installing on the detection track sends to the identification information of the passive label that detects the car-mounted terminal of described track traffic transportation means;
Car-mounted terminal, be used for identification information according to the passive label that receives, and first corresponding relation of the identification information of passive label and location information, determine the identification information corresponding position information of the described passive label that receives, according to the time of the identification information that receives passive label, and second corresponding relation of time and track traffic transportation means running velocity, determine cooresponding running velocity of the time that receives, the 3rd corresponding relation according to speed and positional error correction, determine the cooresponding positional error correction of described running velocity, according to the described location information of determining, the described radio frequency reader of preserving and the horizontal relative distance of passive label, and described positional error correction, determine the position of described track traffic transportation means.
5. position fixing system as claimed in claim 4 is characterized in that, described car-mounted terminal comprises:
Receiving element is used to receive the identification information of described passive label;
Memory cell is used to store the identification information of passive label and first corresponding relation of location information;
Processing unit is used for the identification information according to the passive label that receives, and first corresponding relation of cell stores, determines the position of described track traffic transportation means.
6. position fixing system as claimed in claim 5 is characterized in that, described memory cell also is used to store the horizontal relative distance of described radio frequency reader and passive label;
Described processing unit also is used for the identification information corresponding position information according to the described passive label that receives, and the horizontal relative distance of described cell stores, determines the position of described track traffic transportation means.
7. position fixing system as claimed in claim 5 is characterized in that, described memory cell also is used for second corresponding relation of storage life and track traffic transportation means running velocity;
Described processing unit also is used for according to described second corresponding relation, determines to receive the running velocity of cooresponding described track traffic transportation means of time of the identification information of passive label.
8. position fixing system as claimed in claim 5 is characterized in that, described memory cell also is used for the 3rd corresponding relation of storage speed and positional error correction;
Described processing unit also is used for according to described the 3rd corresponding relation, determines the cooresponding positional error correction of described running velocity.
9. position fixing system as claimed in claim 8 is characterized in that, described memory cell, the horizontal relative distance that also is used to store described radio frequency reader and passive label;
Described processing unit also is used for the identification information corresponding position information according to the described passive label that receives, and the horizontal relative distance of described cell stores, and described positional error correction are determined the position of described track traffic transportation means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100818211A CN101513888B (en) | 2009-04-10 | 2009-04-10 | Location method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100818211A CN101513888B (en) | 2009-04-10 | 2009-04-10 | Location method and system |
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| CN101513888A CN101513888A (en) | 2009-08-26 |
| CN101513888B true CN101513888B (en) | 2011-02-09 |
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| CN2009100818211A Expired - Fee Related CN101513888B (en) | 2009-04-10 | 2009-04-10 | Location method and system |
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| CN102975748B (en) * | 2012-11-29 | 2015-05-27 | 北京全路通信信号研究设计院有限公司 | Train positioning and speed measuring method and system |
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| CN113792562A (en) * | 2021-09-16 | 2021-12-14 | 华南农业大学 | High-frequency RFID (radio frequency identification) positioning reader of electric single-rail conveying equipment |
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2009
- 2009-04-10 CN CN2009100818211A patent/CN101513888B/en not_active Expired - Fee Related
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