CN101915586A - System and method for measuring speed and distance of railway vehicle - Google Patents
System and method for measuring speed and distance of railway vehicle Download PDFInfo
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- CN101915586A CN101915586A CN2010102365346A CN201010236534A CN101915586A CN 101915586 A CN101915586 A CN 101915586A CN 2010102365346 A CN2010102365346 A CN 2010102365346A CN 201010236534 A CN201010236534 A CN 201010236534A CN 101915586 A CN101915586 A CN 101915586A
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Abstract
The invention discloses a system and a method for measuring the speed and the distance of a railway vehicle. The system comprises tachometer sensors, radar speed measuring sensors, speed and distance measuring units and speed and distance measuring processors, wherein the tachometer sensors are arranged at wheel shaft ends at both ends of each carriage; the radar speed measuring sensors are arranged at the bottoms at both ends of each carriage; the speed and distance measuring units are arranged at both ends of each carriage; the speed and distance measuring processors are connected with the speed and distance measuring units of each carriage; the tachometer sensors and the radar speed measuring sensors are used for measuring the running parameters of the railway vehicle; the speed and distance measuring units are used for receiving the running parameters, initially processing the running parameters and sending the processed running parameters to the speed and distance measuring processors; and the speed and distance measuring processors are used for calculating the running speed and the running distance of the railway vehicle according to the running parameters. In the speed and distance measuring system, two different types of sensors are used for measuring together, measuring results can be used as references for each other, and the advantages of the sensors can be complemented so as to improve the robustness of the system; and moreover, the radar speed measuring sensors are adopted, which can avoid influencing the accuracy and the precision during measuring the speed and the distance due to train idling, slipping and wheel diameter value changing.
Description
Technical field
The application relates to the ranging technology field of testing the speed, and particularly relates to a kind of rail vehicle test the speed range measurement system and method.
Background technology
Robustness is meant the performance that control system still can make the index of quality remain unchanged when its characteristic or parameter generation perturbation.
The range measurement system that tests the speed of train is made up of sensor and arithmetic element usually.Sensor can be made up of (fluted disc) velocity gauge, GPS, accelerometer and/or (Doppler) radar etc., when train operation, sensor sends to arithmetic element with the operational factor of train, filtering, statistical computation and sensing data that arithmetic element is finished pulse merge scheduling algorithm, and the result of the range finding of testing the speed periodically is provided to the train key control unit.The result who finds range that tests the speed can directly have influence on the safety of train operation with stable.
In the existing locomotive velocity measuring range measurement system, sensor only adopts several velocity gauges that are installed on diverse location usually, and its corresponding arithmetic element is by obtaining testing the speed the range finding result after each road tacho signal being carried out filtering and merging.
Yet pass through prior art research, the applicant finds in the existing range measurement system that tests the speed: 1, because velocity gauge is the rotational pulse that directly detects wheel (fluted disc), when train idle running takes place or skids, bigger deviation can appear in the measurement result of velocity gauge, the accuracy that influence is tested the speed and found range; 2, the detected object of velocity gauge is a wheel, so Train Wheel directly concerns the distance measuring precision that tests the speed, and train all can produce wearing and tearing when operation and braking, if in time do not revise wheel footpath value, will influence the accuracy of the range finding of testing the speed; 3, adopt the sensor of single type, make the accuracy of sensor not have normative reference, and the sensor of a plurality of single types can be subjected to same wrong influence (as wheel footpath value or wheel situation such as umber of pulse setting mistake weekly) thus influence the accuracy of measurement result, make the robustness of system relatively poor.
Therefore there is the relatively poor and problem that range accuracy is low, accuracy is low that tests the speed of system robustness in the existing range measurement system that tests the speed.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of rail vehicle test the speed range measurement system and method, the multisensor mode that this system adopts radar to combine with velocity gauge, and employing multi-sensor data blending algorithm is with raising test the speed distance measuring precision, accuracy and robustness.
For achieving the above object, technical scheme is as follows:
A kind of rail vehicle range measurement system that tests the speed comprises:
Be arranged on two ends, every joint compartment wheel axial end, and the faster rotating wheel when being used to measure the rail vehicle operation and the tachometer generator of rotation direction;
Be arranged on bottom, two ends, every joint compartment, and be used for sending and the receiving radar ripple when rail vehicle moves, and measure the radar velocity measurement sensor that sends and receive the frequency information of waveform;
Be arranged on two ends, every joint compartment, gather the measurement data that is in the described tachometer generator and the radar velocity measurement sensor of same end with it, and the range cells that tests the speed that becomes raw velocity signal and directional information to send each Measurement and Data Processing;
Link to each other with the range cells that tests the speed on described every joint compartment, receive the raw velocity signal that a plurality of described range cells that test the speed send, judge whether a plurality of described raw velocity signals are effective, then the maximal value note of a plurality of effective described raw velocity signal medium velocity values is made datum speed, and by datum speed being carried out the Ranging Processor that tests the speed that integral operation obtains nominal range.
Preferably, the described Ranging Processor that tests the speed comprises receiving element, judging unit and computing unit, wherein:
Receiving element is used to receive the raw velocity signal that a plurality of range cells that test the speed send, and the raw velocity signal is sent to judging unit;
Judging unit, whether the mean value of judging the velocity amplitude of the velocity amplitude of a plurality of described raw velocity signals and a plurality of described raw velocity signals differ 3% and difference greater than the mean value of the velocity amplitude of a plurality of described raw velocity signals greater than 3kmh, if then judge described raw velocity invalidating signal;
Judge whether the velocity amplitude of a plurality of described original signals surpasses the highest running speed of rail vehicle, if then judge described raw velocity invalidating signal;
Whether the velocity amplitude of judging the described original signal that described radar velocity measurement sensor records is less than the minimum scope that tests the speed of described radar velocity measurement sensor, if then judge described raw velocity invalidating signal;
Whether the current acceleration of judging described raw velocity signal surpasses the peak acceleration of described rail vehicle or is lower than the minimum acceleration of described rail vehicle, if then judge described raw velocity invalidating signal;
Computing unit receives effective raw velocity signal that described judging unit sends, and the velocity amplitude note of original signal maximum in effective described raw velocity signal is made datum speed, and calculate nominal range according to the datum speed integral formula.
Preferably, described computing unit calculates the maximum estimated speed and the least estimated speed of each effective raw velocity signal, and with the maximum estimated speed of velocity amplitude maximum as output maximum estimated speed, with the least estimated speed of velocity amplitude minimum as output least estimated speed, and according to output maximum estimated speed calculation maximum estimated distance, according to output least estimated speed calculation least estimated distance, wherein:
Maximum estimated speed=raw velocity signal speed value * (1+ forward maximum error of measuring number percent),
Least estimated speed=raw velocity signal speed value * (1-negative sense maximum error of measuring number percent).
Preferably, the described Ranging Processor that tests the speed also comprises at least one in following three unit:
With the delete cells that described judging unit links to each other, be used for described raw velocity signal medium velocity value is deleted greater than the raw velocity signal of 3km/h greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals;
The fault alarm unit that links to each other with described computing unit is used for judging whether a plurality of described raw velocity signals comprise at least one by the described raw velocity signal that described tachometer generator records, and if not, then send failure alarm signal;
The direction determining unit that links to each other with described receiving element, receive the described measurement data that described receiving element sends, and determine the traffic direction of rail vehicle according to the frequency change that the phase change or the radar velocity measurement sensor of described measurement data medium speed flowmeter sensor sent, received waveform.
Preferably, the described Ranging Processor that tests the speed also comprises:
The transmitting element that links to each other with described computing unit, fault alarm unit and direction determining unit respectively, the traffic direction signal of the rail vehicle that failure alarm signal that datum speed, nominal range, output maximum estimated speed, output least estimated speed, maximum estimated distance and least estimated distance, the described fault alarm unit that described computing unit is calculated sends and described direction determining unit are determined sends to the main frame of rail vehicle.
Preferably, this system further comprises:
Be arranged near the track of rail vehicle process, be used for sending several transponders of locating information to the described Ranging Processor that tests the speed.
Preferably, after the described Ranging Processor that tests the speed receives the locating information of described transponder, proofread and correct described nominal range value according to described locating information, and reset apart from fiducial interval.
A kind of rail vehicle distance-finding method that tests the speed comprises:
Adopt dissimilar a plurality of speed pickups that rail vehicle is measured;
Each measurement result is processed into the raw velocity signal;
Judge whether a plurality of described raw velocity signals are effective;
The velocity amplitude note of original signal maximum in a plurality of effective described raw velocity signals is made datum speed, and calculate nominal range according to the datum speed integral formula.
Preferably, describedly judge whether a plurality of described raw velocity signals effectively comprise:
The mean value of judging the velocity amplitude of the velocity amplitude of a plurality of described raw velocity signals and a plurality of described raw velocity signals whether differ greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals greater than 3km/h, if then judge described raw velocity invalidating signal;
Judge whether the velocity amplitude of a plurality of described original signals surpasses the highest running speed of rail vehicle; If then judge described raw velocity invalidating signal;
Whether the velocity amplitude of judging the described original signal that described radar velocity measurement sensor records is less than the minimum scope that tests the speed of described radar velocity measurement sensor, if then judge described raw velocity invalidating signal;
Whether the current acceleration of judging described raw velocity signal surpasses the peak acceleration of described rail vehicle or is lower than the minimum acceleration of described rail vehicle, if then judge described raw velocity invalidating signal.
Preferably, at least one during this method further may further comprise the steps:
Described raw velocity signal medium velocity value is deleted greater than the raw velocity signal of 3km/h greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals;
Judge whether comprise at least one in a plurality of described raw velocity signals by the described raw velocity signal that described tachometer generator records, if not, then send failure alarm signal;
Phase change or radar velocity measurement sensor according to described measurement data medium speed flowmeter sensor sends, the frequency change of reception waveform is determined the traffic direction of rail vehicle.
Compared with prior art, this test the speed range measurement system and method for providing of the embodiment of the present application has the following advantages:
1, adopt the sensor of two types of tachometer generator and radar velocity measurement sensors to measure jointly, the reference mutually of the measurement result of sensors of various types, and can have complementary advantages between the sensors of various types, improve the robustness of system;
2, adopt the radar velocity measurement sensor, can avoid owing to train dallies, skids and take turns accuracy and the precision that the footpath value changes influences the range finding of testing the speed;
3, this tests the speed range measurement system when carrying out the multi-sensor data fusion, has taken into full account the factors such as validity, security and fiducial interval of individual sensing data, has improved the accuracy and the precision of the range finding of testing the speed.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, the accompanying drawing that describes below only is some embodiment that put down in writing among the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The test the speed structural representation of range measurement system of a kind of rail vehicle that Fig. 1 provides for the embodiment of the present application;
A kind of structural representation of the Ranging Processor that tests the speed that Fig. 2 provides for the embodiment of the present application;
The another kind of structural representation of the Ranging Processor that tests the speed that Fig. 3 provides for the embodiment of the present application;
The third structural representation of the Ranging Processor that tests the speed that Fig. 4 provides for the embodiment of the present application;
The 4th kind of structural representation of the Ranging Processor that tests the speed that Fig. 5 provides for the embodiment of the present application;
The 5th kind of structural representation of the Ranging Processor that tests the speed that Fig. 6 provides for the embodiment of the present application;
The 6th kind of structural representation of the Ranging Processor that tests the speed that Fig. 7 provides for the embodiment of the present application;
The test the speed structural representation of range measurement system of the another kind of rail vehicle that Fig. 8 provides for the embodiment of the present application;
The test the speed schematic flow sheet of distance-finding method of a kind of rail vehicle that Fig. 9 provides for the embodiment of the present application;
Figure 10 is for judging the effective schematic flow sheet of raw velocity signal.
Embodiment
In order to make those skilled in the art person understand technical scheme among the application better, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment only is the application's part embodiment, rather than whole embodiment.Based on the embodiment among the application, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all should belong to the scope of the application's protection.
Embodiment one:
The test the speed structural representation of range measurement system of a kind of rail vehicle that Fig. 1 provides for the embodiment of the present application.
As shown in Figure 1, this rail vehicle range measurement system that tests the speed comprises: several paired tachometer generators 1 and radar velocity measurement sensor 2, the range cells 3 that tests the speed that links to each other with radar velocity measurement sensor 2 with every pair of tachometer generator 1, with a plurality of range cells 3 (SDU, Speed﹠amp of testing the speed; Distance Unit) continuous test the speed Ranging Processor 4 (SDP, Speed﹠amp; Distance Processor).
Be distributed with a pair of tachometer generator 1 and radar velocity measurement sensor 2 at the two ends in every joint compartment, and tachometer generator 1 is positioned at the wheel axial end at two ends, every joint compartment, vehicle wheel rotational speed and rotation direction when being used to measure the rail vehicle operation.The radar velocity measurement sensor is positioned at bottom, two ends, every joint compartment, sends and the receiving radar ripple when being used for the rail vehicle operation, and measures the frequency information that sends and receive waveform.
Two ends, every joint compartment, also be provided with the range cells 3 that tests the speed, this range cells collection of testing the speed is in the measurement data of the tachometer generator 2 and the radar velocity measurement sensor 3 of same end with it, and each measurement data all is processed into a raw velocity signal sends.What tachometer generator 2 was measured is the rotating speed of wheel, so according to: the speed of a motor vehicle=vehicle wheel rotational speed * wheel circumference can obtain an original speed of a motor vehicle.The radar velocity measurement sensor measurement is the frequency information that sends and receive waveform, so according to Doppler's principle, can obtain an original speed of a motor vehicle equally.
In the embodiment of the present application, consider because tachometer generator 1 is the rotational pulse that directly detects wheel (fluted disc), its original speed of a motor vehicle that records is relevant with vehicle wheel rotational speed and radius of wheel, when idle running takes place or skids in train, the rotating speed of wheel just can not reflect the real speed of a motor vehicle, bigger deviation can appear in the measurement result that is tachometer generator 1, and when train in operation and when braking, wheel all can produce wearing and tearing, if in time do not revise wheel footpath value, calculate the speed of a motor vehicle but adopt wrong vehicle wheel directly to be worth, can have influence on the measurement result of tachometer generator 1 equally.So adopting tachometer generator 1 and radar velocity measurement sensor 2 in this application measures jointly, like this when measured deviation appears in the sensor of same type, the sensor of another type can be used as reference, the range finding result that can avoid testing the speed is subjected to same factor affecting, improve the stability of the range measurement system that tests the speed, promptly improved the robustness of system.
The Ranging Processor 4 that tests the speed links to each other with the range cells 3 that tests the speed on every joint compartment, receive the raw velocity signal that a plurality of range cells 3 that test the speed send, and judge whether a plurality of raw velocity signals are effective, then the velocity amplitude note of original signal maximum in a plurality of effective raw velocity signals is done datum speed, and calculate nominal range according to the datum speed integral formula.
A kind of structural representation of the Ranging Processor that tests the speed that Fig. 2 provides for the embodiment of the present application.
As shown in Figure 2, the distance measuring sensor that tests the speed comprises: the receiving element 401 of Dian Lianjieing successively, and judging unit 402 and computing unit 403, wherein:
Receiving element 401 is used to receive the raw velocity signal that a plurality of range cells 3 that test the speed send, and the raw velocity signal is sent to judging unit 402;
Judging unit 402, whether the mean value of judging the velocity amplitude of the velocity amplitude of a plurality of raw velocity signals and a plurality of raw velocity signals differ 3% and difference greater than the mean value of the velocity amplitude of a plurality of raw velocity signals greater than 3km/h, if then judge the raw velocity invalidating signal;
Judge whether the velocity amplitude of a plurality of original signals surpasses the highest running speed of rail vehicle, if then judge the raw velocity invalidating signal;
Whether the velocity amplitude of judging the original signal that the radar velocity measurement sensor records is less than the minimum scope that tests the speed of radar velocity measurement sensor, if then judge the raw velocity invalidating signal;
For example the scope of testing the speed of the radar of certain model regulation is 2～400Km/h, if measuring speed is lower than 2Km/h, then measurement result be regarded as invalid.
Whether the current acceleration of judging the raw velocity signal surpasses the peak acceleration of rail vehicle or is lower than the minimum acceleration of rail vehicle, if then judge the raw velocity invalidating signal.
The current acceleration of vehicle surpasses peak acceleration and means that then idle running appears in vehicle, is lower than minimum acceleration and means that then wheel skids, and peak acceleration and minimum acceleration are meant peak acceleration and the minimum acceleration that rail vehicle is set here.
In addition, computing unit 403 is the maximum estimated speed and the least estimated speed of effective each the effective raw velocity signal of raw velocity calculated signals of basis also, and with the maximum estimated speed of velocity amplitude maximum as output maximum estimated speed, with the least estimated speed of velocity amplitude minimum as output least estimated speed, wherein:
Maximum estimated speed=raw velocity signal speed value * (1+ forward maximum error of measuring number percent),
Least estimated speed=raw velocity signal speed value * (1-negative sense maximum error of measuring number percent).
And can also calculate the maximum estimated distance according to output maximum estimated speed, obtain the least estimated distance according to output least estimated speed calculation, promptly can obtain by output maximum estimated distance and output least estimated apart from form apart from fiducial interval.Just (bearing) to maximum error of measuring number percent here can be demarcated by modes such as sensor self measuring accuracy parameter, the range measurement system that tests the speed actual measurement correction parameters.
Embodiment two:
On the basis of the embodiment of the present application one, the Ranging Processor 4 that tests the speed can also comprise at least one in delete cells 404, fault alarm unit 405,406 3 unit of direction determining unit.
Shown in Fig. 3,4,5 or 6,
Comprise the raw velocity signal that at least one is recorded by tachometer generator in a plurality of raw velocity signals, just can recognize that wheel is rotating in addition, be that vehicle can also be advanced, if do not comprise the raw velocity signal that records by tachometer generator, and have only the measuring-signal of radar velocity measurement sensor, then vehicle breaks down.
Embodiment three:
On the embodiment of the present application one or two basis,, the Ranging Processor 4 that tests the speed can also comprise: transmitting element 407.As shown in Figure 7, the 5th kind of structural representation of the Ranging Processor that tests the speed that provides for the embodiment of the present application.
As shown in the figure, transmitting element 407 links to each other with computing unit 403, fault alarm unit 405 and direction determining unit 406 respectively, and the traffic direction of the rail vehicle that failure alarm signal that datum speed, nominal range, output maximum estimated speed, output least estimated speed, maximum estimated distance and least estimated distance, the fault alarm unit 405 that computing unit 403 is calculated sends and direction determining unit 406 are determined sends to the main frame of rail vehicle.
Embodiment four:
The test the speed structural representation of range measurement system of the another kind that Fig. 8 provides for the embodiment of the present application.
As shown in Figure 8, this range measurement system that tests the speed also comprises: several transponders 5, be arranged near the track of rail vehicle process, and when rail vehicle is advanced, be used for sending locating information to the Ranging Processor 4 that tests the speed, the ranging process that tests the speed can be divided into a plurality of sections.
When the Ranging Processor 4 that tests the speed of this range measurement system that tests the speed passes through two different transponders 5, the distance value that measures (is comprised nominal range, maximum estimated distance and least estimated distance) and the actual distance value between known two different transponders 5 compare, can know the percentage error of range finding, and measuring distance is proofreaied and correct according to actual distance, fiducial interval can be reset to the alignment error of transponder 5 after by each transponder 5, and can before running into new transponder 5, provide the fiducial interval of real-time update, the distance travelled * range error number percent+transponder alignment error behind fiducial interval size=last transponder of process.Therefore can realize when rail vehicle passes through transponder 5,, and adopting the new fiducial interval that obtains according to the actual distance value, can avoid long-time measurement like this, cause the fiducial interval error bigger, influence measuring accuracy the fiducial interval zero clearing that measures before.
Embodiment five:
As shown in Figure 9, the embodiment of the present application also provides a kind of rail vehicle distance-finding method that tests the speed, and comprising:
S100: adopt dissimilar a plurality of speed pickups that rail vehicle is measured.
Dissimilar speed pickups comprises tachometer generator and radar velocity measurement sensor, the operational factor of the wheel when utilizing dissimilar a plurality of sensor acquisition vehicle operating.
S200: each measurement result is processed into the raw velocity signal.
Measurement result comprises that the rotating speed of wheel, radar send the frequency change that receives, the directional information of wheel etc., it is exactly the present speed that these measurement results is obtained wheel through primary Calculation that measurement result is processed into the raw velocity signal, for example, can obtain an original speed of a motor vehicle according to the speed of a motor vehicle=vehicle wheel rotational speed * wheel circumference.
S300: judge whether a plurality of described raw velocity signals are effective.
Figure 10 is for judging the effective schematic flow sheet of raw velocity signal.
As shown in figure 10, judge whether a plurality of described raw velocity signals are effective, comprising:
S301: the mean value of judging the velocity amplitude of the velocity amplitude of a plurality of described raw velocity signals and a plurality of described raw velocity signals whether differ greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals greater than 3km/h, if then judge described raw velocity invalidating signal;
S302: judge whether the velocity amplitude of a plurality of described original signals surpasses the highest running speed of rail vehicle; If then judge described raw velocity invalidating signal;
S303: whether the velocity amplitude of judging the described original signal that described radar velocity measurement sensor records is less than the minimum scope that tests the speed of described radar velocity measurement sensor, if then judge described raw velocity invalidating signal;
S304: whether the current acceleration of judging described raw velocity signal exceeds the peak acceleration of described rail vehicle or is lower than the minimum acceleration of described rail vehicle, if then judge described raw velocity invalidating signal.
S400: the velocity amplitude of original signal maximum in a plurality of effective described raw velocity signals is remembered as datum speed, and calculated nominal range according to the datum speed integral formula.
Embodiment six:
On the basis of embodiment five, the rail vehicle that the embodiment of the present application provides at least one in further comprising the steps of of distance-finding method that test the speed:
S500: described raw velocity signal medium velocity value is deleted greater than the raw velocity signal of 3km/h greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals;
S600: judge whether comprise at least one in a plurality of described raw velocity signals by the described raw velocity signal that described tachometer generator records, if not, then send failure alarm signal;
S700: phase change or the radar velocity measurement sensor according to described measurement data medium speed flowmeter sensor sends, the frequency change of reception waveform is determined the traffic direction of rail vehicle.
Compared with prior art, this test the speed range measurement system and method for providing of the embodiment of the present application has the following advantages:
1, adopt the sensor of two types of tachometer generator and radar velocity measurement sensors to measure jointly, the reference mutually of the measurement result of sensors of various types, and can have complementary advantages between the sensors of various types, improve the robustness of system;
2, adopt the radar velocity measurement sensor, can avoid owing to train dallies, skids and take turns accuracy and the precision that the footpath value changes influences the range finding of testing the speed;
3, this tests the speed range measurement system when carrying out the multi-sensor data fusion, has taken into full account the factors such as validity, security and fiducial interval of individual sensing data, has improved the accuracy and the precision of the range finding of testing the speed.
Each embodiment in this instructions all adopts the mode of going forward one by one to describe, and identical similar part is mutually referring to getting final product between each embodiment, and each embodiment stresses all is difference with other embodiment.The application can be used in numerous general or special purpose computingasystem environment or the configuration.For example: personal computer, server computer, handheld device or portable set, plate equipment, multicomputer system, the system based on microprocessor, set top box, programmable consumer-elcetronics devices, network PC, small-size computer, mainframe computer, comprise distributed computing environment of above any system or equipment or the like.
Only be the application's preferred implementation below, make those skilled in the art can understand or realize the application.Multiple modification to these embodiment will be conspicuous to one skilled in the art, and defined herein General Principle can realize under the situation of the spirit or scope that do not break away from the application in other embodiments.Therefore, the application will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (10)
1. rail vehicle range measurement system that tests the speed is characterized in that, comprising:
Be arranged on two ends, every joint compartment wheel axial end, and the faster rotating wheel when being used to measure the rail vehicle operation and the tachometer generator of rotation direction;
Be arranged on bottom, two ends, every joint compartment, and be used for sending and the receiving radar ripple when rail vehicle moves, and measure the radar velocity measurement sensor that sends and receive the frequency information of waveform;
Be arranged on two ends, every joint compartment, gather the measurement data that is in the described tachometer generator and the radar velocity measurement sensor of same end with it, and the range cells that tests the speed that becomes raw velocity signal and directional information to send each Measurement and Data Processing;
Link to each other with the range cells that tests the speed on described every joint compartment, receive the raw velocity signal that a plurality of described range cells that test the speed send, judge whether a plurality of described raw velocity signals are effective, then the maximal value note of a plurality of effective described raw velocity signal medium velocity values is made datum speed, and by datum speed being carried out the Ranging Processor that tests the speed that integral operation obtains nominal range.
2. system according to claim 1 is characterized in that, the described Ranging Processor that tests the speed comprises receiving element, judging unit and computing unit, wherein:
Receiving element is used to receive the raw velocity signal that a plurality of range cells that test the speed send, and the raw velocity signal is sent to judging unit;
Judging unit, whether the mean value of judging the velocity amplitude of the velocity amplitude of a plurality of described raw velocity signals and a plurality of described raw velocity signals differ 3% and difference greater than the mean value of the velocity amplitude of a plurality of described raw velocity signals greater than 3km/h, if then judge described raw velocity invalidating signal;
Judge whether the velocity amplitude of a plurality of described original signals surpasses the highest running speed of rail vehicle, if then judge described raw velocity invalidating signal;
Whether the velocity amplitude of judging the described original signal that described radar velocity measurement sensor records is less than the minimum scope that tests the speed of described radar velocity measurement sensor, if then judge described raw velocity invalidating signal;
Whether the current acceleration of judging described raw velocity signal surpasses the peak acceleration of described rail vehicle or is lower than the minimum acceleration of described rail vehicle, if then judge described raw velocity invalidating signal;
Computing unit receives effective raw velocity signal that described judging unit sends, and the velocity amplitude note of original signal maximum in effective described raw velocity signal is made datum speed, and calculate nominal range according to the datum speed integral formula.
3. system according to claim 2, it is characterized in that, described computing unit calculates the maximum estimated speed and the least estimated speed of each effective raw velocity signal, and with the maximum estimated speed of velocity amplitude maximum as output maximum estimated speed, with the least estimated speed of velocity amplitude minimum as output least estimated speed, and according to output maximum estimated speed calculation maximum estimated distance, according to output least estimated speed calculation least estimated distance, wherein:
Maximum estimated speed=raw velocity signal speed value * (1+ forward maximum error of measuring number percent),
Least estimated speed=raw velocity signal speed value * (1-negative sense maximum error of measuring number percent).
4. system according to claim 3 is characterized in that, the described Ranging Processor that tests the speed also comprises at least one in following three unit:
With the delete cells that described judging unit links to each other, be used for described raw velocity signal medium velocity value is deleted greater than the raw velocity signal of 3km/h greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals;
The fault alarm unit that links to each other with described computing unit is used for judging whether a plurality of described raw velocity signals comprise at least one by the described raw velocity signal that described tachometer generator records, and if not, then send failure alarm signal;
The direction determining unit that links to each other with described receiving element, receive the described measurement data that described receiving element sends, and determine the traffic direction of rail vehicle according to the frequency change that the phase change or the radar velocity measurement sensor of described measurement data medium speed flowmeter sensor sent, received waveform.
5. require 4 described systems according to power, it is characterized in that, the described Ranging Processor that tests the speed also comprises:
The transmitting element that links to each other with described computing unit, fault alarm unit and direction determining unit respectively, the traffic direction signal of the rail vehicle that failure alarm signal that datum speed, nominal range, output maximum estimated speed, output least estimated speed, maximum estimated distance and least estimated distance, the described fault alarm unit that described computing unit is calculated sends and described direction determining unit are determined sends to the main frame of rail vehicle.
6. system according to claim 1 is characterized in that, further comprises:
Be arranged near the track of rail vehicle process, be used for sending several transponders of locating information to the described Ranging Processor that tests the speed.
7. system according to claim 5 is characterized in that, after the described Ranging Processor that tests the speed receives the locating information of described transponder, proofreaies and correct described nominal range value according to described locating information, and resets apart from fiducial interval.
8. rail vehicle distance-finding method that tests the speed is characterized in that, comprising:
Adopt dissimilar a plurality of speed pickups that rail vehicle is measured;
Each measurement result is processed into the raw velocity signal;
Judge whether a plurality of described raw velocity signals are effective;
The velocity amplitude note of original signal maximum in a plurality of effective described raw velocity signals is made datum speed, and calculate nominal range according to the datum speed integral formula.
9. method according to claim 8 is characterized in that, describedly judges whether a plurality of described raw velocity signals effectively comprise:
The mean value of judging the velocity amplitude of the velocity amplitude of a plurality of described raw velocity signals and a plurality of described raw velocity signals whether differ greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals greater than 3km/h, if then judge described raw velocity invalidating signal;
Judge whether the velocity amplitude of a plurality of described original signals surpasses the highest running speed of rail vehicle; If then judge described raw velocity invalidating signal;
Whether the velocity amplitude of judging the described original signal that described radar velocity measurement sensor records is less than the minimum scope that tests the speed of described radar velocity measurement sensor, if then judge described raw velocity invalidating signal;
Whether the current acceleration of judging described raw velocity signal surpasses the peak acceleration of described rail vehicle or is lower than the minimum acceleration of described rail vehicle, if then judge described raw velocity invalidating signal.
10. method according to claim 8 is characterized in that, at least one in further may further comprise the steps:
Described raw velocity signal medium velocity value is deleted greater than the raw velocity signal of 3km/h greater than 3% and difference of the mean value of the velocity amplitude of a plurality of described raw velocity signals;
Judge whether comprise at least one in a plurality of described raw velocity signals by the described raw velocity signal that described tachometer generator records, if not, then send failure alarm signal;
Phase change or radar velocity measurement sensor according to described measurement data medium speed flowmeter sensor sends, the frequency change of reception waveform is determined the traffic direction of rail vehicle.
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| CN103018472A (en) * | 2012-11-28 | 2013-04-03 | 北京交控科技有限公司 | Speed measuring method based on train multi-sensor speed measuring system |
| CN103900604A (en) * | 2014-04-25 | 2014-07-02 | 北京全路通信信号研究设计院有限公司 | Speed-detection distance-detection method and device |
| CN104608803A (en) * | 2014-12-09 | 2015-05-13 | 北京交控科技有限公司 | Method for measuring speed of train |
| CN104835102A (en) * | 2015-05-05 | 2015-08-12 | 北京交通大学 | Train speed measuring scheme evaluation method and apparatus |
| CN105021209A (en) * | 2015-07-17 | 2015-11-04 | 北京全路通信信号研究设计院有限公司 | Rail vehicle velocity measurement and distance measurement system and method |
| CN105372442A (en) * | 2015-12-14 | 2016-03-02 | 北京交控科技股份有限公司 | Train speed measuring method, processor and train speed measuring system |
| CN105501256A (en) * | 2015-12-23 | 2016-04-20 | 中国铁道科学研究院通信信号研究所 | Middle-low speed magnetically levitated train combination speed measurement positioning device |
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| CN108663534A (en) * | 2017-03-30 | 2018-10-16 | 比亚迪股份有限公司 | Train and its speed-measuring method and system |
| CN108725517A (en) * | 2018-03-13 | 2018-11-02 | 中车工业研究院有限公司 | Train synthetic operation control system, control method and train-installed equipment |
| CN109131342A (en) * | 2018-08-28 | 2019-01-04 | 株洲中车时代电气股份有限公司 | Acceleration transducer and the fusion speed-measuring method and device for taking turns shaft speed sensor |
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| CN103900604A (en) * | 2014-04-25 | 2014-07-02 | 北京全路通信信号研究设计院有限公司 | Speed-detection distance-detection method and device |
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| CN104608803B (en) * | 2014-12-09 | 2017-02-22 | 北京交控科技股份有限公司 | Method for measuring speed of train |
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| CN104835102A (en) * | 2015-05-05 | 2015-08-12 | 北京交通大学 | Train speed measuring scheme evaluation method and apparatus |
| CN105021209A (en) * | 2015-07-17 | 2015-11-04 | 北京全路通信信号研究设计院有限公司 | Rail vehicle velocity measurement and distance measurement system and method |
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| CN105501256B (en) * | 2015-12-23 | 2017-05-31 | 中国铁道科学研究院通信信号研究所 | A kind of middle low speed magnetic suspension train combination speed-position detection device |
| CN105501256A (en) * | 2015-12-23 | 2016-04-20 | 中国铁道科学研究院通信信号研究所 | Middle-low speed magnetically levitated train combination speed measurement positioning device |
| CN105717500A (en) * | 2016-02-24 | 2016-06-29 | 深圳乐行天下科技有限公司 | Laser radar and data correcting method thereof |
| WO2018059141A1 (en) * | 2016-09-27 | 2018-04-05 | 上海无线电设备研究所 | Early-warning radar system for preventing rail transit vehicle collision |
| CN106627673A (en) * | 2016-10-27 | 2017-05-10 | 交控科技股份有限公司 | Multi-sensor fusion train positioning method and system |
| CN108663534A (en) * | 2017-03-30 | 2018-10-16 | 比亚迪股份有限公司 | Train and its speed-measuring method and system |
| CN108253950A (en) * | 2018-01-31 | 2018-07-06 | 乐清市建设监理有限公司 | A kind of supervision control method of high-rise building engineering survey |
| CN108725517A (en) * | 2018-03-13 | 2018-11-02 | 中车工业研究院有限公司 | Train synthetic operation control system, control method and train-installed equipment |
| CN111902693A (en) * | 2018-03-15 | 2020-11-06 | 西斯纳维 | Method for calibrating a gyroscope fitted to a vehicle |
| CN109131342A (en) * | 2018-08-28 | 2019-01-04 | 株洲中车时代电气股份有限公司 | Acceleration transducer and the fusion speed-measuring method and device for taking turns shaft speed sensor |
| CN109131342B (en) * | 2018-08-28 | 2020-03-31 | 株洲中车时代电气股份有限公司 | Method and device for measuring speed by fusing acceleration sensor and wheel axle speed sensor |
| CN110871827A (en) * | 2019-11-25 | 2020-03-10 | 通号城市轨道交通技术有限公司 | Speed and distance measuring method for rail train |
| CN112429044A (en) * | 2020-11-27 | 2021-03-02 | 株洲中车时代软件技术有限公司 | Method and system for positioning running train position based on nonlinear compensation |
| CN112429044B (en) * | 2020-11-27 | 2023-02-28 | 株洲中车时代软件技术有限公司 | Method and system for positioning running train position based on nonlinear compensation |
| CN112730874A (en) * | 2020-12-24 | 2021-04-30 | 交控科技股份有限公司 | Signal board and data processing method |
| CN112519835A (en) * | 2021-02-08 | 2021-03-19 | 上海富欣智能交通控制有限公司 | Train speed determination method and device, electronic equipment and readable storage medium |
| CN113156156A (en) * | 2021-03-31 | 2021-07-23 | 中车青岛四方车辆研究所有限公司 | Speed processing method of multi-speed sensor system for train |
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