CN102004246B - Fault diagnosis and reading speed correction method of antenna included angle deviation of train vehicle-mounted radar speed sensor - Google Patents

Fault diagnosis and reading speed correction method of antenna included angle deviation of train vehicle-mounted radar speed sensor Download PDF

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CN102004246B
CN102004246B CN2010102816853A CN201010281685A CN102004246B CN 102004246 B CN102004246 B CN 102004246B CN 2010102816853 A CN2010102816853 A CN 2010102816853A CN 201010281685 A CN201010281685 A CN 201010281685A CN 102004246 B CN102004246 B CN 102004246B
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train
speed sensor
radar
antenna
radar speed
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徐正国
陆陆
王文海
孙优贤
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Zhejiang University ZJU
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Abstract

本发明公开了一种列车车载雷达速度传感器天线夹角偏差故障诊断及速度读数校正方法。首先，通过列车车载雷达速度传感器测量得到列车的运行速度；接着，计算在各个采样信号长度内的计算列车的行驶距离并逐步累加，得到总行驶距离；当列车通过轨旁应答器时，获得相应时刻较为准确的列车定位信息，并推算出列车准确的行驶距离；此时，比较由轨旁应答器定位信息推算得到的行驶距离和由雷达测速器测速结果计算得到的行驶距离，计算雷达速度传感器的天线夹角偏差量并校正测量得到的列车运行速度。本方法可在利用现有的轨道及列车设备的前提下，有效地对列车车载雷达速度传感器的天线夹角偏差故障进行诊断和校正，保证了测速的精确性。The invention discloses a fault diagnosis and speed reading correction method for an antenna included angle deviation of a train-mounted radar speed sensor. First, the running speed of the train is measured by the on-board radar speed sensor of the train; then, the distance traveled by the calculated train within the length of each sampling signal is calculated and gradually accumulated to obtain the total distance traveled; when the train passes the trackside transponder, the corresponding Accurate train positioning information at time, and calculate the exact travel distance of the train; at this time, compare the travel distance calculated from the positioning information of the trackside transponder with the travel distance calculated from the speed measurement results of the radar speedometer, and calculate the radar speed sensor The angle deviation of the antenna and correct the measured train running speed. The method can effectively diagnose and correct the angle deviation fault of the antenna of the on-board radar speed sensor on the premise of utilizing the existing track and train equipment, thereby ensuring the accuracy of speed measurement.

Description

Train-installed radar speed sensor antenna clip angular displacement fault diagnosis and velocity readings bearing calibration
Technical field
The present invention relates to rail vehicle detection technique field, relate in particular to a kind of train-installed radar speed sensor antenna clip angular displacement fault diagnosis and velocity readings bearing calibration.
Background technology
Security is most important, the most basic requirement of train operation.And train-installed speed pickup conduct provides the key equipment of train speed information, and its reliability is directly related with the safe operation of train.In the use of reality, because the influence of external environment and train self-operating, performance degradation takes place and tests the speed inaccurate situation in vehicular speeds sensor unavoidably.In practical application, radar speed sensor is because it tests the speed directly in the velocity survey of train, has obtained using widely with characteristic accurately.The present invention has designed a kind of diagnosing malfunction and method of correcting to the angular displacement of train-installed radar speed sensor antenna clip.
Train-installed radar speed sensor is installed in the bottom of train.When train operation, radar speed sensor is launched the electromagnetic wave of certain frequency earthward through antenna, also receives the electromagnetic wave of returning from ground return simultaneously.Because the existence of Doppler effect makes that in train travelling process there are certain difference in the wave frequency that radar emission goes out and the wave frequency of reflection, this difference on the frequency is called as Doppler frequency.The size of Doppler frequency is with the size of transmission frequency, and train running speed and antenna are relevant with the angle factor of surface level.Therefore through measuring Doppler frequency and carrying out corresponding mathematical computations, just can obtain train running speed.
In actual use and since receive foreign impacts and electronic component catabiosis etc. the influence of factor, its performance possibly degenerated with the growth of service time, thereby causes radar speed sensor the inaccurate situation that tests the speed to occur.The performance degradation that is wherein caused by the antenna variable angle is comparatively common.If it is big that the angle of antenna and surface level becomes, then under identical travelling speed, the velocity amplitude that measures can diminish.The driver causes the overspeed of train easily if according to velocity readings less than normal train is operated, and influences train traffic safety.If can diagnose the antenna clip angular displacement amount of train-installed radar speed sensor, and utilize diagnostic result compensation speed reading, can greatly improve the security of train operation, realize this goal but also lack effective means at present.
Summary of the invention
The objective of the invention is deficiency, a kind of train-installed radar speed sensor antenna clip angular displacement fault diagnosis and velocity readings bearing calibration are provided to prior art.
Train-installed radar speed sensor antenna clip angular displacement fault diagnosis and velocity readings bearing calibration comprise following steps:
1) in train travelling process; Through train-installed radar speed sensor, measure train running speed
Figure BSA00000269911200021
2) according to the sampling signal length T and the train speed
Figure BSA00000269911200022
using the formula
Figure BSA00000269911200023
calculate the sampled signal segment distance trains
3) train driving distance
Figure BSA00000269911200025
that calculates in this sampled signal section and operating range L ' are before superposeed; The current total travel distance
Figure BSA00000269911200027
that obtains train according to formula
Figure BSA00000269911200026
value of L ' simultaneously is set to the value of current total travel distance
Figure BSA00000269911200028
, to make things convenient for the update calculation of next round total travel distance;
4) when through rail side transponder, train activates the other transponder of rail and communicates with it, obtains the accurate locating information of train, will be deducted the initial position location of driving a vehicle by the current train current location that transponder provides, and extrapolates current accurate total travel distance L;
The angle setting value θ of the current total travel distance that 5) calculates according to step 3)
Figure BSA00000269911200029
current accurate total travel distance L that step 4) is extrapolated and radar speed sensor radar antenna estimates to obtain the departure
Figure BSA000002699112000211
of radar trap antenna angle through formula
Figure BSA000002699112000210
6) according to train-installed radar speed sensor antenna clip angular displacement amount
Figure BSA000002699112000212
With the train running speed that measures Pass through formula
Figure BSA000002699112000214
Train running speed v after obtaining to proofread and correct k
Described in train travelling process; Through train-installed radar speed sensor; The step that measures train running speed is: at first; When train driving, radar speed sensor is launched the electromagnetic wave signal of certain frequency earthward through antenna, receives the electromagnetic wave signal of being returned by ground return simultaneously.Then; Difference between the frequency of the frequency of the electromagnetic wave signal that the comparison radar speed sensor sends and the electromagnetic wave signal that receives; Through digital filter it is sampled; Can obtain difference on the frequency; Be wherein k=1 of Doppler frequency
Figure BSA000002699112000215
; 2; 3; ... be the discrete time index; According to radar speed sensor antenna angle setting value θ; The electromagnetic wavelength λ of radar speed sensor emission, and the Doppler frequency
Figure BSA000002699112000216
that sampling obtains calculates train running speed through formula
Figure BSA000002699112000217
The present invention according to the characteristic Design of the principle of work of train-installed radar speed sensor and antenna clip angular displacement corresponding diagnosis and compensation method.Its main thought is that its velocity measurement will there are differences with the true train travelling speed when radar speed sensor antenna angle generation deviation.And train driving distance is a train speed about the integration of time, therefore when deviation takes place at the antenna clip angle, also deposits between operating range that is calculated by radar speed sensor and the accurate operating range that utilizes the track transponder to extrapolate and understands in difference.Utilize the mathematical relation between antenna clip angular displacement amount and the train driving distance difference can calculate the departure that obtains the antenna angle.
The present invention utilizes existing track equipment and mobile unit to realize diagnosing the function of the train running speed of train-installed radar speed sensor antenna clip angular displacement fault and correcting measuring accurately and effectively, has guaranteed the security and the economy of train operation.
Description of drawings
Fig. 1 is the process flow diagram of train-installed radar speed sensor antenna clip angular displacement diagnostic method;
Fig. 2 is the process flow diagram of train-installed radar speed sensor velocity readings bearing calibration;
Fig. 3 is the result of implementation of train-installed radar speed sensor velocity readings bearing calibration;
Embodiment
Like accompanying drawing 1, shown in 2, train-installed radar speed sensor antenna clip angular displacement fault diagnosis and velocity readings bearing calibration comprise following steps:
1) in train travelling process; Through train-installed radar speed sensor, measure train running speed
Figure BSA00000269911200031
2) according to the sampling signal length T and the train speed
Figure BSA00000269911200032
using the formula
Figure BSA00000269911200033
calculate the sampled signal segment distance trains
Figure BSA00000269911200034
3) train driving distance
Figure BSA00000269911200035
that calculates in this sampled signal section and operating range L ' are before superposeed; The current total travel distance
Figure BSA00000269911200037
that obtains train according to formula
Figure BSA00000269911200036
value of L ' simultaneously is set to the value of current total travel distance , to make things convenient for the update calculation of next round total travel distance;
4) when through rail side transponder, train activates the other transponder of rail and communicates with it, obtains the accurate locating information of train, will be deducted the initial position location of driving a vehicle by the current train current location that transponder provides, and extrapolates current accurate total travel distance L;
The angle setting value θ of the current total travel distance that 5) calculates according to step 3)
Figure BSA00000269911200039
current accurate total travel distance L that step 4) is extrapolated and radar speed sensor radar antenna estimates to obtain the departure
Figure BSA000002699112000311
of radar trap antenna angle through formula
Figure BSA000002699112000310
6) according to train-installed radar speed sensor antenna clip angular displacement amount With the train running speed that measures
Figure BSA000002699112000313
Pass through formula
Figure BSA000002699112000314
Train running speed v after obtaining to proofread and correct k
Described in train travelling process; Through train-installed radar speed sensor; The step that measures train running speed is: at first; When train driving, radar speed sensor is launched the electromagnetic wave signal of certain frequency earthward through antenna, receives the electromagnetic wave signal of being returned by ground return simultaneously.Then; Difference between the frequency of the frequency of the electromagnetic wave signal that the comparison radar speed sensor sends and the electromagnetic wave signal that receives; Through digital filter it is sampled; Can obtain difference on the frequency; Be wherein k=1 of Doppler frequency
Figure BSA000002699112000315
; 2; 3; .. be the discrete time index; According to radar speed sensor antenna angle setting value θ; The electromagnetic wavelength λ of radar speed sensor emission, and the Doppler frequency
Figure BSA000002699112000316
that sampling obtains calculates train running speed
Figure BSA000002699112000318
through formula
Figure BSA000002699112000317
Embodiment:
In train travelling process, to three kinds of different ruuning situations, use the present invention to antenna clip angular displacement diagnose.Equal three kinds of situation are respectively: situation 1, and train passes through this operating range with the constant speed of 200km/h; Situation 2, train is with the initial velocity of 200km/h, 0.04m/s 2Acceleration through this operating range; Situation 3, train be at first with the constant speed of the 200km/h operating range through preceding 1500m, then with 0.04m/s 2Acceleration is through remaining operating range.Under these three kinds of ruuning situations, train is the operating range through one section L=3000m all.Under every kind of travel situations, this method is diagnosed six kinds of different angle departures again, and concrete steps of the present invention are following:
1. when train driving; Measure the speed of train through train-installed radar speed sensor; In measuring process; Radar emission wavelength λ=1.24cm; The setting value of antenna angle is θ=35 °, can calculate the travelling speed of train through formula
Figure BSA00000269911200042
according to the Doppler frequency that measures
2. according to the train running speed of sampled signal length T and measurement, through the operating range
Figure BSA00000269911200045
of formula
Figure BSA00000269911200044
train effective in this sampled signal sampled signal length T=54.66ms wherein.
3. on the operating range before the operating range in this sampled signal being added to, calculate the total travel distance
Figure BSA00000269911200046
of current time
4. when train passes through rail side transponder; Train activates transponder and makes it to carry out radio communication at the bottom of the car with train; Train obtains the accurate in locating position, and the position that obtain this moment is subtracted each other with train initial alignment position, can get train driving distance L=3000m accurately.
5. distance L of train driving accurately and antenna angle setting value θ that total travel distance
Figure BSA00000269911200047
step 4 of the current time that step 3 is calculated obtains, bringing formula into, to calculate antenna clip angular displacement amount
Figure BSA00000269911200049
diagnostic result as shown in table 1.
Table 1 antenna clip angular displacement amount fault diagnosis result
Can know that from diagnostic result for the deviation situation of different trains operation and antenna angle, this method all can be confirmed the departure of radar speed sensor antenna angle accurately and effectively, for the velocity correction of train is laid a good foundation.
Apply the present invention to the velocity correction of train-installed radar speed sensor, need two steps.At first, train in the process of moving, is used the departure of diagnostic method of the present invention to the antenna angle with the speed of the 200km/h operating range through a segment length L=3000m
Figure BSA00000269911200051
In ensuing driving process, train is initial velocity with 200km/h, 0.04m/s 2For acceleration goes, in the driving process, the travel speed of the train that radar speed sensor constantly measures, and according to formula
Figure BSA00000269911200052
Proofread and correct, obtain correct train running speed v at last k, correcting result is as shown in Figure 3.
As can be seen from Figure 3, when not carrying out velocity correction, the train running speed that measures has bigger difference with real train running speed, and this will greatly influence the traffic safety of train.And the train running speed after overcorrect is close with real train running speed, can reflect the operation conditions of train really, has guaranteed the traffic safety of train.

Claims (2)

1.一种列车车载雷达速度传感器天线夹角偏差故障诊断及速度读数校正方法，其特征在于其包含以下步骤：1. a kind of on-board radar speed sensor antenna angle deviation fault diagnosis and speed reading correction method, it is characterized in that it comprises the following steps: 1)在列车运行过程中，通过列车车载雷达速度传感器，测量得到列车运行速度
Figure FSB00000813804800011
1) During the running of the train, the speed of the train is measured by the on-board radar speed sensor
Figure FSB00000813804800011
 2)根据采样信号长度T和列车运行速度
Figure FSB00000813804800012
利用公式
Figure FSB00000813804800013
计算出在本采样信号段内列车行驶的距离
Figure FSB00000813804800014
2) According to the sampling signal length T and the train running speed
Figure FSB00000813804800012
use the formula
Figure FSB00000813804800013
Calculate the distance traveled by the train in this sampling signal segment
Figure FSB00000813804800014
 3)将本采样信号段内计算得到的列车行驶距离
Figure FSB00000813804800015
与之前的行驶距离L′进行叠加，根据公式
Figure FSB00000813804800016
得到列车的当前总行驶距离
Figure FSB00000813804800017
同时将L′的值设置为当前总行驶距离
Figure FSB00000813804800018
的值，以方便下一轮总行驶距离的更新计算；3) The train travel distance calculated in this sampling signal segment
Figure FSB00000813804800015
Superimposed with the previous driving distance L′, according to the formula
Figure FSB00000813804800016
Get the current total distance traveled by the train
Figure FSB00000813804800017
At the same time, set the value of L' to the current total driving distance
Figure FSB00000813804800018
The value of is to facilitate the update calculation of the next round of total driving distance; 4)当通过轨旁应答器时，列车激活轨旁应答器并与之进行通信，获得列车的准确定位信息，将由应答器给出的当前列车当前位置减去行车初始的定位位置，推算出当前准确总行驶距离L；4) When passing the trackside transponder, the train activates the trackside transponder and communicates with it to obtain accurate positioning information of the train, subtracts the current position of the train given by the transponder from the initial positioning position of the train, and calculates the current position. Accurate total travel distance L; 5)根据步骤3)计算得到的当前总行驶距离
Figure FSB00000813804800019
步骤4)推算出的当前准确总行驶距离L和雷达速度传感器雷达天线的夹角设定值θ，通过公式
Figure FSB000008138048000110
估计得到雷达速度传感器天线夹角的偏差量
Figure FSB000008138048000111
5) According to the current total driving distance calculated in step 3)
Figure FSB00000813804800019
Step 4) Calculate the current accurate total travel distance L and the included angle setting value θ of the radar speed sensor radar antenna, through the formula
Figure FSB000008138048000110
Estimating the deviation of the antenna angle of the radar speed sensor
Figure FSB000008138048000111
 6)根据列车车载雷达速度传感器天线夹角偏差量
Figure FSB000008138048000112
和测量得到的列车运行速度
Figure FSB000008138048000113
通过公式
Figure FSB000008138048000114
获得校正后的列车运行速度vk。6) According to the angle deviation of the train vehicle radar speed sensor antenna
Figure FSB000008138048000112
and the measured train speed
Figure FSB000008138048000113
by formula
Figure FSB000008138048000114
The corrected train running speed v k is obtained. 2.根据权利要求1所述的一种列车车载雷达速度传感器天线夹角偏差故障诊断及速度读数校正方法，其特征在于所述的在列车运行过程中，通过列车车载雷达速度传感器，测量得到列车运行速度的步骤为：首先，在列车行驶时，雷达速度传感器通过天线向地面发射一定频率的电磁波信号，同时接收由地面反射回来的电磁波信号，接着，比较雷达速度传感器发送的电磁波信号的频率和接收到的电磁波信号的频率之间的差异，通过数字滤波器对其进行采样，可得到频率差，即多普勒频率
Figure FSB000008138048000115
其中k＝1，2，3，...为离散时间指标，根据雷达速度传感器天线夹角设定值θ，雷达速度传感器发射的电磁波波长λ，以及采样得到的多普勒频率通过公式
Figure FSB000008138048000117
计算得到列车运行速度 2. A kind of on-board radar speed sensor antenna angle deviation fault diagnosis and speed reading correction method according to claim 1, it is characterized in that described in the train operation process, by the radar speed sensor on-board train, measure and obtain train The steps of running speed are as follows: first, when the train is running, the radar speed sensor transmits an electromagnetic wave signal of a certain frequency to the ground through the antenna, and at the same time receives the electromagnetic wave signal reflected by the ground; then, compares the frequency of the electromagnetic wave signal sent by the radar speed sensor with The difference between the frequencies of the received electromagnetic wave signals is sampled by a digital filter to obtain the frequency difference, that is, the Doppler frequency
Figure FSB000008138048000115
Where k=1, 2, 3, ... are discrete time indicators, according to the radar speed sensor antenna angle set value θ, the electromagnetic wave wavelength λ emitted by the radar speed sensor, and the Doppler frequency obtained by sampling by formula
Figure FSB000008138048000117
Calculate the speed of the train
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