CN102445931A - System and method for acquiring, pushing and remotely controlling information of high-speed moving objects - Google Patents
System and method for acquiring, pushing and remotely controlling information of high-speed moving objects Download PDFInfo
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Abstract
The invention discloses a system and method for acquiring, pushing and remotely controlling information of high-speed moving objects. The system comprises a satellite, a control processing unit, a sensing device, a first satellite communication unit and a remote commanding platform, wherein the control processing unit, the sensing device, the first satellite communication unit and the remote commanding platform are disposed in each high-speed moving object, the first satellite communication unit comprises a communication-in-moving satellite antenna system, a satellite modern, a power amplifier and a low noise amplifier; and the first satellite communication unit communicates with the remote commanding platform via a satellite relay. The remote commanding platform is in charge of processing, transmitting, and displaying various data in the network bidirectionally, and also judging position interval, speed, acceleration/deceleration and movement track trend between two adjacent high-speed moving objects, so as to control the next action of the high-speed moving objects. According to the invention, various kinds of information such as movement state information of the high-speed moving object can be obtained, and further whether two or more high-speed moving objects have the risk of collision can be judged. Furthermore, the invention can be used for action control of the high-speed moving object itself.
Description
Technical field
The invention belongs to technical fields such as automatic control, sensing, communication, Internet of Things, cloud computing, relate to a kind of control system, relate in particular to that a kind of high-speed mobile object information obtains, propelling movement, tele-control system; The invention still further relates to simultaneously that a kind of high-speed mobile object information obtains, the control method of propelling movement, tele-control system.
Background technology
Along with expanding economy, the effect of transportation by railroad in growth of the national economic is also more and more important.China is transportation by railroad big country, also develop rapidly of high-speed railway in recent years, and safety how to guarantee the train of high-speed mobile is the key issue of train control system.
Yet; Since the train high-speed motion, nowadays also suitable without comparison Train Location system, and existing method is normally utilized automatic block system; Can be controlled at 5 minutes the interval time of two row EMUs of high-speed cruising through automatic block system, prevent the generation of train from overtaking collision accident.Automatic block system is with railway line zoning section, and each section only allows a train in one direction.
But this control method can not fundamentally solve the problem of Train Location, possibly because the artificial fault or the fault of signal system cause great disaster.As about 20: 30 evening of on July 23rd, 2011; Station, temperature line Yongjia, river in Zhejiang Province is between southern station, Wenzhou; Beijing reaches D3115 train generation rear-end collision of D301 train in Foochow and south, Hangzhou to Foochow in the south, promptly is because thunderbolt causes the fault of signal system, thereby causes automatic block system ineffective.Its basic reason is that existing single automatic block system is because accidentalia or artifact can cause the system failure, and the possibility that major accident takes place is bigger, sets up the second cover aid decision-making system and is necessary.And for example, about 14: 30 afternoon of on September 27th, 2011, two train collidings of Shanghai rail transit No. 10 line also are because the fault of single signal system causes, thereby have verified importance and the necessity of setting up the second cover aid decision-making system once more.
Chinese patent CN96115090.4 discloses a kind of train locating method and positioning system, belongs to the train operation dispatch manage system display system, according to the characteristics that train goes on trapped orbit, confirms the position of train according to the fixed point and the distance of train.With the numbering of the line sectionalizing in the road network, in a certain highway section, sail out of the distance location of upstream end end points again according to train.Yet this scheme does not fundamentally solve the problem of avoiding many train collidings yet.
In view of this, press for a kind of new high-speed mobile object localization and the solution of control, improve the security of means of transports such as train.
Summary of the invention
Technical matters to be solved by this invention is: provide that a kind of high-speed mobile object information obtains, propelling movement, tele-control system; Can obtain the high-speed mobile object motion state information and positional information or/and oneself state information or/and external environment information or/and target object information, and further move according to the information Control high-speed mobile object that obtains.
In addition; The present invention provides also that the information of above-mentioned control system is obtained, propelling movement, long-range control method; Can obtain the high-speed mobile object motion state information and positional information or/and oneself state information or/and external environment information or/and target object information, and further move according to the information Control high-speed mobile object that obtains.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of high-speed mobile object information obtains, propelling movement, tele-control system, and said system comprises:
Controlled processing unit is arranged at the high-speed mobile object, in order to the motion state of control high-speed mobile object or/and action;
Sensing equipment is arranged at each high-speed mobile object, in order to real-time spatial positional information that the high-speed mobile object is provided or/and oneself state information or/and external environment information or/and target object information;
First satellite communication unit is arranged at each high-speed mobile object, comprises communication in moving satellite antenna system, satellite modem Modem, power amplifier BUC, low noise amplifier LNA; The communication in moving satellite antenna system adapts to all kinds of speed and even electronic response rank; Said first satellite communication unit is via satellite as relaying relay communication; Via satellite relaying to the real-time spatial positional information of remote command platform transmitting high speed mobile object or/and oneself state information or/and external environment information or/and target object information, and the master control order data that sends from the remote command platform to the high-speed mobile object transfer or/and all kinds of two-way communication service data or/and the situation data;
Satellite is in order to the communication in moving satellite communication antena system that realizes said high-speed mobile object and the relaying communication between the remote command platform; Perhaps realize the both-way communication between each high-speed mobile object simultaneously;
The remote command platform; Comprise second satellite communication unit; Second satellite communication unit is the communication in moving satellite antenna system or/and lead to satellite antenna system in quiet; Be connected with first satellite communication unit as relaying via satellite, obtain the high-speed mobile object real-time spatial positional information or/and oneself state information or/and external environment information or/and target object information; The remote command platform carries Various types of data network two-way processing, transmission, demonstration simultaneously; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action; Perhaps, the remote command platform according to reality commander needs with control command or/and mission payload is sent to the high-speed mobile object.
As a kind of preferred version of the present invention, said remote command platform further comprises: main station system, in order to set the communication modes of remote communication node; The network topology structure of said system be the point-to-point or/and point-to-multipoint of SCPC or/and radial network or/and mesh network; Said remote command platform is provided with separately, perhaps is arranged in the high-speed mobile object.
As a kind of preferred version of the present invention; Said remote command platform according to location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular speed, movement locus trend, three-dimensional physical location information, make the possibility whether each high-speed mobile object has collision; Perhaps; Said remote command platform with location interval, speed between each high-speed mobile object, add/retarded velocity, one or more each the high-speed mobile object that are sent in the three-dimensional physical location information of angular speed, movement locus trend, high-speed mobile object, whether make the judgement of bumping against with other high-speed mobile objects by the controlled processing unit of each high-speed mobile object.
As a kind of preferred version of the present invention, said remote command platform is integrated each item information of obtaining, and as required the information of integrating is sent to corresponding high-speed mobile object; Perhaps, simultaneously control information also is sent to corresponding high-speed mobile object together.
As a kind of preferred version of the present invention, said remote command platform obtains space physics position location data, time, speed, air pressure, attitude, moving object direction, the angular speed of high-speed mobile object through second satellite communication unit and add/one or more in the retarded velocity, movement locus, target ground; Said space physics position comprises the positional information of land, ocean, atmospheric envelope and the outer space;
Said remote command platform further comprises:
The mission payload setting module is in order to preestablish or to change the mission payload of high-speed mobile object midway;
Data-mining module; In order to carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation;
The risk judge module is connected with said data-mining module, and it is disconnected to make the anticipation whether two or more adjacent high-speed mobile objects bump against in order to the data of excavating according to said data-mining module;
The early warning module is connected with said risk judge module, makes under the situation that bumps against risk at said risk judge module, sends early warning information; Perhaps, directly transmitting control commands to high speed mobile object is controlled it and is changed motion state, makes two or more adjacent high-speed mobile objects can not bump against; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
As a kind of preferred version of the present invention; Said sensing equipment is one or more in space positioning system, radar, laser scanning system, high-resolution camera, pressure transducer, temperature sensor, humidity sensor, baroceptor, gas sensor, acceleration transducer, acceleration of gravity sensor, photoelectric sensor, tyre pressure sensor, optical inductor, gyroscope, the inertial navigation, and space positioning system is one or more in GPS positioning system, GLONASS positioning system, Galileo positioning system, the Big Dipper positioning system.
As a kind of preferred version of the present invention, said system further comprises:
Sign health status acquiring unit; Be arranged at each high-speed mobile object; In order to obtain the sign health status of each high-speed mobile object; Comprise one or more in the energy resource consumption surplus, tire pressure of engine temperature, engine start operating parameters, signal lamp parameter, useful load, land vehicle/aircraft/high-speed aircraft, and the data of obtaining are sent to the remote command platform;
External environment state acquiring unit; Be arranged at each high-speed mobile object; In order to obtain the external environment status information of each high-speed mobile object, comprise one or more in temperature, air pressure, humidity, the external electromagnetic field parameter information, and the data of obtaining are sent to the remote command platform;
The target object information acquisition unit; Be arranged at each high-speed mobile object; In order to obtain each item information of target object; Comprise one or more in range information, mobile status information, target object photoelectricity and electromagnetic induction information between target object and high-speed mobile object, the target object image, and the data of obtaining are sent to the remote command platform.
As a kind of preferred version of the present invention, said first satellite communication unit further transfers to the remote command platform in order to the data in real time with high-speed mobile object captured image, speech or generation in motion process.
As a kind of preferred version of the present invention; Said system further comprises network butt joint unit; In order to dock with telco provider cellular basestation, data service system, the user who is delivered for each high-speed mobile object provides real-time speech, data, image, the Internet service on net.
As a kind of preferred version of the present invention, said communication in moving satellite antenna system comprises multidimensional electric scanning multi-beam phased array antenna, to realize high anti-jamming capacity.
As a kind of preferred version of the present invention, said system further comprises: the wireless base station, be arranged at first radio communication unit on the high-speed mobile object, be arranged at second radio communication unit of remote command platform; Said high-speed mobile object is through first radio communication unit, second radio communication unit and remote command platform interactive information; The networking mode of wireless telecommunications is static, perhaps is dynamic MANET.
A kind of information of said system is obtained, propelling movement, long-range control method, and said method comprises the steps:
Step S1, sensing equipment obtain the high-speed mobile object real-time spatial positional information or/and oneself state information or/and external environment information or/and target object information;
Step S2, first satellite communication unit relaying relay via satellite communication, via satellite relaying to the real-time spatial positional information of remote command platform transmitting high speed mobile object or/and oneself state information or/and external environment information or/and target object information;
Step S3, remote command platform bearer Various types of data network two-way processing, transmission, demonstration; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action; Perhaps, the remote command platform according to reality commander needs with control command or/and mission payload is sent to the high-speed mobile object.
As a kind of preferred version of the present invention, said step S3 specifically comprises:
Mission payload is set step, preestablishes or change the mission payload of high-speed mobile object midway;
The data mining step; Carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation;
It is disconnected that risk determining step, the data of excavating according to said data-mining module are made the anticipation whether two or more adjacent high-speed mobile objects bump against;
The early warning step is made under the situation that bumps against risk at said risk judge module, sends early warning information; Perhaps, directly transmitting control commands to high speed mobile object is controlled it and is changed motion state, makes two or more adjacent high-speed mobile objects can not bump against; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
Beneficial effect of the present invention is: the high-speed mobile object information that the present invention proposes obtains, propelling movement, tele-control system and method; Can obtain the various information such as motion state information and positional information of high-speed mobile object; And judge that according to movement tendency whether two or more high-speed moving objects have the risk of collision, accomplish networked perception and collision avoidance.The present invention can fundamentally avoid the generation of the tragedy of car accident, and meaning and social value are huge.The present invention can effectively combine with the single block system of existing railway, thereby plays the effect of dual fail-safe.
In addition; The present invention can also be used for the action control to high-speed mobile object self; As realize between the high-speed mobile object intelligent concerted action such as marshalling motion/flight, realize all kinds of tactical operations etc. (wolf pack tactics of guided missile for example, aircraft, unmanned plane self-distant get killed etc.).
Description of drawings
Fig. 1 is the composition synoptic diagram of control system of the present invention.
Fig. 2 is the process flow diagram of control method of the present invention.
Embodiment
Specify the preferred embodiments of the present invention below in conjunction with accompanying drawing.
Embodiment one
The present invention can be used to prevent that a plurality of high-speed moving objects from colliding each other, like high ferro, aircraft, unmanned plane, unmanned platform, guided missile etc.Can also carry out various controls to high-speed moving object, organize into groups flight like flight object crowd, intelligent concerted actions such as various tactics marshalling operations can be provided with kinematic parameter respectively to each individuality.Under unexpected situation, can revise control command, distant the getting killed of oneself under the situation about being intercepted and captured by the enemy appearring like the long-range unmanned aerial vehicle.In an embodiment of the invention; Obtain among the crowd everyone people's face information (or information of target object) through high-resolution camera; With each one face information respectively with database in people's face information of personnel at risk carry out the comparison of people's face, the personnel at risk is attacked immediately; Perhaps report to the remote command platform earlier, after confirming, attack again.In addition, can also obtain enemy's data, then according to the remote data attack, the electronic countermeasure that obtain earlier through unmanned plane (like the bait unmanned plane) launching simulation electronic signal.
See also Fig. 1; The present invention has disclosed that a kind of high-speed mobile object information obtains, propelling movement, tele-control system; Be applicable to surface car, rail traffic vehicles, railroad train; The sea naval vessels, space shuttle, helicopter, unmanned plane, unmanned platform, dirigible, guided missile, rocket, outer space satellite (through the relay of relaying star relaying) platform etc.; The above-mentioned speed of touching upon comprises static and even high-speed aircraft, like fighter plane, missile flight device etc.
Said control system comprises satellite 10, is arranged at controlled processing unit 21 in the high-speed mobile object, first satellite communication unit 22, sensing equipment 23, remote command platform 30.
Wherein, satellite 10 is in order to the communication in moving satellite communication antena system that realizes said high-speed mobile object and the relaying communication between the remote command platform.
Controlled processing unit 21 in order to the motion state of control high-speed mobile object or/and action.As control speed, the direction of motion of high-speed mobile object; Can also comprise that control flyer crowd organizes into groups flight; Carry out various tactics marshalling operations, each individuality is provided with kinematic parameter etc. respectively, can also comprise electronic countermeasure, simulate different aerial target or the like.
Sensing equipment 23 (or sensor) is in order to provide the real-time spatial positional information of high-speed mobile object.Sensing equipment 23 can be space positioning systems such as GPS/GLONASS/ Galileo/Big Dipper, and each space-like real time position parameter of carrier etc. is provided.Sensing equipment 23 also can comprise equipment such as radar, laser scanning system, laser guidance, pressure transducer, temperature sensor, humidity sensor, baroceptor, gas sensor, acceleration transducer, acceleration of gravity sensor, photoelectric sensor, tyre pressure sensor, optical inductor, gyroscope, inertial navigation.
First satellite communication unit 22 comprises communication in moving satellite antenna system, satellite modem Modem, power amplifier BUC, low noise amplifier LNA; The communication in moving satellite antenna system adapts to all kinds of speed and even electronic response rank.Said first satellite communication unit 22 is via satellite 10 as relaying relay communication; Via satellite 10 relayings to the real-time spatial positional information of remote command platform 30 transmitting high speed mobile objects or/and oneself state information or/and external environment information or/and target object information, and to controlled processing unit 21 transmit the master control order data that sends from remote command platform 30 or/and the various types of communication service data or/and the situation data.Preferably, said first satellite communication unit 22 further transfers to remote command platform 30 in order to the data in real time with high-speed mobile object captured image, speech or generation in motion process.
Wherein, oneself state information can comprise geographical location information, Fuel Oil Remaining, tire pressure, electric weight, engine parameter, cabin/information such as cabin air pressure.Topography and geomorphology information that external environment information can comprise ambient temperature information, situation information, investigate etc.Target object information comprises each item information of the target object that high-speed moving object is followed the tracks of or viewed.
The remote command platform carries Various types of data network two-way processing, transmission, demonstration simultaneously; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, angular velocity, movement locus trend (can be the movement locus of two dimension; Also can be three-dimensional movement locus), and then control high-speed mobile object further moves.Perhaps; The remote command platform only carries out data transmission (like abundant real-time situation information) to the high-speed mobile object; Controlled processing unit control high-speed mobile object by the high-speed mobile object further moves, and promptly high-speed mobile object oneself makes corresponding action and response.The transmission of data is two-way, and the more rich in natural resources information that rear remote command platform is had can be pushed to the high-speed mobile object simultaneously, thereby makes on-the-spot judgement and decision more meet objective reality.
In the present embodiment; Said high-speed mobile object is bullet train (can certainly be aircraft); Remote command platform 30 is judged location interval, speed between two adjacent high-speed mobile objects, is added/retarded velocity, one or more in the angular velocity, movement locus trend, and it is disconnected to make the anticipation of whether bumping against; If judge the risk that collision is arranged, then take corresponding prediction scheme measure.
Said remote command platform 30 obtains space physics position location data, time, speed, air pressure, attitude, moving object direction, the angular speed of high-speed mobile object through second satellite communication unit 31 and add/retarded velocity, movement locus, target ground; Said space physics position comprises the positional information of land, ocean, atmospheric envelope and the outer space.
In the present embodiment, said remote command platform further comprises: data-mining module 32, risk judge module 33, early warning module 34, mission payload setting module 35.
Mission payload setting module 35 is in order to preestablish or to change the mission payload of high-speed mobile object midway.
Data-mining module 32 is in order to carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation.
In addition, said system further comprises sign health status acquiring unit, external environment state acquiring unit, target object information acquisition unit.Sign health status acquiring unit is arranged at each high-speed mobile object; In order to obtain the sign health status of each high-speed mobile object; Comprise one or more in the energy resource consumption surplus, tire pressure of engine temperature, engine start operating parameters, signal lamp parameter, useful load, land vehicle/aircraft/high-speed aircraft, and the data of obtaining are sent to the remote command platform.External environment state acquiring unit is arranged at each high-speed mobile object; In order to obtain the external environment status information of each high-speed mobile object; Comprise one or more in temperature, air pressure, humidity, the external electromagnetic field parameter information, and the data of obtaining are sent to the remote command platform.The target object information acquisition unit is arranged at each high-speed mobile object; In order to obtain each item information of target object; Comprise one or more in range information, mobile status information, target object photoelectricity and electromagnetic induction information between target object and high-speed mobile object, the target object image, and the data of obtaining are sent to the remote command platform.
Said system also comprises network butt joint unit, in order to dock with telco provider cellular basestation, data service system, for the user that each high-speed mobile object delivered provides services such as real-time speech, data, audio frequency and video bi-directional, the Internet online.
For improving system's antijamming capability, said communication in moving satellite antenna system comprises multidimensional electric scanning multi-beam phased array antenna, to realize high anti-jamming capacity.
Said remote command platform further comprises main station system, in order to set the communication modes of remote communication node; The network topology structure of said system be the point-to-point or/and point-to-multipoint of SCPC or/and radial network or/and mesh network.
In addition, said remote command platform can separate setting (promptly being provided with separately) with the high-speed mobile object, also can be arranged in the high-speed mobile object.
More than introduced high-speed mobile object control system of the present invention, the present invention also discloses the control method of above-mentioned high-speed mobile object control system when disclosing above-mentioned control system; Said method comprises the steps:
Steps A, sensing equipment obtain the high-speed mobile object real-time spatial positional information or/and oneself state information or/and external environment information or/and target object information;
Step B, first satellite communication unit relaying relay via satellite communication, via satellite relaying to the real-time spatial positional information of remote command platform transmitting high speed mobile object or/and oneself state information or/and external environment information or/and target object information;
Step C, remote command platform bearer Various types of data network two-way processing, transmission, demonstration; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action; Perhaps, the remote command platform according to reality commander needs with control command or/and mission payload is sent to the high-speed mobile object.
Present embodiment is mainly introduced the present invention in the control method that prevents a plurality of high-speed moving object collisions, sees also Fig. 2, and said method comprises the steps:
[step S0] mission payload is set step, preestablishes or change the mission payload of high-speed mobile object midway.
[step S1] sensing equipment obtains the real-time spatial positional information of high-speed mobile object.
[step S2] first satellite communication unit relaying relay via satellite communication, relaying is to the real-time spatial positional information of remote command platform transmitting high speed mobile object via satellite.
[step S3] remote command platform bearer Various types of data network two-way processing, transmission, demonstration; Judge location interval, speed between two adjacent high-speed mobile objects, add/retarded velocity, angular velocity, movement locus trend, it is disconnected to make the anticipation of whether bumping against; If judge the risk that collision is arranged, then go to step S4.
[step S4] remote command platform relaying via satellite sends early warning signal or control command to the high-speed mobile object.
The master control order data that the controlled processing unit receiving remote maneuvering platform of [step S5] high-speed mobile object sends, the state of control high-speed mobile object.
Said step S3, S4 specifically comprise:
The data mining step; Carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation.
It is disconnected that risk determining step, the data of excavating according to said data-mining module are made the anticipation whether two or more adjacent high-speed mobile objects bump against.
The early warning step is made under the situation that bumps against risk at said risk judge module, sends early warning information; Perhaps, directly transmitting control commands to high speed mobile object is controlled it and is changed motion state, makes two or more adjacent high-speed mobile objects can not bump against; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
Embodiment two
The difference of present embodiment and embodiment one is; In the present embodiment; The remote command platform carries Various types of data network two-way processing, transmission, demonstration simultaneously; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
In the present embodiment, said high-speed mobile object can be high-speed aircraft, like guided missile, aircraft, unmanned plane, unmanned platform, or even the spacecraft of satellite, the outer space.It is pointed out that when the high-speed mobile object is satellite the relaying star of a plurality of passing of satelline outer spaces (satellite of satellite) is as the communication relaying.The high-speed mobile object that the relaying star can also further be controlled through each each satellite of satellite control.
Embodiment three
In the present embodiment, communication modes of the present invention can be applied to the airborne communication/missile-borne communication/vehicle mounted communication of high-speed mobile object etc.At present, the communication modes limitation in the high-speed mobile object is bigger, when high-speed mobile object (like high ferro train, aircraft, unmanned plane, unmanned platform, guided missile etc.) high-speed cruising, and existing communication signal less stable.The present invention can provide function of surfing the Net, speech connection, audio frequency and video bi-directional, fly Various types of data chain business demands such as control, observing and controlling, fire control.Utilize system and method for the present invention, can obtain good effect.
Embodiment four
In the present embodiment, said system further comprises: the wireless base station, be arranged at first radio communication unit on the high-speed mobile object, be arranged at second radio communication unit of remote command platform.Said high-speed mobile object is through first radio communication unit, second radio communication unit and remote command platform interactive information; The networking mode of wireless telecommunications is static, perhaps is dynamic MANET.
Above-mentioned wireless base station is laid on ground (comprising the underground rail traffic), and wireless telecommunications and satellite communication can increase application scenarios of the present invention as the data communication method of complementation.
In sum; The high-speed mobile object information that the present invention proposes obtains, propelling movement, tele-control system and method; Can obtain the various information such as motion state information and positional information of high-speed mobile object; And judge that according to movement tendency whether two or more high-speed moving objects have the risk of collision, accomplish networked perception and collision avoidance.The present invention can fundamentally avoid the generation of the tragedy of car accident, and meaning and social value are huge.The present invention can effectively combine with the single block system of existing railway, thereby plays the effect of dual fail-safe.
In addition; The present invention can also be used for the action control to high-speed mobile object self; As realize between the high-speed mobile object intelligent concerted action such as marshalling motion/flight, realize all kinds of tactical operations etc. (wolf pack tactics of guided missile for example, aircraft, unmanned plane self-distant get killed etc.).
Here description of the invention and application is illustrative, is not to want with scope restriction of the present invention in the above-described embodiments.Here the distortion of the embodiment that is disclosed and change are possible, and the replacement of embodiment is known with the various parts of equivalence for those those of ordinary skill in the art.Those skilled in the art are noted that under the situation that does not break away from spirit of the present invention or essential characteristic, and the present invention can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.Under the situation that does not break away from the scope of the invention and spirit, can carry out other distortion and change here to the embodiment that is disclosed.
Claims (12)
- A high-speed mobile object information obtain, propelling movement, tele-control system, it is characterized in that said system comprises:Controlled processing unit is arranged at the high-speed mobile object, in order to the motion state of control high-speed mobile object or/and action;Sensing equipment is arranged at each high-speed mobile object, in order to real-time spatial positional information that the high-speed mobile object is provided or/and oneself state information or/and external environment information or/and target object information;First satellite communication unit is arranged at each high-speed mobile object, comprises communication in moving satellite antenna system, satellite modem Modem, power amplifier BUC, low noise amplifier LNA; The communication in moving satellite antenna system adapts to all kinds of speed and even electronic response rank; Said first satellite communication unit is via satellite as relaying relay communication; Via satellite relaying to the real-time spatial positional information of remote command platform transmitting high speed mobile object or/and oneself state information or/and external environment information or/and target object information, and the master control order data that sends from the remote command platform to the high-speed mobile object transfer or/and all kinds of two-way communication service data or/and the situation data;Satellite is in order to the communication in moving satellite communication antena system that realizes said high-speed mobile object and the relaying communication between the remote command platform; Perhaps realize the both-way communication between each high-speed mobile object simultaneously;The remote command platform; Comprise second satellite communication unit; Second satellite communication unit is the communication in moving satellite antenna system or/and lead to satellite antenna system in quiet; Be connected with first satellite communication unit as relaying via satellite, obtain the high-speed mobile object real-time spatial positional information or/and oneself state information or/and external environment information or/and target object information; The remote command platform carries Various types of data network two-way processing, transmission, demonstration simultaneously; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action; Perhaps, the remote command platform according to reality commander needs with control command or/and mission payload is sent to the high-speed mobile object.
- 2. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said remote command platform further comprises: main station system, in order to set the communication modes of remote communication node;The network topology structure of said system be the point-to-point or/and point-to-multipoint of SCPC or/and radial network or/and mesh network;Said remote command platform is provided with separately, perhaps is arranged in the high-speed mobile object.
- 3. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said remote command platform according to location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular speed, movement locus trend, three-dimensional physical location information, make the possibility whether each high-speed mobile object has collision;Perhaps; Said remote command platform with location interval, speed between each high-speed mobile object, add/retarded velocity, one or more each the high-speed mobile object that are sent in the three-dimensional physical location information of angular speed, movement locus trend, high-speed mobile object, whether make the judgement of bumping against with other high-speed mobile objects by the controlled processing unit of each high-speed mobile object.
- 4. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said remote command platform is integrated each item information of obtaining, and as required the information of integrating is sent to corresponding high-speed mobile object; Perhaps, simultaneously control information also is sent to corresponding high-speed mobile object together.
- 5. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said remote command platform obtains space physics position location data, time, speed, air pressure, attitude, moving object direction, the angular speed of high-speed mobile object through second satellite communication unit and add/one or more in the retarded velocity, movement locus, target ground; Said space physics position comprises the positional information of land, ocean, atmospheric envelope and the outer space;Said remote command platform further comprises:The mission payload setting module is in order to preestablish or to change the mission payload of high-speed mobile object midway;Data-mining module; In order to carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation;The risk judge module is connected with said data-mining module, and it is disconnected to make the anticipation whether two or more adjacent high-speed mobile objects bump against in order to the data of excavating according to said data-mining module;The early warning module is connected with said risk judge module, makes under the situation that bumps against risk at said risk judge module, sends early warning information; Perhaps, directly transmitting control commands to high speed mobile object is controlled it and is changed motion state, makes two or more adjacent high-speed mobile objects can not bump against; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
- 6. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said sensing equipment is one or more in space positioning system, radar, laser scanning system, high-resolution camera, pressure transducer, temperature sensor, humidity sensor, baroceptor, gas sensor, acceleration transducer, acceleration of gravity sensor, photoelectric sensor, tyre pressure sensor, optical inductor, gyroscope, the inertial navigation, and space positioning system is one or more in GPS positioning system, GLONASS positioning system, Galileo positioning system, the Big Dipper positioning system.
- 7. high-speed mobile object information according to claim 1 obtains, propelling movement, tele-control system, it is characterized in that:Said system further comprises:Sign health status acquiring unit; Be arranged at each high-speed mobile object; In order to obtain the sign health status of each high-speed mobile object; Comprise one or more in the energy resource consumption surplus, tire pressure of engine temperature, engine start operating parameters, signal lamp parameter, useful load, land vehicle/aircraft/high-speed aircraft, and the data of obtaining are sent to the remote command platform;External environment state acquiring unit; Be arranged at each high-speed mobile object; In order to obtain the external environment status information of each high-speed mobile object, comprise one or more in temperature, air pressure, humidity, the external electromagnetic field parameter information, and the data of obtaining are sent to the remote command platform;The target object information acquisition unit; Be arranged at each high-speed mobile object; In order to obtain each item information of target object; Comprise one or more in range information, mobile status information, target object photoelectricity and electromagnetic induction information between target object and high-speed mobile object, the target object image, and the data of obtaining are sent to the remote command platform.
- According to the described high-speed mobile object information of one of claim 1 to 7 obtain, propelling movement, tele-control system, it is characterized in that:Said first satellite communication unit further transfers to the remote command platform in order to the data in real time with high-speed mobile object captured image, speech or generation in motion process;Said system further comprises network butt joint unit, and in order to dock with telco provider cellular basestation, data service system, the user who is delivered for each high-speed mobile object provides real-time speech, data, image, the Internet service on net.
- According to the described high-speed mobile object information of one of claim 1 to 7 obtain, propelling movement, tele-control system, it is characterized in that:Said communication in moving satellite antenna system comprises multidimensional electric scanning multi-beam phased array antenna, to realize high anti-jamming capacity.
- According to the described high-speed mobile object information of one of claim 1 to 7 obtain, propelling movement, tele-control system, it is characterized in that:Said system further comprises: the wireless base station, be arranged at first radio communication unit on the high-speed mobile object, be arranged at second radio communication unit of remote command platform;Said high-speed mobile object is through first radio communication unit, second radio communication unit and remote command platform interactive information; The networking mode of wireless telecommunications is static, perhaps is dynamic MANET.
- 11. the information of an one of claim 1 to 10 said system is obtained, propelling movement, long-range control method, it is characterized in that said method comprises the steps:Step S1, sensing equipment obtain the high-speed mobile object real-time spatial positional information or/and oneself state information or/and external environment information or/and target object information;Step S2, first satellite communication unit relaying relay via satellite communication, via satellite relaying to the real-time spatial positional information of remote command platform transmitting high speed mobile object or/and oneself state information or/and external environment information or/and target object information;Step S3, remote command platform bearer Various types of data network two-way processing, transmission, demonstration; And judge location interval, speed between each high-speed mobile object, add/retarded velocity, one or more in the angular velocity, movement locus trend, and then control high-speed mobile object further moves; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action; Perhaps, the remote command platform according to reality commander needs with control command or/and mission payload is sent to the high-speed mobile object.
- 12. information according to claim 11 is obtained, propelling movement, long-range control method, it is characterized in that: said step S3 specifically comprises:Mission payload is set step, preestablishes or change the mission payload of high-speed mobile object midway;The data mining step; Carry out data mining to obtaining information; Thereby realize for the location interval distance between high-speed mobile object crowd and crowd, in the crowd between each monomer, interval time, offset direction, off-track, and target distance, the required time that reaches the destination, the calculating consuming time of whole movement locus, and its follow-up developments trend of anticipation;It is disconnected that risk determining step, the data of excavating according to said data-mining module are made the anticipation whether two or more adjacent high-speed mobile objects bump against;The early warning step is made under the situation that bumps against risk at said risk judge module, sends early warning information; Perhaps, directly transmitting control commands to high speed mobile object is controlled it and is changed motion state, makes two or more adjacent high-speed mobile objects can not bump against; Perhaps, the remote command platform only carries out data transmission to the high-speed mobile object, independently carries out data processing by the controlled processing unit of high-speed mobile object according to the data that receive, control high-speed mobile object auto-action.
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| CN111277320A (en) * | 2020-01-21 | 2020-06-12 | 北京大学 | Method and device for track design and interference management of cellular network connection unmanned aerial vehicle |
| CN111277320B (en) * | 2020-01-21 | 2021-06-11 | 北京大学 | Method and device for track design and interference management of cellular network connection unmanned aerial vehicle |
| CN112734164A (en) * | 2020-12-17 | 2021-04-30 | 中南大学 | Full life cycle intelligent operation and maintenance method for high-speed railway signal system |
| CN112734164B (en) * | 2020-12-17 | 2023-10-24 | 中南大学 | Full life cycle intelligent operation and maintenance method for high-speed railway signal system |
| CN112953617A (en) * | 2020-12-24 | 2021-06-11 | 中国特种飞行器研究所 | Air and ground emergency communication system and stratospheric airship emergency communication system |
| CN117007328A (en) * | 2023-06-16 | 2023-11-07 | 中国汽车工程研究院股份有限公司 | Dynamic displacement calculation optimization method for vehicle collision test |
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Application publication date: 20120509 |