CN103018472A - Speed measuring method based on train multi-sensor speed measuring system - Google Patents
Speed measuring method based on train multi-sensor speed measuring system Download PDFInfo
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- CN103018472A CN103018472A CN2012104973114A CN201210497311A CN103018472A CN 103018472 A CN103018472 A CN 103018472A CN 2012104973114 A CN2012104973114 A CN 2012104973114A CN 201210497311 A CN201210497311 A CN 201210497311A CN 103018472 A CN103018472 A CN 103018472A
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Abstract
The invention discloses a speed measuring method based on a train multi-sensor speed measuring system, which comprises the following steps of: (1), detecting whether the speed measurement of a radar sensor is abnormal; (2), if detecting that the speed measurement of the radar sensor is normal, measuring the speed of a train through a conventional speed measuring method; (3), if detecting that the speed measurement of the radar sensor is abnormal, detecting whether the speed measurement of a speed sensor is abnormal; and (4), if detecting that the speed measurement of the speed sensor is normal, using a speed measuring result of the speed sensor. The speed measuring method based on the train multi-sensor speed measuring system disclosed by the invention is capable of solving the problem that the speed measured by the speed measuring system is inaccurate, because the speed measuring system mistakenly thinks that the speed sensor slips or idles in the event of having abnormal radar operation and takes the speed measured by the radar sensor as an output result.
Description
Technical field
The present invention relates to a kind of speed-measuring method of velocity-measuring system, espespecially a kind of speed-measuring method based on train multisensor velocity-measuring system.
Background technology
Along with developing rapidly of urban track traffic, punctual, low operation interval becomes developing goal, therefore requires signal system to have robotization and the intellectuality of height.The signal system nucleus equipment is the safe operation that vehicle-mounted automatic protective system (hereinafter referred is ATP) guarantees track traffic.
Vehicle-mounted ATP equipment is by gathering current train speed, according to the control informations such as speed that ground control equipment transmits, prevents the train hypervelocity and rushes the hazard event such as signal.And all safeguard function benchmark of vehicle-mounted ATP equipment are that the speed that gathers must be reliable, truly reflect current speed.Therefore the general Negotiation speed sensor that adopts comes accurate test speed.
The principle of wheel shaft impulse speed sensor (hereinafter referred speed pickup) accurately calculates speed based on the number of revolutions that detects wheel.When wheel spin or when skidding (hereinafter referred empty sliding), it is inaccurate to occur easily testing the speed.General way is come subsidiary by appending other a speed measuring equipment, judges whether idle running to occur or skid.
A kind of way can be assisted according to the installation radar and be tested the speed.Surpass certain amplitude when the speed of speed pickup speed and radar differs, think then to enter idle running or skid that will not be as the criterion with speed pickup speed this moment.The radar sensor good stability that tests the speed, but rate accuracy is high not as good as speed pickup.So speed pickup generally is used for obtaining true velocity, and whether radar sensor is normal for detection of speed sensor velocity measurement.When speed pickup and radar velocity measurement are roughly the same, the result that tests the speed of operating speed sensor, otherwise the result that tests the speed who uses radar sensor is as the result that tests the speed after merging.
Generally, radar can both provide the train speed of compared with normal.Test the speed resultant error within the specific limits the time, the speed of operating speed sensor, otherwise the speed of using radar is as testing the speed the result when speed pickup and radar sensor.But in use we find, in few situation, such as inclement weathers such as heavy rain, heavy snow, disturbed by other environmental factors, and testing the speed of radar also can be received impact, gives the result that tests the speed who makes mistake.Owing to can use the result that tests the speed of radar when radar and speed sensor velocity measurement result are inconsistent, thus caused serious test the speed inaccurate.
Summary of the invention
Problem for prior art exists the object of the present invention is to provide a kind of speed-measuring method that improves the velocity-measuring system rate accuracy.
Whether for achieving the above object, the speed-measuring method based on train multisensor velocity-measuring system of the present invention may further comprise the steps: 1) detect radar sensor and test the speed unusual; 2) if detecting radar sensor tests the speed normally, then the speed-measuring method by routine carries out locomotive velocity measuring; 3) if detecting radar sensor tests the speed unusually, the detection speed sensor abnormal that whether tests the speed then; 4) normal if detect speed sensor velocity measurement, the result that tests the speed of operating speed sensor then.
Further, the detection method of radar sensor is specially in the step 1): the First Speed difference of calculating forward and backward output according to the velocity amplitude of the forward and backward output of radar sensor, and judge whether this First Speed difference exceeds the velocity jump threshold range, then judge according to the result whether radar sensor tests the speed unusual.
Further, the velocity amplitude of the forward and backward output of described radar sensor is discrete, and only radar sensor is carried out one-time detection, and select according to actual conditions the interval time of forward and backward output speed value.
Further, if exceeding described velocity jump threshold range, described First Speed difference judges that radar sensor tests the speed unusually, does not use the result that tests the speed of radar sensor.
Further, the velocity amplitude of the forward and backward output of described radar sensor is continuous, and in the given time radar sensor is carried out repeated detection, with repeated detection to the number of times of radar sensor generation saltus step and predefined threshold ratio, if repeated detection exceeds predefined threshold value to the number of times of radar sensor generation saltus step then judges that radar sensor tests the speed unusually, otherwise judge that radar sensor tests the speed normally.
Further, the detection method of step 3) medium velocity sensor is specially: calculate second speed difference between each speed pickup according to the velocity amplitude of each speed pickup output, and judge whether this second speed difference exceeds the velocity jump threshold range, then judge according to the result whether speed sensor velocity measurement is unusual.
Further, if described second speed difference exceeds described velocity jump threshold range then judges that speed sensor velocity measurement is unusual, fault then tests the speed.
Further, described velocity jump threshold range is [– (b * t+ ε), a * t+ ε], wherein a is the maximum traction acceleration of train, and b is maximum braking ratio, and t is the cycle of operation, and ε is the radar velocity measurement fluctuation parameters.
Speed-measuring method based on train multisensor velocity-measuring system of the present invention, according to the train performance parameter, radar sensor and speed pickup are added the as a result saltus step protection of testing the speed, if test the speed as a result generation saltus step, think that then the current device result that tests the speed is undesired, do not use the current device result that tests the speed.Can avoid under radar work deviant circumstance, velocity-measuring system misidentification speed pickup skids or dallies, with radar sensor degree of being tested the speed as Output rusults, it is inaccurate to cause velocity-measuring system to test the speed.By to the inconsistent detection of radar velocity measurement result and processing, guaranteed Security of the system, also improved the availability of system.
Description of drawings
Fig. 1 is the multisensor velocity-measuring system that the present invention is based on train synoptic diagram that tests the speed;
Fig. 2 detects whether unusual process flow diagram of radar sensor in the speed-measuring method of the present invention;
Fig. 3 is detection speed sensor unusual process flow diagram whether in the speed-measuring method of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but do not limit protection scope of the present invention.
As shown in Figure 1, the multisensor velocity-measuring system based on train of the present invention mainly comprises radar sensor, speed pickup 1 and speed pickup 2, and it is empty sliding that radar sensor is mainly used in judging whether speed pickup occurs.Velocity-measuring system in the present embodiment adopts two speed pickups, stable, reliable for what guarantee to test the speed, velocity-measuring system also can adopt a plurality of speed pickups, it is empty sliding that radar sensor goes one by one to judge whether each speed pickup occurs, and velocity-measuring system is not finally the mean value of the empty velocity amplitude that speed pickup is surveyed of sliding to occur as output speed.And occur when unusual when radar sensor self tests the speed, can't judge correctly whether speed pickup empty cunning has occured by radar sensor, might be because radar sensor institute degree of testing the speed differs greatly with speed pickup degree of testing the speed, and empty the cunning all occurs in the erroneous judgement speed pickup, final velocity-measuring system can be exported the speed of radar sensor, but this moment radar sensor institute degree of testing the speed substantial deviation the actual speed of train, cause the velocity-measuring system output speed seriously to be forbidden.
For the problems referred to above, the present invention is based on the speed-measuring method of train multisensor velocity-measuring system, may further comprise the steps:
1) detect whether unusual step following (treatment scheme is seen Fig. 2) of radar sensor:
Whether record radar sensor output speed last time value is normal for detection of the velocity amplitude of this output of radar sensor.Calculate the speed of this output and the speed difference of output last time, and judge whether this difference exceeds threshold range (hereinafter referred to as the velocity jump thresholding).If in threshold range, think that then radar velocity measurement is normal, can test the speed according to the speed-measuring method of routine, as comparing radar sensor speed and speed pickup speed, then velocity-measuring system operating speed sensor speed otherwise uses radar sensor speed as output speed as output speed in threshold range.If the speed difference of the forward and backward output of radar sensor not in threshold range, is thought that radar sensor tests the speed and saltus step occurred, continue follow-up speed measurement treatment step, the speed of described forward and backward output can be continuous also can be discrete.In order to prevent that extraneous factor from causing radar sensor the jump of testing the speed of moment to occur, have influence on the availability of system, in detecting the unusual step of radar sensor, can also increase continuous transition detection.Namely within the time of setting, radar sensor is carried out repeatedly transition detection, record testing result repeatedly, and detect number of times that the radar sensor saltus step occurs and predefined threshold ratio in will be during this period of time, just think the radar sensor abnormal if exceed threshold value, otherwise thinking that radar sensor is normal, is the saltus step of testing the speed moment.The setting-up time of transition detection and predefined threshold value are determined by reality continuously, but flexible choice.
The saltus step of testing the speed of moment appears for fear of radar sensor, selectively, the speed of the forward and backward output of radar sensor record is discrete, the speed that namely records forward and backward output prolongs certain hour, for example, the 1st second record output radar sensor speed recorded output radar sensor speed again after being separated by 2 seconds.Only carry out one-time detection although whether radar sensor velocity jump is occured, but because forward and backward degree of testing the speed certain interval of time, also can avoid radar sensor the moment saltus step of testing the speed to occur, namely think the radar sensor abnormal, have influence on the availability of system.Wherein, speed time expand of forward and backward output, can be by the actual conditions flexible choice.
Velocity jump threshold range computing method are as follows:
If the maximum of train traction acceleration a, maximum braking ratio is b, and the cycle of operation is t, and then the velocity jump threshold range should be: [– (b * t+ ε), a * t+ ε], wherein, ε is the radar velocity measurement fluctuation parameters.Above-mentioned Train Parameters is provided by producer after train dispatches from the factory.
2) detection speed sensor unusual step following (treatment scheme is seen Fig. 3) whether
Test the speed unusually when detecting radar sensor, then can't come the detection speed sensor whether to occur to dally or slide with radar sensor.Need to judge this moment and test the speed difference whether in the velocity jump threshold range between two speed pickups.If, still think and test the speed normally, export the mean value of two speed pickup degree of testing the speed, otherwise, think the fault that tests the speed.
Above embodiment only is used for explanation the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; in the situation that does not break away from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (8)
1. whether the speed-measuring method based on train multisensor velocity-measuring system is characterized in that, may further comprise the steps: 1) detect radar sensor and test the speed unusual; 2) if detecting radar sensor tests the speed normally, then the speed-measuring method by routine carries out locomotive velocity measuring; 3) if detecting radar sensor tests the speed unusually, the detection speed sensor abnormal that whether tests the speed then; 4) normal if detect speed sensor velocity measurement, the result that tests the speed of operating speed sensor then.
2. speed-measuring method as claimed in claim 1, it is characterized in that, the detection method of radar sensor is specially in the step 1): the First Speed difference of calculating forward and backward output according to the velocity amplitude of the forward and backward output of radar sensor, and judge whether this First Speed difference exceeds the velocity jump threshold range, then judge according to the result whether radar sensor tests the speed unusual.
3. speed-measuring method as claimed in claim 2 is characterized in that, the velocity amplitude of the forward and backward output of described radar sensor is discrete, and only radar sensor is carried out one-time detection, and select according to actual conditions the interval time of forward and backward output speed value.
4. speed-measuring method as claimed in claim 3 is characterized in that, judges that radar sensor tests the speed unusually, does not use the result that tests the speed of radar sensor if described First Speed difference exceeds described velocity jump threshold range.
5. speed-measuring method as claimed in claim 2, it is characterized in that, the velocity amplitude of the forward and backward output of described radar sensor is continuous, and in the given time radar sensor is carried out repeated detection, with repeated detection to the number of times of radar sensor generation saltus step and predefined threshold ratio, if repeated detection exceeds predefined threshold value to the number of times of radar sensor generation saltus step then judges that radar sensor tests the speed unusually, otherwise judge that radar sensor tests the speed normally.
6. speed-measuring method as claimed in claim 1, it is characterized in that, the detection method of step 3) medium velocity sensor is specially: calculate second speed difference between each speed pickup according to the velocity amplitude of each speed pickup output, and judge whether this second speed difference exceeds the velocity jump threshold range, then judge according to the result whether speed sensor velocity measurement is unusual.
7. speed-measuring method as claimed in claim 6 is characterized in that, if described second speed difference exceeds described velocity jump threshold range then judges that speed sensor velocity measurement is unusual, fault then tests the speed.
8. such as claim 2 or 6 described speed-measuring methods, it is characterized in that described velocity jump threshold range is [– (b * t+ ε), a * t+ ε], wherein a is the maximum traction acceleration of train, b is maximum braking ratio, t is the cycle of operation, and ε is the radar velocity measurement fluctuation parameters.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103743920A (en) * | 2013-12-30 | 2014-04-23 | 北京交控科技有限公司 | Subway train speed measurement method and device on basis of single sensor |
| CN104486135A (en) * | 2014-11-18 | 2015-04-01 | 北京交控科技有限公司 | System and method for communication calibration of rail vehicle |
| CN104502777A (en) * | 2014-11-21 | 2015-04-08 | 北京交控科技有限公司 | Method of detecting anomaly of line between vehicle-mounted automatic protection system and speed sensor |
| CN104608803A (en) * | 2014-12-09 | 2015-05-13 | 北京交控科技有限公司 | Method for measuring speed of train |
| 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 |
| CN106394616A (en) * | 2015-07-31 | 2017-02-15 | 株式会社京三制作所 | Train position detecting device and train position detection method |
| US9950721B2 (en) | 2015-08-26 | 2018-04-24 | Thales Canada Inc | Guideway mounted vehicle localization system |
| CN108415009A (en) * | 2018-02-02 | 2018-08-17 | 合肥工大高科信息科技股份有限公司 | A kind of train speed computational methods and system |
| CN109779444A (en) * | 2019-01-25 | 2019-05-21 | 青岛四方庞巴迪铁路运输设备有限公司 | Automatic closing control method for passenger door of railway vehicle |
| CN110422205A (en) * | 2019-07-18 | 2019-11-08 | 北京自动化控制设备研究所 | Method is detected and corrected in a kind of bullet train idling slide |
| CN111366742A (en) * | 2020-03-06 | 2020-07-03 | 苏州浪潮智能科技有限公司 | Fan rotating speed detection device and method based on server |
| WO2021135764A1 (en) * | 2020-01-02 | 2021-07-08 | 中车株洲电力机车有限公司 | Rail transit vehicle and speed measurement method and system thereof |
| CN113247047A (en) * | 2021-05-28 | 2021-08-13 | 交控科技股份有限公司 | Method and device for protecting consistency of train speed sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103743920A (en) * | 2013-12-30 | 2014-04-23 | 北京交控科技有限公司 | Subway train speed measurement method and device on basis of single sensor |
| CN103743920B (en) * | 2013-12-30 | 2016-08-17 | 北京交控科技股份有限公司 | Subway train speed-measuring method based on single-sensor and device |
| CN104486135A (en) * | 2014-11-18 | 2015-04-01 | 北京交控科技有限公司 | System and method for communication calibration of rail vehicle |
| CN104486135B (en) * | 2014-11-18 | 2017-09-19 | 交控科技股份有限公司 | Communication calibration system and method in rail vehicle |
| CN104502777A (en) * | 2014-11-21 | 2015-04-08 | 北京交控科技有限公司 | Method of detecting anomaly of line between vehicle-mounted automatic protection system and speed sensor |
| 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 |
| CN104608803A (en) * | 2014-12-09 | 2015-05-13 | 北京交控科技有限公司 | Method for measuring speed of train |
| CN106394616A (en) * | 2015-07-31 | 2017-02-15 | 株式会社京三制作所 | Train position detecting device and train position detection method |
| CN106394616B (en) * | 2015-07-31 | 2020-03-31 | 株式会社京三制作所 | Train position detection device and train position detection method |
| US9950721B2 (en) | 2015-08-26 | 2018-04-24 | Thales Canada Inc | Guideway mounted vehicle localization system |
| US10220863B2 (en) | 2015-08-26 | 2019-03-05 | Thales Canada Inc. | Guideway mounted vehicle localization system |
| 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 |
| CN105372442B (en) * | 2015-12-14 | 2019-06-18 | 交控科技股份有限公司 | A kind of locomotive velocity measuring method, processor and locomotive velocity measuring system |
| CN108415009A (en) * | 2018-02-02 | 2018-08-17 | 合肥工大高科信息科技股份有限公司 | A kind of train speed computational methods and system |
| CN108415009B (en) * | 2018-02-02 | 2020-05-01 | 合肥工大高科信息科技股份有限公司 | Train speed calculation method and system |
| CN109779444A (en) * | 2019-01-25 | 2019-05-21 | 青岛四方庞巴迪铁路运输设备有限公司 | Automatic closing control method for passenger door of railway vehicle |
| CN109779444B (en) * | 2019-01-25 | 2021-05-28 | 青岛四方庞巴迪铁路运输设备有限公司 | Automatic closing control method for passenger door of railway vehicle |
| CN110422205A (en) * | 2019-07-18 | 2019-11-08 | 北京自动化控制设备研究所 | Method is detected and corrected in a kind of bullet train idling slide |
| CN110422205B (en) * | 2019-07-18 | 2021-06-08 | 北京自动化控制设备研究所 | Method for detecting and correcting idle sliding of high-speed train |
| WO2021135764A1 (en) * | 2020-01-02 | 2021-07-08 | 中车株洲电力机车有限公司 | Rail transit vehicle and speed measurement method and system thereof |
| CN111366742A (en) * | 2020-03-06 | 2020-07-03 | 苏州浪潮智能科技有限公司 | Fan rotating speed detection device and method based on server |
| CN111366742B (en) * | 2020-03-06 | 2022-03-04 | 苏州浪潮智能科技有限公司 | Fan rotating speed detection device and method based on server |
| CN113247047A (en) * | 2021-05-28 | 2021-08-13 | 交控科技股份有限公司 | Method and device for protecting consistency of train speed sensor |
| CN116621044A (en) * | 2023-07-21 | 2023-08-22 | 常州海图信息科技股份有限公司 | Intelligent auxiliary driving system and method for monorail crane |
| CN116621044B (en) * | 2023-07-21 | 2023-10-20 | 常州海图信息科技股份有限公司 | Intelligent auxiliary driving system and method for monorail crane |
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