CN103072599A - Method for positioning high-speed train in real time - Google Patents
Method for positioning high-speed train in real time Download PDFInfo
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- CN103072599A CN103072599A CN2012101295580A CN201210129558A CN103072599A CN 103072599 A CN103072599 A CN 103072599A CN 2012101295580 A CN2012101295580 A CN 2012101295580A CN 201210129558 A CN201210129558 A CN 201210129558A CN 103072599 A CN103072599 A CN 103072599A
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Abstract
The invention provides a method for positioning a high-speed train in real time. The method comprises the steps of: 1, data preprocessing, i.e. processing the real-time data which is acquired by a vehicle positioning system and calculating parameters of running distance, limit speed and time for speed change in a time interval and the like; 2, current train speed predetermining: adopting an acceleration mode or a pursuing mode to predetermine the current train speed; 3, current train mileage predicting: calculating the current train mileage according to the predetermined current train speed and the related data which is obtained in the step 1; and 4, building a line mileage-coordinate correlation model, and calculating mileage coordinates so as to position the train in real time.
Description
Technical field
The present invention relates to the in real time method of location of a kind of high speed train, be applicable to the fields such as high speed train operation control, ground security monitoring and the emulation of train real time execution.
Background technology
Obtaining of train real time position and speed is the gordian technique in the fields such as train operation control, ground security monitoring and the emulation of train real time execution.At present, the application of the real-time location technology of train GPS and GSM mobile communication technology is comparative maturity all, will obtain real time position and the speed of train in the ground control center, is comprised of onboard subsystem and ground subsystem two parts from system constructing.Onboard subsystem comprises acquisition module, data storage and sending module, and data memory module is responsible for depositing the data of collection, and data send and adopt GSM mobile termination to finish data communication.Ground subsystem comprises that data reception module, DBM and data analysis module consist of.Because links such as data acquisition, transmission and storages, the center, ground obtains operating train real time data and has the certain hour interval, and when train speed reached 350km/h-400km/h, the data acquisition interval train in 1 second will move more than 100 meter.Therefore the real-time location that will realize high speed train becomes the pinpoint key of high speed train in the data processing method of data acquisition interval in the time period.
Summary of the invention
Technical matters to be solved by this invention provides a kind of high speed train real-time location method.
Real-time location method refers to, the current time that gathers according to train and the true operating data of previous moment, and the running condition of prediction train in data acquisition interval merges at last True Data and predicted data and realizes that high speed train locates in real time.
Real-time location method comprises among the present invention: the data pretreatment; Prediction train present speed; The current mileage of prediction train; Calculate the current coordinate of train, specific as follows:
(1) data pretreatment
The data pretreatment refers to the real time data of vehicle positioning system collection is processed, and in the time, this module only is called once when new data imports in data acquisition interval.When an operating data of new incoming, just call this module and upgrade train runing parameters, if once pass many operational factors of coming, then only get the last item.This module input parameter is: V
0, V
1, M
n, M
o, V
n, T, return parameters is: V
m, t
1And t
2, method of calculating is as follows:
S=(M
n-M
o)+V
1* the T formula 1
t
2=T-t
1Formula 4
T: refer to from present new incoming data to the time gap that imports data into next time;
S: the distance that train moves in T
M
o: the train mileage when importing data into
V
0: the train speed when importing data into
M
n: the train mileage of new incoming
V
1: the train speed of new incoming
V
m: the extreme value speed of train in T
t
1: train speed is from V
0To V
mThe needed time
t
2: train speed is from V
mTime when next time importing data into
(2) prediction train present speed
Predict the speed cur_V that train is present according to the parameter of returning in (), speed prediction model is divided into two kinds according to different situations, acceleration/accel model and come up with model.
1) acceleration/accel model prediction train speed, algorithm is as follows:
Current train mileage then calls and accelerates formula 5 in the Acceleration of starting scope of train:
V=pre_V+a
0* (cur_T-pre_T) formula 5
V=pre_V-a
1* (cur_T-pre_T) formula 6
2) come up with the model prediction train speed, algorithm is as follows:
V=V
0+ (V
m-V
0) * t/t
1Formula 7
V=V
m+ (V
1-V
m) * (t-t
1)/t
2Formula 8
V=V
1Formula 9
Wherein:
V: the train speed of prediction
α
0: expression launch train acceleration/accel
α
1: expression train acceleration at stall
Pre_V: previous moment train speed
Pre_T: the previous moment
Cur_T: current time
(3) the current mileage of prediction train
According to above two parameters that module is returned, further predict the current mileage of train, the realization train is located in real time, and computing formula is as follows:
Mile=pre_m+ (cur_T-pre_T) * (V+pre_V)/2 formula 10
Mile: the current train mileage of expression prediction.
Pre_m: previous moment train mileage
(4) calculate the current coordinate of train
The present invention has set up the correlation model of railway line mileage and coordinate, behind the real-time mileage of input train, Query Database obtains this mileage place line style feature, calculates the two-dimensional coordinate at this mileage place according to line style feature invocation corresponding model, thereby determines the real time position of train.
According to the difference of the geometric properties of railway line, total straight line, transition curve and three kinds of line styles of circular curve.Equation of straight line can be determined that by this straight line starting point and 2 at terminal point the circular curve equation can have starting point, terminal point and 3 in the center of circle of circular curve to determine that transition curve can be determined by a plurality of somes piecewise interpolations because equation complexity and kind are more.Can obtain from designing institute the details of circuit, obtain mileage and the coordinate information of key point and deposit data bank in, inquire about the circuit property data base by program according to real-time mileage at last, obtain line style classification and key point information and call corresponding model calculating the two-dimensional coordinate at this mileage place and drawing the coordinate position at this mileage place, realize the train location.
1) database design
The line characteristics data bank needs two tables, line style table and key point table altogether.The line style information of each section of line style table record railway line style, the key point information of the corresponding line style of key point table record.Two tables carry out association by the line style numbering, and corresponding two the key point records of straight line, a circular curve are for three key point records, the corresponding a plurality of key point records of transition curve.List structure is as follows:
2) coordinate of circuit-mileage model
Behind the real-time mileage that has obtained train, program judges according to the information that records in the data bank which section circuit this mileage is in, and calls corresponding circuit model again and determines its coordinate.
A linear portion model
Linear portion starting point P
iMileage be M
i, coordinate (X
i, Y
i), terminal point P
I+1Mileage be M
I+1, coordinate (X
I+1, Y
I+1), M is the real-time mileage that imports into.
B circular curve segment model
Circular curve segment starting point P
iMileage be M
i, coordinate (X
i, Y
i), terminal point P
I+1Mileage be M
I+1, coordinate (X
I+1, Y
I+1), the circular curve central coordinate of circle is (X
Oi, Y
Oi).
α is starting point P on the curve
iCentral angle to required point P:
R is the radius of circular curve, can try to achieve by 2 straight line formulas.
As shown in Figure 1, with vector
Obtain behind the rotation alpha degree
That is:
Formula 13
Therefore, can try to achieve the coordinate that P is ordered:
Formula 14
C transition curve segment model
Railway transition curve linear-type more as: cubical parabola shape, half-wave sinusoidal, five algebraic expressions, seven quadrinomials, a ripple sinusoid etc., its transition curve that adopts of different circuit situations is also different, adopt a plurality of somes piecewise interpolations to determine among the present invention, specifically be divided into several sections according to the line information decision that can obtain, more results are more accurate in segmentation.
If coordinate information and the mileage information of total n key point after certain bar transition curve segmentation, starting point P
iMileage be M
i, coordinate (X
i, Y
i), k point P
I+kMileage be M
I+k, coordinate (X
I+k, Y
I+k), terminal point P
I+nMileage be M
I+n, coordinate (X
I+n, Y
I+n).When mileage is between k point and the k+1 point, determine its two-dimensional coordinate by formula 11.
The computing power powerful according to computing machine called modules by high-frequency, constantly calculates real-time train mileage and two-dimensional coordinate, thereby the realization high speed train is located in real time.
The data pretreatment only is called when new data imports into once, when train operation in the data transmission period interval, by continuous execution prediction train present speed; The current mileage of prediction train; Calculate the current coordinate of train, train speed, mileage and coordinate that prediction makes new advances and carves for the moment, thereby the real-time navigation capability of realization train.
Description of drawings
Fig. 1 is the circular curve scheme drawing
Fig. 2 is the real-time location method diagram of circuit
Fig. 3 is the real-time location method diagram
The specific embodiment
The present invention is further described below in conjunction with accompanying drawing.
1) as shown in Figure 2, real-time location method of the present invention was divided into for four steps, data pretreatment, present speed prediction, the prediction of current mileage and real-time coordinate Calculation.
2) shown in module among Fig. 31, when system reads new real time data, can obtain V
0, V
1, M
n, M
o, V
n, T, then can calculate V by formula 1, formula 2, formula 3 and formula 4
m, t
1And t
2, finally return V
0, V
1, V
m, t
1And t
2Five parameters.
3) as shown in Figure 3, when train operation was in this time gap of Δ t, the running state that system can obtain the train previous moment comprised: train running speed pre_V, moment pre_T etc., and in conjunction with V obtained above
0, V
1, V
m, t
1And t
2Parameter value can use formula 5, formula 6, formula 7, formula 8 and the current speed V of formula 9 prediction trains.
4) obtain train current speed V and train previous moment mileage pre_m and previous moment speed pre_v after, shown in module among Fig. 32, can use formula 10 to calculate the current mileage mile of train.
5) after obtaining current mileage, program inquiring line characteristics data bank, at first from linear list, obtain this mileage line style information, from the key point table, inquiring about corresponding key point information according to the line style numbering, call the two-dimensional coordinate that corresponding model calculates this mileage place according to line style classification and key point information, thereby determine the real time position of train.
6) when train operation was in the data acquisition time gap, constantly execution in step 4) and step 5), train speed and mileage that prediction makes new advances and carves for the moment calculate corresponding two-dimensional coordinate again, thereby realize the real-time navigation capability of train.
Claims (8)
1. high speed train real-time location method is characterized in that the method may further comprise the steps:
S1: data pretreatment: refer to the real time data of vehicle positioning system collection is processed, input parameter is: V
0, V
1, M
n, M
o, V
n, T, output parameter is: V
m, t
1And t
2, its method of calculating is as follows:
S＝(M
n-M
o)+V
1*T
t
2＝T-t
1
T: refer to import into now data to the time gap that imports data into next time;
S: the distance that train moves in T
M
o: the train mileage when importing data into
V
0: the train speed when importing data into
M
n: the train mileage of new incoming
V
1: the train speed of new incoming
V
m: the extreme value speed of train in T
t
1: train speed is from V
0To V
mThe needed time
t
2: train speed is from V
mTime when next time importing data into
S2: prediction train present speed;
S3: the current mileage of prediction train;
S4: calculate the current coordinate of train.
2. high speed train real-time location method as claimed in claim 1 is characterized in that, prediction train present speed comprises using the acceleration/accel model or coming up with model to be predicted.
3. high speed train real-time location method as claimed in claim 2 is characterized in that, the formula that model uses that comes up with of prediction train present speed is: when train is in from V
0Change to V
mDuring the time period, then call formula V=V
0+ (V
m-V
0) * t/t
1, when train is in from V
mChange to V
1During the time period, then call formula V=V
m+ (V
1-V
m) * (t-t
1)/t
2, when train status is confiscated at train overtime interval, then call formula V=V
1
4. high speed train real-time location method as claimed in claim 1 is characterized in that, the computing formula of the current mileage of prediction train is mile=pre_m+ (cur_T-pre_T) * (V+pre_V)/2.
Pre_V: previous moment train speed
Pre_T: the previous moment
Cur_T: current time
Mile: the current train mileage of expression prediction
Pre_m: previous moment train mileage.
5. high speed train real-time location method as claimed in claim 1 is characterized in that, calculates the foundation that the current coordinate of train comprises line characteristics database design and circuit mileage-coordinate correlation model.
6. high speed train real-time location method as claimed in claim 5, it is characterized in that, comprise line style table and key point table in the line characteristics data bank, the line style table is deposited the line style information of each section of railway line style, the key point table is deposited the key point information of corresponding line style, and two tables carry out association by the line style numbering.
7. high speed train real-time location method as claimed in claim 5, it is characterized in that, circuit mileage-coordinate correlation model is the geometric properties for railway line, sets up respectively the mileage-circuit model of straight line, circular curve and mitigation curve, and is specific as follows: the linear portion model:
Linear portion starting point P
iMileage be M
i, coordinate (X
i, Y
i), terminal point P
I+1Mileage be M
I+1, coordinate (X
I+1, Y
I-1), M is the real-time mileage that imports into
Circular curve segment model: circular curve segment starting point P
iMileage be M
i, coordinate (X
i, Y
i), terminal point P
I+1Mileage be M
I+1, coordinate (X
I+1, Y
I+1), the circular curve central coordinate of circle is (X
Oi, Y
Oi), then
Wherein, α is starting point P on the curve
iCentral angle to required point P:
R: the radius of circular curve
The transition curve segment model: adopt a plurality of somes piecewise interpolations to determine, specifically be divided into several sections according to the line information decision that can obtain, the formula of used formula and straight line is the same.
8. high speed train real-time location method as claimed in claim 1, it is characterized in that, S1 data pretreatment only is called when new data imports into once, when train operation in the data transmission period interval, by continuous execution S2 step, S3 step and S4 step, train speed, mileage and coordinate that prediction makes new advances and carves for the moment, thereby the real-time navigation capability of realization train.
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| CN103395435A (en) * | 2013-08-21 | 2013-11-20 | 重庆大学 | Real-time positioning system method of high-precision and high-speed train |
| CN103419815A (en) * | 2013-05-30 | 2013-12-04 | 北京全路通信信号研究设计院有限公司 | Determination method and device for railway information in railway lines |
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| CN104176020A (en) * | 2014-09-03 | 2014-12-03 | 孙本新 | Wheel outside brake device for high-speed running vehicle |
| CN107150703A (en) * | 2017-05-04 | 2017-09-12 | 暨南大学 | A kind of rail transit train line fitting localization method based on RFID surface beacons |
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| CN109829577A (en) * | 2019-01-17 | 2019-05-31 | 北京交通大学 | Track train operating status prediction technique based on deep neural network structural model |
| CN111061710A (en) * | 2019-11-26 | 2020-04-24 | 中车青岛四方机车车辆股份有限公司 | Method and device for generating line positioning data based on dynamic train operation data |
| CN111896028B (en) * | 2020-07-23 | 2023-09-19 | 中国铁道科学研究院集团有限公司城市轨道交通中心 | Subway track geometric detection data correction method and system |
| CN111896028A (en) * | 2020-07-23 | 2020-11-06 | 中国铁道科学研究院集团有限公司城市轨道交通中心 | Geometrical detection data correction method and system for subway rail |
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| CN112415556B (en) * | 2020-11-26 | 2023-12-01 | 中国铁道科学研究院集团有限公司 | Dynamic detection vehicle positioning system and working method |
| CN115465337B (en) * | 2022-11-15 | 2023-03-03 | 新誉集团有限公司 | Train control method, device and medium |
| CN115465337A (en) * | 2022-11-15 | 2022-12-13 | 新誉集团有限公司 | Train control method, device and medium |
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| CN115855066A (en) * | 2023-02-22 | 2023-03-28 | 湖南迈克森伟电子科技有限公司 | High-speed rail coordinate positioning correction method |
| CN116772895A (en) * | 2023-08-25 | 2023-09-19 | 北京三岭基业科技发展有限公司 | Method and system for acquiring current running mileage and speed by rail transit |
| CN116772895B (en) * | 2023-08-25 | 2023-11-03 | 北京三岭基业科技发展有限公司 | Method and system for acquiring current running mileage and speed by rail transit |
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