CN103587555A - Train running seamless monitoring system based on satellite differential positioning and UWB positioning - Google Patents
Train running seamless monitoring system based on satellite differential positioning and UWB positioning Download PDFInfo
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Abstract
The invention relates to a train running seamless monitoring system based on satellite differential positioning and UWB positioning. The train running seamless monitoring system based on satellite differential positioning and UWB positioning is provided in order to adopt the satellite differential positioning in wide areas to improve the positioning accuracy of the position of a train, meanwhile, the train can be monitored in the whole journey, and safety and reliability of dispatching and running of rail traffic are improved. According to the technical scheme, the system is characterized in that the system comprises a vehicle-mounted part and a ground part, the vehicle-mounted part is an adjacent measurement machine installed on the head of the train, the ground part is composed of a dispatching and measuring machine, a wide area differential reference station, a local area differential reference station, a differential system data center, a UWB ground positioning system and a comprehensive train running information module arranged in a dispatching system of a railway bureau. The system is applicable to performing dynamic tracing seamless monitoring and early warning in the running process of the train.
Description
Technical field
The present invention relates to a kind of seamless monitoring system of train driving based on satellite difference location and ultra broadband location UWB technology.While being applicable to train operation, carry out dynamically following the tracks of seamless monitoring and early warning.
Background technology
Railroad train still exists head-on the hidden danger of grave accidents such as clashing, knock into the back under steam at present, one of them important reason is because train operator observes to the visual field on the same track of train or the situation of the train that travels on adjacent orbit entirely, and by dispatcher, issued order completely, just in case to miss the consequence that demonstration, mistaking signal cause hardly imaginable because of device generation faults such as the signals on scheduling error or track.If implement the complete visual target secondary travelling aided bicycle system of travelling of train on railway, allow each train operator can know vehicle condition all around, visual environment as driven bus represents in railroad train is driven, and will greatly improve the safety of train operation.
In the railway system, to the method for the dynamic tracking of running train, be now with taking and going out the position of state judgement train clearly and follow the tracks of according to the signalling set track circuit of the TDCS of Railway Bureau collection in worksite, adopt wireless running number nucleus correcting system to carry out running number automatic Check and obtain train number number, and realize, judgement is followed the tracks of in the orientation of train in service and trend.Track circuit localization method is determined the particular location of train in block section, therefore the starting point of train enforcement braking and terminal, always on the border of subregion, are being guaranteed under safe prerequisite, need to set protected section, strengthened the interval between train, interval carrying capacity has been improved and be restricted.Meanwhile, the positioning precision of this localization method is lower, cannot form movable block.
No matter be the Automatic Control Systems for train operation system (ATC) in railway track traffic system, or in the systems such as high ferro train operation control system (CTCS), track circuit wherein, wired, wireless and radio block center (RBC), meeting bad weather condition, the geologic hazards such as thunder and lightning impacting with high pressure or mud-rock flow, very easily cause block system to break down, make track circuit cannot correctly transmit the information of signal, and current train-installed control convenience only can rely on track circuit, ground transponder, trackside cable, the information of the current circuit of signal acquisition that the surface facilitys such as terrestrial wireless communication base station provide, once the train operation control system et out of order on these ground or occur Train Dispatching mistake, mutually between close train, can not obtain timely and effectively the other side's motoring condition, train operator cannot guarantee the safety distance between train, and the block section that enters the place ahead will there will be block section to have same direction, two trains of same station track operation are in the possibility of operation, this just likely causes the serious accident of train colliding.
For above-mentioned present situation, applicant has done the retrieval of pertinent literature, find that the problem that prior art exists is, do not use difference CORS technology, thereby cannot be from obtaining high fix information single-frequency GPS or dual-frequency receiver cheaply, because only have 10 ~ 20 meters under the GPS terminal precision of current conventional satellite navigation, and track space only has 4 ~ 5 meters of left and right, thereby cannot judge the train on running rail specifically moves on which station track.
For this reason, applicant had once applied for the patent of invention of " based on the pinpoint train driving dynamic monitoring of satellite system " (application number 201210278317.2) by name on August 7th, 2012, utilization difference CORS technology has been proposed first to satellite location data correction, improve satellite positioning precision, guarantee the correct identification of track, increase the safe reliability of track traffic management and running.But in this application, still there is a defect, be that these have been introduced in the new type train position fixing system of GNSS satellite positioning, position fixing system is due to the satellite-signal that places one's entire reliance upon, can only be applicable in the good open area of satellite-signal, and once train enters culvert, the positions such as interior bicycle shed of standing, owing to lacking localization method accurately, be difficult to form accurately complete seamless locating system.
UWB technology (Ultra Wide Band) is a kind of ultra-wideband positioning system, and it is a kind of wireless carrier communication technology, utilizes nanosecond to the non-sinusoidal wave burst pulse transmission data of Microsecond grade.And because the time width of pulse is minimum, multipath can be got littlely, and can realize RAKE and receive, greatly improve positioning precision, and strong interference immunity.
Ultra broadband location (UWB) technology is an important breakthrough of radio frequency applications technical field, the revolutionary real-time positioning system that utilized this technique construction, it can reach higher positioning precision in traditional environment, and there is good stability, and created RTLS(Real Time Location Systems) new high degree in field.
summary of the invention
The technical problem to be solved in the present invention is: for the problem of above-mentioned existence, provide a kind of seamless monitoring system of train driving based on satellite difference location and UWB location, be intended to open area and adopt satellite difference to locate to improve the positioning precision of train position; And bicycle shed, railway culvert such as the satellite-signal area that is blocked AT STATION, adopt UWB location technology to supplement, and be aided with inertial navigation system, to form complete seamless position fixing system, realize the omnidistance monitoring of train travel, increase the safe reliability of track traffic management and running.
Another technical matters that the present invention will solve is: try hard to make train operator Real Time Observation to arrive all around traveling state of vehicle and the position of institute's running region, change former cause traffic order commander's the single mode of obtaining relevant train status information, realize the security monitoring of train operator to whole running region, greatly improve the safety of train driving, the possibility that farthest reduce train colliding, knocks into the back.
The technical solution adopted in the present invention is: a kind of seamless monitoring system of train driving based on satellite difference location and UWB location, it is characterized in that: this system comprises vehicle-mounted part and ground segment, vehicle-mounted part is that the neighbour who is installed on train head surveys machine, ground segment is comprised of commissioning machine, wide area differential reference station, local area difference's reference station, differential system data center, UWB Ground Positioning System and the comprehensive running information module be located in Railway Bureau's dispatching system, wherein:
Adjacent survey machine comprises primary processor, GPS module, adjacent survey machine communication module, inertial navigation module, image capture module and UWB label, GPS module is used for receiving gps satellite locating data, UWB label is used for sending UWB signal and positions for UWB Ground Positioning System, primary processor is used for receiving described satellite location data, the video image that the train position supplementary data that the train coordinate supplementary data that UWB Ground Positioning System sends or inertial navigation module send and image capture module collect, after comprehensive analysis processing, by neighbour, survey the commissioning machine that machine communication module is sent to ground,
Commissioning machine comprises server and commissioning machine communication module, commissioning machine communication module receives the correction data that train position data that each adjacent survey machine communication module sends over and differential system data center send over and sends into server, server also connects described comprehensive running information module, and server sends to the data centralization of having revised on neighbour's survey machine of each train that is associated after comprehensive analysis processing again;
Described wide area differential reference station is connected with differential system data center by optical-fibre communications or wireless telecommunications, and this data center is connected through wireless telecommunications with commissioning machine communication module;
Described local area difference reference station is divided into the difference reference station of the difference reference station HeGPS producer foundation of the railway department foundation, the difference reference station that the railway department is set up is connected the difference reference station of ，GPS producer foundation through producer's differential data center with Railway Bureau dispatching system by optical-fibre communications or wireless telecommunications and producer's wireless communication module is connected with the GPS module of adjacent survey machine;
Described UWB Ground Positioning System is comprised of UWB alignment sensor, Ethernet switch and measuring and calculating server, wherein UWB alignment sensor is installed on the top of ceiling or the top in tunnel in station, receive the signal that UWB label transmits, and by data transmission network, connect the measuring and calculating server of rear end; This data transmission network is ethernet or CAN bus network; Described measuring and calculating server adds that by a computing machine wireless communication module realizes, and by data transmission network, connects UWB alignment sensor, calculates the coordinate position of UWB label, and this coordinate data is sent to adjacent survey machine by radio communication.
The primary processor of described adjacent survey machine loads each software module, comprises that adjacent survey machine digitalisation GIS electric map module, intelligent anticollision early warning software module, satellite navigation position data, UWB locating data and inertial navigation position data are synthesized process software module, video image is processed and ZCX school inspection software module and wheelpath data software module.
The server of described commissioning machine loads each software module, comprises that commissioning machine digitalisation GIS electric map module, train travel integrated information ZCX data processing software module, difference CORS revise Data Collection and database software module, the collection of adjacent survey machine raw position data and differential corrections software module and revised data allocations transmission software module.
Described wide area differential reference station is the difference CORS reference station that State Bureau of Surveying and Mapping sets up in urban district, each province, be used for gathering raw pseudo range observed data and weather data, and these data are processed, again by the data transmission after processing to differential system data center, one group of data of transmission in 1 second ~ 30 minutes.
Described local area difference reference station is based upon in Along Railway or station, adopts single-frequency or double-frequency GPS receiver to produce differential corrections data in reference station.
Described comprehensive running information module comprises static information and multidate information, and static information comprises again that station network topology, route line simulation represent, the layout of signal, name of station, track circuit, track switch title, block section and strand Taoist monastic name; Multidate information comprises that home signal signal condition, starting signal signal condition, shunting signal signal condition, Wayside signal show state, train connect whether blocked state of car and departure route, track circuit state, current of traffic, station track, station state, section blocked subregion state, train number number and actual early late and track circuit.
Described inertial navigation module comprises gyroscope and acceleration pick-up.
Described adjacent survey machine communication module and commissioning machine communication module are wireless communication module; Or adjacent survey machine communication module is broadband power line carrier communication module, and commissioning machine communication module is wire communication module.
The tailstock place of described train is also provided with an adjacent survey machine, coordinates with the neighbour's survey machine that is positioned at headstock the integraty that detects train.
The invention has the beneficial effects as follows: the present invention uses difference CORS technology to satellite location data correction, improve satellite positioning precision, guarantee the correct identification of track, in satellite-signal shaded areas, with UWB, accurately supplemented location, and be aided with the complete seamless monitoring that inertial navigation system forms train driving, increase the safe reliability of track traffic management and running.
By the demonstration on neighbour's survey machine, allow train operator understand the running condition of train on adjacent track all around, prevent from hitting mutually rear-end collision, receive the data of relevant comprehensive running information module ZCX as the state of track switch, signal simultaneously, effectively prevent the generation of other contingency.
The train driving position data of system-wide section is sent to the commissioning machine at ground monitoring center and shows on dispatching desk giant-screen, allow the dispatcher of Railway Bureau understand the train operating conditions of system-wide section, and realize the early warning and monitoring to train by data and GIS electric map module, the crashproof software module of the comprehensive running information module ZCX that gathers, guarantee the safe operation of train.
Accompanying drawing explanation
Fig. 1 is system chart of the present invention.
Fig. 2 is the system chart of adjacent survey machine in the present invention.
Fig. 3 is the system chart of commissioning machine in the present invention.
Fig. 4 is UWB Ground Positioning System block diagram in the present invention.
Fig. 5 is workflow diagram of the present invention.
The specific embodiment
As shown in Figure 1, the present embodiment is a kind of based on the pinpoint train driving dynamic monitoring of satellite system, comprise that being installed on the indoor neighbour of train driving surveys machine 1, be located at the commissioning machine 2 at ground monitoring center, and the wide area differential reference station 3-2 that is located at field, differential system data center 3-1 in local area difference's reference station and Bureau of Surveying and Mapping, UWB Ground Positioning System 4, commissioning machine 2 is as the safety assisting system of train dispatching command echelon TDCS is checked and detected relevant driving business datum, can intelligently realize operating Real-Time Monitoring and the object that reaches early warning.
Wherein adjacent survey machine comprises primary processor 1-1, GPS module 1-2(includes the wireless communication module 1-2-1 of difference type), adjacent survey machine communication module 1-3, inertial navigation module 1-4, image capture module 1-5 and UWB label 1-6, GPS module 1-2 is used for receiving gps satellite locating data, primary processor 1-1 is used for receiving described satellite location data, the video image that the train position supplementary data that the train coordinate supplementary data that UWB position fixing system measuring and calculating server 4-2 sends or inertial navigation module 1-4 send and image capture module 1-5 collect, after comprehensive analysis processing, by neighbour, survey the commissioning machine 2 that machine communication module 1-3 is sent to ground.
Commissioning machine 2 comprises server 2-1 and commissioning machine communication module 2-2, commissioning machine communication module 2-2 comprises wireless communication module 2-2-1 and wire communication module 2-2-2, receive the train satellite location data that each adjacent survey machine communication module 1-3 sends over and send into server 2-1, server 2-1 also connects the comprehensive running information module ZCX(TDCS+ATC+ CTC of Railway Bureau's dispatching system).
UWB position fixing system 4 comprises UWB alignment sensor 4-1, measuring and calculating server 4-2 and Ethernet switch 4-3, the wireless signal that wherein UWB alignment sensor sends for receiving UWB label 1-6, and calculate the correlation parameter of wireless signal, measuring and calculating server is for receiving the wireless signal parameter that UWB alignment sensor calculates, and according to calculation of parameter, going out the coordinate values of UWB label, Ethernet switch is for calculating the intercommunication mutually between server and UWB alignment sensor.
For improving train positioning precision, the present embodiment uses difference CORS technological orientation correction to the satellite location data of train, and this technology need be according to the data that on ground, wide area differential reference station 3-2, local area difference reference station, differential system data center 3-1 provide.Wherein wide area differential reference station 3-2 refers to the difference CORS reference station that State Bureau of Surveying and Mapping sets up in urban district, each province, and is connected with differential system data center 3-1 through optical-fibre communications or wireless telecommunications or broadband power line carrier communication; Local area difference's reference station is divided into the difference reference station 3-4 of the difference reference station 3-3He GPS producer foundation of the railway department foundation, the difference reference station 3-3 that the railway department is set up is connected with Railway Bureau dispatching system by optical-fibre communications or wireless telecommunications, the difference reference station 3-4 that GPS producer sets up is connected with producer's differential data center 3-4-2 and the wireless communication module 3-4-1 of producer through optical-fibre communications or wireless telecommunications, and with GPS module 1-2 in wireless communication module 1-2-1 communication.
As shown in Figure 2, the present embodiment loads each software module in neighbour surveys the primary processor 1-1 of machine, comprises that adjacent survey machine digitalisation GIS electric map module 1-1-1, intelligent anticollision early warning software module 1-1-2, satellite navigation position data, UWB locating data and inertial navigation position data are synthesized process software module 1-1-3, video image is processed and ZCX school inspection software module 1-1-4 and wheelpath data software module 1-1-5.These software modules are the software product of maturation all, by buying and just can obtain on market, as digitalisation GIS electric map module can be bought national view picture electronic chart (as WGS-84) and precision prescribed in 2M, also can use the method for drawing electronic chart of measuring voluntarily, as used the MMS railway traverse measurement system made of Wuhan Li get company.
As shown in Figure 3, in this example, the server 2-1 of commissioning machine also loads each software module, comprises that commissioning machine digitalisation GIS electric map module 2-1-1, train travel integrated information ZCX data processing software module 2-1-2, difference CORS revise Data Collection and database software module 2-1-3, the collection of adjacent survey machine raw position data and differential corrections software module 2-1-4 and revised data allocations transmission software module 2-1-5.Equally, these software modules can realize under prior art condition.
As shown in Figure 4, in this example, UWB ground positioning subsystem 4 has comprised three UWB alignment sensor 4-1-1,4-1-2,4-1-3, to guarantee the accurate location to UWB label.
In the present embodiment, the concrete configuration of system is as follows:
1) adjacent survey machine:
The primary processor 1-1 of adjacent survey machine 1 is a performance-oriented industrial grade computer system, and type selecting is for grinding magnificent IPG610H industrial computer.Software system are used the computer platform technology based on NET.NET provides multilingual development environment, supports C#, VB.NET, J#, VC.NET etc.Select SQL Server7.0 as high-volume database.The development and application environment of native system is under windows platform or under Linux, because the ADO.NET under NET platform provides the support to SQL Server data bank, SDB engine and the SDE engine that in enforcement, can support by the whole assembly formula control software Super Map2008 of Beijing hypergraph company carry out reading out data and show the electronic chart based on GIS in real time simultaneously.Also can adopt the mode of configuration software, it is the software platform with data acquisition (Supervisory Control And Data Acquisition, SCADA) towards monitoring.Real-time data base, control in real time, SCADA, communication and networking, open data connect product and the realization support to I/O equipment.
GPS module 1-2(selects the CNS100 of Dongfang Lianxing Science and Technology Co., Ltd., Beijing), i.e. GNSS(GPS) satellite navigation locating terminal, can be to adopt difference single-frequency, double frequency satellite positioning receiver, or not difference type single-frequency, double frequency satellite positioning receiver.The precision (95%) of conventional satellite navigation single-frequency pseudorange GPS receiver is 5 meters of left and right, but train orbit be positioned with its particularity, be first reliability, 95% confidence level is to be difficult to guarantee train safe; Then be exactly railroad track adjacent spaces minimum value be 4.4M, therefore precision prescribed is at least 2M, in order to guarantee the correct identification of track, use cost single-frequency L1 satellite positioning receiver lower, conventional type is to meet railroad train positioning accuracy request in orbit simply, after therefore must revising in the mode of difference, realizes 1M with interior accuracy requirement.
Adjacent survey machine communication module 1-3(wireless communication module is selected the just luxuriant communication GSM/DTU/CM350P of Science and Technology Ltd. of Xiamen) can utilize any in GSM, CDMA, GPRS to come Real-time Obtaining difference and business datum, simultaneity factor supports the data format of satellite navigation system terminal intercommunication as data formats such as RTCA, CMR, RTCM2.x, RTCMV3.0, RTD, supports each main flow sample GPS/GNSS receiver both at home and abroad to carry out the mode that network service carries out encrypting to radio communication simultaneously and transmits.Also can be to utilize the integrated digital GSM GSM-R communication of railway or the radio communication of 2.4GHz in the mode of broadcasting command, to carry out transmission and the communication of wireless messages data.Because the wireless communication terminal quantity of native system is huge, data issue is frequent, and need to be encrypted the data of radio communication, conventional mode has: the modes such as DES/3DES algorithm, aes algorithm, IDEA algorithm, RCS algorithm, RSA Algorithm and SHA algorithm are carried out the encryption of data.If the train that electric locomotive drives, adjacent survey machine communication module can be also the wire communication of broadband power line carrier mode, and directly accesses railway broadband networks with wired mode.
The ADXL complete series acceleration pick-up ADXL202 that inertial navigation module 1-4(is produced by U.S. ADI company and the gyroscope ENV-05D of the Chinese People's Liberation Army's the 1001st plant produced form), owing to considering in train driving, pass through tunnel, in the time of under overpass and in the intensive hills and mountains ditch of jungle easily and gps satellite out of touch, again UWB position fixing system cannot be installed simultaneously, cause continuing knowing position, so generally add acceleration pick-up and gyroscope etc. to form inertial navigation module 1-4 in position fixing system, selected acceleration pick-up model is ADXL202, gyroscope model is ENV-05D.
Image capture module 1-5 selects that in Shenzhen, to pacify the model that video signal development in science and technology Co., Ltd produces be SV2000E.
UWB label 1-6 selects the Ubitag of Britain Ubisense company.
2) commissioning machine:
Commissioning machine is comprised of server 2-1 and commissioning machine communication module 2-2.Wherein server 2-1 is that to select HP or Dell treater be Intel Xeon/E7540 type six core processors/PC-3-8500, DDR3 internal memory to a high-performance data server and adopt disk array as mass memory.Commissioning machine server is used the computer platform technology based on NET.NET provides multilingual development environment, supports C#, VB.NET, J#, VC.NET etc.Select SQL Server7.0 as high-volume database.
The development and application environment of native system is under windows platform or under Linux, because the ADO.NET under NET platform provides the support to SQL Server data bank, SDB engine and the SDE engine that in enforcement, can support by the whole assembly formula control software Super Map2008 of Beijing hypergraph company carry out reading out data and show the electronic chart based on GIS in real time simultaneously.Also can adopt the mode of configuration software, it is the software platform with data acquisition (Supervisory Control And Data Acquisition, SCADA) towards monitoring.Real-time data base, control in real time, SCADA, communication and networking, opening interface and the realization support to I/O equipment.The basic function of its software is with adjacent survey machine.
The module that commissioning machine communication module 2-2 has comprised wire communication module (as ethernet) and wireless telecommunications, the type selecting of wireless communication module and adjacent survey machine communication module 1-3 are basic identical, wire communication module can be the integrated Ethernet card of mainboard, directly links railway broadband networks.
3) differential data center and reference station:
Differential system data center 3-1 claims again data processing center or the data center of CORS, is the information aggregation of CORS system, the center of CORS Operation and management.Differential system data center 3-1 analyzes each CORS reference station data receiving, various data (as navigated) are carried out to multistation aggregation of data, shunting, form unified differential corrections data, data processing wherein comprises: data analysis, data distribution, data are synchronous, data solver, standard format difference information generate and data management.Differential system data center 3-1 delivers to data in the commissioning machine 2 at ground monitoring center.Differential system data center 3-1 is comprised of server, router, exchange and corresponding operating system, server model IBM System x3850/3650, router model is CISCO2821, exchange model is CISCO WS-C3560-24TS-S, and operating system is windows server2003 assembly.
The effect of reference station is for measuring system provides benchmark, first by result of calculation reduction to known SURVEYING CONTROL NETWORK point.Therefore, its erecting frame must be located on the controlling point of known coordinate.Conventional reference station is by GNSS(GPS) composition such as (receiver, model is SOUTH-BASE, manufacturer is southern mapping company), gps antenna, differential data Optical Fiber Transmission terminal or wireless transmission radio station and antenna, battery or power supply, pedestal.
The difference CORS reference station that wide area differential reference station 3-2，Ji State Bureau of Surveying and Mapping sets up in urban district, each province, for gathering raw pseudo range observed data, weather data; These data are processed, comprised and eliminate tropospheric error, calculating generation ionosphere delay etc.; The various data such as smoothing code pseudorange and ionosphere delay are transferred to differential system data center 3-1 in real time, accurately, transmit one group of data a second.
The difference reference station 3-3 that the railway department is set up refers to and is based upon in Along Railway or station, can adopt single-frequency or double-frequency GPS receiver to produce differential corrections number, and 30 ~ 100 kilometers of general spacing arrange a reference station.By optical fiber or radio communication, be sent to Railway Bureau's dispatching system.
The difference reference station 3-4 that GPS producer sets up is the reference station that the manufacturer of GPS module 1-2 sets up, and guarantees that the satellite location data of GPS module 1-2 reception is through differential corrections.The connected wireless communication module 3-4-1 of the producer type selecting of difference reference station 3-4 that GPS producer sets up is identical with adjacent survey machine wireless communication module.
4) UWB Ground Positioning System 4
UWB Ground Positioning System comprises UWB alignment sensor 4-1, measuring and calculating server 4-2 and Ethernet switch 4-3, wherein UWB alignment sensor adopts and should be the Ubisense7000 of Ubisense company series, measuring and calculating server can adopt IBM System x3850/3650, and Ethernet switch can adopt Cisco WS-C2960-24TC-L.
5) comprehensive running information module ZCX
Comprehensive running information module ZCX is comprised of Train Dispatch & Command (TDCS), centralized traffic control (CTC), train supervision control system (ATC) etc., is parameter and data acquisition to the signalling set running state at each boundary mouth of railway, section, hinge, station etc.The railway combined running information content gathering comprises:
(1) static information
Station network topology, route line simulation represent; Signal is arranged; Name of station and information equipment title; Track circuit; Track switch title; Block section; Thigh Taoist monastic name.
(2) multidate information
Home signal signal condition; Starting signal signal condition; Shunting signal signal condition; Wayside signal show state; Train connects car, departure route; Track circuit state; Current of traffic; Station track, station state; Section blocked subregion state; Train number number and actual early late; Whether track circuit blocked state.
Refer to Fig. 5, the principle of work of the present embodiment is as follows:
GPS module 1-2 on adjacent survey machine 1 adopts GNSS(GPS) satellite navigation locating terminal, receive satellite location data, this terminal is if difference type, the wireless communication module communication of the difference reference station 3-4 that the direct YuGPS of the wireless communication module 1-2-1 meeting producer that it includes sets up, thus guarantee that the locating information of its output has been the high-precision fixed bit data through Difference Calculation correction; This terminal is if the GNSS(GPS of difference not) locating terminal, output is conventional GPS locating information, the satellite location data of above-mentioned satellite navigation locating terminal is all sent into the primary processor 1-1 of adjacent survey machine 1, and surveys through neighbour the commissioning machine 2 that machine communication module 1-3 is sent to ground monitoring center.
When train is by station bicycle shed, Huo Gao Mountain area, tunnel and can not receive the data message of more than three satellites time, cannot carry out GPS location, now, in the region that UWB Ground Positioning System 4 is housed, can to train, position at once, produce and supplement coordinate data; In the region of not installing UWB position fixing system, be switched to inertial navigation module 1-4 and produce train position supplementary data, these supplementary datas are sent to the primary processor 1-1 of adjacent survey machine, and by the synthetic process software module 1-1-3 of the satellite navigation position data in primary processor, UWB locating data and inertial navigation position data to the satellite location data of GPS module 1-2 synthesize process and supplementary after by neighbour, survey the commissioning machine 2 that machine wireless communication module is sent to ground.
The neighbour of each train of commissioning machine 2 in receiving administrative area surveys after the satellite location data that machine 1 sends, through neighbour, survey that machine raw position data is collected and differential corrections software module 2-1-4 processes, if the data that receive have been differentiated data, these data just do not deal with; If the information of difference not, these data are revised to Data Collection via difference CORS and database software module 2-1-3 carries out differential corrections.Revise the basis source of data in differential system data center 3-1Huo Railway Bureau dispatching system, and data center or dispatching system are arranged at by reception the related data that satellite data that the wide area differential reference station 3-2He local area difference reference station in field receives is processed through ground stationary coordinate comparative analysis.
The original satellite location data of each train is sent to software module 2-1-5 and unified each train that sends it back of commissioning machine communication module 2-2 through differential corrections by the correction data allocations by commissioning machine 2.Each train is also transferred to the commissioning machine digitalisation GIS electric map module 2-1-1 in commissioning machine server 2-1 through the satellite location data of differential corrections, this map module stores GNSS(GPS) the GIS electronic map database of attribute, therefore can observe from telltale the position of each train under 3-D graphic environment, distinguish each train at the corresponding particular location of its associated Train Group, after analysis, by revising data allocations transmission software module 2-1-5, the associated Train Group position of each train is sent to each train through commissioning machine communication module 2-2, thereby make train operator grasp the motoring condition with respect to the target train before and after this car.
Meanwhile, the train travel integrated information ZCX data processing software module 2-1-2 in commissioning machine server 2-1 receives the railway combined running information that the comprehensive running information module in Railway Bureau's dispatching system is sent.Via revising, data allocations sends software module 2-1-5 to railway combined running information and commissioning machine communication module 2-2 is sent to each train equally.
Train travel integrated information ZCX data processing software module 2-1-2 in commissioning machine server 2-1 receives the train satellite location data of differential corrections, and constantly compare with the data of comprehensive running information module ZCX, so that each train is carried out to verification with the state taking of conventional signal demonstration, switch location state, track circuit under steam, if any difference, carry out alert notice to cause dispatcher's attention.
Adjacent survey machine 1 is surveyed machine communication module 1-3 through neighbour and is received the data that commissioning machine 2 sends, and data is delivered to the primary processor 1-1 of adjacent survey machine 1.
In primary processor 1-1, be provided with adjacent survey machine digitalisation GIS electric map module 1-1-1, this ground module has been stored GNSS(GPS equally) the GIS electronic map database of attribute, therefore can observe from Vehicular display device the position of each train under 3-D graphic environment, distinguish each train at the corresponding particular location of its associated Train Group, guarantee train traffic safety.
Primary processor 1-1 is embedded in intelligent anticollision early warning software module 1-1-2, to the train moving on same track, phase mutual edge distance is less than the braking (brake) of regulation and can automatically reports to the police apart from (if the safe stopping distance of train in high speed railway is 3.8KM) time, remind train operator, to prevent train colliding and rear-end collision.
The pick up camera with night vision function is installed in train head, is can read color and the arrangement position of each signal and track switch signal lamp on track.This camera acquisition video image is delivered to the image capture module 1-5 in adjacent survey machine 1, and send into primary processor 1-1 through image capture module 1-5, by the video image in primary processor, process with ZCX correction verification module 1-1-4 the railway combined running information receiving and the signal and the track switch signal lamp that pass are compared, with this, verify the correctness of railway combined running information, guarantee traffic safety.
The present embodiment is at GNSS(GPS) add corresponding figure plug-in unit in the GIS electronic map database of attribute, as the location information of each track switch arranging in railroad track, block signal lamp, and from railway combined running information, obtain switch location signal, with the data flow of real-time status of the block signal lamp of driving, like this neighbour survey on machine and commissioning machine be exactly a width reflection train real-time online operation in orbit situation represent figure.
Claims (10)
1. the seamless monitoring system of train driving based on satellite difference location and UWB location, it is characterized in that: this system comprises vehicle-mounted part and ground segment, vehicle-mounted part is that the neighbour who is installed on train head surveys machine (1), ground segment is comprised of commissioning machine (2), wide area differential reference station (3-2), local area difference's reference station, differential system data center (3-1), UWB Ground Positioning System (4) and the comprehensive running information module be located in Railway Bureau's dispatching system, wherein:
Adjacent survey machine (1) comprises primary processor (1-1), GPS module (1-2), adjacent survey machine communication module (1-3), inertial navigation module (1-4), image capture module (1-5) and UWB label (1-6), GPS module (1-2) is for receiving gps satellite locating data, UWB label (1-6) positions for UWB Ground Positioning System (4) for sending UWB signal, primary processor (1-1) is for receiving described satellite location data, the video image that the train position supplementary data that the train coordinate supplementary data that UWB Ground Positioning System sends or inertial navigation module (1-4) send and image capture module (1-5) collect, after comprehensive analysis processing, by adjacent survey machine communication module (1-3), be sent to the commissioning machine (2) on ground,
Commissioning machine (2) comprises server (2-1) and commissioning machine communication module (2-2), commissioning machine communication module (2-2) receives the correction data that train position data that each adjacent survey machine communication module (1-3) sends over and differential system data center (3-1) send over and sends into server (2-1), server also connects described comprehensive running information module, and server (2-1) sends to the data centralization of having revised the neighbour of each train that is associated to survey on machine (1) after comprehensive analysis processing again;
Described wide area differential reference station (3-2) is connected with differential system data center (3-1) by optical-fibre communications or wireless telecommunications, and this data center is connected through wireless telecommunications with commissioning machine communication module (2-2);
Described local area difference reference station is divided into the difference reference station (3-4) of difference reference station (3-3) the HeGPS producer foundation of the railway department foundation, the difference reference station (3-3) that the railway department is set up is connected the difference reference station (3-4) of ，GPS producer foundation through producer's differential data center (3-4-2) with Railway Bureau dispatching system by optical-fibre communications or wireless telecommunications and producer's wireless communication module (3-4-1) is connected with the GPS module (1-2) of adjacent survey machine;
Described UWB Ground Positioning System (4) is comprised of UWB alignment sensor (4-1), Ethernet switch (4-3) and measuring and calculating server (4-2), wherein UWB alignment sensor (4-1) is installed on the top of ceiling or the top in tunnel in station, receive the signal that UWB label (1-6) transmits, and by data transmission network, connect the measuring and calculating server (4-2) of rear end; This data transmission network is ethernet or CAN bus network; Described measuring and calculating server (4-2) adds that by a computing machine wireless communication module realizes, by data transmission network, connect UWB alignment sensor (4-1), calculate the coordinate position of UWB label (1-6), and this coordinate data is sent to adjacent survey machine (1) by radio communication.
2. seamless monitoring system according to claim 1, it is characterized in that: the primary processor (1-1) of described adjacent survey machine (1) loads each software module, comprise that adjacent survey machine digitalisation GIS electric map module (1-1-1), intelligent anticollision early warning software module (1-1-2), satellite navigation position data, UWB locating data and inertial navigation position data are synthesized process software module (1-1-3), video image is processed and ZCX school inspection software module (1-1-4) and wheelpath data software module (1-1-5).
3. seamless monitoring system according to claim 1, it is characterized in that: the server (2-1) of described commissioning machine (2) loads each software module, comprise that commissioning machine digitalisation GIS electric map module (2-1-1), train travel integrated information ZCX data processing software module (2-1-2), difference CORS revise Data Collection and database software module (2-1-3), the collection of adjacent survey machine raw position data and differential corrections software module (2-1-4) and revised data allocations transmission software module (2-1-5).
4. seamless monitoring system according to claim 1, it is characterized in that: the difference CORS reference station that described wide area differential reference station (3-2) is set up in urban district, each province for State Bureau of Surveying and Mapping, be used for gathering raw pseudo range observed data and weather data, and these data are processed, again by the data transmission after processing to differential system data center (3-1), one group of data of transmission in 1 second ~ 30 minutes.
5. seamless monitoring system according to claim 1, is characterized in that: described local area difference reference station is based upon in Along Railway or station, adopts single-frequency or double-frequency GPS receiver to produce differential corrections data in reference station.
6. seamless monitoring system according to claim 1, it is characterized in that: described comprehensive running information module comprises static information and multidate information, static information comprises again that station network topology, route line simulation represent, the layout of signal, name of station, track circuit, track switch title, block section and strand Taoist monastic name; Multidate information comprises that home signal signal condition, starting signal signal condition, shunting signal signal condition, Wayside signal show state, train connect whether blocked state of car and departure route, track circuit state, current of traffic, station track, station state, section blocked subregion state, train number number and actual early late and track circuit.
7. seamless monitoring system according to claim 1, is characterized in that: described inertial navigation module (1-4) comprises gyroscope and acceleration pick-up.
8. seamless monitoring system according to claim 1, is characterized in that: described adjacent survey machine communication module (1-3) and commissioning machine communication module (2-2) are wireless communication module.
9. seamless monitoring system according to claim 1, is characterized in that: described adjacent survey machine communication module (1-3) is broadband power line carrier communication module; Described commissioning machine communication module (2-2) is wire communication module.
10. seamless monitoring system according to claim 1, is characterized in that: the tailstock place of described train is also provided with an adjacent survey machine (1), surveys machine (1) coordinate the integraty that detects train with the neighbour who is positioned at headstock.
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