CN103625509B - Train enters side line discriminating gear and train enters side line method of discrimination - Google Patents
Train enters side line discriminating gear and train enters side line method of discrimination Download PDFInfo
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Abstract
A kind of train enters side line discriminating gear, it includes the inertial navigator and the gyroscope that are positioned on train, and wherein, inertial navigator obtains velocity information and the azimuth information of train, gyroscope obtains the angular movement status information of train, and the information of acquisition is all sent to entering in side line differentiation process device by the two；Enter side line differentiation and process after the azimuth information of train and angular movement status information process by device, draw train operation vector locus figure；Finally, enter side line differentiation process device to be sent by communication interface by the train operation vector locus figure drawn.Adopt the present invention of technique scheme, have the advantage that train is entered the judgement of side line and is independent of track ground installation by (1) present invention, not by the impact of ground installation fault；(2) train is entered the judgement of side line and does not rely on other equipment of train by the present invention, also by the impact of row control equipment fault；(3) present invention adopts the train operation vector locus that mathematical model calculates, in conjunction with the basic database of self study judging whether train enters side line, it is judged that accurately.
Description
Technical field
The invention belongs to railroad train and run application, concretely relate to how a kind of train differentiates that in running train is the method and device thereof running at side line or run at main track.
Background technology
Train has a variety of situation in running, as: train enters the station needs upper and lower passenger, the train that the train that rank is low dodges rank high passes through etc., need to sail out of main track, run to side line, but how to differentiate whether train enters side line, location train position information is very important for the tracking early warning system of research and development guarantee train operating safety, based on train is entered side line judge mainly to rely on ground rail signal take and train receives the signal of other equipment of ground, as transponder message judges whether train carries out side line operation, train is entered side line interpretation and all has certain limitation and deficiency on using by these.Train enters side line to utilize track circuit to judge, after train enters side line, track circuit is occupied, and ground installation can detect and judgement has train to enter side line, it is impossible to obtains train license number or train number, can only know there is train occupation side line.Train enters side line to utilize ground transponder to judge, system not only can not independent of mobile unit, if mobile unit fault or transponder message are made mistakes, causing that train is followed the trail of early warning system and cannot correctly be judged whether tracked vehicle or vehicle enter side line, following the trail of early warning system just cannot normal operation.
Inertial navigation is that one does not rely on external information, also not to the autonomic navigation system of outside emittance.The basic functional principle of inertial navigation is based on Newton mechanics law, by measuring the carrier acceleration at inertial reference system, time is integrated by it, and it is transformed in navigational coordinate system, it becomes possible to obtain the information such as the speed in navigational coordinate system, yaw angle and position.Gyroscope is a kind of instrument that can be accurately determined moving object orientation.Owing to train is all first pass through track switch before entering side line, then it is being redirected into side line, inertial navigation unit is used not rely on other external informations, determine the speed of service and the positional information of train, turning to of train is tested by gyroscope, set line tower foundation data base just can accurately judge that train operates on sinusoids or operates on side line, positions information accurately for following the trail of early warning system offer.
Summary of the invention
It is an object of the invention to provide a kind of train and enter method of discrimination and the device thereof of side line, utilize the inertial navigation can without train axle pulse with measure train speed and location information when GPS can not position, utilize gyroscope for measuring the vector locus of train operation, combined circuit basic database interpretation train is to operate on main track or main track bend, still operate on side line, meet the accurate interpretation to train operation position, it is possible to the location to train and the tracking etc. to train.
For achieving the above object, the present invention is by the following technical solutions:
A kind of train enters side line discriminating gear, it includes the inertial navigator and the gyroscope that are positioned on train, and wherein, inertial navigator obtains velocity information and the azimuth information of train, gyroscope obtains the angular movement status information of train, and the information of acquisition is all sent to entering in side line differentiation process device by the two；Enter side line differentiation and process after the azimuth information of train and angular movement status information process by device, draw train operation vector locus figure；Finally, enter side line differentiation process device to be sent by communication interface by the train operation vector locus figure drawn.
The described side line differentiation process device that enters includes inertial navigation data interface and gyro data interface, the data exported by inertial navigation data interface and gyro data interface are sent in ARM after processing, resolving, and ARM draws train operation vector locus figure according to the data of gained；The outfan of described ARM is connected to data storage cell and data output interface.
A kind of train enters side line method of discrimination, and it comprises the following steps:
1. arranging installation inertial navigator and gyroscope, ON TRAINS, described inertial navigator obtains velocity information and the azimuth information of train；Gyroscope obtains the angular movement status information of current of traffic；The velocity information of above-mentioned train, azimuth information and angular movement status information all send to entering in side line differentiation process device, and described entering in side line differentiation process device is configured with line tower foundation data base；
2., described enter side line differentiation and process device according to the velocity information gathered, azimuth information and angular movement status information, and combined circuit basic database, build vector locus mathematical model；And then differentiate that train is that main track runs or enters side line according to the vector locus mathematical model obtained.
Enter side line differentiation and process device using the data that detect first as sample storehouse, the data of the data next time detected Yu sample storehouse are contrasted；If the detection data of continuous several times are consistent, but it is inconsistent with the data in sample storehouse, just by the sample storehouse of data based on the data of continuous several times detection, the sample storehouse revised is sent to central server, compare with the sample storehouse of other vehicles running same circuit, by the amendment basic database of central server automatic dynamic.
Adopt the present invention of technique scheme, have the advantage that
(1) train is entered the judgement of side line and is independent of track ground installation by the present invention, not by the impact of ground installation fault；
(2) train is entered the judgement of side line and does not rely on other equipment of train by the present invention, also by the impact of row control equipment fault；
(3) present invention adopts the train operation vector locus that mathematical model calculates, in conjunction with the basic database of self study judging whether train enters side line, it is judged that accurately；
(4) inertial navigation in the present invention and gyroscope equipment are all adopt to gather acceleration principle, are all contactless collection to the test of train operation track, it is simple to the installation of equipment and construction；
(5) present invention can independently become system, it is also possible to coordinates other system to use.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 processes schematic diagram of device for entering side line differentiation.
Fig. 3 is that train of the present invention enters side line schematic diagram.
Fig. 4 is that train operation of the present invention is at sinusoids schematic diagram.
Detailed description of the invention
As shown in Figure 1, a kind of train enters side line discriminating gear, it includes the inertial navigator 1 and the gyroscope 2 that are positioned on train, wherein, inertial navigator 1 obtains velocity information and the azimuth information of train, gyroscope 2 obtains the angular movement status information of train, and angular movement status information here refers to: relative to the angular movement data horizontally and vertically gone up of current of traffic.Afterwards, the information of acquisition is all sent to entering side line differentiation process device 3 by inertial navigator 1 and gyroscope 2；Enter side line differentiation and process after the azimuth information of train and angular movement status information process by device 3, draw train operation vector locus figure；Finally, enter side line differentiation process device to be sent by communication interface 4 by the train operation vector locus figure drawn.
Above-mentioned inertial navigator 1, gyroscope 2 are arranged on, according to the direction of train operation, any space that train can be installed, and the surrounding of train is not affected.Entering side line differentiation process device 3 and install the inside of train, mainly reception processes the data of inertial navigator and gyroscope, describes the vector locus of train operation, the running status of interpretation train and location status.It should be noted that above-mentioned inertial navigator and gyroscope can combine enter with train side line differentiation process device is connected, it is also possible to independently enter with train side line differentiation process device be connected.
As shown in Figure 2, enter side line differentiation process device 3 and include inertial navigation data interface and gyro data interface, the data exported by inertial navigation data interface and gyro data interface are sent in ARM after processing, resolving, and ARM draws train operation vector locus figure according to the data of gained；The outfan of above-mentioned ARM is connected to data storage cell and data output interface.
A kind of train enters side line method of discrimination, and it comprises the following steps:
1. arranging installation inertial navigator and gyroscope, ON TRAINS, above-mentioned inertial navigator obtains velocity information and the azimuth information of train；Gyroscope obtains the angular movement status information of current of traffic；The velocity information of above-mentioned train, azimuth information and angular movement status information all send to be entered side line differentiation to train and processes in device, and enters side line differentiation and process in device and be configured with line tower foundation data base；
2., described enter side line differentiation and process device according to the velocity information gathered, azimuth information and angular movement status information, and combined circuit basic database, build vector locus mathematical model；And then differentiate that train is that main track runs or enters side line according to the vector locus mathematical model obtained.Above-mentioned vector locus mathematical model includes train operation vector locus figure and railway vector locus data model, wherein, train operation vector locus figure is drawn according to the Plotting data of inertial navigator and gyroscope acquisition by entering side line differentiation process device, and railway vector locus data model obtains according to line tower foundation data base.It should be noted that train operation vector locus figure, being that the information of inertial navigation and gyroscope output on different curves is different, draw the dope vector track mathematical model of inertial navigation and gyroscope, therefore it characterizes the vector curve track of train operation；And railway vector locus data model characterizes the information state that rail track is intrinsic.Train operation vector locus figure and railway vector locus data model are contrasted, can differentiate that train is that main track runs or enters side line.
In general, train is in running, owing to many reasons to enter side line, how correctly to judge that train enters side line, train operating safety is very important by the correct position positioning train, the operation vector locus that train operation vector locus on main track straight line and train enter side line has obvious difference, it is easy to judge, but run vector locus and train that train is on main track bend enter the vector locus that runs of side line and just have much like place, therefore how to distinguish train and operate in main track bend or entering that side line runs is differentiate the key that train enters side line.
Train is in running, when entering side line and running, is all need to change could run, from main track, operation of sidetracking through turnout passing, and the train simultaneously run at side line needs to enter main track operation and is also required to change through turnout passing.Through contrast it can be seen that train is when main track runs, train operation vector locus is straight line；Train from main track proceed to side line time, train operation vector locus then there will be fluctuation.Fig. 3 is that train is transferred into side line from main track through turnout passing, is transferred into the vector locus mathematical model of main track then through track switch.It addition, train is when main track runs, if train enter bend or from bend enter into main track straight line need not track switch conversion, then the vector locus mathematical model of train operation is as shown in Figure 4.
It should be noted that, train operation vector locus figure shown in Fig. 3 and Fig. 4, it it is all the dynamic data by inertial navigator, gyroscope test train, enter side line and process the curve that device utilizes mathematical model to calculate, enter the vector locus of bend at approaching side line vector track and train by contrasting train, coordinate line tower foundation data base, it is possible to judge whether train enters side line and run accurately simultaneously.
In addition, present invention also offers following preferred technical scheme: side line differentiation processes device 3 and also has memory function and intelligent comparison, it is by differentiating contrast to the different train numbers of same circuit, Intelligent Dynamic amendment line tower foundation data base.Specifically, center processor ARM reception processes the data message of inertial navigation and gyroscope, and the line status of detection is preserved, using the data that detect first as sample storehouse, the data of the data next time detected Yu sample storehouse are contrasted, if the detection data of continuous several times are always, but it is inconsistent with the data in sample storehouse, just by the sample storehouse of data based on the data of continuous several times detection, the sample storehouse revised is sent to central server, compare with the sample storehouse of other vehicles running same circuit, with the difference in ground line circuit-switched data storehouse, by the amendment basic database of central server automatic dynamic.
Claims (3)
1. a train enters side line discriminating gear, it is characterized in that: it includes the inertial navigator (1) and the gyroscope (2) that are positioned on train, wherein, inertial navigator (1) obtains velocity information and the azimuth information of train, gyroscope (2) obtains the angular movement status information of train, and the information of acquisition is all sent to entering in side line differentiation process device (3) by the two；Enter side line differentiation and process after the azimuth information of train and angular movement status information process by device (3), draw train operation vector locus figure；Enter side line differentiation and process configuration line tower foundation data base in device (3), track data storehouse draw railway vector locus mathematical model；Finally, enter side line differentiation process device to be sent by communication interface (4) by the train operation vector locus figure drawn；
Enter side line differentiation and process device using the data that detect first as sample storehouse, the data of the data next time detected Yu sample storehouse are contrasted；If the detection data of continuous several times are consistent, but it is inconsistent with the data in sample storehouse, just by the sample storehouse of data based on the data of continuous several times detection, the sample storehouse revised is sent to central server, compare with the sample storehouse of other vehicles running same circuit, by the amendment basic database of central server automatic dynamic.
2. train according to claim 1 enters side line discriminating gear, it is characterized in that: described side line differentiation process device (3) of entering includes inertial navigation data interface and gyro data interface, the data exported by inertial navigation data interface and gyro data interface are sent in ARM after processing, resolving, and ARM draws train operation vector locus figure according to the data of gained；The outfan of described ARM is connected to data storage cell and data output interface.
3. a train enters side line method of discrimination, it is characterised in that it comprises the following steps:
1. arranging installation inertial navigator and gyroscope, ON TRAINS, described inertial navigator obtains velocity information and the azimuth information of train；Gyroscope obtains the angular movement status information of current of traffic；The velocity information of above-mentioned train, azimuth information and angular movement status information all send to entering in side line differentiation process device (3), and described entering in side line differentiation process device (3) is configured with line tower foundation data base；
2., described enter side line differentiation and process device (3) according to the velocity information gathered, azimuth information and angular movement status information, and combined circuit basic database, build vector locus mathematical model；And then differentiate that train is that main track runs or enters side line according to the vector locus mathematical model obtained；Above-mentioned vector locus mathematical model includes train operation vector locus figure and railway vector locus data model, described train operation vector locus figure is drawn according to the Plotting data of inertial navigator and gyroscope acquisition by entering side line differentiation process device, and railway vector locus data model obtains according to line tower foundation data base；
Enter side line differentiation and process device using the data that detect first as sample storehouse, the data of the data next time detected Yu sample storehouse are contrasted；If the detection data of continuous several times are consistent, but it is inconsistent with the data in sample storehouse, just by the sample storehouse of data based on the data of continuous several times detection, the sample storehouse revised is sent to central server, compare with the sample storehouse of other vehicles running same circuit, by the amendment basic database of central server automatic dynamic.
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| CN104386098B (en) * | 2014-11-10 | 2016-03-23 | 北京交控科技股份有限公司 | A kind of describing method of rail line geography information |
| CN109285345A (en) * | 2018-09-06 | 2019-01-29 | 杭州飞遁科技有限公司 | A kind of traffic circulation network failure allocation processing method |
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