CN103674024A - Combined train positioning system based on Doppler radar and coded milemeter - Google Patents

Combined train positioning system based on Doppler radar and coded milemeter Download PDF

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Publication number
CN103674024A
CN103674024A CN201310626833.4A CN201310626833A CN103674024A CN 103674024 A CN103674024 A CN 103674024A CN 201310626833 A CN201310626833 A CN 201310626833A CN 103674024 A CN103674024 A CN 103674024A
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logic circuit
radar doppler
odometer
train
speed
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崔科
徐海贵
吕新军
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Casco Signal Ltd
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Casco Signal Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a combined train positioning system based on a Doppler radar and a coded milemeter. The combined train positioning system comprises the coded milemeter, the Doppler radar, data acquisition CBK boards, speed calculation logic circuits, a Kalman filtering diagnosis judgment logic circuit and a result output circuit, wherein the coded milemeter and the Doppler radar are connected with the input ends of the data acquisition CBK boards; the output ends of the data acquisition CBK boards, the speed calculation logic circuits and the Kalman filtering diagnosis judgment logic circuit are connected with the result output circuit in sequence. Compared with the prior art, the combined train positioning system has the advantages that the problem of unreliable train positioning caused by idling/slip in a milemeter wheel shaft positioning method is solved and the train positioning availability and reliability are improved.

Description

Train integrated positioning system based on radar Doppler and coding odometer
Technical field
The present invention relates to a kind of train positioning system, especially relate to a kind of train integrated positioning system based on radar Doppler and coding odometer.
Background technology
In current track traffic, the train locating method based on wheel shaft tachogenerator is comparatively conventional, calculates the speed of train by measuring the rotating speed of train wheel shaft, utilizes time integral to obtain the displacement of train, thereby calculates the position of train.Odometer wheel shaft method for locating speed measurement have measure simple, technology maturation, reliable and stable and in short-term relative accuracy compared with advantages of higher, but to the track traffic based on wheel track, when the friction force between wheel and rail is not enough, dally/skidding of meeting, cause train speed and the true train velocity deviation of measurement larger, even not credible, have a strong impact on availability and the security of train operation.
Radar Doppler utilizes Doppler effect to measure the travelling speed of train, according to time integral, calculate the position of train, radar Doppler is arranged on the car body of train conventionally, directly measure the travelling speed of train, belong to non-wheel shaft speed-measuring method, the impact that is not subject to train to dally/skid, technology is also more and more ripe, measuring accuracy is high, but radar Doppler speed-measuring method more complicated, need to consider radar calibration, the factors such as Different Ground reflection coefficient, especially when train slow running (as: being less than 5km/h), because Doppler effect is not obvious, error can be larger.
Because the accidental fault of single positioning system can cause whole system normally to work, even can cause catastrophic consequence to system, for example, based on odometer wheel shaft method for locating speed measurement, existence is because excessive slip causes the unsceptered problem of train, and the advantage of multiple location technology combination is to provide more accurate reliable information for system by redundancy, complementary information.
Summary of the invention
Object of the present invention is exactly to provide a kind of train integrated positioning system based on radar Doppler and coding odometer in order to overcome the defect of above-mentioned prior art existence, overcome in odometer wheel shaft localization method and owing to dallying/skidding, caused train to locate insecure problem, improved location availability and the reliability of train simultaneously.
Object of the present invention can be achieved through the following technical solutions:
A kind of train integrated positioning system based on radar Doppler and coding odometer, it is characterized in that, comprise coding odometer, radar Doppler, data acquisition CBK plate, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit and result output circuit, described coding odometer, radar Doppler are connected with the input end of data acquisition CBK plate respectively, and described data acquisition CBK plate output terminal, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit are connected successively with result output circuit;
To wheel velocity, pulse gathers described coding odometer, and by data acquisition CBK plate, wheel velocity pulse is sent to speed calculation logic circuit, speed calculation logic circuit calculates current vehicle speed according to wheel velocity umber of pulse and wheel pulse tooth pitch, to train speed, pulse gathers and sends to speed calculation logic circuit to carry out speed calculating by data acquisition CBK plate radar Doppler simultaneously, the train speed value that Kalman filtering diagnosis decision logic circuit sends according to encode odometer and radar Doppler is diagnosed judgement, the court verdict obtaining is by speed and the locator value of result output circuit output train.
The train speed value that described Kalman filtering diagnosis decision logic circuit sends according to encode odometer and radar Doppler diagnoses judgement to be specially:
1) according to the measured velocity value of coding odometer and radar Doppler, respectively coding odometer and radar Doppler are carried out to fault diagnosis, if encode odometer fault, isolate the measured value of coding odometer, otherwise execution step 2); If radar Doppler fault, isolates the measured value of radar Doppler, otherwise performs step 2);
2) measured velocity value of radar Doppler is judged whether to be less than 5km/h, if yes, the measured value of isolation radar Doppler, and perform step 4), otherwise execution step 3);
3) Kalman filtering diagnosis decision logic circuit carries out residual computations to the coding odometer receiving and the measured velocity value of radar Doppler, according to residual result, judges whether train dallies or skid, if yes, and execution step 4), otherwise, execution step 5);
4) measurement result of output encoder odometer;
5) measurement result of output radar Doppler.
Described Kalman filtering diagnosis decision logic circuit carries out residual computations to the measured velocity value of the coding odometer receiving and radar Doppler and is specially:
The state renewal equation of model integrated positioning system and measurement equation, acquisition state upgrades matrix A, input control matrix B and measures matrix H, then specification error covariance P o, process noise covariance Q and measure the initial value of noise covariance R, according to the input u of coding odometer kthe time of carrying out renewal, obtains state variable and estimates
Figure BDA0000425178190000021
and error covariance
Figure BDA00004251781900000310
X ^ k - = A X ^ k - 1 + Bu k
Measure to upgrade and calculate kalman gain K k,
P k - = AP k - 1 A T + Q
And upgrade according to the measured value of radar Doppler, obtain the state variable of measuring after upgrading
Figure BDA0000425178190000034
and error covariance P k,, wherein I is unit matrix
K k = P k - H T ( HP k - H T + R ) - 1
P k = ( I - K k H ) P k -
And carry out next step and calculate, in measuring renewal process, calculate residual error and covariance
Figure BDA0000425178190000038
z wherein kfor the speed of Doppler radar measurement, and calculate detection function value, build detection function
Figure BDA0000425178190000039
according to the threshold value T setting d, to dallying or skidding, judge, work as λ k> T dtime, think that idle running or skidding have occurred train.
Described data acquisition CBK plate is provided with dual input passage, is connected respectively with coding odometer, radar Doppler.
Described speed calculation logic circuit comprises coding odometer speed calculation logic circuit and radar Doppler speed calculation logic circuit.
Compared with prior art, the present invention has the following advantages:
1) problem of, poor reliability large for the single positioning system measuring error that tests the speed, in conjunction with coding mileage, take into account the advantage that radar Doppler tests the speed and combine the location of testing the speed, train speed and position measurement system is carried out to fault diagnosis, realization is isolated fault system in the situation that of partial system failure, complete the switching of the positioning system that tests the speed, the validity that keeps train speed and position measurement, has improved the reliabilty and availability that combines the positioning system that tests the speed;
2) for the existing complicacy that detects idle running/sipping fault method based on acceleration, adopt a kind of method based on Kalman filtering residual error to carry out fault detect, by the residual error of computer card Kalman Filtering, according to residual error statistical property, structure fault detect function detects idle running/sipping fault, has simplified the complicacy of fault detect.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is fault diagnosis judgement process flow diagram of the present invention;
Fig. 3 is Kalman filtering residual computations process flow diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, a kind of train integrated positioning system based on radar Doppler and coding odometer, comprise coding odometer 1, radar Doppler 2, data acquisition CBK plate 3, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit 6 and result output circuit 7, described coding odometer 1, radar Doppler 2 are connected with the input end of data acquisition CBK plate 3 respectively, and described data acquisition CBK plate 3 output terminals, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit 6 are connected successively with result output circuit 7;
Described 1 pair of wheel velocity pulse of coding odometer gathers, and by data acquisition CBK plate 3, wheel velocity pulse is sent to speed calculation logic circuit, speed calculation logic circuit calculates current vehicle speed according to wheel velocity umber of pulse and wheel pulse tooth pitch, and 2 pairs of train speed pulses of radar Doppler simultaneously gather and send to speed calculation logic circuit to carry out speed calculating by data acquisition CBK plate 3.The train speed value that Kalman filtering diagnosis decision logic circuit 6 sends according to encode odometer and radar Doppler is diagnosed judgement, and the court verdict obtaining is by speed and the locator value of result output circuit 7 output trains.
Described data acquisition CBK plate is provided with dual input passage, is connected respectively with coding odometer, radar Doppler.Described speed calculation logic circuit comprises coding odometer speed calculation logic circuit 4 and radar Doppler speed calculation logic circuit 5.
As shown in Figure 2, the train speed value that described Kalman filtering diagnosis decision logic circuit sends according to encode odometer and radar Doppler diagnoses judgement to be specially:
1) according to the measured velocity value of coding odometer and radar Doppler, respectively coding odometer and radar Doppler are carried out to fault diagnosis, if encode odometer fault, isolate the measured value of coding odometer, otherwise execution step 2); If radar Doppler fault, isolates the measured value of radar Doppler, otherwise performs step 2);
2) measured velocity value of radar Doppler is judged whether to be less than 5km/h, if yes, the measured value of isolation radar Doppler, and perform step 4), otherwise execution step 3);
3) Kalman filtering diagnosis decision logic circuit carries out residual computations to the coding odometer receiving and the measured velocity value of radar Doppler, according to residual result, judges whether train dallies or skid, if yes, and execution step 4), otherwise, execution step 5);
4) measurement result of output encoder odometer;
5) measurement result of output radar Doppler.
As shown in Figure 3, described Kalman filtering diagnosis decision logic circuit carries out residual computations to the measured velocity value of the coding odometer receiving and radar Doppler and is specially:
The state renewal equation of model integrated positioning system and measurement equation, acquisition state upgrades matrix A, input control matrix B and measures matrix H, then specification error covariance P o, process noise covariance Q and measure the initial value of noise covariance R, according to the input u of coding odometer kthe time of carrying out renewal, obtains state variable and estimates
Figure BDA0000425178190000051
and error covariance
X ^ k - = A X ^ k - 1 + Bu k
Measure to upgrade and calculate kalman gain K k,
P k - = AP k - 1 A T + Q
And upgrade according to the measured value of radar Doppler, obtain the state variable of measuring after upgrading
Figure BDA0000425178190000055
and error covariance P k,, wherein I is unit matrix
K k = P k - H T ( HP k - H T + R ) - 1
P k = ( I - K k H ) P k -
And carry out next step and calculate, in measuring renewal process, calculate residual error
Figure BDA0000425178190000058
and covariance
Figure BDA0000425178190000059
z wherein kfor the speed of Doppler radar measurement, and calculate detection function value, build detection function
Figure BDA00004251781900000510
according to the threshold value T setting d, to dallying or skidding, judge, work as λ k> T dtime, think that idle running or skidding have occurred train.

Claims (5)

  1. One kind based on radar Doppler and coding odometer train integrated positioning system, it is characterized in that, comprise coding odometer, radar Doppler, data acquisition CBK plate, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit and result output circuit, described coding odometer, radar Doppler are connected with the input end of data acquisition CBK plate respectively, and described data acquisition CBK plate output terminal, speed calculation logic circuit, Kalman filtering diagnosis decision logic circuit are connected successively with result output circuit;
    To wheel velocity, pulse gathers described coding odometer, and by data acquisition CBK plate, wheel velocity pulse is sent to speed calculation logic circuit, speed calculation logic circuit calculates current vehicle speed according to wheel velocity umber of pulse and wheel pulse tooth pitch, to train speed, pulse gathers and sends to speed calculation logic circuit to carry out speed calculating by data acquisition CBK plate radar Doppler simultaneously, the train speed value that Kalman filtering diagnosis decision logic circuit sends according to encode odometer and radar Doppler is diagnosed judgement, the court verdict obtaining is by speed and the locator value of result output circuit output train.
  2. 2. train integrated positioning system according to claim 1, is characterized in that, the train speed value that described Kalman filtering diagnosis decision logic circuit sends according to encode odometer and radar Doppler diagnoses judgement to be specially:
    1) according to the measured velocity value of coding odometer and radar Doppler, respectively coding odometer and radar Doppler are carried out to fault diagnosis, if encode odometer fault, isolate the measured value of coding odometer, otherwise execution step 2); If radar Doppler fault, isolates the measured value of radar Doppler, otherwise performs step 2);
    2) measured velocity value of radar Doppler is judged whether to be less than 5km/h, if yes, the measured value of isolation radar Doppler, and perform step 4), otherwise execution step 3);
    3) Kalman filtering diagnosis decision logic circuit carries out residual computations to the coding odometer receiving and the measured velocity value of radar Doppler, according to residual result, judges whether train dallies or skid, if yes, and execution step 4), otherwise, execution step 5);
    4) measurement result of output encoder odometer;
    5) measurement result of output radar Doppler.
  3. 3. train integrated positioning system according to claim 2, is characterized in that, described Kalman filtering diagnosis decision logic circuit carries out residual computations to the measured velocity value of the coding odometer receiving and radar Doppler and is specially:
    The state renewal equation of model integrated positioning system and measurement equation, acquisition state upgrades matrix A, input control matrix B and measures matrix H, then specification error covariance P o, process noise covariance Q and measure the initial value of noise covariance R, according to the input u of coding odometer kthe time of carrying out renewal, obtains state variable and estimates
    Figure FDA0000425178180000021
    and error covariance
    Figure FDA00004251781800000211
    X ^ k - = A X ^ k - 1 + Bu k
    Measure to upgrade and calculate kalman gain K k,
    P k - = AP k - 1 A T + Q
    And upgrade according to the measured value of radar Doppler, obtain the state variable of measuring after upgrading
    Figure FDA0000425178180000025
    and error covariance P k, wherein I is unit matrix;
    K k = P k - H T ( HP k - H T + R ) - 1
    P k = ( I - K k H ) P k -
    And carry out next step and calculate, in measuring renewal process, calculate residual error
    Figure FDA0000425178180000028
    and covariance
    Figure FDA0000425178180000029
    z wherein kfor the speed of Doppler radar measurement, and calculate detection function value, build detection function
    Figure FDA00004251781800000210
    according to the threshold value T setting d, to dallying or skidding, judge, work as λ k> T dtime, think that idle running or skidding have occurred train.
  4. 4. train integrated positioning system according to claim 2, is characterized in that, described data acquisition CBK plate is provided with dual input passage, is connected respectively with coding odometer, radar Doppler.
  5. 5. train integrated positioning system according to claim 2, is characterized in that, described speed calculation logic circuit comprises coding odometer speed calculation logic circuit and radar Doppler speed calculation logic circuit.
CN201310626833.4A 2013-11-28 2013-11-28 Combined train positioning system based on Doppler radar and coded milemeter Pending CN103674024A (en)

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CN104460665A (en) * 2014-10-13 2015-03-25 上海交通大学 Magnetic navigation unmanned vehicle based on road curvature map and road curvature map establishment method
CN106444606A (en) * 2016-09-29 2017-02-22 卡斯柯信号有限公司 Incremental electronic coding odometer device based on PLC technology and application thereof
CN109900296A (en) * 2019-03-22 2019-06-18 华南农业大学 A kind of agricultural machinery working travel speed detection system and detection method
CN113184020A (en) * 2021-04-23 2021-07-30 卡斯柯信号有限公司 Early warning monitoring display method for railway driving safety and construction safety protection
CN113581255A (en) * 2021-08-24 2021-11-02 卡斯柯信号有限公司 Train speed measuring device and method

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104460665A (en) * 2014-10-13 2015-03-25 上海交通大学 Magnetic navigation unmanned vehicle based on road curvature map and road curvature map establishment method
CN106444606A (en) * 2016-09-29 2017-02-22 卡斯柯信号有限公司 Incremental electronic coding odometer device based on PLC technology and application thereof
CN106444606B (en) * 2016-09-29 2023-05-09 卡斯柯信号有限公司 Incremental electronic coding odometer device based on PLC technology and application thereof
CN109900296A (en) * 2019-03-22 2019-06-18 华南农业大学 A kind of agricultural machinery working travel speed detection system and detection method
CN113184020A (en) * 2021-04-23 2021-07-30 卡斯柯信号有限公司 Early warning monitoring display method for railway driving safety and construction safety protection
CN113184020B (en) * 2021-04-23 2022-07-15 卡斯柯信号有限公司 Early warning monitoring display method for railway driving safety and construction safety protection
CN113581255A (en) * 2021-08-24 2021-11-02 卡斯柯信号有限公司 Train speed measuring device and method

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Application publication date: 20140326