CN103777219A - System and method for positioning railway locomotive - Google Patents
System and method for positioning railway locomotive Download PDFInfo
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- CN103777219A CN103777219A CN201410032766.8A CN201410032766A CN103777219A CN 103777219 A CN103777219 A CN 103777219A CN 201410032766 A CN201410032766 A CN 201410032766A CN 103777219 A CN103777219 A CN 103777219A
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- latitude
- longitude
- railway locomotive
- kilometer post
- locomotive
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a system and a method for positioning a railway locomotive. The system comprises a database (10), a kilometer post collection device (20), a global positioning system (GPS) device (30), a controller (40), a wireless communication device (50) and an output device (60), wherein the controller (40) receives data transmitted by the kilometer post collection device (20) and the GPS device (30), performs operation processing on the received data by means of data in the database (10) and transmits the results obtained through operation processing to the output device (60) through the wireless communication device (50) to achieve display. Therefore, by means of the system and the method for positioning the railway locomotive, precision of GPS positioning is improved effectively, errors caused by traditional GPS positioning and errors caused by rail slip due to pure kilometer post positioning are avoided, and certain facilitation is provided for production decision and command.
Description
Technical field
The present invention relates to locomotive positioning field, particularly, relate to a kind of railway locomotive positioning system and localization method.
Background technology
Railway locomotive is worked throughout the year outside, and managerial personnel need to know that their particular location is to facilitate management.Traditional position location technology is mainly orientated master as with GPS, but traditional GPS when location can be subject to the impact of variety of factors, error is larger, positional accuracy existing problems.U.S. government is from its national interests, by reducing broadcast ephemeris precision, add the methods such as high dither in GPS reference signal, artificially reduces the precision of domestic consumer while utilizing GPS to carry out navigator fix.The factor that affects in addition GPS setting accuracy also has satellite ephemeris error, satellite clock correction and satellite-signal emitting antenna phase center deviation.Another technical scheme is exactly the location that uses track circuit method to make train.Be divided into different sections by railway track, add the sending/receiving device of electric current at the two ends of each section, utilize track to form a communication loop.In the time that train sails section into, wheel is by two one steel rail short circuits, and information can not arrive receiving end, thereby reaches the object of train location.The shortcoming of track circuit method is: location is using track circuit length as minimum measurement unit.
Summary of the invention
The object of this invention is to provide a kind of system, this system is the kilometer post when longitude and latitude of GPS and locomotive operation comprehensively, through the calculation process of microprocessor, draws the real time position of locomotive, has greatly improved the precision of location.
To achieve these goals, the invention provides a kind of railway locomotive positioning system, comprising: database; Kilometer post harvester, GPS device, controller, wireless communication apparatus and output unit; Described database, for storing the data of longitude and latitude and kilometer post of rail track, and the check point set up of the longitude and latitude of storage based on described rail track; Described kilometer post harvester, is connected with described controller, for gathering the kilometer post data of locomotive, and the data transmission gathering is arrived to described controller; Described GPS device, is connected with described controller, for gathering the longitude and latitude data of locomotive, and the data transmission gathering is arrived to described controller; Described controller, receive the data that described kilometer post harvester and described GPS device send, utilize the data of described database storage, received data are carried out to calculation process, the result of calculation process is sent to described output unit by described wireless communication apparatus and show.
Preferably, described calculation process is: described controller is searched corresponding longitude and latitude A1 according to the kilometer post data of the railway locomotive of described kilometer post harvester collection in described database; Described controller is searched the check point C1 being adjacent in described database according to the longitude and latitude B1 of the railway locomotive of described GPS device collection; Described controller obtains the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.
Preferably, described controller pair warp and weft degree A1 and check point C1 carry out equal divisional processing, obtain the longitude and latitude D1 of final locomotive position.
Preferably, the formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.
Preferably, described check point be spaced apart 10m.
Preferably, described output unit is electronic chart display device.
The present invention also provides a kind of railway locomotive localization method, comprising: the database of setting up rail track longitude and latitude and kilometer post corresponding relation; Longitude and latitude take described rail track is set up check point as basis in described database; In described database, search corresponding longitude and latitude A1 according to the kilometer post data of the railway locomotive of Real-time Collection; In described database, search the check point C1 being adjacent according to the longitude and latitude B1 of the railway locomotive of Real-time Collection; Obtain the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.
Preferably, pair warp and weft degree A1 and check point C1 carry out equal divisional processing, obtain the longitude and latitude D1 of final locomotive position.
Preferably, the formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.
Preferably, described check point be spaced apart 10m.
Pass through technique scheme, middle controller of the present invention gathers kilometer post data and the longitude and latitude data of railway locomotive by kilometer post harvester and GPS device, utilize the data of the storage in database to carry out calculation process, the result of calculation process is sent to output unit by wireless communication apparatus and show.The present invention effectively improves the precision of GPS location, has avoided the error of traditional GPS location and simple kilometer post to locate the error that the factors such as the track existing skids are brought, and for production decision, commander plays certain facilitation.
Other features and advantages of the present invention are described in detail the embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for instructions, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is a kind of structural representation of railway locomotive positioning system;
Fig. 2 is the process flow diagram of railway locomotive localization method of the present invention.
Description of reference numerals
10, database; 20, kilometer post harvester; 30, GPS device; 40, controller; 50, wireless communication apparatus; 60, output unit.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Railway locomotive is operation outside, and managerial personnel need to know that their particular location is so that management.Traditional locomotive location technology is mainly orientated master as with GPS, but in the time of location, is subject to the impact of variety of factors, and error ratio is larger, positional accuracy existing problems.
In order to address the above problem, as shown in Figure 1, the invention provides a kind of railway locomotive positioning system, comprising: database 10; Kilometer post harvester 20, GPS device 30, controller 40, wireless communication apparatus 50 and output unit 60; Described database 10, for storing the data of longitude and latitude and kilometer post of rail track, and the check point set up of the longitude and latitude of storage based on described rail track; Described kilometer post harvester 20, is connected with controller 40, for gathering the kilometer post data of locomotive, and the data transmission gathering is arrived to controller 40; Described GPS device 30, is connected with controller 40, for gathering the longitude and latitude data of locomotive, and the data transmission gathering is arrived to controller 40; Described controller 40, receive the data that described kilometer post harvester 20 and described GPS device 30 send, utilize the data of described database 10, received data are carried out to calculation process, the result of calculation process is sent to described output unit 60 by described wireless communication apparatus 50 and show.Between described check point, be spaced apart 10m.Described output unit 60 is electronic chart display device, can be also that other are for showing the equipment of electronic chart.
Alternatively, described calculation process is: the kilometer post data of the railway locomotive that described controller 40 gathers according to described kilometer post harvester 20 are searched corresponding longitude and latitude A1 in described database 10; The longitude and latitude B1 of the railway locomotive that described controller 40 gathers according to described GPS device 30 searches the check point C1 being adjacent in described database 10; Described controller 40 obtains the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.The formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.
Alternatively, the process flow diagram of railway locomotive localization method of the present invention as shown in Figure 2, the present invention also provides a kind of railway locomotive localization method, comprising: the database of setting up rail track longitude and latitude and kilometer post corresponding relation; Longitude and latitude take described rail track is set up check point as basis in described database; In described database, search corresponding longitude and latitude A1 according to the kilometer post data of the railway locomotive of Real-time Collection; In described database, search the check point C1 being adjacent according to the longitude and latitude B1 of the railway locomotive of Real-time Collection; Obtain the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.Pair warp and weft degree A1 and check point C1 carry out equal divisional processing, obtain the longitude and latitude D1 of final locomotive position.The formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.Real time position when localization method in the present invention can obtain accurate locomotive operation, effectively improves the precision of GPS location, has avoided the error of traditional GPS location and simple kilometer post to locate the error that the factors such as the track existing skids are brought.
As an embodiment, shown in Fig. 1 and Fig. 2, the present embodiment need to first be set up the database 10 of rail track longitude and latitude and kilometer post corresponding relation, described database 10 is by manually carry out described point on rail track, draws the longitude and latitude of rail track, especially at the local described point of rail track corner, guarantee enough large density, guarantee that not the line between 2 is not all straight line, in the present embodiment between each point, be spaced apart 10m, as check point.Then can set up the corresponding relation of rail track longitude and latitude and kilometer post by following method, as: if p
1point is the starting point of rail track, and the kilometer of starting point is designated as k0+0, otherwise p
1for the non-starting point of rail track, afterwards be p
2, p
3..., p
n, non-starting point p
nkilometer post be to calculate by following manner,
Wherein { lon (n), lat (n) } represents p
nthe longitude and latitude of point, the while has also been set up the check point Cn of rail track, and that check point Cn is { lon (n), lat (n) }.For example,, if some p
xkilometer post is just in time retouched point, i.e. x=n, can directly obtain corresponding longitude and latitude; If some p
xkilometer post is not included in institute's described point the inside, can first judge this point between which 2, such as being positioned at p
n-1with p
nbetween, lon (x)={ lon (n) [k (x)-k (n-1)]+lon (n-1) [k (n)-k (x)] }/[k (n)-k (n-1)], in like manner can obtain lat (x)={ lat (n) [k (x)-k (n-1)]+lat (n-1) [k (n)-k (x)] }/[k (n)-k (n-1)], can try to achieve the longitude and latitude that check point Cx orders is { lon (x), lat (x) }.
Can set up the database 10 of rail track longitude and latitude and kilometer post corresponding relation by said method, and in described database 10, set up check point as basis take the longitude and latitude of described rail track.Controller 40 is simultaneously to kilometer post harvester 20 and GPS device 30 sending controling instructions, controls described kilometer post harvester 20 and gather the kilometer post data of railway locomotive, controls described GPS device 30 and gathers described longitude and latitude data.Described kilometer post harvester 20 receives after described controller 40 sending controling instructions, gather the kilometer post data of locomotive, and collected kilometer post data are sent to described controller 40, described GPS device 30 receives after the steering order that described controller 40 sends, gather the longitude and latitude data of locomotive, and collected kilometer post data are sent to described controller 40, the cycle of described kilometer post harvester 20 and described GPS harvester transceiving data is 10s.
Described controller 40 receives after the data that described kilometer post harvester 20 and described GPS device 30 send, can call the rail track longitude and latitude of foundation described above and the database 10 of kilometer post corresponding relation, the kilometer post data of the railway locomotive then gathering according to described kilometer post harvester 20 are searched and are obtained corresponding longitude and latitude A1 in described database 10, the longitude and latitude B1 of the railway locomotive gathering according to described GPS device 30 searches the check point C1 that obtains being adjacent in described database 10, longitude and latitude using described check point C1 as Current GPS and described longitude and latitude A1 carry out equal divisional processing again, the described formula of dividing equally is D1=(A1+C1)/2, thereby obtain the longitude and latitude D1 of final locomotive position.The longitude and latitude data D1 obtaining through calculation process is passed through wireless communication apparatus 50 by last described controller 40, send to wirelessly on the electronic chart display device at ground monitoring center, finally on electronic chart display device, on the railway track of electronic chart, show dynamically the run location of locomotive.
Railway locomotive localization method process flow diagram as shown in Figure 2, the present embodiment also provides a kind of railway locomotive localization method, and its step comprises: step S101, sets up the database of rail track longitude and latitude and kilometer post corresponding relation; Step S102 sets up check point as basis take the longitude and latitude of described rail track in described database; Step S103 searches corresponding longitude and latitude A1 according to the kilometer post data of the railway locomotive of Real-time Collection in described database; Step S104 searches the check point C1 being adjacent in described database according to the longitude and latitude B1 of the railway locomotive of Real-time Collection; Step S105, obtains the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.The localization method providing by above-mentioned steps, can effectively improve the precision of GPS location, has avoided the error of traditional GPS location and simple kilometer post to locate the error that the factors such as the track existing skids are brought.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode.
In addition, also can carry out combination in any between various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. a railway locomotive positioning system, is characterized in that, comprising: database (10); Kilometer post harvester (20), GPS device (30), controller (40), wireless communication apparatus (50) and output unit (60);
Described database (10), for storing the data of longitude and latitude and kilometer post of rail track, and the check point set up of the longitude and latitude of storage based on described rail track;
Described kilometer post harvester (20), is connected with described controller (40), for gathering the kilometer post data of locomotive, and the data transmission gathering is arrived to described controller (40);
Described GPS device (30), is connected with described controller (40), for gathering the longitude and latitude data of locomotive, and the data transmission gathering is arrived to described controller (40);
Described controller (40), receive the data that described kilometer post harvester (20) and described GPS device (30) send, utilize the data of described database (10) storage, received data are carried out to calculation process, the result of calculation process is sent to described output unit (60) by described wireless communication apparatus (50) and show.
2. railway locomotive positioning system according to claim 1, is characterized in that, described calculation process is:
The kilometer post data of the railway locomotive that described controller (40) gathers according to described kilometer post harvester (20) are searched corresponding longitude and latitude A1 in described database (10);
The longitude and latitude B1 of the railway locomotive that described controller (40) gathers according to described GPS device (30) searches the check point C1 being adjacent in described database (10);
Described controller (40) obtains the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.
3. railway locomotive positioning system according to claim 2, is characterized in that, described controller (40) pair warp and weft degree A1 and check point C1 carry out equal divisional processing, obtains the longitude and latitude D1 of final locomotive position.
4. railway locomotive positioning system according to claim 3, is characterized in that, the formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.
5. railway locomotive positioning system according to claim 1, is characterized in that, described check point be spaced apart 10m.
6. railway locomotive positioning system according to claim 1, is characterized in that, described output unit (60) is electronic chart display device.
7. a railway locomotive localization method, is characterized in that, comprising:
Set up the database of rail track longitude and latitude and kilometer post corresponding relation;
Longitude and latitude take described rail track is set up check point as basis in described database;
In described database, search corresponding longitude and latitude A1 according to the kilometer post data of the railway locomotive of Real-time Collection;
In described database, search the check point C1 being adjacent according to the longitude and latitude B1 of the railway locomotive of Real-time Collection;
Obtain the longitude and latitude D1 of final locomotive position based on described longitude and latitude A1 and described check point C1.
8. railway locomotive localization method according to claim 7, is characterized in that, pair warp and weft degree A1 and check point C1 carry out equal divisional processing, obtains the longitude and latitude D1 of final locomotive position.
9. railway locomotive localization method according to claim 8, is characterized in that, the formula of dividing equally of described equal divisional processing is D1=(A1+C1)/2.
10. railway locomotive localization method according to claim 7, is characterized in that, described check point be spaced apart 10m.
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| CN104504930A (en) * | 2015-01-20 | 2015-04-08 | 赵立 | Method for obtaining vehicle traveling track based on positioning system |
| CN104865589A (en) * | 2015-06-14 | 2015-08-26 | 成都可益轨道技术有限公司 | Vehicle safety navigation system for locomotive |
| CN105093250A (en) * | 2014-05-22 | 2015-11-25 | 通用电气公司 | Locomotive operation positioning system and method |
| CN106097754A (en) * | 2016-06-27 | 2016-11-09 | 安徽超远信息技术有限公司 | A kind of mobile law enforcement position acquisition based on radio communication and satellite model and bearing calibration |
| CN109664919A (en) * | 2017-10-17 | 2019-04-23 | 株洲中车时代电气股份有限公司 | A kind of train locating method and positioning system |
| CN113954921A (en) * | 2021-11-30 | 2022-01-21 | 上海伽易信息技术有限公司 | Inertial navigation positioning method for assisting training by using train arrival information |
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