CN103954290A - Device for accurately positioning railway locomotive - Google Patents
Device for accurately positioning railway locomotive Download PDFInfo
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- CN103954290A CN103954290A CN201410193700.7A CN201410193700A CN103954290A CN 103954290 A CN103954290 A CN 103954290A CN 201410193700 A CN201410193700 A CN 201410193700A CN 103954290 A CN103954290 A CN 103954290A
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- Prior art keywords
- locomotive
- data
- panel computer
- railway
- gnss
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Classifications
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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
-
- 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
Abstract
The invention discloses a device for accurately positioning a railway locomotive. The device comprises a locomotive standby power supply, a locomotive operating mechanism, a signal control lamp, a panel computer, a locomotive speed sensor and a GNSS (Global Navigation Satellite System) board card, wherein the panel computer is respectively connected with an integrated standby power supply, an integrated operating mechanism, an integrated speed sensor, a GNSS board card and the signal control lamp through communication interfaces. Compared with the prior art, the device disclosed by the invention realizes the high-accuracy positioning, line tracing and security monitoring and management on the locomotive by applying a GNSS, a GIS (Global Information System) and a wireless communication technology, installing a positioning device on the locomotive, making a track line electronic map and acquiring station yard microcomputer interlocking information and track circuit information, realizes the auxiliary driving by installing a guiding system on the locomotive, realizes the accurate control on the vehicle operation dispatching of the locomotive through network information transfer, can enhance the supervision capacity on railway transportation safety, optimize the railway operation efficiency, enhance the safety of locomotive driving and has the popularization and application values.
Description
Technical field
The present invention relates to a kind of railway locomotive servicing unit, relate in particular to a kind of railway locomotive exact position locating device.
Background technology
Follow the tracks of at aspects such as safety of railway traffic supervision, efficiency optimization and safe drivings the position of locomotive, has vital effect.Current railway fortune pipe ring border, although equipped multinomial facilities and administration system, also can play certain guaranteeing role to railway transport administration, but for the tracking of locomotive position, can only reach interval location or zone tracking, accurate location (point location) system based on locomotive is still blank.
If can realize locomotive accurately locates, we whenever can know locomotive in which station track, before and after which point, locomotive situation, the accurate distance of being separated by etc. of vehicle for running on rail before and after track circuit and teleseme state, this locomotive, this solves safety problem in many locomotive operation management, efficiency, automatic Pilot problem etc. to us will provide a set of completely new approach.
Summary of the invention
Object of the present invention is just to provide in order to address the above problem a kind of railway locomotive exact position locating device.
The present invention is achieved through the following technical solutions above-mentioned purpose:
The present invention includes locomotive back-up source, locomotive control mechanism, signal controlling lamp, panel computer, locomotive speed sensor and GNSS board, described panel computer is connected with described integrated back-up source, described integrated control mechanism, described integrated speed pickup, described GNSS board and described signal controlling lamp respectively by communication interface.
Particularly, described communication interface is RS232 interface.
The implementation of railway locomotive of the present invention exact position locating device comprises the following steps:
(1) obtain satellite location data by GNSS board, obtain integrated velocity pulse data by locomotive speed sensor, obtain the break-make data of locomotive reversing lever and obtain system power supply shutdown level data by locomotive back-up source by locomotive control mechanism;
(2) data message getting is sent on panel computer by communication interface;
(3) panel computer is crossed the switch of communication interface control signal control lamp according to the information exchange of receiving.
Beneficial effect of the present invention is:
The present invention is a kind of railway locomotive exact position locating device, compared with prior art, the present invention intends using the advanced technologies such as GNSS (Global Positioning System (GPS)), GIS (Geographic Information System) and cordless communication network, by locomotive exact position locating device being installed on locomotive, being made the accurate track circuit electronic chart of railway, acquisition station field microcomputer interlocking information and track circuit information etc., realize hi-Fix, trajectory track and security monitoring management to locomotive; By navigational system is installed on locomotive, realize the auxiliary driving to locomotive; Transmit by ground network information, can realize the accurate control to rolling stock running scheduling.The realization of this invention, the security of can greatly promote safety of railway traffic ability to supervise, optimizing railway operation efficiency, improve locomotive driving, has the value of applying.
Brief description of the drawings
Fig. 1 is hardware configuration schematic diagram of the present invention;
Fig. 2 is principle of work schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1: the present invention includes locomotive back-up source, locomotive control mechanism, signal controlling lamp, panel computer, locomotive speed sensor and GNSS board (Global Positioning System (GPS)), described panel computer is connected with described integrated back-up source, described integrated control mechanism, described integrated speed pickup, described GNSS board and described signal controlling lamp respectively by communication interface.Communication interface is RS232 interface.
As shown in Figure 2: the implementation of railway locomotive of the present invention exact position locating device comprises the following steps:
(1) obtain satellite location data by GNSS board, (velocity pulse is square wave to obtain integrated velocity pulse data by locomotive speed sensor, peak value 10-15V, dutycycle 50%, need to do to isolate herein, do not allow with power supply altogether), (commutator handle state is switch to obtain the break-make data of locomotive reversing lever by locomotive control mechanism.While opening circuit, for retreating shelves, be drive shift when short circuit, commutator, in the time of drive shift, is often received a velocity pulse, mileage number+1; Commutator, in the time retreating grade, is often received a velocity pulse, mileage number-1; Speed is pulses per second, needs to do to isolate herein, do not allow with power supply altogether) and obtain system power supply shutdown level signal by locomotive back-up source;
(2) data message getting is sent on panel computer by communication interface;
(3) panel computer is crossed the switch (signal is only exported, and does not input, and does not need to do to isolate) of communication interface control signal control lamp herein according to the information exchange of receiving.
As shown in Figure 2: GNSS is the general name of all global position systems, GNSS board is the satellite positioning module of selecting for different global position systems, this board is a ready-made accessory, this has designed relevant secondary development hardware interface this board in application, its mode is the connected mode by contact pin type, the corresponding definition of each contact pin has regulation, in the time of the circuit board of design locomotive position sensing device, as long as it is just passable to design a socket according to corresponding contact pin on circuit board, circuit board of the present invention need to design corresponding connecting circuit according to the definition of the interface contact pin of GNSS board.Major function is obtained satellite location data information exactly.Shutdown level refers to and comes from the level signal that locomotive back-up source sends, this signal is transferred to after this device, this device can be identified the information that locomotive power supply has cut off, then convert the powered battery of back-up source to, now limited due to back-up source delivery, this shutdown level signal is sent automatic shutdown signal by this device to relevant panel computer.
As shown in Figure 1: GNSS board has data-interface, Reset pin, 1PPS pin and Position Valid pin, wherein: data-interface: 3 full duplex 3.3V CMOS, are respectively PortA, PortB, PortC.Wherein PortA is connected with this equipment with PortB, and has exchanges data; PortC does not need and this device talk, but need on circuit board, make built-up circuit, change into serial ports, and it is for subsequent use to reserve 3pin socket.Reset pin: open collector, 3.3V typical; Need to be according to its reset of instruction control.1PPS pin: Output Active low, falling edge, 3.3V CMOS; Need to read this pin state, on shell LED, show.Position Valid pin: Output Status indicator, 3.3V CMOS, active low; Need to read this pin state, on shell LED, show.
As shown in Figure 2: shutdown level: locomotive back-up source is the equipment to whole system power supply, connect from locomotive general supply DC110V, then pass and change DC12V into again to apparatus of the present invention and the power supply of other locomotive support equipment, shutdown level in Fig. 2 refers to by locomotive back-up source and sends, detecting after the cut-off of locomotive DC 110V power supply, cause can not be with powering to peripherals with the DC12V after directly changing again, in order to ensure not illegally shutdown of panel computer, so back-up source can convert at this moment battery to and power to peripheral hardware, but the capacity of back-up source is limited, so in the battery powered while, back-up source also can send a shutdown level signal to apparatus of the present invention, apparatus of the present invention receive after this shutdown level signal, can this off signal be sent to panel computer by the mode of communication, panel computer is in the time receiving this off signal, just automatically start shutdown programm, to avoid because of the illegal shutdown after power-off illegally.Understand from another angle, the locomotive back-up source that we are designed, is exactly after locomotive main power remove, and conversion powers to ensure normally automatic shutdown of peripheral hardware by back-up source automatically, is a kind of Means of Ensuring of security of system.
The introducing of difference location
" GNSS " system provides the navigational system of satellite navigation locating information while being round-the-clock, full-time, " the railway locomotive exact position locating device " of our invention receives the interrogating signal of satellite broadcasting at any time, if the satellite data receiver module of " Big Dipper " system of selection, because its service range is taking Continental Area as main, can fully ensure domestic railway locomotive exact position positioning requirements.
The positioning principle of GNSS satellite system adopts 3 ball intersections to survey star principle and positions, taking 2 satellites as the centre of sphere, 2 centre ofs sphere to the distance of locomotive terminal is that radius can draw 2 spheres, another sphere is to take the earth's core as the centre of sphere, draw the sphere taking the distance in Dian Zhi the earth's core, locomotive position as radius, the plotted point of 3 spheres is the position of locomotive.
GNSS satellite navigation and location system is made up of NAVSAT, ground control centre and client three parts of space: space part has 2 pieces of geo-synchronous orbit satellites, carries out the relay task of the double-direction radio electric signal of ground control centre and client; Ground control centre comprises the locomotive network supervision and management center of my the supporting design of company, the main transmission of being responsible for radio signal receives, and the monitoring management of whole system, wherein, locomotive network supervision and management center is responsible for mark, identification and the operational management of each locomotive in system; Serve as reasons my company's specialized designs be installed on the mobile unit that includes one of this device on locomotive of client, is mainly used in receiving the distance measuring signal that ground control centre forwards through satellite.
The simple locomotive position obtaining by GNSS system data is greatly between 20m-200m, these data obviously can not be referred to as accurate position data, this precision of 20m-200m is difficult to distinguish the difference between track and track, this precision is far from being enough for the differentiation of railway locomotive position, especially in complicated field wire road, station situation, want to determine in real time the distance of locomotive apart from front track switch, teleseme and further feature point, that's altogether beyond the reach of possibility.
In apparatus of the present invention, we have adopted the mode of difference location to solve the problem of locomotive location, exact position in service at station.Difference location: when apparatus of the present invention can be received at least three above data-signals of satellite, obtain the exact position of standard point of fixity and the corrected parameter of real-time satellite data by set up satellite difference base station on ground, by this corrected parameter, received locomotive mobile terminal satellite data is carried out to difference correction and obtain the current accurate positioning states data of locomotive, these data might not be all utilizable, our software in this device can be judged the dilution of precision of current satellite data automatically, only have dilution of precision to meet the data of criterion condition, just can be directly used in the location of locomotive exact position, by the mode of this direct satnav, the problem of the location, locomotive exact position when efficiently solving locomotive unobstructed and satellite data being noiseless at station satellite-signal in service.
As from the foregoing, if merely rely on satellite data accurately to locate locomotive, can not meet the accurate location of locomotive under field, full station, all fronts road environment, for this reason, we have started (dynamically the deducing) of the comprehensive sensing data of locomotive and have resolved algorithm:
In reality test, owing to being subject to impact and the interference of environmental factor, adopt simple satellite location data, even by setting up difference base station at a station environment, the mode of locating by difference is also the accurate location that impossible ensure locomotive vehicle-mounted client completely, because stand, an environmental facies is when complicated, such as the environment there being buildings to block, there iing strongly disturbing electromagnetic environment, tunnel area on track circuit or subterranean zone etc., these places, satellite positioning tech lost efficacy, and can not effectively solve the location of the exact position of locomotive.Because the operation of locomotive is to move on two rails very regularly, only have two specific directions (we are referred to as " forward direction " and " backward "), as long as we judged in that time that effectively satellite data is lost and started by algorithm, and can accurately extrapolate the accurate range ability of locomotive by the running status of the locomotives such as the direction of the time of locomotive operation, travelling speed and operation itself, automatically completing of this reckoning is the original point of apparatus of the present invention.
The present invention has accomplished the seamless combination of above-mentioned two key points effectively, in reality test, obtain checking completely, can obtain locomotive Static positioning accuracy reach mm (millimeter) level, Kinematic Positioning can reach cm (centimetre) positional precision of level, the exact position data of locomotive realize and being identical with field, the station orbital electron map forming through precision measurement, solved the problem of locomotive location-based monitoring, management and service completely, be unique at present domestic rolling stock positioning system application.
The hardware design of apparatus of the present invention and with it supporting software algorithm following points:
1, by the judgement that whether obtains effective satellite data, automatically select is to adopt satellite data locator meams or adopt locomotive dynamically to deduce data locator meams, and device can be realized mutually replacing, complementing one another of two kinds of locator meamss judgements, realizes the seamless link that two kinds of locator meamss automatically switch.
2,, while adopting the mode of satellite data location, there is following calculating:
(1) automatically calculate the dilution of precision of satellite data, and the availability of the satellite data that judgement obtains automatically, only have the positioning precision factor to reach setting range, just be regarded as available, and locate the exact position that is applied directly to locomotive, because this satellite data has been passed through differential corrections simultaneously, can meet Static positioning accuracy and reach mm level, dynamic locating accuracy reaches the standard below 20mm.
(2) this algorithm has also considered that the impact on the current positioning precision of locomotive after time delay occurs for factor data calculating and communication, locomotive motion, so planned the data calculated rate that reaches as high as 20 times/second, can meet the situation of various high low speed locomotive operations in real world applications completely.
3,, while adopting locomotive dynamically to deduce data locator meams, need to calculate as follows:
(1) by the detected pulse number from locomotive speed sensor (it may be also multiple that speed pickup may be one) of hardware of the present invention, software can be judged the number of turns that train wheel turns automatically.(speed pickup as used in the locomotive full sized pules number being occurred that turns around is 200, if when device is counted as 3600, can calculate wheel is 3600 ÷ 200=18 circles to turn-take number, if when device is counted as 16, can calculate wheel is 16 ÷ 200=0.08 circles etc. to turn-take number);
(2) software can be by wheel to turn-taked several automatic calculating, can automatically calculate the girth of locomotive wheel in conjunction with the length in wheel footpath, locomotive wheel is turn-taked to count and is combined and calculate with wheel girth, the displacement (distance) of moving can obtain locomotive operation time;
(3) due to locomotive long-term operation on track circuit, can there is wheel wear, the wheel footpath and the girth that are locomotive can change along with the activity duration, the present invention has designed the algorithm of wheel footpath automatic calibration, pass through at satellite-signal good track section continuously, go out a wheel footpath value after correction by the length (distance) of locomotive displacement and the detected pulse number Extrapolation of apparatus of the present invention in same time, be worth as locomotive and dynamically deduce the wheel footpath value while calculating using this, can reach the object of elimination positioning precision error;
(4) by the detected locomotive driving direction of hardware of the present invention, that time that the locomotive speed umber of pulse that software algorithm can automatic judging device be obtained is lost from satellite data, do " adding up " counting or " regressive " counting, as " forward direction " is decided to be " adding up ", " backward " is " regressive ".This " adds up " or " regressive ", is and calculates the orbit accurate foundation of distance of locomotive.(because of the feature of rail vehicle transportation, having determined that the operation of locomotive can only, in " advancing " of track or " retreating " two fixing directions, by the accurate calculating of " forward direction " or " backward " shift length, be guaranteed the accuracy of locomotive location).
Judgement repeatedly and the calculating of said process, can obtain the locomotive exact position under locomotive any time, any environment, and this algorithm is also the marrow of apparatus of the present invention.
Through test, obtain complete verification msg, can realize the accurate Calculation of locomotive position and accurate position display in the GIS map of station, and can realize in locomotive operation operation process, to front and back line status with apart from signal lamp calculating and the voice broadcast of distance accurately, this still belongs to pioneering at home.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (3)
1. a railway locomotive exact position locating device, comprise locomotive back-up source, locomotive control mechanism and signal controlling lamp, it is characterized in that: also comprise panel computer, locomotive speed sensor and GNSS board, described panel computer is connected with described integrated back-up source, described integrated control mechanism, described integrated speed pickup, described GNSS board and described signal controlling lamp respectively by communication interface.
2. railway locomotive according to claim 1 exact position locating device, is characterized in that: described communication interface is RS232 interface.
3. the implementation of railway locomotive according to claim 1 exact position locating device comprises the following steps:
(1) obtain satellite location data by GNSS board, obtain integrated velocity pulse data by locomotive speed sensor, obtain the break-make data of locomotive reversing lever and obtain system power supply shutdown level data by locomotive back-up source by locomotive control mechanism;
(2) data message getting is sent on panel computer by RS232 interface;
(3) panel computer is crossed the switch of RS485 interface control signal control lamp according to the information exchange of receiving.
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| CN201410193700.7A CN103954290A (en) | 2014-05-09 | 2014-05-09 | Device for accurately positioning railway locomotive |
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| CN201410193700.7A CN103954290A (en) | 2014-05-09 | 2014-05-09 | Device for accurately positioning railway locomotive |
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Cited By (5)
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| 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 |
| CN108628212A (en) * | 2018-05-09 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard and locomotive dynamic information collection system |
| CN108657234A (en) * | 2018-05-07 | 2018-10-16 | 成都九壹通智能科技股份有限公司 | System and method is monitored based on the dynamic train real-time displacement of vehicle |
| CN109017880A (en) * | 2018-06-28 | 2018-12-18 | 武汉钢铁有限公司 | A kind of rail vehicle management system |
| CN111098893A (en) * | 2019-11-26 | 2020-05-05 | 国电南瑞科技股份有限公司 | Tramcar positioning and tracking system based on displacement authorization |
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Cited By (5)
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| 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 |
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Address after: 610041 No. four, No. two South Ring Road, Chengdu hi tech Development Zone, Sichuan, Xiaojiahe, 16 Applicant after: Chengdu Keyi Track Technology Co.,Ltd. Address before: 610081 Sichuan city of Chengdu province simaqiao Dongli International Plaza building four unit 1243 Applicant before: Chengdu Keyi Track Technology Co.,Ltd. |
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Application publication date: 20140730 |