CN104401367A - Rail transit train positioning method - Google Patents
Rail transit train positioning method Download PDFInfo
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- CN104401367A CN104401367A CN201410668045.6A CN201410668045A CN104401367A CN 104401367 A CN104401367 A CN 104401367A CN 201410668045 A CN201410668045 A CN 201410668045A CN 104401367 A CN104401367 A CN 104401367A
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Abstract
The invention discloses a rail transit train positioning method, which comprises the following steps: (1) arranging a beacon database and a turnout database; (2) setting the initial positioning state of a train as non-positioning; (3) enabling the train to begin to run from the initial poisoning state, and naming a beacon as an initial beacon after any one effective beacon is read on the way of running; (4) looking up the initial beacon position of the beacon database, taking the initial beacon as a criterion, searching all adjacent beacons to a forward direction and a reverse direction through the beacon database or the turnout database, and recording the adjacent beacons as expected beacons; (5) enabling the train to continuously run along a station track, comparing a second beacon with all expected beacons when the second beacon is read, wherein if the second beacon is matched with one of the expected beacons, the positioning is successful, and if the second beacon is not matched with one of the expected beacons, the positioning is failed; taking the second beacon as the initial beacon again, and returning back to the step (4) for continuously calculating. Across-turnout positioning can be realized, thus improving the positioning efficiency and improving the repositioning efficiency.
Description
Technical field
The present invention relates to field of track traffic, particularly relate to a kind of rail transit train localization method.
Background technology
Automatically run and automatic protection technical field in track traffic, train locating method is one of technology first must considered and solve.
Train is located, and namely train obtains the position of current train and the direction of relative orbit operation according to the beacon that track is arranged in advance.Train needs the position being obtained self by beacon before entering formal operation.
Reorientation, namely train is reading beacon, but does not meet the demands due to beacon, after cannot obtaining train location, again obtains the process of self-position.
When obtaining position, require that train is by continuous print 2 localizer beacons, train can calculate self-position in the moment by the 2nd beacon.Method of calculating is: using the database location of second beacon as train coordinate, the service direction being train relative orbit to the line direction of second beacon with first beacon.Train coordinate and service direction are combined to form the direction vector of Train motion, are referred to as to get train position.
Position between two beacons, the beacon position that train was read according to the last time, adds that the relation (distance=time × speed) of speed and time calculates current train position.
At present, the key step of train foundation location is:
When train leaves garage, Location-Unknown, now train is in location unknown state;
Train, first by first beacon, inquires about its data storehouse simultaneously, and obtain the position of first beacon, be labeled as initial Beacon, now train enters positioning initialization state.
Train continues to run, and the beacon position that train was read according to the last time, the relation (distance=time × speed) adding or deduct speed and time calculates two possible forwards of current train or reverse coordinate.
If read second effective beacon before track switch, then successfully set up position, now train enters location and sets up state.
If read second beacon after running to track switch, then cannot set up position, now train abandons all beacon messages read before, reenters location unknown state.If now train needs reorientation, then need to enter the 2nd step, train searches initial Beacon again.
As shown in Figure 1, be existing rail transit train localization method middle orbit schematic diagram; Track switch 102 connects the first track limit 101 and two the first adjacent orbit limit 102a and 102b; As in Fig. 1, when train is successively by initial Beacon 104a and neighbor beacon A and neighbor beacon 104b, owing to there is not track switch 102 between two beacons, train can set up position.
And train successively by initial Beacon 104a and neighbor beacon B and neighbor beacon 104c time, owing to there is track switch 103 between two beacons, and track switch 103 Status unknown, then train cannot set up position.
Because train positioning function is that control center correctly carries out vehicle scheduling, and the basis that train can control automatically, therefore the execution efficiency of train positioning function directly affects the time that vehicle is runed from outbound to main track.
Current Problems existing:
Because existing localization method requires can not there is track switch between initial Beacon and neighbor beacon, and the track switch facility that to be rail line indispensable, therefore when vehicle moves across track switch, position cannot be set up, the efficiency setting up position of reduction.
In the conventional method, if cannot set up position after reading the second beacon, will abandon all beacon messages comprising the second beacon, causing going back train repositioning process also needs again to search initial Beacon, and reorientation efficiency is low.
In prior art, as name be called " the subway train localization method based on RSSI ", application number is the Chinese patent application of 201110250340.6, name is called " train locating method based on railway mobile communication network communication base station ", application number is the Chinese patent application of 201310477121.0, mode that is wireless or mobile base station is adopted to obtain train position, error is larger, and high requirement is furnished with for wireless base station or mobile base station, is also not easy to existing line transformation.
In prior art, as name be called " the static train locating method being applicable to CBTC system ", application number is the Chinese patent application of 201210495948.X, the mode of wireless signal field is adopted to locate, be not easy to the transformation of existing line, high requirement is furnished with for wireless base station, and only for stationary vehicle, applicable aspect is narrower.
In prior art, as name be called " a kind of train locating method and system ", application number is the Chinese patent application of 201310633649.2 and name is called " train locating method being applicable to different obturation modes ", application number is the Chinese patent application of 200710024560.0, the mode of track circuit is adopted to obtain train position, train can only be obtained at certain section, the exact location of train can not be known.
In prior art, as name be called " a kind of train locating method and system ", application number is the Chinese patent application of 201310127510.0, due to by means of only a beacon and obtain position, the sense of motion of vehicle relative orbit cannot be obtained, also and the unresolved process problem across locating during track switch.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of rail transit train localization method, can realize across track switch location thus improve location efficiency, can also improve the efficiency of reorientation.
For solving the problems of the technologies described above, rail transit train localization method provided by the invention comprises the steps:
Step one, bootstrap information storehouse and track switch data bank are set in the onboard system of train.
Step 2, the initial alignment state of described train is set to no-fix.
Step 3, described train travel from described initial alignment state, travel after reading any one effective beacon in way, by this beacon called after initial Beacon.
Step 4, search described bootstrap information storehouse and obtain described initial Beacon position; With described initial Beacon for benchmark, search for all neighbor beacon by described bootstrap information storehouse or described track switch data bank to positive and negative both direction and described neighbor beacon is recorded as expectation beacon.
Step 5, described train continue to run along station track, when reading the second beacon, described second beacon and all described expectation beacons are compared; If described second beacon mates with one of described expectation beacon, then locate successfully, now the coordinate of described second beacon is the position of train, and the vector line direction of described initial Beacon and described second beacon is the sense of motion of described train relative to described station track; If do not mated, think and locate unsuccessfully, described second beacon is regarded as initial Beacon again, return step 4 and continue to calculate.
Further improvement is, described bootstrap information storehouse comprises the orbital number at each beacon place in track and departs from mileage number; Described track switch data bank comprises each switch location in track, and each described track switch connects the track limit of the difference numbering of more than 3.
Further improvement is, the position of initial Beacon described in step 4 is departed from mileage number by the first orbital number and first and formed; The step that positive dirction searches for described neighbor beacon is:
Step 41, by the bias on the first track limit corresponding to the first orbital number described in described bootstrap information library searching be described first depart from mileage number add 1 to described first track limit maximum deviation mileage number between whether there is described neighbor beacon, if existed, positive dirction search terminates, and if there is no then carries out subsequent step 42.
Step 42, be positioned at the first track switch of the positive dirction on described first track limit from described track switch database search, be positioned at the positive dirction on described first track limit and the described first adjacent tracks limit be connected by described first track switch with described first track limit by described first track switch reading; For each described first adjacent tracks limit, by the bias on the first adjacent tracks limit described in described bootstrap information library searching be 1 to described first adjacent tracks limit maximum deviation mileage number between first beacon as the neighbor beacon of described initial Beacon.
The step that reversing sense searches for described neighbor beacon is:
Step 43, be described first depart from mileage number to subtract 1 to the bias on described first track limit be whether there is described neighbor beacon between 1 by the bias on the first track limit described in described bootstrap information library searching, if existed, reversing sense search terminates, and if there is no then carries out subsequent step 44.
Step 44, be positioned at reciprocal second track switch on described first track limit from described track switch database search, be positioned at the reversing sense on described first track limit and the described second adjacent tracks limit be connected by described second track switch with described first track limit by described second track switch reading; For each described second adjacent tracks limit, the maximum deviation mileage being described second adjacent tracks limit by the bias on the second adjacent tracks limit described in described bootstrap information library searching counts to the neighbor beacon of first beacon between 1 as described initial Beacon.
The present invention by arranging track switch data bank in the onboard system of train, and by searching for all expectation beacons adjacent with initial Beacon by bootstrap information storehouse or track switch data bank to positive and negative both direction after reading initial Beacon, and read the second beacon at train, by the second beacon and expect beacon relatively just can obtain the phasor coordinate including train accurate coordinate position and sense of motion, so no matter whether the second beacon crosses over track switch, can realize locating accurately, so the present invention can realize locating across track switch, and relative to cannot locating across track switch in prior art, the present invention can improve location efficiency.
In addition, the present invention works as the second read beacon with when expecting that beacon does not conform to, do not need the data abandoning the second read beacon, but the second beacon is defined as initial Beacon and restarts location, and relative to needing during reorientation in prior art, all data read before are all abandoned, the present invention can improve the efficiency of reorientation, which further increases whole location efficiency.
In addition, the inventive method only needs increase track switch data bank just can realize, and do not need to adopt the facilities such as wireless or mobile base station, cost is lower, and positioning precision is high, can realize vector position location.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is existing rail transit train localization method middle orbit schematic diagram;
Fig. 2 is the diagram of circuit of embodiment of the present invention rail transit train localization method;
Fig. 3 is embodiment of the present invention rail transit train localization method middle orbit schematic diagram.
Detailed description of the invention
As shown in Figure 2, be the diagram of circuit of embodiment of the present invention rail transit train localization method; As shown in Figure 3, it is embodiment of the present invention rail transit train localization method middle orbit schematic diagram, illustrate the first track limit 1 in Fig. 3 and connect two the first adjacent tracks limit 3a and 3b by the first track switch 2, first track limit 1 comprises beacon 4a, 4b, and the first adjacent tracks limit 3a comprises beacon 4d, the first adjacent tracks limit 3b comprises beacon 4c.
Embodiment of the present invention rail transit train localization method comprises the steps:
Step one, bootstrap information storehouse and track switch data bank are set in the onboard system of train.
Described bootstrap information storehouse comprises the orbital number at each beacon place in track and departs from mileage number.Orbital number as the first track limit 1 is a fixed value, and the position of each point on the first track limit 1 is determined by departing from mileage number; The orbital number of the first track limit 1, first adjacent tracks limit 3a and 3b is different, and the position of each point on the first adjacent tracks limit 3a and 3b is also determined by the mileage number that departs from of correspondence respectively.
Described track switch data bank comprises each switch location in track, and each described track switch connects the track limit of the difference numbering of more than 3.As in Fig. 3, track switch 2 is positioned at the forward vertex position place on the first adjacent tracks limit 1, and track switch 2 is connected to the first track limit 1, first adjacent tracks limit 3a and 3b.
Step 2, the initial alignment state of described train is set to no-fix.As in Fig. 1, be positioned on the first track limit 1 when described train starts.
Step 3, described train travel from described initial alignment state, travel after reading any one effective beacon in way, by this beacon called after initial Beacon.Initial Beacon as shown in Figure 3 is beacon 4a.
Step 4, search described bootstrap information storehouse and obtain described initial Beacon 4a position; With described initial Beacon 4a for benchmark, search for all neighbor beacon by described bootstrap information storehouse or described track switch data bank to positive and negative both direction and described neighbor beacon is recorded as expectation beacon.As beacon 4b, 4c and 4d in Fig. 3 expect beacon, and being defined as expectation beacon 1, expectation beacon 2 respectively and expecting beacon 3, in step 4, respectively expecting that the position of beacon by searching for out from data bank, realized by system software.
Described initial Beacon 4a position is departed from mileage number by the first orbital number and first and is formed, first orbital number is the orbital number on the first track limit 1, first departs from mileage number is the deviation position of described initial Beacon 4a on described first track limit 1, and making first to depart from mileage number is Se.
The step that positive dirction searches for described neighbor beacon is:
Step 41, by the bias on the first track limit 1 corresponding to the first orbital number described in described bootstrap information library searching be described first depart from mileage number add 1 to described first track limit maximum deviation mileage number between whether there is described neighbor beacon, namely search between Se+1 to Semax and whether there is described neighbor beacon, wherein Semax represents the maximum deviation mileage number on described first track limit, if existed, positive dirction search terminates, and if there is no then carries out subsequent step 42.
Step 42, be positioned at the first track switch 2 of the positive dirction on described first track limit 1 from described track switch database search, the positive dirction on described first track limit 1 is positioned at and the described first adjacent tracks limit be connected by described first track switch 2 with described first track limit 1 by described first track switch 2 reading, show two described first adjacent tracks limits i.e. the first adjacent tracks limit 3a and 3b in Fig. 3, also represent with adjacent edge 1 and adjacent edge 2 respectively in Fig. 3; For each described first adjacent tracks limit 3a or 3b, by the bias of the first adjacent tracks limit 3a or 3b described in described bootstrap information library searching be 1 to described first adjacent tracks limit 3a or 3b maximum deviation mileage number between first beacon as the neighbor beacon of described initial Beacon.
As shown in Figure 3, in the positive dirction search of embodiment of the present invention method, described first track limit 1 does not search the expectation beacon of described initial Beacon 4a, so need completing steps 42, in step 42, in the first adjacent tracks limit 3a and 3b, search one respectively expected beacon, be respectively and expect beacon 4d and 4c.
The step that reversing sense searches for described neighbor beacon is:
Step 43, be described first depart from mileage number to subtract 1 to the bias on described first track limit be whether there is described neighbor beacon between 1 by the bias on the first track limit 1 described in described bootstrap information library searching, namely search between Se-1 to 1 and whether there is described neighbor beacon, if existed, reversing sense search terminates, and if there is no then carries out subsequent step 44.
Step 44, be positioned at reciprocal second track switch on described first track limit 1 from described track switch database search, be positioned at the reversing sense on described first track limit 1 and the described second adjacent tracks limit be connected by described second track switch with described first track limit 1 by described second track switch reading; For each described second adjacent tracks limit, the maximum deviation mileage being described second adjacent tracks limit by the bias on the second adjacent tracks limit described in described bootstrap information library searching counts to the neighbor beacon of first beacon between 1 as described initial Beacon.
As shown in Figure 3, in the reversing sense search of embodiment of the present invention method, described first track limit 1 searches the expectation beacon 4b of described initial Beacon 4a, so do not need completing steps 44.Described second track switch and corresponding described second adjacent tracks limit is not illustrated in Fig. 3, can with reference to being positioned at described first track switch of positive dirction and corresponding described first adjacent tracks limit.
Step 5, described train continue to run along station track, when reading the second beacon, described second beacon and all described expectation beacons are compared; If described second beacon mates with one of described expectation beacon, then locate successfully, now the coordinate of described second beacon is the position of train, the vector line direction of described initial Beacon and described second beacon is the sense of motion of described train relative to described station track, namely finally can read the vector position not only comprising coordinate figure but also comprise direction value; All the same because no matter whether the described expectation beacon searched in step 4 stride across track switch, so embodiment of the present invention method can realize, across track switch location, improving location efficiency.
If do not mated, think and locate unsuccessfully, described second beacon is regarded as initial Beacon again, return step 4 and continue to calculate.Even if namely locate unsuccessfully, the second letter target value read does not need to be dropped into yet, so can improve the efficiency of reorientation, and improves whole location efficiency yet.
Above by specific embodiment to invention has been detailed description, but these are not construed as limiting the invention.Without departing from the principles of the present invention, those skilled in the art also can make many distortion and improvement, and these also should be considered as protection scope of the present invention.
Claims (3)
1. a rail transit train localization method, is characterized in that, comprises the steps:
Step one, bootstrap information storehouse and track switch data bank are set in the onboard system of train;
Step 2, the initial alignment state of described train is set to no-fix;
Step 3, described train travel from described initial alignment state, travel after reading any one effective beacon in way, by this beacon called after initial Beacon;
Step 4, search described bootstrap information storehouse and obtain described initial Beacon position; With described initial Beacon for benchmark, search for all neighbor beacon by described bootstrap information storehouse or described track switch data bank to positive and negative both direction and described neighbor beacon is recorded as expectation beacon;
Step 5, described train continue to run along station track, when reading the second beacon, described second beacon and all described expectation beacons are compared; If described second beacon mates with one of described expectation beacon, then locate successfully, now the coordinate of described second beacon is the position of train, and the vector line direction of described initial Beacon and described second beacon is the sense of motion of described train relative to described station track; If do not mated, think and locate unsuccessfully, described second beacon is regarded as initial Beacon again, return step 4 and continue to calculate.
2. rail transit train localization method as claimed in claim 1, is characterized in that: described bootstrap information storehouse comprises the orbital number at each beacon place in track and departs from mileage number; Described track switch data bank comprises each switch location in track, and each described track switch connects the track limit of the difference numbering of more than 3.
3. rail transit train localization method as claimed in claim 2, is characterized in that: the position of initial Beacon described in step 4 is departed from mileage number by the first orbital number and first and formed;
The step that positive dirction searches for described neighbor beacon is:
Step 41, by the bias on the first track limit corresponding to the first orbital number described in described bootstrap information library searching be described first depart from mileage number add 1 to described first track limit maximum deviation mileage number between whether there is described neighbor beacon, if existed, positive dirction search terminates, and if there is no then carries out subsequent step 42;
Step 42, be positioned at the first track switch of the positive dirction on described first track limit from described track switch database search, be positioned at the positive dirction on described first track limit and the described first adjacent tracks limit be connected by described first track switch with described first track limit by described first track switch reading; For each described first adjacent tracks limit, by the bias on the first adjacent tracks limit described in described bootstrap information library searching be 1 to described first adjacent tracks limit maximum deviation mileage number between first beacon as the neighbor beacon of described initial Beacon;
The step that reversing sense searches for described neighbor beacon is:
Step 43, be described first depart from mileage number to subtract 1 to the bias on described first track limit be whether there is described neighbor beacon between 1 by the bias on the first track limit described in described bootstrap information library searching, if existed, reversing sense search terminates, and if there is no then carries out subsequent step 44;
Step 44, be positioned at reciprocal second track switch on described first track limit from described track switch database search, be positioned at the reversing sense on described first track limit and the described second adjacent tracks limit be connected by described second track switch with described first track limit by described second track switch reading; For each described second adjacent tracks limit, the maximum deviation mileage being described second adjacent tracks limit by the bias on the second adjacent tracks limit described in described bootstrap information library searching counts to the neighbor beacon of first beacon between 1 as described initial Beacon.
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| CN110371164A (en) * | 2019-07-23 | 2019-10-25 | 交控科技股份有限公司 | Detection system and method for the track train in track switch driving direction |
| CN110435720A (en) * | 2019-08-30 | 2019-11-12 | 湖南中车时代通信信号有限公司 | A kind of method that ground installation determines train position based on topology and timing |
| CN111307141A (en) * | 2020-03-23 | 2020-06-19 | 通号万全信号设备有限公司 | Vehicle continuous positioning method for rail transit network |
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| WO2021037181A1 (en) * | 2019-08-29 | 2021-03-04 | 湖南中车时代通信信号有限公司 | Train position processing method employing position report and track occupancy |
| CN114750807A (en) * | 2022-06-16 | 2022-07-15 | 卡斯柯信号(北京)有限公司 | Subway operation control method and device |
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