CN104656113A - Train satellite positioning differential data processing method and base station system - Google Patents
Train satellite positioning differential data processing method and base station system Download PDFInfo
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- CN104656113A CN104656113A CN201510041384.6A CN201510041384A CN104656113A CN 104656113 A CN104656113 A CN 104656113A CN 201510041384 A CN201510041384 A CN 201510041384A CN 104656113 A CN104656113 A CN 104656113A
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- gnss
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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
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to the technical field of wireless navigation and train operation control, and discloses a train satellite positioning differential data processing method and a base station system. The method comprises the following steps: obtaining the GNSS differential data of three GNSS base stations in real time; analyzing the obtained GNSS differential data of the three GNSS base stations to obtain differential correction information of each GNSS base station; comparing and analyzing the GNSS differential correction information of the GNSS base station in pairs and carrying out a two-in-three vote according to the analysis result; deciding whether to send the analyzed GNSS differential correction information to a GNSS mobile station according to the two-in-three vote result. The system comprises three GNSS base stations and one vote unit. According to the train satellite positioning differential data processing method and the base station system, the train positioning result is more reliable and the safety of the train operation control is effectively improved.
Description
Technical field
The present invention relates to radio navigation and Train Operation Control Technology field, particularly a kind of three get the train satnav differential data disposal route of two and the base station system of application the method.
Background technology
Train location is the important component part of train operation control system, obtains the locating information of train accurately, timely, the guarantee be train safe, effectively running.In prior art, conventional train locator meams has: track circuit, speed pickup, inquiry response device, speed-position detection, GNSS (satellite navigation) etc.GNSS, as the localization method in modern times, has cost relatively low, and the advantage such as mobility strong, continuity be good.But due to train to positioning precision and reliability requirement higher, GNSS One-Point Location mode cannot meet its requirement, therefore need adopt GNSS differential technique and redundancy voting technology, improves its positioning precision and reliability.
Summary of the invention
The object of the invention is to: provide a kind of three to get the train poor location divided data disposal route of two and the base station system of application the method, make the location of train more reliable, effectively improve the security of train operation.
Provided by the invention a kind of three get two train satnav differential data disposal route, comprising: step S10) the GNSS differential data of Real-time Obtaining 3 GNSS base stations;
Step S20) the GNSS differential data of 3 the GNSS base stations obtained is resolved respectively, obtain the differential correcting information of each GNSS base station;
Step S30) compare of analysis process is between two carried out to the GNSS differential correcting information of each GNSS base station obtained, and carry out three according to this analysis processing result and get two votings;
Step S40) get two voting results according to three, determine whether the GNSS differential correcting information after process by analysis to be sent to GNSS movement station.
Further, described step S20) specifically comprise:
Step S210) CRC check is carried out to the GNSS differential data got;
Step S220) according to the time tag position in described GNSS differential data, carry out data alignment, if obtain time-out, then abandon this time data;
Step S230) extract differential correcting information in differential data.
Further, described step S30) specifically comprise:
GNSS differential correcting information according to obtaining contrasts, and when between any two GNSS base stations, carrier phase difference is less than setting threshold value, and continuous three pseudorange differences are less than set threshold value, then judge that two GNSS base stations export consistent.
Further, the described GNSS differential correcting information according to obtaining contrasts, and also comprises:
If satellite number and satellite in the GNSS differential correcting information of 2 GNSS base stations of contrast are number all consistent, then direct two groups of GNSS differential correcting informations to be contrasted;
If the satellite number in the GNSS differential correcting information of 2 GNSS base stations of contrast or satellite number inconsistent, then extract uniform portion and contrast, and export the comparative result of uniform portion and the raw differential correcting information of inconsistent part.
Train satnav differential data disposal route according to claim 1, it is characterized in that, described differential data comprises carrier phase differential data or GPS local area differential's data.
Further, before the GNSS differential data of Real-time Obtaining 3 GNSS base stations, also comprise:
3 GNSS base stations generate GNSS differential data respectively.
The present invention also provides a kind of train satnav difference base station system applying above-mentioned train satnav differential data disposal route, comprising: 3 GNSS base stations and 1 voting unit, wherein,
Described GNSS base station, for generating and sending differential data in real time;
Described voting unit, for receiving the GNSS differential data of each GNSS base station transmission and resolving this GNSS differential data, and carry out compare of analysis process between two to resolving the rear GNSS differential correcting information obtained, and carry out three according to this analysis processing result and get two votings, according to voting result, GNSS differential data is exported.
Further, described GNSS base station comprises:
GNSS positioning antenna, for receiving GNSS signal;
GNSS locating module, is sent to voting unit for generation of differential data.
Further, described voting unit comprises:
GNSS differential data receiver module, for receiving the GNSS differential data that each GNSS base station sends;
Data Analysis and voting module, resolve for the 3 groups of GNSS differential datas obtained described GNSS differential data receiver module, compare of analysis between two, and three get two votings, according to voting result, are exported by GNSS differential data.
Further, described 3 GNSS difference base stations are arranged on the anchor point of known GNSS coordinate.
Therefore, apply technical scheme of the present invention, obtain the GNSS differential data of 3 GNSS base stations, and " 3 get 2 " voting calculating is carried out to it, thus obtain reliable GNSS differential correcting information, train can be made to locate more reliable, effectively improve the security of train operation.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, does not form inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is the train satnav differential data process flow schematic diagram that the embodiment of the present invention 1 provides;
Fig. 2 is the train satnav difference base station system architecture schematic diagram that the embodiment of the present invention 2 provides.
Embodiment
Describe the present invention in detail below in conjunction with accompanying drawing and specific embodiment, be used for explaining the present invention in this illustrative examples of the present invention and explanation, but not as a limitation of the invention.
Embodiment 1:
Fig. 1 is the train satnav differential data process flow schematic diagram that the embodiment of the present invention 1 provides.
As shown in Figure 1, train satnav differential data disposal route provided by the invention, comprises the steps.
Step 10: the GNSS differential data of Real-time Obtaining 3 GNSS base stations;
Step 20: resolve respectively the GNSS differential data of 3 GNSS base stations, obtains the GNSS differential correcting information of each GNSS base station;
Step 30: compare of analysis process is between two carried out to 3 groups of GNSS differential correcting informations, and carry out three according to this analysis processing result and get two votings;
Whether step 40: get two voting results according to three, determine to be exported by the GNSS differential data after process by analysis.
Further, step 20) specifically comprise: step 210) CRC check is carried out to differential data, guarantee data integrity; Step 220) according to the time tag position in described GNSS differential data, carry out data alignment, if obtain time-out, then abandon this time data; Step 230) extract differential correcting information in differential data.
Further, step 30) specifically comprise: the GNSS differential correcting information according to obtaining contrasts, when between any two GNSS base stations, carrier phase difference is less than setting threshold value, and when continuous three pseudorange differences are less than set threshold value, then judge that two GNSS base stations export consistent, allow to export.It should be noted that, threshold value is according to positioning precision requirements set.
Further again, the described GNSS differential correcting information according to obtaining contrasts, also comprise following 2 kinds of situations: if satellite number and satellite in the differential correcting information of any 2 GNSS base stations of 1. contrast are number all consistent, then direct two groups of differential correcting informations to be contrasted; If 2. the satellite number in the differential correcting information of 2 GNSS base stations of contrast or satellite number inconsistent, then extract uniform portion and contrast, and export the comparative result of uniform portion and the raw differential correcting information of inconsistent part.
Alternatively, described differential data comprises carrier phase differential data or GPS local area differential's data.
Alternatively, the described GNSS differential data to 3 GNSS base stations obtains and resolves, and also comprises: the configuration information storing the GNSS differential data of described each GNSS base station, base station operation state, base station.
Further again, in step 10) before, also comprise
Step 100:3 GNSS base station generates GNSS differential data.
Embodiment 2:
Fig. 2 is the structural representation of the train satnav difference base station system that the embodiment of the present invention 2 provides.
As shown in Figure 2, the train satnav difference base station system of application above-described embodiment 1 train satnav differential data disposal route provided by the invention comprises: 3 GNSS base stations 1,2,3 and voting unit 4, wherein each GNSS base station, for generating differential data in real time and exporting voting unit to, GNSS difference base station is arranged on the anchor point of known GNSS coordinate, differential data output interface is preferably serial ports or network interface, and the differential data that GNSS difference base station exports is RTCM or other standards form;
Voting unit 4 is the embedded computers possessing computing power, for receiving the GNSS differential data that each GNSS base station sends, resolve, and compare of analysis process is between two carried out to the 3 groups of GNSS differential correcting informations parsed, according to voting result, GNSS differential data is exported.
Alternatively, each GNSS base station 1,2,3 comprises respectively: GNSS positioning antenna, for receiving GNSS signal; GNSS locating module, exports voting unit to for generation of differential data.
Alternatively, voting unit 4 comprises: GNSS differential data receiver module, for receiving the GNSS differential data that each GNSS base station sends; Data Analysis and voting module, resolve for the 3 groups of GNSS differential datas obtained described GNSS differential data receiver module, compare of analysis between two, and three get two votings, according to voting result, are exported by GNSS differential data.
The differential data that first voting unit sends 3 GNSS base stations carries out record and stores, then 3 groups of GNSS differential datas are resolved, obtain the differential correcting information content of RTCM form, comprise every satellite information (time, satellite number, pseudorange, carrier phase etc.), utilize 3 to get 2 algorithms, adjudicate, if judgement is passed through, namely there is the input results of more than 2 consistent, then decide by vote unit and differential data is exported, otherwise will not export.The way of output adopted can be by serial ports or network interface.
Although the foregoing describe the specific embodiment of the present invention, but those skilled in the art is to be understood that, these embodiments only illustrate, those skilled in the art, when not departing from principle of the present invention and essence, can carry out various omission, replacement and change to the details of said method and system; Such as, merge said method step, thus then belong to technical scheme of the present invention according to the function that the method that essence is identical performs essence identical to realize the identical result of essence, all should be included within the protection domain required by claims of the present invention.
Claims (10)
1. a train satnav differential data disposal route, is characterized in that, comprising:
Step S10) the GNSS differential data of Real-time Obtaining 3 GNSS base stations;
Step S20) the GNSS differential data of 3 the GNSS base stations obtained is resolved respectively, obtain the differential correcting information of each GNSS base station;
Step S30) compare of analysis process is between two carried out to the GNSS differential correcting information of each GNSS base station obtained, and carry out three according to this analysis processing result and get two votings;
Step S40) get two voting results according to three, determine whether the GNSS differential correcting information after process by analysis to be exported.
2. train satnav differential data disposal route according to claim 1, is characterized in that, described step S20) specifically comprise:
Step S210) CRC check is carried out to the GNSS differential data got, guarantee data integrity;
Step S220) according to the time tag position in described GNSS differential data, carry out data alignment, if obtain time-out, then abandon this time data;
Step S230) extract differential correcting information in differential data.
3. train satnav differential data disposal route according to claim 1, is characterized in that, described step S30) specifically comprise:
GNSS differential correcting information according to obtaining contrasts, and when between any two GNSS base stations, carrier phase difference is less than setting threshold value, and continuous three pseudorange differences are less than set threshold value, then judge that two GNSS base stations export consistent.
4. train satnav differential data disposal route according to claim 3, is characterized in that, the described GNSS differential correcting information according to obtaining contrasts, and also comprises:
If satellite number and satellite in the GNSS differential correcting information of 2 GNSS base stations of contrast are number all consistent, then direct two groups of GNSS differential correcting informations to be contrasted;
If the satellite number in the GNSS differential correcting information of 2 GNSS base stations of contrast or satellite number inconsistent, then extract uniform portion and contrast, and export the comparative result of uniform portion and the raw differential correcting information of inconsistent part.
5. train satnav differential data disposal route according to claim 1, it is characterized in that, described differential data comprises carrier phase differential data or GPS local area differential's data.
6. train satnav differential data disposal route according to claim 1, is characterized in that, before the GNSS differential data of Real-time Obtaining 3 GNSS base stations, also comprises:
3 GNSS base stations generate GNSS differential data respectively.
7. application rights requires the train satnav difference base station system of the arbitrary train satnav differential data disposal route described in 1 to 6, it is characterized in that, comprising: 3 GNSS base stations and 1 voting unit, wherein,
Described GNSS base station, for generating and sending differential data in real time;
Described voting unit, for receiving the GNSS differential data of each GNSS base station transmission and resolving this GNSS differential data, and carry out compare of analysis process between two to resolving the rear GNSS differential correcting information obtained, and carry out three according to this analysis processing result and get two votings, according to voting result, GNSS differential data is exported.
8. train satnav difference base station system according to claim 7, it is characterized in that, described GNSS base station comprises:
GNSS positioning antenna, for receiving GNSS signal;
GNSS locating module, exports voting unit to for generation of differential data.
9. train satnav difference base station system according to claim 7, it is characterized in that, described voting unit comprises:
GNSS differential data receiver module, for receiving the GNSS differential data that each GNSS base station sends;
Data Analysis and voting module, resolve for the 3 groups of GNSS differential datas obtained described GNSS differential data receiver module, compare of analysis between two, and three get two votings, according to voting result, are exported by GNSS differential data.
10. train satnav difference base station system according to claim 7, is characterized in that, described 3 GNSS difference base stations are arranged on the anchor point of known GNSS coordinate.
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| CN201510041384.6A CN104656113B (en) | 2015-01-27 | 2015-01-27 | Train satellite fix differential data processing method and base station system |
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| CN201510041384.6A CN104656113B (en) | 2015-01-27 | 2015-01-27 | Train satellite fix differential data processing method and base station system |
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| CN115480280A (en) * | 2022-11-14 | 2022-12-16 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Vehicle pseudo base station-based cooperative positioning method and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105068417A (en) * | 2015-07-17 | 2015-11-18 | 上海卫星工程研究所 | SpaceWire network time service and calibration method |
| CN106908814A (en) * | 2015-12-22 | 2017-06-30 | 通用汽车有限责任公司 | System for locating vehicles and method |
| CN109870674A (en) * | 2019-02-14 | 2019-06-11 | 华北电力科学研究院有限责任公司 | The method and apparatus of Software Radar signals security protection |
| CN115480280A (en) * | 2022-11-14 | 2022-12-16 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Vehicle pseudo base station-based cooperative positioning method and storage medium |
| CN115480280B (en) * | 2022-11-14 | 2023-02-24 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Vehicle pseudo base station based cooperative positioning method and storage medium |
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