CN105022073B - Reduce the method for GPS location error and the self-con-tained unit based on GPS location - Google Patents
Reduce the method for GPS location error and the self-con-tained unit based on GPS location Download PDFInfo
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- CN105022073B CN105022073B CN201410172719.3A CN201410172719A CN105022073B CN 105022073 B CN105022073 B CN 105022073B CN 201410172719 A CN201410172719 A CN 201410172719A CN 105022073 B CN105022073 B CN 105022073B
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The present invention provides a kind of method for reducing GPS location error and the self-con-tained unit based on GPS location, and methods described includes：A3. at least three times positional informations are measured when vehicle drives into characteristic point；B3. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；C3. three measured values are taken all to be located at the data of extreme position；D3. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated；Above step is carried out successively according to a3, b3, c3, d3 order.The self-con-tained unit based on GPS location includes GPS location instrument, and the GPS location instrument is installed in drivers' cab, is also equipped with industrial computer in the drivers' cab, the industrial computer is connected with data storage, and the capacity of the data storage is not less than 500GB.The method of self-con-tained unit of the present invention based on GPS and reduction position error can realize intellectualized operation, greatly reduce the manual labor of surfaceman, and effectively save Window time has good effect to improving rail track transport power.
Description
Technical field
The present invention relates to a kind of railway machinery construction operation automatic control device, belong to railway machinery design and manufacture skill
Art field.
Background technology
During railway large-scale maintenance machinery is applied to the later maintenance that railway is used, it can be achieved to make rail track firm by ramming, surely
Determine, with the automatic maintenance operation such as tiny fragments of stone, coal, etc..Human resources have been saved to a certain extent, save the maintenance time and dimension of rail track
Shield expense.The upkeep operation higher than artificial performance accuracy can be realized simultaneously.Present Development of High Speed Railway is extremely rapid, at a high speed
Railway travel speed is fast, and the requirement to railway track is higher, it is therefore desirable to supported using more simple and convenient operation, speed
Road machinery.
Publication No. CN101109165 Chinese invention patent discloses a kind of railway large-scale maintenance machinery that is used for and runs peace
The monitoring system of complete and operation quality, it includes operation quality monitoring module, traffic safety monitoring module, even extension anticollision module with
Display module, the operation quality monitoring module, traffic safety monitoring module and even hang anticollision module respectively by CAN with
Display module is connected, and the operation quality monitoring module is monitored and recorded to operation matter parameter in operation, it is ensured that operation
Precision, the foundation that can be also checked and accepted as circuit.The invention can solve railway large-scale maintenance machinery operation quality and traffic safety
Demand, but its automaticity is not high, operates relatively complicated.
The content of the invention
The first aspect of the present invention also provides a kind of method for reducing GPS location error.
GPS location is realized using the observed quantities such as pseudorange, ephemeris, the satellite launch time of one group of satellite and user's clock correction
, to obtain the three-dimensional coordinate on ground, it is necessary to which at least four satellites are measured, during measurement and positioning, including three parts
Error：
Ith error is as caused by satellite clock error, ephemeris error, ionospheric error, tropospheric error etc.；
IIth error is the error caused by propagation delay；
IIIth error is the intrinsic error of each receiver user, by reasons such as internal noise, channel delay, multipath effects
Cause.
IIth error can largely be eliminated, elimination degree depend primarily on reference receiver and receiver user away from
From.
For the Ith error, eliminated using differential principle, difference, be utilized in away from positioning target 10km in the range of plus
If one group of GPS location instrument, due to position relative close of getting along, atmospheric ionized layer error, the basic phase of tropospheric error impact effect
Together, therefore difference can be done, eliminates this fractional error.Further, since using same model GPS location instrument, therefore satellite clock error,
Ephemeris error is all identical, and this fractional error is successfully eliminated using the GPS location instrument of two same models.Its removing method is such as
Under：
The positioning precision that single GPS positioning system is provided is an advantage over 25 meters, and to obtain higher positioning precision, we generally adopt
Use Differential GPS Technology：
One GPS is placed on base station and is observed by 1.1；
1.2, according to the known coordinate of base station, calculate base station to the distance correction of satellite；
1.3 base stations in real time send correction data；
1.4 receiver users also receive the correction that base station is sent while GPS observations are carried out, and to passing through
The positioning result of GPS observations is corrected.
Preferably, by step 1.4, the positioning precision of GPS is improved.
Preferably, Differential GPS Technology is divided into three classes, i.e.,：Differential position, phase difference, pseudo range difference, this three classes difference
The operation principle of mode is identical, i.e., all send correction by base station, is received by subscriber station and its measurement result is corrected,
To obtain accurate positioning result；Except that, the particular content for sending correction is different, and its Differential positioning precision is not yet
Together.
Location A differential principle
GPS on base station carries out three-dimensional localization after observing four satellites：
A1. the coordinate of base station is resolved, (SA errors are US militaries due to there is orbit error, clocking error, SA errors
In order to limit the policy for the reduction system accuracy that unauthorized user carries out high-precision dot positioning using GPS and used, abbreviation SA political affairs
Plan, it includes the ε technologies of reduction broadcast ephemeris precision and the δ technologies of a randomized jitter is added in satellite fundamental frequency.) shadow
Sound, atmospheric effect, multipath effect and other errors, the coordinate and the known coordinate of base station calculated is different, is deposited
In error；
A2. base station is calculated to the distance correction of satellite；
A3. base station is sent this correction using Data-Link, is received by subscriber station, and the user resolved to it
Station coordinates is corrected, and improves positioning precision.
Preferably, step A1-A3 prerequisite is the situation that base station and subscriber station observe same group of satellite.
Preferably, position difference is applied to subscriber station and situation of the benchmark distance between sites within 100km.
B-phase differential principle, also known as carrier phase difference principle
Carrier phase difference technology is also known as RTK (Real Time Kinematic) technology, is that real-time two survey stations of processing are carried
The difference method of wave phase observed quantity.
The carrier phase that base station is gathered is issued receiver user by B1；
B2 receiver users ask carrier phase difference to resolve coordinate.
Carrier phase difference can make positioning precision reach Centimeter Level, and being widely used in dynamic needs the neck of high precision position
Domain.
C pseudo range difference principles, also known as base station-movement station differential system
C1 sets an at least stage fiducial station GPS in the position of known coordinate point；
C2 sets a user terminal GPS；
C3 is resolved the known coordinate point of the location data of reference GPS receiver and reference GPS receiver, is obtained
Go out differential data；
C4 is gone out differential data corrected parameter real-time broadcasting by Data-Link；
C5 user terminals GPS is received by data link astigmat divided data (RTVM) corrected parameter, and by difference number
Resolving is modified according to the location data of corrected parameter and user terminal GPS.
Preferably, the known coordinate point in step C1-C5 is fixing point.
Preferably, positioning precision is brought up to meter level, even Centimeter Level by step C1-C5 computational methods.
Preferably, the differential data described in step C1-C5 is the standard difference agreement and differential GPS business that RTCM is promoted
The differential data calculated.
The RTCM is the international ocean shipping cause radiotechnics committee (Radio Technical Commission for
Maritime Services) english abbreviation.
Existing commercial satellite after difference processing positioning precision reach 10cm, it is impossible to meet the essence of guiding construction vehicle operation
Degree is required.
The method for the reduction GPS location error that the first aspect of the present invention is provided includes：
A3. at least three times positional informations are measured at characteristic point；
B3. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；
C3. three measured values are taken all to be located at the data of extreme position；
D3. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated.
Preferably, above step is carried out successively according to a3, b3, c3, d3 order.
In step c3, the extreme position refers to three round centers of circle determined by three measured values and is respectively at two other
On round circumference.
The precision of measured value is the precision of satellite data in step a3-c3.
The radius of circumscribed circle is less than and defended in the radius of the circumscribed circle drawn in step d3 as GPS location precision, step d3
Star precision, therefore the method for step a3-d3 compositions plays a part of reduction GPS location error.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the method for the reduction GPS location error that first aspect present invention is provided includes appointing for each part mentioned above
Meaning combination, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The method for the reduction GPS location error that first aspect present invention is provided effectively reduces the position error of GPS location instrument,
Can operating efficiency that is succinct, effectively improving road maintainance machinery.
Second aspect of the present invention provides a kind of self-con-tained unit based on GPS location, and it includes GPS location instrument, the GPS location
Instrument is installed in drivers' cab, and industrial computer is also equipped with the drivers' cab, and the industrial computer is connected with data storage, the industrial computer with
Data conversion card is connected between the GPS location instrument, the industrial computer is connected with executive component, and control the dynamic of executive component
Make.Preferably, the GPS location instrument refers to carry out using global positioning system (Global Positioning System)
The instrument of positioning, the global positioning system (Global Positioning System) refers to utilize position location satellite, in the earth
The system for positioning, navigating in real time, also known as GPS, abbreviation GPS positioning system are carried out in four corner.
In any of the above-described scheme preferably, the precision of the GPS location instrument is 10cm.
In any of the above-described scheme preferably, the capacity of the data storage is not less than 500GB.
In any of the above-described scheme preferably, the data storage includes vibration absorber, and the vibration absorber includes outer
Setting-in inner casing, fills shock-reducing rubber, further data storage is protected in shell, the shell between the shell and the inner casing
Shield.
In any of the above-described scheme preferably, the industrial computer is installed in the operating desk in drivers' cab, the industrial computer
Machinery is driven a vehicle and Operation control by the signal for receiving GPS location instrument.
In any of the above-described scheme preferably, the data I of GPS location instrument are converted to data by the data conversion card
II, and data II are transferred to industrial computer, industrial computer identification data II simultaneously makes corresponding instruction, while the data conversion card
The operational order of industrial computer is converted into data III, and data III are transferred to each sensor and operation unit, described sensing
Device and operation unit identification data III simultaneously make corresponding action according to the corresponding instruction of data III.
In any of the above-described scheme preferably, the position indicator includes the method for reduction error, and this method includes,
A. the positional information of the characteristic point of at least No. three times road maintainance machineries is measured；
B. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；
C. three measured values are taken all to be located at the data of extreme position；
D. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated；
Carried out successively according to a, b, c, d order.
The working method of the self-con-tained unit based on GPS location described in second aspect of the present invention is：By needed for Along Railway
Workload is input in memory in advance, when machinery carries out operation, is hung low speed operation shelves, is started GPS location instrument, machinery is entered
Row positioning, while the work data in the database of industrial computer extraction data storage on this section, GPS location instrument has been positioned
Bi Hou, industrial computer with reference to data storage database in stored data survey data with actual measuring instrument and contrast, industry control
Machine operates road maintainance machinery to start operation according to comparison result, and GPS location instrument is positioned in real time in operation traveling process, not
The track data stored in same characteristic point, the equal comparison data memory of industrial computer surveys the track data of collection with vehicle, then
According to predetermined workload to Mechanical course, realization is automatically brought into operation.
When road maintainance machinery drives to characteristic point, the position signalling in operation section, industry control where GPS location instrument is provided automatically
Machine receives the position signalling and carries out location Calculation, and road maintainance machinery hangs operation shelves, and is transferred automatically from memory by industrial computer
The work data of relevant position, the data detected with road maintainance machinery are contrasted, and provide workload, and then industrial computer is made required
Industry amount is transferred in the original industrial computer I of road maintainance machinery, and road maintainance machinery is in the case where its original industrial computer I is controlled, voluntarily according to institute
Operation is carried out to operational ton.In high speed traveling and low speed operation driver can the GPS location instrument manually operated at any time, so as to school
Positive line position and data.
Fixed stepping-in amount is set during construction operation to refer to as operation, is applied when construction machinery runs into influence in work progress
During the situation of work safety, construction stepping-in amount and speed of application are adjusted manually, so as to realize machinery while construction safety is ensured
Automated construction instruct operation.
The characteristic point refers to：The position of track circuit parameter change, for example：Point of spiral to tangent, point of tangent to spiral, track switch, circuit are high
The specified point of journey change location.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the self-con-tained unit based on GPS location described in second aspect of the present invention includes appointing for each part mentioned above
Meaning combination, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The self-con-tained unit based on GPS location can realize intellectualized operation described in second aspect of the present invention, greatly reduce
The manual labor of surfaceman, and operating efficiency can be improved, significantly improve homework precision, effectively save Window time, to carrying
High rail track transport power, saving transit time have good effect.
Third aspect present invention provides a kind of railway large-scale maintenance machinery automatic control method based on GPS, and it includes：
A. by job parameter data memory input needed for Along Railway；
B. road maintainance machinery runs to operating location and hangs low speed operation shelves beginning operation；
C. start GPS location instrument, road maintainance machinery is positioned；
D. industrial computer extracts the job parameter in data storage and compared with route actual measurement data；
E. industrial computer determines workload according to the difference of prestore parameter and actual measurement parameter；
F. industrial computer transmits workload in the industrial computer I to road maintainance machinery；
G. industrial computer I controls the operating type of road maintainance machinery.
Preferably, such scheme is carried out successively according to a, b, c, d, e, f, g order.
In any of the above-described scheme preferably, in route set step a, circulation performs step b, c, d, e, f, g.
In any of the above-described scheme preferably, after the set route operations of step a are finished, operation to next operation
Point, and step a, b, c, d, e, f, a g, then the step a in the operating location pre-determined route interior circulation are performed again
Perform step b, c, d, e, f, g.
In any of the above-described scheme preferably, the position indicator includes the method for reduction error, and this method includes：
A. at least three times positional informations are measured when road maintainance machinery enters characteristic point；
B. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；
C. three measured values are taken all to be located at the data of extreme position；
D. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated；
Carried out successively according to a, b, c, d order.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the railway large-scale maintenance machinery automatic control method based on GPS described in third aspect present invention includes upper
Any combination of each several part is stated, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The railway large-scale maintenance machinery automatic control method based on GPS saves human resources described in third aspect present invention, saves
The maintenance time and maintenance cost of rail track, while the upkeep operation higher than artificial performance accuracy can be realized.
Fourth aspect present invention provides a kind of vehicle of the railway large-scale maintenance machinery self-con-tained unit based on GPS,
It includes vehicle body, and the vehicle body is equipped with mechanical self-control device.
Preferably, the mechanical self-control device uses the side of the reduction GPS location error described in first aspect present invention
Method reduces the position error of GPS location instrument.
Preferably, the mechanical self-control device is the railway large-scale road maintaining based on GPS described in second aspect of the present invention
Mechanical self-control device.
Preferably, the mechanical self-control device is using railway large-scale of the kind based on GPS described in third aspect present invention
Road maintainance machinery automatic control method.
The working method of the vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that fourth aspect present invention is provided
It is：In the memory for the mechanical self-control device that workload needed for Along Railway is inputted to vehicle in advance, working truck is run at high speed
To operation section is treated, when vehicle carries out operation, low speed operation shelves are hung, starts GPS location instrument, vehicle is positioned, simultaneously
Work data in the database of industrial computer extraction data storage on this section, after the positioning of GPS location instrument is finished, industrial computer
With reference to data storage database in stored data survey data with actual measuring instrument and contrast, industrial computer is tied according to comparing
Start operation in fruit operation vehicle, GPS location instrument is positioned in real time in operation traveling process, in different characteristic point, industry control
The track data stored in the equal comparison data memory of machine surveys the track data of collection with vehicle, then according to predetermined operation
Amount is to Mechanical course, and realization is automatically brought into operation.
When vehicle drives to characteristic point, the position signalling in operation section where GPS location instrument is provided automatically, industrial computer connects
The position signalling is received, vehicle hangs operation shelves, and the work data of relevant position is transferred from memory by industrial computer automatically, with car
Detection data contrasted, provide workload, required workload be transferred in the original industrial computer I of vehicle, vehicle is at it
Under original industrial computer I is controlled, voluntarily according to give operational ton to carry out operation.
In high speed traveling and low speed operation driver can the GPS location instrument manually operated at any time, so as to corrector position
Put and data.
Set fixed stepping-in amount during construction operation to refer to as operation, when vehicle runs into influence construction peace in work progress
During full situation, regulation construction stepping-in amount and speed of application manually so that realized while construction safety is ensured machinery from
Operation is instructed in dynamicization construction.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that fourth aspect present invention is provided
Any combination including each part mentioned above, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that fourth aspect present invention is provided can realize intelligence
Energyization is operated, and greatly reduces the manual labor of surfaceman, and can improve operating efficiency, significantly improves homework precision, has
Effect saves Window time, has good effect to improving rail track transport power, saving transit time.
Brief description of the drawings
Fig. 1 is according to the one excellent of the railway large-scale maintenance machinery self-con-tained unit based on GPS described in second aspect of the present invention
Select the structural representation of the vibration absorber of embodiment.
Fig. 2 is according to the one excellent of the railway large-scale maintenance machinery self-con-tained unit based on GPS described in second aspect of the present invention
Select the GPS location instrument control system schematic of embodiment.
Fig. 3 is according to the one excellent of the railway large-scale maintenance machinery self-con-tained unit based on GPS described in second aspect of the present invention
Select the structural representation of the drivers' cab operating desk of embodiment.
Fig. 4 is the data exchange flow process figure of embodiment illustrated in fig. 3.
Fig. 5 is the positioning side of a preferred embodiment of the method for the reduction GPS location error according to first aspect present invention
Method schematic diagram.
Fig. 6 is some positioning mode schematic diagram calculations of embodiment illustrated in fig. 5.
Mark in Fig. 1-Fig. 6 is represented respectively：
The hard shock-absorbing glue of 1 damping device shell 2
The holder mounting groove of 3 damping device inner casing 4
The satellite of 5 Vehicular satellite transmitting antenna 6
81 difference filter 82GPS position graphic alphanumeric display
The drivers' cab operating desk display of 83 drivers' cab operating desk 84.
Embodiment
For a better understanding of the present invention, it is described in detail respectively according to according to first aspect present invention below in conjunction with the accompanying drawings
Reduce the method for GPS location error, the railway large-scale maintenance machinery self-con-tained unit based on GPS of second aspect of the present invention, according to
The railway based on GPS of railway large-scale maintenance machinery automatic control method and fourth aspect of the kind of third aspect present invention based on GPS
The preferred embodiment of the vehicle of large-scale maintenance machinery self-con-tained unit.
Embodiment 1.1：Fig. 5 is one being preferable to carry out for the method for the reduction GPS location error according to first aspect present invention
The localization method schematic diagram of example, Fig. 6 is the three-point fox method schematic diagram calculation of embodiment illustrated in fig. 5.In the present embodiment, reduction
The method of GPS location error includes：
Aa1. five positional informations are measured when vehicle drives into characteristic point；
Bb1. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；
Cc1. three measured values are taken all to be located at the data of extreme position, i.e.,：Three round circles determined by three measured values
The heart is respectively on the circumference of two other circle.；
Dd1. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated.
In the present embodiment, above step is carried out successively according to aa1, bb1, cc1, dd1 order.
As shown in figure 4, be all 10cm by the step aa1 five numerical value positioning precisions measured, using measure three numerical value of gained as
The center of circle, 10cm is that radius is made to justify, and obtains model as shown in Figure 4, wherein R=10cm, step aa1 measurements institute value composition is on one side
A length of 10cm equilateral triangle, as shown in fig. 5, it is assumed that equilateral triangle is inscribed in circle, then can be obtained：Equilateral triangle length of side L
=R wherein, R=10cm, α=30 °, from Pythagorean theorem, triangle institute circumradiusWherein:L=R=
10cm；It can then obtain：Therefore, after using three-point fix, positioning precision can reachI.e.
5.7735cm。
Embodiment 1.2：The method for reducing GPS location error, be the same as Example 1.1, difference is, in step aa1, surveys
No. seven vehicles of amount drive into positional information during characteristic point.
Embodiment 1.3：The method for reducing GPS location error, be the same as Example 1.1, difference is, in step aa1, surveys
No. three vehicles of amount drive into positional information during characteristic point.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the method for the reduction GPS location error that embodiment 1.1-1.3 is provided includes appointing for each part mentioned above
Meaning combination, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The method for the reduction GPS location error that embodiment 1.1-1.3 is provided effectively reduces the position error of GPS location instrument,
Can operating efficiency that is succinct, effectively improving road maintainance machinery.
Embodiment 2.1：Fig. 1 is according to the railway large-scale maintenance machinery automatic control based on GPS described in second aspect of the present invention
The structural representation of the vibration absorber of one preferred embodiment of device；Fig. 2 be according to described in second aspect of the present invention based on GPS
Railway large-scale maintenance machinery self-con-tained unit a preferred embodiment GPS location instrument control system schematic；Fig. 3 is according to this
The drivers' cab operation of one preferred embodiment of the railway large-scale maintenance machinery self-con-tained unit based on GPS described in invention second aspect
The structural representation of platform；Fig. 4 is the data exchange flow process figure of embodiment illustrated in fig. 3.In the present embodiment, the railway based on GPS is big
Type road maintainance machinery self-con-tained unit, it includes GPS location instrument, and the GPS location instrument is installed in drivers' cab, is also equipped with the drivers' cab
Industrial computer, the industrial computer is connected with data storage, and data conversion card is connected between the industrial computer and the GPS location instrument,
The industrial computer is connected with executive component, and controls the action of executive component.Preferably, the GPS location instrument refers to utilize
The instrument that global positioning system (Global Positioning System) is positioned, the global positioning system (Global
Positioning System) refer to utilize position location satellite, positioned in real time in the four corner of the earth, navigate be
System, also known as GPS, abbreviation GPS positioning system.
In the present embodiment, the precision of the GPS location instrument is 10cm.
In the present embodiment, the design of the data storage is not less than 500GB using capacity.
In the present embodiment, the data storage includes vibration absorber, and the vibration absorber includes being embedded in shell, the shell
Inner casing, fills shock-reducing rubber, further data storage is protected between the shell and the inner casing.
In the present embodiment, the industrial computer is installed in the operating desk in drivers' cab, and the industrial computer is by receiving GPS location
The signal of instrument is driven a vehicle and Operation control to machinery.
In the present embodiment, the data I of GPS location instrument are converted to data II by the data conversion card, and data II are passed
Defeated to arrive industrial computer, industrial computer identification data II simultaneously makes corresponding instruction, while the data conversion card is by the operation of industrial computer
Instruction is converted to data III, and data III are transferred into each sensor and operation unit, and described sensor and operation unit are known
Other data III simultaneously make corresponding action according to the corresponding instruction of data III.
The working method of the railway large-scale maintenance machinery self-con-tained unit based on GPS described in the present embodiment is：By railway edge
Workload is input in memory in advance needed for line, when machinery carries out operation, is hung low speed operation shelves, is started GPS location instrument, right
Machinery is positioned, while the work data in the database of industrial computer extraction data storage on this section, GPS location instrument
After positioning is finished, industrial computer with reference to data storage database in stored data and actual measuring instrument survey data and do pair
Than industrial computer operates road maintainance machinery to start operation according to comparison result, and GPS location instrument carries out fixed in real time in operation traveling process
Position, in different characteristic point, the track data stored in the equal comparison data memory of industrial computer surveys the circuit number of collection with vehicle
According to then according to predetermined workload to Mechanical course, realization is automatically brought into operation.
When road maintainance machinery drives to characteristic point, the position signalling in operation section, industry control where GPS location instrument is provided automatically
Machine receives the position signalling and carries out location Calculation, and road maintainance machinery hangs operation shelves, and is transferred automatically from memory by industrial computer
The work data of relevant position, the data detected with road maintainance machinery are contrasted, and provide workload, and then industrial computer is made required
Industry amount is transferred in the original industrial computer I of road maintainance machinery, and road maintainance machinery is in the case where its original industrial computer I is controlled, voluntarily according to institute
Operation is carried out to operational ton.In high speed traveling and low speed operation driver can the GPS location instrument manually operated at any time, so as to school
Positive line position and data.
Fixed stepping-in amount is set during construction operation to refer to as operation, is applied when construction machinery runs into influence in work progress
During the situation of work safety, construction stepping-in amount and speed of application are adjusted manually, so as to realize machinery while construction safety is ensured
Automated construction instruct operation.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme for the railway large-scale maintenance machinery self-con-tained unit based on GPS that embodiment 2.1 is provided includes above-mentioned each
Partial any combination, the simple change of each part mentioned above component or combination are still protection scope of the present invention.Above-described embodiment
The railway large-scale maintenance machinery self-con-tained unit based on GPS can realize intellectualized operation, greatly reduce surfaceman's
Manual labor, and operating efficiency can be improved, significantly improve homework precision, effectively save Window time, to improving rail track
Transport power, saving transit time have good effect.
Embodiment 3.1：A kind of railway large-scale maintenance machinery automatic control method based on GPS, it includes：
Aa3. by job parameter data memory input needed for Along Railway；
Bb3. road maintainance machinery runs to operating location and hangs low speed operation shelves beginning operation；
Cc3. start GPS location instrument, road maintainance machinery is positioned；
Dd3. industrial computer extracts the job parameter in data storage and compared with route actual measurement data；
Ee3. industrial computer determines workload according to the difference of prestore parameter and actual measurement parameter；
Ff3. industrial computer transmits workload in the industrial computer I to road maintainance machinery；
Gg3. industrial computer I controls the operating type of road maintainance machinery.
In the present embodiment, such scheme is carried out successively according to aa3, bb3, cc3, dd3, ee3, ff3, gg3 order.
Embodiment 3.2：A kind of railway large-scale maintenance machinery automatic control method based on GPS, be the same as Example 2.1, difference
It is：In route set step aa3, circulation performs step bb3, cc3, dd3, ee3, ff3, gg3.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the railway large-scale maintenance machinery automatic control method based on GPS described in embodiment 3.1-3.2 includes upper
Any combination of each several part is stated, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The railway large-scale maintenance machinery automatic control method based on GPS saves human resources described in embodiment 3.1-3.2, saves iron
The maintenance time and maintenance cost on route road, while the upkeep operation higher than artificial performance accuracy can be realized.
Embodiment 4.1：A kind of tamping car of the railway large-scale maintenance machinery self-con-tained unit based on GPS, it includes tamping car
Body, the tamping car body is equipped with mechanical self-control device.
In the present embodiment, the mechanical self-control device is the railway large-scale maintenance machinery based on GPS described in embodiment 2.1
Self-con-tained unit.
In the present embodiment, the mechanical self-control device is using railway large-scale road maintaining of the kind based on GPS described in embodiment 3.1
Machinery automatic control method.
In the present embodiment, the mechanical self-control device using the method for the reduction GPS location error described in embodiment 1.1 come
Reduce the position error of GPS location instrument.
Embodiment 4.2：A kind of stable car of the railway large-scale maintenance machinery self-con-tained unit based on GPS, it includes stablizing car
Body, the stable car body is equipped with mechanical self-control device.
In the present embodiment, the mechanical self-control device of the mechanical self-control device be the same as Example 4.1.
Embodiment 4.3：A kind of cleaning car of the railway large-scale maintenance machinery self-con-tained unit based on GPS, it includes cleaning car
Body, the cleaning car body is equipped with mechanical self-control device.
In the present embodiment, the mechanical self-control device of the mechanical self-control device be the same as Example 4.1.
The working method of the vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that embodiment 4.1-4.3 is provided
It is：In the memory for the mechanical self-control device that workload needed for Along Railway is inputted to vehicle in advance, working truck is run at high speed
To operation section is treated, when vehicle carries out operation, low speed operation shelves are hung, starts GPS location instrument, vehicle is positioned, simultaneously
Work data in the database of industrial computer extraction data storage on this section, after the positioning of GPS location instrument is finished, industrial computer
With reference to data storage database in stored data survey data with actual measuring instrument and contrast, industrial computer is tied according to comparing
Start operation in fruit operation vehicle, GPS location instrument is positioned in real time in operation traveling process, in different characteristic point, industry control
The track data stored in the equal comparison data memory of machine surveys the track data of collection with vehicle, then according to predetermined operation
Amount is to Mechanical course, and realization is automatically brought into operation.
When vehicle drives to characteristic point, the position signalling in operation section where GPS location instrument is provided automatically, industrial computer connects
The position signalling is received, vehicle hangs operation shelves, and the work data of relevant position is transferred from memory by industrial computer automatically, with car
Detection data contrasted, provide workload, required workload be transferred in the original industrial computer I of vehicle, vehicle is at it
Under original industrial computer I is controlled, voluntarily according to give operational ton to carry out operation.
In high speed traveling and low speed operation driver can the GPS location instrument manually operated at any time, so as to corrector position
Put and data.
Set fixed stepping-in amount during construction operation to refer to as operation, when vehicle runs into influence construction peace in work progress
During full situation, regulation construction stepping-in amount and speed of application manually so that realized while construction safety is ensured machinery from
Operation is instructed in dynamicization construction.
More multioperation is all for those of ordinary skills known, is repeated no more.
The technical scheme of the vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that embodiment 4.1-4.3 is provided
Any combination including each part mentioned above, the simple change of each part mentioned above component or combination are still protection scope of the present invention.
The vehicle for the railway large-scale maintenance machinery self-con-tained unit based on GPS that embodiment 4.1-4.3 is provided can realize intelligence
Energyization is operated, and greatly reduces the manual labor of surfaceman, and can improve operating efficiency, significantly improves homework precision, has
Effect saves Window time, has good effect to improving rail track transport power, saving transit time.
Claims (8)
1. a kind of method for reducing GPS location error includes：
A3. at least three times positional informations are measured at characteristic point；
B3. to measure, value, as the center of circle, is made to justify by radius of satellite accuracy value；
C3. three measured values are taken all to be located at the data of extreme position；
D3. the radius for the circumscribed circle of triangle that the extreme positions of three measured values is constituted is calculated；
It is characterized in that：Above step is carried out successively according to a3, b3, c3, d3 order；The extreme position refers to three measured value institutes
The three round centers of circle determined are respectively on the circumference of two other circle.
2. the method for GPS location error is reduced as claimed in claim 1, it is characterised in that：The essence of measured value in step a3-c3
Spend the precision for satellite data；The radius of the circumscribed circle drawn in step d3 as GPS location precision.
3. the method for GPS location error is reduced as claimed in claim 1 or 2, it is characterised in that：With three measurement institute values
For the center of circle, 10cm is that radius is made to justify, the step c3 measurements institute value composition a length of 10cm in one side equilateral triangle, and this equilateral three
It is angular to be inscribed in circle, then：Equilateral triangle length of side L=R wherein, R=10cm, α=30 °=30, from Pythagorean theorem, three
Angular institute's circumradiusWherein:L=R=10cmcm；Then：The precision of three-point fix reaches
ArriveThat is 5.7735cm.
4. a kind of self-con-tained unit based on GPS location, it includes GPS location instrument, and the GPS location instrument is installed in drivers' cab, should
Industrial computer is also equipped with drivers' cab, the industrial computer is connected with data storage, connected between the industrial computer and the GPS location instrument
Data conversion card is connect, the industrial computer is connected with executive component, and controls the action of executive component, it is characterised in that：The number
It is not less than 500GB according to the capacity of memory, the self-con-tained unit based on GPS location is used such as any one of claim 1-3
The method of described reduction GPS location error.
5. the self-con-tained unit as claimed in claim 4 based on GPS location, it is characterised in that：The data storage includes subtracting
Vibrating device, the vibration absorber includes setting-in inner casing in shell, the shell, and shock-reducing rubber is filled between the shell and the inner casing.
6. the self-con-tained unit as claimed in claim 5 based on GPS location, it is characterised in that：The industrial computer is installed on driver
In indoor operating desk, the industrial computer receives the signal of GPS location instrument.
7. the self-con-tained unit as claimed in claim 5 based on GPS location, it is characterised in that：The data conversion card determines GPS
The data I of position instrument are converted to data II, and data II are transferred into industrial computer, and industrial computer identification data II simultaneously makes corresponding finger
Data III while the operational order of industrial computer is converted to data III by the data conversion card, and are transferred to each sensor by order
And operation unit.
8. the self-con-tained unit based on GPS location as any one of claim 5-7, it is characterised in that：The automatic control dress
Put and use automatic control method, it includes：
Aa3. by job parameter data memory input needed for Along Railway；
Bb3. road maintainance machinery runs to operating location and hangs low speed operation shelves beginning operation；
Cc3. start GPS location instrument, road maintainance machinery is positioned；
Dd3. industrial computer extracts the job parameter in data storage and compared with route actual measurement data；
Ee3. industrial computer determines workload according to the difference of prestore parameter and actual measurement parameter；
Ff3. industrial computer transmits workload in the industrial computer I to road maintainance machinery；
Gg3. industrial computer I controls the operating type of road maintainance machinery；
Such scheme is carried out successively according to aa3, bb3, cc3, dd3, ee3, ff3, gg3 order.
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| CN201410172719.3A CN105022073B (en) | 2014-04-28 | 2014-04-28 | Reduce the method for GPS location error and the self-con-tained unit based on GPS location |
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| CN105022358B (en) * | 2014-04-28 | 2018-06-08 | 中国铁建高新装备股份有限公司 | Railway large-scale maintenance machinery self-con-tained unit and method and corresponding vehicle based on GPS |
| CN106530785B (en) * | 2016-12-16 | 2019-11-29 | 上海斐讯数据通信技术有限公司 | A kind of navigation reminders method and system |
| CN110673179B (en) * | 2019-09-12 | 2021-12-03 | 华为技术有限公司 | Positioning method, positioning device and storage medium |
| CN110775105B (en) * | 2019-11-07 | 2021-11-12 | 交控科技股份有限公司 | Method and system for monitoring train in subway vehicle section based on UWB |
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