CN105372442B - A kind of locomotive velocity measuring method, processor and locomotive velocity measuring system - Google Patents
A kind of locomotive velocity measuring method, processor and locomotive velocity measuring system Download PDFInfo
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- CN105372442B CN105372442B CN201510927421.3A CN201510927421A CN105372442B CN 105372442 B CN105372442 B CN 105372442B CN 201510927421 A CN201510927421 A CN 201510927421A CN 105372442 B CN105372442 B CN 105372442B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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Abstract
The invention belongs to technical field of rail traffic, provide a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system, this method comprises: the totality based on the period on train tests the speed on value and train the period acceleration, calculate the estimated value that tests the speed of train current period；Train acceleration is by installing acceleration transducer group acquisition ON TRAINS；Obtain the value that tests the speed of each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period of value and installation ON TRAINS that tests the speed of each radar of radar group current period of installation ON TRAINS；The estimated value that tests the speed based on train current period, the error estimate and each wheel shape raster velocity sensor of current period for calculating the value that tests the speed of each radar of current period test the speed the error estimate of value；According to the error estimate of test the speed value and the value that tests the speed of each radar and the error estimate for the value that tests the speed, the train for calculating train current period totally tests the speed value.Improve the reliability of locomotive velocity measuring and the accuracy to test the speed.
Description
Technical field
The present invention relates to technical field of rail traffic, and in particular to a kind of locomotive velocity measuring method, processor and locomotive velocity measuring
System.
Background technique
It is punctual and shorten running interval and become developing goal in order to alleviate the congestion of the peak time volume of the flow of passengers, and with
The rail level situation of the rapid development of urban track traffic, subway line becomes increasingly complex, and while shortening running interval, meets
Face the safe operation problem of train.In order to guarantee the safe operation of train, it is necessary to signal system have height automation and
It is intelligent.
In rail traffic, signal system passes through its core equipment, that is, vehicle-mounted automatic protection (Automatic Train
Operation, ATP) system guarantees the safe operation of rail traffic, and the realization of all safeguard function of vehicle-mounted ATP system
Reliable tachometric survey must be relied on, currently, installing one respectively using the headstock or the tailstock in train in domestic subway system
A radar and two wheel shape raster velocity sensors, are tested the speed by the combination of radar and wheel shape raster velocity sensor.Tool
Body running principle is: using wheel shape raster velocity sensor and radar come the speed of service of real-time measurement train, and by wheel shape light
Grid velocity sensor and the train running speed of radar surveying are merged, and the speed of service of train is obtained.
Wherein, wheel shape raster velocity sensor is mounted on the wheel of train, the original that wheel shape raster velocity sensor tests the speed
Reason is: accurately calculating the speed of service of train by detecting the turnning circle of wheel.Radar is typically mounted at train vehicle
Head bottom, the principle of radar velocity measurement is: calculating the opposite of radar and target according to the difference of the reflection signal frequency of rail level reflection
Speed, because reflection signal spectrum will be above transmitter frequency, when target theory radar day when target is close to radar antenna
When line, reflection signal frequency will be less than transmitter frequency, thus, it is possible to which it is poor to calculate reflection signal frequency.Using wheel shape light
During grid velocity sensor, if wheel shape raster velocity sensor is mounted on power wheel, in high-power power output
Stage, power wheel are easy to dally, if on the driven wheel by the installation of wheel shape raster velocity sensor, in larger brake force
Output stage, driven wheel are easy to slide, moreover, in low speed in the presence of the wheel lock up of mobile probability, this idle running
It is referred to as empty sliding phenomenon with slipping phenomenon.And the rail ponding caused by the bad weathers such as heavy rain, heavy snow, icing, it will lead to column
The sliding situation of the sky of vehicle wheel becomes more serious.The advantage of radar is not dependent on the revolving speed of wheel, therefore, can pass through radar
The sky for supervising wheel shape raster velocity sensor is sliding, it is possible to reduce the velocity sensor adverse effect sliding by wheel sky improves system
The accuracy of unified test speed.
But radar is to carry out train speed measurement by the microwave that rail level reflects, radar velocity measurement is to rail level reflectivity
The Single Point of Faliure that dependence will lead to radar becomes prominent.Because as subway line rail level situation becomes increasingly complex, including ground
Route, underground line, elevated line, quarrel track and ballastless track etc., will lead to rail level reflection case also becomes complicated, thus shadow
Ring the accuracy of radar velocity measurement.Moreover, because rail level conditioned reflex caused by ponding, accumulated snow, light source and other reasons is deteriorated,
It will lead to and the not available situation of radar velocity measurement in the short time occur.In addition, influence of the radar due to the measuring principle of itself, with
When range rate error it is larger, under normal circumstances, radar velocity measurement value always fluctuates above and below values for actual speed, to will affect train
Running speed measurement.
Therefore, in Rail Transit System accidental, irregular radar test the speed in short-term failure and wheel sky cunning can all lead
The failure of testing the speed caused, moreover, because the subway line service time is long, operation interval is short, tunnel and it is overhead on, investigation radar survey
The accidental unavailability of speed is greatly limited over time and space, and therefore, it is necessary to guarantee train operating safety
Under the premise of, reliability, accuracy and the availability that raising system tests the speed are accidental, random in Rail Transit System to solve
The radar of rule test the speed in short-term failure and wheel sky it is sliding all can caused by test the speed Problem of Failure.
Summary of the invention
In view of the defects existing in the prior art, the present invention proposes a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system
System, with solve accidental, irregular radar in existing Rail Transit System test the speed in short-term failure and wheel sky cunning can all lead
The Problem of Failure that tests the speed caused.
For this purpose, in a first aspect, the present invention provides a kind of locomotive velocity measuring method, which comprises
Totality based on a period on train tests the speed the acceleration in period on value and train, calculates train current period
Test the speed estimated value；The train acceleration is by installing acceleration transducer group acquisition ON TRAINS；
Obtain the wheel shape of value and installation ON TRAINS that tests the speed of each radar of radar group current period of installation ON TRAINS
The value that tests the speed of each wheel shape raster velocity sensor of raster velocity sensor group current period；
Based on the estimated value that tests the speed of the train current period, each wheel shape raster velocity sensing of the current period is calculated
The each wheel shape raster velocity sensor of error estimate and the current period of the value that tests the speed of device tests the speed the error estimate of value；
It is tested the speed value, each thunder according to the value that tests the speed of each radar, each wheel shape raster velocity sensor
The error estimate of the value that tests the speed reached and each wheel shape raster velocity sensor test the speed the error estimate of value, calculate column
The train of vehicle current period totally tests the speed value.
Wherein, described to be tested the speed value, institute according to the value that tests the speed of each radar, each wheel shape raster velocity sensor
The error estimate and each wheel shape raster velocity sensor for stating the value that tests the speed of each radar test the speed the estimation error of value
Value, the train for calculating train current period totally test the speed value, comprising:
According to the error estimate of the value that tests the speed of each radar, the error of the value that tests the speed based on preset each radar
Mean value and error variance obtain the probability of error density of the value that tests the speed of each radar of current period；
It is tested the speed the error estimate of value according to each wheel shape raster velocity sensor, based on preset wheel shape grating speed
Degree sensor tests the speed the error mean and error variance of value, before obtaining in the period each wheel shape raster velocity sensor the value that tests the speed
Probability of error density；
According to the probability of error density of the value that tests the speed of each radar of the current period, the value that tests the speed based on preset radar
Reliability coefficient, calculate testing the speed for each radar of current period be worth weight；
According to the probability of error density of the value that tests the speed of wheel shape raster velocity sensor each in the preceding period, it is based on preset survey
The reliability coefficient of speed value, calculates each the testing the speed for wheel shape raster velocity sensor of the current period and is worth weight；
It is worth each wheel shape raster velocity sensing of weight, the current period according to testing the speed for each radar of the current period
Testing the speed for device is worth weight, test the speed value and each wheel shape raster velocity biography of the current period of each radar of the current period
The value that tests the speed of sensor, the train for calculating train current period totally test the speed value.
Wherein, the train of the train current period totally test the speed value calculation formula it is as follows:
Wherein, vmeasurementIt totally tests the speed value for train,For testing the speed for each radar of current period
It is worth weight,It is worth weight for each the testing the speed for wheel shape raster velocity sensor of current period,For the value that tests the speed of each radar of current period,For each wheel shape grating of current period
The value that tests the speed of velocity sensor.
Wherein, each wheel shape grating of weight, the current period is being worth according to testing the speed for each radar of the current period
Testing the speed for velocity sensor is worth test the speed value and each wheel shape light of the current period of weight, each radar of the current period
The value that tests the speed of grid velocity sensor, the train of calculating train current period totally test the speed before value, the method also includes:
Whether judge each radar, each acceleration transducer or each wheel shape raster velocity sensor
It breaks down；
If each radar, each acceleration transducer and each wheel shape raster velocity sensor are not sent out
Raw failure then executes and described is worth each wheel shape light of weight, the current period according to testing the speed for each radar of the current period
Testing the speed for grid velocity sensor is worth weight, test the speed value and each wheel shape of the current period of each radar of the current period
The value that tests the speed of raster velocity sensor, the train for calculating train current period totally test the speed value；
If in each radar, each acceleration transducer and/or each wheel shape raster velocity sensor
At least one break down, then carry out radar, acceleration transducer and/or wheel shape raster velocity sensor fault alarm.
It is wherein, described to judge whether each radar breaks down, comprising:
According to the error mean of the value that tests the speed of the preset radar, preset first error reference value and preset
One significance carries out two-sided hypothesis test；
When the normal proposition of the range rate error of radar is true, whether the continuous a1 period before judging current period
OccurEvent, if so, determining that radar breaks down, wherein a1 is preset constant, ErmIt is described default
Radar velocity measurement error mean unbiased esti-mator,For preset first error reference value, k1For the boundary of the first region of rejection
Point.
It is wherein, described to judge whether each wheel shape raster velocity sensor breaks down, comprising:
It is referred to according to the error mean of the value that tests the speed of the preset wheel shape raster velocity sensor, preset second error
Value and preset second significance carry out two-sided hypothesis test；
It is continuous before judging current period when the normal proposition of range rate error of wheel shape raster velocity sensor is true
Whether a2 period occursEvent, if so, determining that radar breaks down, wherein a2 is preset constant,
EomFor the unbiased esti-mator of the preset wheel shape raster velocity sensor range rate error mean value,For preset second error
Reference value, k2For the separation of the second region of rejection.
It is wherein, described to judge whether each acceleration transducer breaks down, comprising:
The acceleration calculation value of the acceleration and current period train that are measured according to the current period acceleration transducer,
According to preset third significance, two-sided hypothesis test is carried out；
When the normal proposition of acceleration of acceleration transducer measurement is true, the continuous a3 before judging current period is a
Whether the period occurs multiple acceleration transducer event of failure, if so, determining that acceleration transducer breaks down, wherein a3 is
Preset constant；
Wherein, the acceleration calculation value of the current period train are as follows:
Second aspect, the present invention provide a kind of processor, comprising:
First computing module tests the speed the acceleration in period in value and train for the totality based on a period on train,
Calculate the estimated value that tests the speed of train current period；The train acceleration is adopted by the acceleration transducer group for installing ON TRAINS
Collection；
Second computing module, for obtaining test the speed value and the peace of each radar of radar group current period of installation ON TRAINS
The value that tests the speed of each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period of dress ON TRAINS；
It is each to calculate the current period for the estimated value that tests the speed based on the train current period for third computing module
The each wheel shape raster velocity sensor of error estimate and the current period of the value that tests the speed of a wheel shape raster velocity sensor
The error estimate for the value that tests the speed；
4th computing module, for the value that tests the speed according to each radar, each wheel shape raster velocity sensor
Test the speed value, the error estimate of the value that tests the speed of each radar and each wheel shape raster velocity sensor tests the speed value
Error estimate, the train for calculating train current period totally test the speed value.
The third aspect, the present invention provide a kind of locomotive velocity measuring system, comprising:
Acceleration transducer group, the radar group and peace of installation ON TRAINS of the processor, installation ON TRAINS
The wheel shape raster velocity sensor group of dress ON TRAINS；Wherein, the processor connects the acceleration transducer group, radar group
And the wheel shape raster velocity sensor group.
Wherein, the acceleration transducer group, the radar group and the wheel shape raster velocity sensor group are mounted on
The headstock or the tailstock of train.
The present invention provides a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system, based on train configuration radar group, wheel
The velocity-measuring system of shape raster velocity sensor group and acceleration transducer group, by using acceleration as calculating range rate error
Foundation improves the reliability of the multisensor velocity-measuring system based on radar and wheel shape raster velocity sensor and tests the speed accurate
Degree.Under the premise of guaranteeing train operating safety, preferably improves accidental, irregular radar in rail traffic and survey in short-term
The problem of velocity-measuring system caused by fast failure and the sliding phenomenon of wheel sky fails, the availability that the system of improving tests the speed.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is a kind of flow chart for locomotive velocity measuring method that one embodiment of the invention provides；
Fig. 2 is a kind of structural schematic diagram for processor that one embodiment of the invention provides；
Fig. 3 is a kind of structural schematic diagram of the locomotive velocity measuring system provided in one embodiment of the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the disclosure, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the range of disclosure protection.
It should be noted that testing the speed for the radar referred in each open embodiment of the present invention is worth error and wheel shape grating speed
Testing the speed for sensor of degree is worth the equal Normal Distribution of error.
As shown in Figure 1, one embodiment of the disclosure provides a kind of locomotive velocity measuring method, this method comprises the following steps S1 is extremely
S4:
S1, the totality based on a period on train test the speed the acceleration in period on value and train, and it is currently all to calculate train
The estimated value that tests the speed of phase；The train acceleration is by installing acceleration transducer group acquisition ON TRAINS；
It should be noted that the train operation period is divided multiple periods according to time span T.
Specifically, the calculation formula of the calibration speed of train current period are as follows:
Wherein,For the estimated value that tests the speed of train current period, Vlast_periodIt tests the speed value for a period on train,
alast_periodFor the acceleration in a period on train, T is the train period.
Specifically, the train of the train each cycle value that totally tests the speed is calculated and is stored in real time.
Specifically, the acceleration of train is acquired and is stored in real time by acceleration transducer group, and the train at this adds
Speed is the average value of the acceleration in period on the train of acceleration transducer group acquisition.
It should be noted that the acceleration of train can be obtained by acceleration transducer, it can also be by vehicle transport management
The traction braking of (Transportation Management System, TMS) system, which is fed back, to be obtained, still, acceleration sensing
The acceleration that device obtains is the most reliable and accurate.
S2, the wheel of value and installation ON TRAINS that tests the speed for obtaining each radar of radar group current period of installation ON TRAINS
The value that tests the speed of each wheel shape raster velocity sensor of shape raster velocity sensor group current period；
It should be noted that radar surveying be train velocity amplitude, wheel shape raster velocity sensor measurement is wheel shaft
Revolving speed.
It should be noted that radar has multiple frames that test the speed, in one cycle, according to testing the speed for multiple frames that test the speed of radar
Value is averaging, and obtains the value that tests the speed of radar.
Preferably, the radar velocity measurement frame at this is 20, then in one cycle, the value that tests the speed of radar is by 20 values that test the speed
Averaging obtains.
It should be noted that the quantity of the frame that tests the speed of the radar in the present embodiment is only distance explanation, the present embodiment is unlimited
Determine the quantity of the frame that tests the speed of radar, the sample size that those skilled in the art can need according to the actual situation selects the survey of radar
The quantity of fast frame.
S3, the estimated value that tests the speed based on the train current period calculate each wheel shape raster velocity of the current period
The test the speed error of value of each wheel shape raster velocity sensor of error estimate and the current period of the value that tests the speed of sensor is estimated
Evaluation；
Specifically, each radar current period tests the speed the calculation formula of the error of value are as follows:
Wherein, ErmFor the error of the value that tests the speed of radar, vrmFor the value that tests the speed of radar,For testing the speed for train current period
Estimated value.
Specifically, the calculation formula of the error of the value that tests the speed of each wheel shape raster velocity sensor are as follows:
Wherein, EomFor the error of the value that tests the speed of wheel shape raster velocity sensor, vomFor wheel shape raster velocity sensor measurement
The value that tests the speed,For the estimated value that tests the speed of train current period.
It should be noted that the value that tests the speed of radar, actually by the actual error meter of the actual speed of radar and radar
That calculates arrives；The value that tests the speed of velocity sensor, actually by the actual speed of wheel shape raster velocity sensor and wheel shape grating speed
The actual error of degree sensor is calculated, and calculation formula is as follows:
vrm=vrreal+εrm,
vom=voreal+εom,
Wherein, vrm、vomIt is the value that tests the speed of the test the speed value and wheel shape raster velocity sensor of radar, v respectivelyrreal、vorealPoint
It is not the actual speed of radar and the actual speed of wheel shape raster velocity sensor, εrm、εomBe respectively radar actual error and
The actual error of wheel shape raster velocity sensor；
By the estimated value that tests the speed of train current period at thisIt is approximately equal to the actual speed and wheel shape raster velocity of radar
The actual speed of sensor, passes through formulaThe approximate error for calculating the value that tests the speed of radar, passes through formulaCalculate the approximate error of wheel shape raster velocity sensor.
It is S4, the value that tested the speed according to the value that tests the speed of each radar, each wheel shape raster velocity sensor, described each
The error estimate of the value that tests the speed of radar and each wheel shape raster velocity sensor test the speed the error estimate of value, calculate
The train of train current period totally tests the speed value.
It should be noted that wheel shape raster velocity sensor, radar and acceleration transducer that the present embodiment does not limit
Quantity, those skilled in the art can install according to the actual situation the wheel shape raster velocity sensor of different number, radar and
Acceleration transducer.
In the present embodiment, by being worth error and wheel shape raster velocity sensor according to acceleration calculation radar velocity measurement
The error for the value that tests the speed, the final speed of service value for calculating train current period improve the reliability of velocity-measuring system and the essence that tests the speed
Exactness.For radar accidental, irregular in Rail Transit System test the speed in short-term failure and wheel sky cunning cause system to test the speed
Failure has preferable improvement.Due to there is the sensor of the normal work to occupy the majority in the speed-measuring method always, can guarantee to arrange
In the case where vehicle operational safety, the availability of speed-measuring method is improved.
Step S4 in the present embodiment: it " is sensed according to the value that tests the speed of each radar, each wheel shape raster velocity
Test the speed value, the error estimate of the value that tests the speed of each radar and each wheel shape raster velocity sensor of device tests the speed value
Error estimate, the train for calculating train current period totally tests the speed value.", specifically include following steps not shown in the figure
S41 to S45:
S41, the error estimate according to the value that tests the speed of each radar, the value that tests the speed based on preset each radar
Error mean and error variance obtain the probability of error density of the value that tests the speed of each radar of current period；
It should be noted that the error mean and error variance of the value that tests the speed of the preset radar at this, are by multiple
The occurrence that experimental calculation obtains, but the present embodiment does not limit the error mean of preset radar velocity measurement value and the tool of error variance
Body value, those skilled in the art can according to the actual situation, determine radar velocity measurement value error mean and error variance it is specific
Value.
It should be noted that can only preset the error mean and error side of one group of radar velocity measurement value to calculate simplicity
The occurrence of difference, the probability of error density of the value that tests the speed of each radar are based on the error mean and mistake of this group of radar velocity measurement value
Poor variance obtains, but accurate for calculated result, and those skilled in the art can also according to the needs of actual conditions, for difference
The radar of velocity shooting presets the error mean and error variance of the different values that tests the speed.
S42, test the speed the error estimate of value according to each wheel shape raster velocity sensor, is based on preset wheel shape light
The error mean and error variance of grid speed sensor velocity measurement value obtain the survey of each wheel shape raster velocity sensor in the preceding period
The probability of error density of speed value；
It should be noted that error mean and the error side of the value that tests the speed of the preset wheel shape raster velocity sensor at this
Difference can be identical as the default principle of the error mean of the value that tests the speed of above-mentioned radar and error variance to be one or more groups of, this
Place repeats no more.
S43, the probability of error density according to the value that tests the speed of each radar of the current period, the survey based on preset radar
The reliability coefficient of speed value calculates testing the speed for each radar of current period and is worth weight；
Specifically, testing the speed for radar is worth the calculation formula of weight are as follows:
wrm=arm·frm,
Wherein, wrmIt is worth weight for testing the speed for radar, frmFor the probability of error density of radar velocity measurement value, armRadar tests the speed
The reliability coefficient of value.
S44, the probability of error density according to the value that tests the speed of wheel shape raster velocity sensor each in the preceding period, based on default
The value that tests the speed reliability coefficient, calculate each the testing the speed for wheel shape raster velocity sensor of the current period and be worth weight；
Specifically, wheel shape raster velocity sensor test the speed be worth weight calculation formula it is as follows:
wom=aom·fom,
Wherein, womIt is worth weight for testing the speed for wheel shape raster velocity sensor, fomIt tests the speed value for wheel shape raster velocity sensor
Probability of error density, aomThe reliability coefficient of the value that tests the speed of wheel shape raster velocity sensor.
It should be noted that the present embodiment, which does not limit to test the speed, is worth reliability coefficient arm、aomOccurrence, art technology
Personnel can determine a according to the actual situationrm、aomValue.
S45, each wheel shape raster velocity of weight, the current period is worth according to testing the speed for each radar of the current period
Testing the speed for sensor is worth weight, test the speed value and each wheel shape grating speed of the current period of each radar of the current period
The value that tests the speed of sensor is spent, the train of calculating train current period totally tests the speed value.
In the present embodiment, according to actual error statistical analysis as a result, calculate before the period test the speed be worth mean value probability it is close
Degree, the current period test the speed the anticipation error of value, testing the speed described in the current period is worth the probability density of mean value and described
The anticipation error for the value that tests the speed described in current period improves the accuracy of speed-measuring method, meanwhile, it tests the speed without using acceleration calculation
Value prevents for a long time using cumulative errors caused by acceleration transducer measuring and calculating.
In the present embodiment, the train of train current period totally test the speed value calculation formula it is as follows:
Wherein, wherein vmeasurementIt totally tests the speed value for train,For each radar of current period
Test the speed and be worth weight,It is worth weight for each the testing the speed for wheel shape raster velocity sensor of current period,For the value that tests the speed of each radar of current period,For each wheel shape grating of current period
The value that tests the speed of velocity sensor.
Step S45 in the present embodiment: " weight is being worth according to testing the speed for each radar of the current period, described is being worked as
The testing the speed of preceding period each wheel shape raster velocity sensor is worth weight, the value and described of testing the speed of each radar of the current period
The value that tests the speed of each wheel shape raster velocity sensor of current period, the train for calculating train current period totally test the speed value." it
Before, which further includes following steps S045 to S245 not shown in the figure:
S045, judge each radar, each acceleration transducer or each wheel shape raster velocity sensing
Whether device breaks down；
If S145, each radar, each acceleration transducer and each wheel shape raster velocity sensor
It does not break down, thens follow the steps S45；
If S245, each radar, each acceleration transducer and/or each wheel shape raster velocity sensing
At least one of device breaks down, then carries out radar, acceleration transducer and/or wheel shape raster velocity sensor fault report
It is alert.
In the present embodiment by the result that statisticallys analyze actual error as judging radar, velocity sensor and add
The foundation of speed sensor fault improves the accuracy of radar or speed sensor fault judgement, reduces the possibility of erroneous judgement
Property, meanwhile, can effectively judge acceleration transducer whether failure.
Specifically, judge whether each radar breaks down, including following steps A1 to A2 not shown in the figure:
A1, according to the error mean of the value that tests the speed of the preset radar, preset first error reference value and default
The first significance, carry out two-sided hypothesis test；
A2, when the normal proposition of range rate error of radar is true, the continuous a1 period before judging current period is
No generationEvent, if so, determining that radar breaks down, wherein a1 is preset constant, ErmFor radar survey
The unbiased esti-mator of fast error mean,For preset first error reference value, k1For the separation of the first region of rejection.
It should be noted that k1Be withFor the normal distribution of parameter, determined by set significance
Region of rejection separation, whereinThe range rate error mean value of respectively preset radar and range rate error side
Difference.
Specifically, the first region of rejection isn1For the sample size of radar velocity measurement error,α1It is default
The first significance of volume.
It should be noted that the value of the a1 in the present embodiment is by way of example only, the present embodiment does not limit the occurrence of a1,
Those skilled in the art can verify to obtain the occurrence of a1 according to the actual situation by many experiments.
Specifically, the mechanism that radar fault is judged in the present embodiment is the two-sided hypothesis test based on Normal Mean,
Level of significance α1Generally take 0.05 or 0.01.
Present embodiment assumes that level of significance α10.05 is taken, the frame that tests the speed of radar is 20, preset under present speed
The normal error mean that tests the speed isCurrently range rate error mean value isWhen previous cycle 20 range rate errors it is equal
Value ErmForUnbiased esti-mator.
Need null hypothesis:
It is normal to set radar velocity measurement error；
It is abnormal to set radar velocity measurement error.
In H0Under the premise of genuine, signal period occursThe probability of event is less than 2.5%；If even
The event occurs for continuous 5 periods, then probability is less than 0.0000009765625%, thus can suspect H0Correctness to refusing
Exhausted H0, assert radar fault.
Specifically, judge whether each wheel shape raster velocity sensor breaks down, including it is not shown in the figure such as
Lower step B1 to B2:
B1 is referred to according to the test the speed error mean of value, preset second error of the preset wheel shape raster velocity sensor
Value and preset second significance carry out two-sided hypothesis test；
B2, when the normal proposition of range rate error of wheel shape raster velocity sensor is true, before judging current period
Whether the continuous a2 period occursEvent, if so, determining that radar breaks down, wherein a2 is default normal
Number, EomFor the unbiased esti-mator of wheel shape raster velocity sensor range rate error mean value,For preset second error reference value, k2
For the separation of the second region of rejection.
It should be noted that k2Be withFor the normal distribution of parameter, determined by set significance
Region of rejection separation, whereinThe range rate error mean value of respectively preset wheel shape raster velocity sensor
With range rate error variance.
Specifically, the second region of rejection isWherein, n2For testing the speed for wheel shape raster velocity sensor
The sample size of value, α2For preset second significance.
Specifically, the breakdown judge failure of wheel shape raster velocity sensor is identical as the process that radar fault judges, herein
It repeats no more.
In the present embodiment, according to actual error statistical analysis as a result, as radar or wheel shape raster velocity sensing is calculated
The weight of the value that tests the speed of device judges the confidence level of the value that tests the speed of radar or wheel shape raster velocity sensor, if weight is bigger, the survey
The confidence level of speed value is higher, carries out breakdown judge accordingly, improves the breakdown judge of radar and wheel shape raster velocity sensor
Accuracy reduces and radar or wheel shape raster velocity sensor is mistaken for failure or are mistaken for a possibility that normal.
Specifically, judge whether each acceleration transducer breaks down, including following steps not shown in the figure
C1 to C2:
The acceleration calculation of C1, the acceleration and current period train that are measured according to the current period acceleration transducer
Value carries out two-sided hypothesis test according to preset third significance；
C2, acceleration transducer measurement the normal proposition of acceleration be true when, it is continuous before judging current period
Whether a3 period occurs multiple acceleration transducer event of failure, if so, determine that acceleration transducer breaks down, wherein
A3 is preset constant；
Wherein, the acceleration calculation value of the current period train are as follows:
For example, level of significance α3The value for taking 0.05, a3 is 5, then single acceleration transducer event occurs for signal period
The probability of barrier event is 2.5%, then the probability that n acceleration transducer event of failure occurs for signal period is (25/100)n%,
The probability that the event of failure occurs for continuous 5 periods should be less than (25/100)5n%, therefore, if the event occurs for continuous 5 periods
Barrier event can assert that acceleration transducer breaks down.
It should be noted that the value of the a3 in the present embodiment is by way of example only, the present embodiment does not limit the occurrence of a3,
Those skilled in the art can verify to obtain the occurrence of a3 according to the actual situation by many experiments.
The breakdown judge mechanism of acceleration transducer in the present embodiment can effectively judge whether acceleration transducer is former
Barrier.
As shown in Fig. 2, another embodiment disclosed by the invention provides a kind of processor, comprising: the first computing module 21,
Two computing modules 22, third computing module 23 and the 4th computing module 24；
First computing module 21 tests the speed the acceleration in period in value and train for the totality based on a period on train
Degree calculates the estimated value that tests the speed of train current period；The train acceleration is by installing acceleration transducer group ON TRAINS
Acquisition；
Second computing module 22, for obtain the installation each radar of radar group current period ON TRAINS test the speed value with
The value that tests the speed of each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period of installation ON TRAINS；
Third computing module 23 calculates the current period for the estimated value that tests the speed based on the train current period
The each wheel shape raster velocity sensing of the error estimate and the current period of the value that tests the speed of each wheel shape raster velocity sensor
Device tests the speed the error estimate of value；
4th computing module 24, for being sensed according to the value that tests the speed of each radar, each wheel shape raster velocity
Test the speed value, the error estimate of the value that tests the speed of each radar and each wheel shape raster velocity sensor of device tests the speed value
Error estimate, the train for calculating train current period totally tests the speed value.
A kind of processor provided in this embodiment, by the acceleration for obtaining the train operation that acceleration transducer acquires in real time
Degree, and according to acceleration calculation range rate error, improve the reliability that processor tests the speed and the accuracy to test the speed.
As shown in figure 3, another embodiment of the present invention discloses a kind of locomotive velocity measuring system, comprising:
Processor 31 disclosed in above-described embodiment, installation acceleration transducer group 32 ON TRAINS, installation are ON TRAINS
Radar group 33 and installation wheel shape raster velocity sensor group 34 ON TRAINS；
Wherein, processor 31 connects acceleration transducer group 32, radar group 33 and wheel shape raster velocity sensor group 34.
Acceleration transducer group 32, radar group 33 and wheel shape raster velocity sensor group 34 in the present embodiment are mounted on
The headstock or the tailstock of train.
Specifically, radar group is mounted on the headstock of train or the bottom of the tailstock, and wheel shape raster velocity sensor group is mounted on
On the headstock of train or the wheel of the tailstock.
A kind of locomotive velocity measuring system provided in the present embodiment, processor connect acceleration transducer, radar and described
At least one wheel shape raster velocity sensor, by obtaining the acceleration for the train operation that acceleration transducer acquires in real time, and
According to acceleration calculation range rate error, the reliability that processor tests the speed and the accuracy to test the speed are improved.
It should be noted that herein " first ", " second ", " third " and " the 4th " be used merely to differentiation title it is identical
Entity or operation do not imply that sequence or relationship between these entities or operation.
Those of ordinary skill in the art will appreciate that: the above embodiments are only used to illustrate the technical solution of the present invention., and
It is non-that it is limited；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art
It is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, either to part of or
All technical features are equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution this hair
Bright claim limited range.
Claims (9)
1. a kind of locomotive velocity measuring method, which is characterized in that the described method includes:
Totality based on a period on train tests the speed the acceleration in period on value and train, calculates testing the speed for train current period
Estimated value；The train acceleration is by installing acceleration transducer group acquisition ON TRAINS；
Obtain the wheel shape grating of value and installation ON TRAINS that tests the speed of each radar of radar group current period of installation ON TRAINS
The value that tests the speed of each wheel shape raster velocity sensor of velocity sensor group current period；
Based on the estimated value that tests the speed of the train current period, the error for calculating the value that tests the speed of each radar of the current period is estimated
Evaluation and each wheel shape raster velocity sensor of the current period test the speed the error estimate of value；
It is tested the speed value, each radar according to the value that tests the speed of each radar, each wheel shape raster velocity sensor
The error estimate for the value that tests the speed and each wheel shape raster velocity sensor test the speed the error estimate of value, calculate train and work as
The train in preceding period totally tests the speed value；
Specifically, according to the error estimate of the value that tests the speed of each radar, the value that tests the speed based on preset each radar
Error mean and error variance obtain the probability of error density of the value that tests the speed of each radar of current period；
It is tested the speed the error estimate of value according to each wheel shape raster velocity sensor, is passed based on preset wheel shape raster velocity
Sensor tests the speed the error mean and error variance of value, obtains the value that tests the speed of each wheel shape raster velocity sensor in current period
Probability of error density；
According to the probability of error density of the value that tests the speed of each radar of the current period, the value that tests the speed based on preset radar can
Coefficient of reliability calculates testing the speed for each radar of current period and is worth weight；
According to the probability of error density of the value that tests the speed of wheel shape raster velocity sensor each in current period, tested the speed based on preset
The reliability coefficient of value calculates each the testing the speed for wheel shape raster velocity sensor of the current period and is worth weight；
It is worth each wheel shape raster velocity sensor of weight, the current period according to testing the speed for each radar of the current period
It tests the speed and is worth test the speed value and each wheel shape raster velocity sensor of the current period of weight, each radar of the current period
The value that tests the speed, the train for calculating train current period totally tests the speed value.
2. the meter of value the method according to claim 1, wherein the train of the train current period totally tests the speed
It is as follows to calculate formula:
Wherein, vmeasurementIt totally tests the speed value for train,For the value power that tests the speed of each radar of current period
Weight,It is worth weight for each the testing the speed for wheel shape raster velocity sensor of current period,
For the value that tests the speed of each radar of current period,For the survey of each wheel shape raster velocity sensor of current period
Speed value, N1For the total quantity of radar in current period, N2For the total quantity of wheel shape raster velocity sensor in current period.
3. the method according to claim 1, wherein in the value power that tests the speed according to each radar of the current period
Weight, each wheel shape raster velocity sensor of current period test the speed be worth weight, each radar of the current period tests the speed
The value that tests the speed of value and each wheel shape raster velocity sensor of the current period, the train for calculating train current period are totally surveyed
Before speed value, the method also includes:
Judge each radar, each acceleration transducer or each wheel shape raster velocity pass in acceleration transducer group
Whether sensor breaks down；
If each acceleration transducer and each wheel shape raster velocity sensing in each radar, acceleration transducer group
Device does not break down, then executes and described test the speed that be worth weight, the current period each according to each radar of the current period
Testing the speed for a wheel shape raster velocity sensor is worth test the speed value and the current period of weight, each radar of the current period
The value that tests the speed of each wheel shape raster velocity sensor, the train for calculating train current period totally test the speed value；
If each acceleration transducer and each wheel shape raster velocity sensing in each radar, acceleration transducer group
At least one of device breaks down, then carries out fault alarm.
4. according to the method described in claim 3, it is characterized in that, described judge whether each radar breaks down, packet
It includes:
It is shown according to the error mean of the value that tests the speed of the preset radar, preset first error reference value and preset first
Work property is horizontal, carries out two-sided hypothesis test；
When the normal proposition of the range rate error of radar is true, whether the continuous a1 period before judging current period occursEvent, if so, determining that radar breaks down, wherein a1 is preset constant, ErmFor radar velocity measurement error
The unbiased esti-mator of mean value,For preset first error reference value, k1For the separation of the first region of rejection.
5. according to the method described in claim 3, it is characterized in that, judgement each wheel shape raster velocity sensor is
It is no to break down, comprising:
According to the preset wheel shape raster velocity sensor test the speed the error mean of value, preset second error reference value and
Preset second significance carries out two-sided hypothesis test；
When the normal proposition of range rate error of wheel shape raster velocity sensor is true, the continuous a2 before judging current period is a
Whether the period occursEvent, if so, determining that radar breaks down, wherein a2 is preset constant, EomFor
The unbiased esti-mator of wheel shape raster velocity sensor range rate error mean value,For preset second error reference value, k2It is second
The separation of region of rejection.
6. according to the method described in claim 3, it is characterized in that, described judge whether each acceleration transducer occurs
Failure, comprising:
The acceleration calculation value of the acceleration and current period train that are measured according to the current period acceleration transducer, according to
Preset third significance carries out two-sided hypothesis test；
The continuous a3 period when the normal proposition of acceleration of acceleration transducer measurement is true, before judging current period
Whether multiple acceleration transducer event of failure are occurred, if so, determining that acceleration transducer breaks down, wherein a3 is default
Constant；
Wherein, the acceleration calculation value of the current period train are as follows:
7. a kind of locomotive velocity measuring device characterized by comprising
First computing module tests the speed the acceleration in period in value and train for the totality based on a period on train, calculates
The estimated value that tests the speed of train current period；The train acceleration is by installing acceleration transducer group acquisition ON TRAINS；
Second computing module value and is mounted on for obtaining testing the speed for the installation each radar of radar group current period ON TRAINS
The value that tests the speed of each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period on train；
Third computing module calculates each thunder of the current period for the estimated value that tests the speed based on the train current period
The each wheel shape raster velocity sensor of error estimate and the current period of the value that tests the speed reached tests the speed the error estimate of value；
4th computing module, for being tested the speed according to the value that tests the speed of each radar, each wheel shape raster velocity sensor
Value, the error estimate of the value that tests the speed of each radar and each wheel shape raster velocity sensor test the speed the error of value
Estimated value, the train for calculating train current period totally test the speed value；Specifically, according to the error of the value that tests the speed of each radar
Estimated value, the error mean and error variance of the value that tests the speed based on preset each radar obtain each radar of current period
The probability of error density for the value that tests the speed；It is tested the speed the error estimate of value according to each wheel shape raster velocity sensor, based on pre-
If wheel shape raster velocity sensor test the speed the error mean and error variance of value, obtain each wheel shape grating speed in current period
Spend the probability of error density of the value that tests the speed of sensor；The probability of error according to the value that tests the speed of each radar of the current period is close
Degree, the reliability coefficient of the value that tests the speed based on preset radar calculate testing the speed for each radar of current period and are worth weight；According to working as
The probability of error density of the value that tests the speed of each wheel shape raster velocity sensor in the preceding period, the confidence level based on the preset value that tests the speed
Coefficient calculates each the testing the speed for wheel shape raster velocity sensor of the current period and is worth weight；It is each according to the current period
The testing the speed of radar is worth testing the speed for each wheel shape raster velocity sensor of weight, the current period and is worth weight, the current period
It is currently all to calculate train for the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of the current period of each radar
The train of phase totally tests the speed value.
8. a kind of locomotive velocity measuring system characterized by comprising
Execute processor, the installation acceleration transducer group ON TRAINS, installation of locomotive velocity measuring method as described in claim 1
The wheel shape raster velocity sensor group of radar group and installation ON TRAINS ON TRAINS；
Wherein, the processor connects the acceleration transducer group, radar group and the wheel shape raster velocity sensor group.
9. system according to claim 8, which is characterized in that the acceleration transducer group, the radar group and institute
State headstock or the tailstock that wheel shape raster velocity sensor group is mounted on train.
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