CN105501257A - Positioning error calculation method and position calculation method of rail transit train - Google Patents
Positioning error calculation method and position calculation method of rail transit train Download PDFInfo
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- CN105501257A CN105501257A CN201610043935.7A CN201610043935A CN105501257A CN 105501257 A CN105501257 A CN 105501257A CN 201610043935 A CN201610043935 A CN 201610043935A CN 105501257 A CN105501257 A CN 105501257A
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- rail transit
- transit train
- error
- train
- beacon
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
Abstract
The invention discloses a positioning error calculation method of a rail transit train. The positioning error calculation method includes: acquiring a mounting error A of a positioning beacon; acquiring an accumulated travel distance S of the rail transit train passing through a radio-frequency radiation range of the positioning beacon; acquiring a distance and speed measurement error percentage B of the rail transit train; acquiring a radio-frequency signal edge acquisition error C; acquiring a calculation precision error D; calculating a positioning error F of the rail transit train according to an equation that F=A+1/2*S*B+C+D. The invention further discloses a position calculation method of the rail transit train. By the positioning error calculation method and the position calculation method of the rail transit train, positioning data of the rail transit train is closer to an actual position of the rail transit train, positioning errors of the rail transit train cannot be increased under influences of the size and signal radio-frequency radiation range of the positioning beacon, and accordingly positioning precision of the rail transit train is improved, and safety and reliability of an automatic protection function and an automatic landing function of the rail transit train are promoted.
Description
Technical field
The invention belongs to automatic field, particularly relate to a kind of method utilizing localizer beacon to calculate rail transit train position error.The invention still further relates to a kind of method of calculating utilizing location letter to obtain mark rail transit train position.
Background technology
At track traffic automation field, great majority are all utilize localizer beacon position data calculated column truck position.The precision of train positioning instant calculated column truck position directly has influence on the degree of reliability of vehicle automatic protection function and the precision of train automatic landing function.
At present, the main method of rail transit train location localizer beacon is regarded as a particle, when the localizer beacon reader on rail transit train receives localizer beacon signal, system inquires about this localizer beacon numbering in a database, utilizes this localizer beacon to number corresponding location updating to train position.That is localizer beacon reader receives beacon signal that time, vehicle location=beacon position.
But, existing rail transit train localization method existing defects because localizer beacon actual be have width, localizer beacon radio-frequency region is a space instead of a point, when the beacon requestor on vehicle collects beacon radiofrequency signal, vehicle might not be directly over beacon.The localizer beacon radio-frequency region that track traffic uses, often close to meter level, if localizer beacon is regarded as a particle, is also regarded the scope of beacon radiofrequency signal as linearly, will be increased position error.This method makes rail transit train through localizer beacon, and the positional error of train just will reach meter level.Show as: position error=beacon radio-frequency region+installation error+other errors.Under the prerequisite that localizer beacon radio-frequency region has existed close to meter level error, rail transit train is caused just to be provided with positional error close to meter level that time receiving beacon signal.
In today of train auto-matic control function development, rail transit train control system needs to provide the positional error of the rail transit train within 1 meter between platform, the rail transit train function that stops often requires other precision of Centimeter Level, and car door is accurately aimed at platform screen door.Further, train departure interval is constantly compressed, and also has higher requirement to train positioning precision.Rail transit train position error can have influence on the langding accuracy of rail transit train, also can affect the departure interval of rail transit train, even affects the safety of rail transit train automatic protection function.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of method utilizing localizer beacon to calculate rail transit train position error.Present invention also offers a kind of method of calculating utilizing localizer beacon to obtain rail transit train position.
For solving the problems of the technologies described above, the invention provides a kind of method of calculating of rail transit train position error, comprising the following steps:
Obtain the installation error A of localizer beacon, installation error refers to that this localizer beacon is recorded in the error between position Pdb in rail transit train control system data bank and beacon actual installation position Pdb1; Localizer beacon installation error A is generally 0mm ~ 20mm, and according to the requirement of track traffic security fence, installation error A preferably calculates according to maxim 20mm.
Obtain rail transit train through the accumulation travel distance S of localizer beacon, accumulation travel distance receives the distance that this localizer beacon signal falling edge rail transit train walks for positive rise to first time that rail transit train first time receives localizer beacon signal;
Obtain rail transit train to test the speed range error percentum B; Rail transit train tests the speed range error percentum B by distance measurement equipment parameter decision of testing the speed, and usual error is 1% ~ 3%; According to the requirement of track traffic security fence, the rail transit train range error percentum B that tests the speed preferably calculates according to maxim 3%.
Obtain the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise; Edge Acquisition Error is determined by collecting device parameter, and usual error is at 0 ~ 10mm; According to the requirement of track traffic security fence, the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise preferably calculates according to maxim 10mm.
Acquisition rounds and calculates design accuracy error D, and trueness error D is generally 0 ~ 1mm; Rounding and calculating design accuracy error D is trueness error owing to producing in computation process.According to the requirement of track traffic security fence, round calculating design accuracy error D and preferably calculate according to maxim 1mm.
Rail transit train position error F=A+1/2 × S × B+C+D.
The invention provides a kind of method of calculating of rail transit train position, comprise the following steps:
Calculating positive rise to first time that rail transit train first time receives localizer beacon signal receives the distance S (that is, accumulation travel distance) that localizer beacon signal falling edge rail transit train walks;
This localizer beacon installation site Pdb is inquired about in track traffic train control system data bank;
Rail transit train position Pcurr=Pdb+1/2 × S.
Positioning precision is embodied in position error.As can be seen from above-mentioned computing formula, in this algorithm, location error calculating formula is F=A+1/2 × S × B+C+D.Consider that the maxim of error F participates in contrast, wherein A gets maxim is 20mm; (1/2 × S × B) gets maxim is that to get maxim be that to get maxim be 1mm for 10mm, D for 1/2 × 2000 × 3%=30mm, C.These parameters are grade (1mm level) or Centimeter Level (10mm level) error, and final sum error F=20+30+10+1=71mm is also less than decimeter grade (<100mm level).The also checking realization on certain track traffic test wire of this algorithm.
And known location algorithm (as context analyzer second segment describes) the position error that causes be: position error=beacon radio-frequency region+installation error+other errors.Wherein beacon radio-frequency region has been meter level (1000mm level) error, then with other error sums, final error will be greater than 1 meter (>1000mm level).
Therefore, the present invention can make rail transit train locating data more close to rail transit train actual position, rail transit train position error can not increase because of the impact of localizer beacon size and localizer beacon signal RF radiation scope, greatly improve rail transit train location precision, and then impel rail transit train automatic protection function and train automatic landing function safer, reliable.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is further detailed explanation:
Fig. 1 is the schematic flow sheet of rail transit train position calculating method of the present invention.
Detailed description of the invention
The method of calculating that the invention provides rail transit train position error provided by the invention, comprises the following steps:
Obtain the installation error A of localizer beacon, installation error refers to that this localizer beacon is recorded in the error between position Pdb in rail transit train control system data bank and beacon actual installation position Pdb1; According to the requirement of track traffic security fence, installation error A preferably calculates according to maxim 20mm.
Obtain rail transit train through the accumulation travel distance S of localizer beacon, accumulation travel distance receives the distance that this localizer beacon signal falling edge rail transit train walks for positive rise to first time that rail transit train first time receives localizer beacon signal;
Obtain rail transit train to test the speed range error percentum B; Rail transit train tests the speed range error percentum B by distance measurement equipment parameter decision of testing the speed, and usual error is 1% ~ 3%; Localizer beacon installation error A is generally 0mm ~ 20mm, and according to the requirement of track traffic security fence, the rail transit train range error percentum B that tests the speed preferably calculates according to maxim 3%.
Obtain the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise; Edge Acquisition Error is determined by collecting device parameter, and usual error is at 0 ~ 10mm; According to the requirement of track traffic security fence, the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise preferably calculates according to maxim 10mm.
Acquisition rounds and calculates design accuracy error D, and trueness error D is generally 0 ~ 1mm; Rounding and calculating design accuracy error D is due to the loss of significance caused that rounds up digital after arithmetic point in computation process.According to the requirement of track traffic security fence, round calculating design accuracy error D and preferably calculate according to maxim 1mm.
Rail transit train position error F=A+1/2 × S × B+C+D.
As shown in Figure 1, rail transit train position calculating method one embodiment, comprising:
Localizer beacon reader wait-receiving mode localizer beacon signal on rail transit train, if localizer beacon reader does not receive localizer beacon signal, continuous wait state;
The positive rise that localizer beacon reader first time receives localizer beacon signal starts to calculate rail transit train travel distance, the falling edge that localizer beacon reader first time receives localizer beacon signal stops calculating rail transit train travel distance, the accumulation travel distance of track record traffic train;
This localizer beacon installation site Pdb is inquired about in track traffic train control system data bank;
Rail transit train position Pcurr=Pdb+1/2 × S.
Below through the specific embodiment and the embodiment to invention has been detailed description, but these are not construed as limiting the invention.Without departing from the principles of the present invention, those skilled in the art also can make many distortion and improvement, and these also should be considered as protection scope of the present invention.
Claims (7)
1. a rail transit train Calculation of Positional Error, is characterized in that, comprises the following steps:
Obtain the installation error A of localizer beacon, installation error refers to that this localizer beacon is recorded in the error between position Pdb in rail transit train control system data bank and beacon actual installation position Pdb1;
Obtain rail transit train through the accumulation travel distance S of localizer beacon, accumulation travel distance receives the distance that localizer beacon signal falling edge rail transit train walks for positive rise to first time that rail transit train first time receives localizer beacon signal;
Obtain rail transit train to test the speed range error percentum B;
Obtain the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise;
Obtain owing to rounding the design accuracy error D calculating and produce in computation process;
Rail transit train position error F=A+1/2 × S × B+C+D.
2. rail transit train Calculation of Positional Error as claimed in claim 1, is characterized in that: localizer beacon installation error A is 0mm ~ 20mm.
3. rail transit train Calculation of Positional Error as claimed in claim 1, is characterized in that: rail transit train accumulation travel distance S is 500 ~ 2000mm.
4. rail transit train Calculation of Positional Error as claimed in claim 1, is characterized in that: the rail transit train range error percentum B that tests the speed is 1% ~ 3%.
5. rail transit train Calculation of Positional Error as claimed in claim 1, is characterized in that: the edge Acquisition Error C gathering actual beacon radiofrequency signal positive rise is 0 ~ 10mm.
6. rail transit train Calculation of Positional Error as claimed in claim 1, is characterized in that: because the design accuracy error D rounding calculating in computation process is 0 ~ 1mm.
7. a rail transit train position calculating method, is characterized in that, comprises the following steps:
Calculating positive rise to first time that rail transit train first time receives localizer beacon signal receives the distance S that localizer beacon signal falling edge rail transit train walks;
This localizer beacon installation site Pdb is inquired about in track traffic train control system data bank;
Rail transit train position Pcurr=Pdb+1/2 × S.
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| CN201610043935.7A CN105501257B (en) | 2016-01-22 | 2016-01-22 | Rail transit train Calculation of Positional Error and its position calculating method |
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| CN201610043935.7A CN105501257B (en) | 2016-01-22 | 2016-01-22 | Rail transit train Calculation of Positional Error and its position calculating method |
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| CN112124365A (en) * | 2020-09-18 | 2020-12-25 | 交控科技股份有限公司 | Method and system for locating parking point of urban rail signal system |
| CN113734242A (en) * | 2021-10-13 | 2021-12-03 | 上海电气泰雷兹交通自动化系统有限公司 | Subway train accurate positioning method based on statistical characteristics |
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| CN112124365A (en) * | 2020-09-18 | 2020-12-25 | 交控科技股份有限公司 | Method and system for locating parking point of urban rail signal system |
| CN112124365B (en) * | 2020-09-18 | 2022-08-30 | 交控科技股份有限公司 | Method and system for locating parking point of urban rail signal system |
| CN113734242A (en) * | 2021-10-13 | 2021-12-03 | 上海电气泰雷兹交通自动化系统有限公司 | Subway train accurate positioning method based on statistical characteristics |
| CN113734242B (en) * | 2021-10-13 | 2023-05-12 | 上海电气泰雷兹交通自动化系统有限公司 | Subway train accurate positioning method based on statistical characteristics |
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| CN105501257B (en) | 2017-07-18 |
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