CN105857349A - Precise train positioning system based on comprehensive positioning - Google Patents
Precise train positioning system based on comprehensive positioning Download PDFInfo
- Publication number
- CN105857349A CN105857349A CN201610431198.8A CN201610431198A CN105857349A CN 105857349 A CN105857349 A CN 105857349A CN 201610431198 A CN201610431198 A CN 201610431198A CN 105857349 A CN105857349 A CN 105857349A
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- China
- Prior art keywords
- train
- location
- satellite
- positioning
- comprehensive
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Classifications
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
Abstract
The invention relates to a precise train positioning system based on comprehensive positioning. The precise train positioning system comprises a beidou satellite system, and further comprises a ground system and a vehicle-mounted system, wherein the ground system comprises a positioning service center for providing train route map information and a plurality of differential base stations for providing satellite positioning differential information for a train; the vehicle-mounted system comprises a positioning antenna, a positioning device and a vehicle-mounted computer which are connected in sequence; the positioning antenna is connected with the positioning service center, the differential base stations and the beidou satellite system; the positioning service center and the differential base stations are connected with the beidou satellite system; the positioning device receives a satellite signal of the beidou satellite system and differential information of the differential base stations, performs satellite positioning calculation to obtain train position data and sends the train position data to the vehicle-mounted computer. Compared with the prior art, the precise train positioning system disclosed by the invention has the advantages of precise positioning and the like.
Description
Technical field
The present invention relates to railway communication field, especially relating to a kind of being accurately positioned based on the comprehensive train positioned is
System.
Background technology
Current China Railway is in the high-speed developing period, runs, supporting the railway system, the numerous support skills developed
In art, location-based service has shown that its importance, particularly concerning the Train Detection and Identification of safety, dispatch control,
The position application systems such as safe early warning, propose practical demand to grasp train position accurate, real-time and running status.
The widely used distance measuring method that tests the speed of conventional train alignment system, by speed, location expression under one-dimensional coordinate system
Uniting, the velocity sensor being selectively mounted on Train Wheel moving axis realizes speed/range measurement, scheme is simple,
It is susceptible to interference.But, along with railway is intelligent, modernization development, related system structure function is increasingly sophisticated,
It is more and more harsher that train running speed and the grade of service promote the requirement to train location, wheel spin, skids, grinds
Consumption uniform velocity sensor speed-position detection restraining factors cause alignment system optimize in the urgent need to.With " transponder+
Velocity sensor " it is that the integrated mode of representative is successfully applied to high-speed railway, but, high construction maintenance cost
Cause the contradiction between its Cost And Performance, constrain the realization of autonomy and benefit in performance.
Based on " GPS technology+sensor auxiliary positioning " although method can to a certain degree reduce construction and safeguard into
This, but GPS is the exclusive technology of the U.S., and for other countries or area, satellite resource assignment problem becomes
This technology is as one of the Main Bottleneck of train positioning function solution.
The present invention is the train accurate positioning method of a kind of comprehensive location, and the method is by utilizing the epichorial Big Dipper
Alignment system aided inertial navigation and sensor device realize being accurately positioned of train.System is parsed into technically
Ripe reliable, feasibility is good, economically analysis project design and construction puts into less, is easier to implement.In social benefit
Analyze, Beidou navigation technology is combined with railway systems, has expanded the application market of triones navigation system, meet
The railway system is intelligent, modernization development demand, improves the safety of railroad train operation.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of based on comprehensive fixed
The train Precise Position System of position.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of train Precise Position System based on comprehensive location, including Beidou satellite system, also includes ground system
And onboard system, described ground system includes for providing the location service center of train line cartographic information and many
Individual for providing the difference base station of satellite fix difference information for train, described onboard system includes that be sequentially connected with determines
Position antenna, positioner and car-mounted computer, described location antenna respectively with location service center, difference base station and
Beidou satellite system connects, and described location service center and difference base station are all connected with Beidou satellite system；
Described positioner receives satellite-signal and the difference of difference base station of Beidou satellite system by location antenna
Information, obtains train location data and is sent to car-mounted computer after carrying out the resolving of satellite fix.
Described onboard system also includes for providing auxiliary positioning when the satellite-signal of Beidou satellite system is the best
Inertial navigation unit, this inertial navigation unit is connected with car-mounted computer；
Described positioner receives satellite-signal and the difference of difference base station of Beidou satellite system by location antenna
Information, obtains train location data after carrying out the resolving of satellite fix, car-mounted computer combines inertial navigation unit
Optimize train location data.
Described inertial navigation unit includes inertial sensor, velocity sensor and accelerometer.
Described onboard system also includes the input for man-machine interaction and display device, this input and display device and car
Borne computer connects.
Described input and display device include display.
The described location antenna same time is at least connected with two difference base stations.
Compared with prior art, the invention have the advantages that
1) have employed difference base station and provide satellite fix difference information for train, Beidou satellite system can be defended
Star signal is modified, and improves precision, simultaneously because differential signal by base station with the form of mobile communications network to
Train sends, and compares satellite-signal, can more stablize, compare transponder mode, can reduce cost.
2) inertial navigation unit can still complete location, for tunnel etc. distinguishingly when satellite signal strength is low
Shape still can complete the location to train, can be used for when satellite-signal is good improving precision simultaneously.
3) the location antenna same time is at least connected with two difference base stations, it is ensured that to Beidou satellite system
The reliability that satellite-signal is modified.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Wherein: 1, Beidou satellite system, 2, ground system, 3, onboard system, 11, big-dipper satellite, 21,
Location service center, 22, difference base station, 31, location antenna, 32, positioner, 33, car-mounted computer,
34, inertial navigation unit, 35, input and display device.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the technology of the present invention side
Implement premised on case, give detailed embodiment and concrete operating process, but the protection model of the present invention
Enclose and be not limited to following embodiment.
A kind of train Precise Position System based on comprehensive location, as it is shown in figure 1, include Beidou satellite system 1,
Also include ground system 2 and onboard system 3,
Beidou satellite system 1 mainly covers the second filial generation big-dipper satellite 11 in China overhead and forms, and the secondary Big Dipper is defended
Star 11 is system location information Data Source.Onboard system 3 plays a major role in position fixing process, i.e. arranges
Car independently positions.Ground system 2 provides location auxiliary for onboard system 3.
Onboard system 3 is the nucleus equipment of train location, and the main process of location is executed by.Onboard system 3
Mainly by car-mounted computer 33, positioner 32, location antenna 31, inertial navigation unit 34 and other sensings
Device and input and display device 35 (offer man machine interface) composition, location antenna 31, positioner 32 and vehicle-mounted
Computer 33 is sequentially connected with, and inertial navigation unit 34 and input and display device 35 are all and car-mounted computer in addition
33 connect.Positioner 32 carries out the resolving of satellite fix by the difference information of satellite-signal and current region,
It it is the Main Basis of location.Inertial navigation unit 34 and other sensors enter special environment (such as mountain area at train
Tunnel or without Big Dipper signal area) provide auxiliary location data information.Car-mounted computer 33 is according to satellite
The result of position combines other auxiliary information (including inertial navigation and data monitoring sensor thereof) and determines the accurate position of train
Put, and demarcate on map, interacted with train by input and display device 35, simultaneously also by defending
Star passage is uploaded data and is provided ground-based administrators's train position information.
Ground system 2 acts primarily as assosting effect in position fixing process.Ground system 2 is main by location service center
21, difference base station 22 and other auxiliary equipments composition, location service center 21 and difference base station 22 are all and the Big Dipper
Satellite system 1 connects, and is the most all connected with location antenna 31, and difference base station 22 mainly produces satellite fix difference
Information, and broadcast to mobile unit, to improve the degree of accuracy of train location.Ground difference base station 22 is according to location
Demand and circuit need to be configured, and are responsible for generating the location difference information of region within the jurisdiction；Terrestrial positioning service centre
Participate in the management of train data information, and the cartographic information of circuit is provided to train.
The location antenna 31 same time is at least connected with two difference base stations 22, and positioner 32 is by sky, location
Line 31 receives the satellite-signal of Beidou satellite system 1 and the difference information of difference base station, carries out the solution of satellite fix
Obtain train location data after calculation, car-mounted computer 33 combine inertial navigation unit 34 and optimize train location data.
In order to obtain location information the most reliably, in full traffic coverage, guarantee the safety of train location information, be
System uses the method for information fusion, utilizes inertial navigation unit 34 and multi sensor combination to carry out positioning safeguards.Group
Close positioning measurment system and include multiple sensors, such as inertial sensor, velocity sensor and acceleration etc..Various biographies
Sensor and communication terminal are all connected to car-mounted computer 33, car-mounted computer 33 reserved with vehicle-mounted row control equipment and
The interface of inquiry response device.In train integrated positioning system based on multisensor, different sensors can provide superfluous
Remaining location measurement information (positional information of broad sense includes train position, speed, course etc.), uses many sensings
Device data fusion method, comprehensive utilization multi-source information obtains optimum or the suboptimal estimation of train position amount, can be efficiently
Utilize these redundancies to complete solving of positioning result.
Onboard system 3 also includes the input for man-machine interaction and display device 35, this input and display device 35
It is connected with car-mounted computer 33.Input and display device 35 include display.
It is how to realize train pinpoint that practical work process according to the application is discussed in detail the method.
The application is in order to improve precision and the rapidity of system location, and system is by setting up the side of big-dipper satellite difference base station
Formula completes train based on dipper system and quickly positions.Location antenna 31 in onboard system directly receives ground
Neighbouring difference base station 22 information, it is achieved fast accurate positions.In Big Dipper positioner, distinctive RD+RN is many
Mould Big Dipper module, can complete the acquisition (RN module) of location information and positional information uploads (RD module).
Positioner 32 carries out satellite data capture during train high-speed cruising in real time and processes calculating, and will process
After data be sent to car-mounted computer 33.Meanwhile, inertial navigation unit 34 and other sensors obtain and also can obtain
Class train is about the data of positional information and sends the data to car-mounted computer 33.Car-mounted computer 33 can will obtain
The corresponding information taken melts merga pass integrated positioning algorithm and realizes train elaborate position data, and these data can pass through people
Machine interface is mutual with train operator, it is also possible in real time by satellite channel, data transmit terrestrial positioning service centre.
Ground-based administrators effectively supervises safe train operation according to train location data combined circuit cartographic information.
Claims (6)
1. a train Precise Position System based on comprehensive location, including Beidou satellite system (1), its feature
Being, also including ground system (2) and onboard system (3), described ground system includes for providing train-line
The location service center (21) of road cartographic information and multiple for providing the difference of satellite fix difference information for train
Dividing base station (22), described onboard system (3) includes location antenna (31), the positioner (32) being sequentially connected with
With car-mounted computer (33), described location antenna (31) respectively with location service center (21), difference base station (22)
Connecting with Beidou satellite system (1), described location service center (21) and difference base station (22) be equal and the Big Dipper
Satellite system (1) connects；
Described positioner (32) receives the satellite-signal of Beidou satellite system (1) by location antenna (31)
With the difference information of difference base station, obtain train location data after carrying out the resolving of satellite fix and be sent to vehicle-mounted meter
Calculation machine (33).
A kind of train Precise Position System based on comprehensive location the most according to claim 1, its feature exists
In, described onboard system (3) also includes for providing auxiliary when the satellite-signal of Beidou satellite system (1) is the best
Helping the inertial navigation unit (34) of location, this inertial navigation unit (34) is connected with car-mounted computer (33)；
Described positioner (32) receives the satellite-signal of Beidou satellite system (1) by location antenna (31)
With the difference information of difference base station, obtain train location data after carrying out the resolving of satellite fix, by car-mounted computer
(33) combine inertial navigation unit (34) and optimize train location data.
A kind of train Precise Position System based on comprehensive location the most according to claim 2, its feature exists
In, described inertial navigation unit (34) includes inertial sensor, velocity sensor and accelerometer.
4. according to described a kind of based on comprehensive location train Precise Position System arbitrary in claim 1-3,
It is characterized in that, described onboard system (3) also includes the input for man-machine interaction and display device (35), should
Input and display device (35) are connected with car-mounted computer (33).
A kind of train Precise Position System based on comprehensive location the most according to claim 2, its feature exists
In, described input and display device (35) include display.
A kind of train Precise Position System based on comprehensive location the most according to claim 1, its feature exists
In, described location antenna (31) the same time is at least connected with two difference base stations (22).
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| CN201610431198.8A CN105857349A (en) | 2016-06-17 | 2016-06-17 | Precise train positioning system based on comprehensive positioning |
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| CN201610431198.8A CN105857349A (en) | 2016-06-17 | 2016-06-17 | Precise train positioning system based on comprehensive positioning |
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| CN107809744A (en) * | 2017-11-29 | 2018-03-16 | 北京世纪晨数据技术有限责任公司 | A kind of vehicle transport device, positioner and method |
| CN108917793A (en) * | 2018-07-12 | 2018-11-30 | 北京交通大学 | The INS calibration system and method assisted using GNSS and DTM |
| CN109572760A (en) * | 2018-12-28 | 2019-04-05 | 中铁电气化局集团有限公司 | A kind of train curve driving mileage precise positioning method based on dipper system |
| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| CN110217246A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle carried pick device, method and railway freight-car |
| CN110441804A (en) * | 2019-08-14 | 2019-11-12 | 湖南中车时代通信信号有限公司 | A kind of method and system of locomotive intelligent driving precise positioning |
| CN111071304A (en) * | 2019-12-28 | 2020-04-28 | 卡斯柯信号有限公司 | Train-mounted speed measurement positioning system and method based on satellite |
| CN113589803A (en) * | 2021-06-29 | 2021-11-02 | 卡斯柯信号有限公司 | Tramcar automatic driving system based on train autonomous operation |
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| CN109572760A (en) * | 2018-12-28 | 2019-04-05 | 中铁电气化局集团有限公司 | A kind of train curve driving mileage precise positioning method based on dipper system |
| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| CN109677466B (en) * | 2019-01-18 | 2024-04-16 | 卡斯柯信号有限公司 | Automatic control system of light train for China heavy haul railway |
| CN110217246A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle carried pick device, method and railway freight-car |
| CN110441804A (en) * | 2019-08-14 | 2019-11-12 | 湖南中车时代通信信号有限公司 | A kind of method and system of locomotive intelligent driving precise positioning |
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| CN111071304A (en) * | 2019-12-28 | 2020-04-28 | 卡斯柯信号有限公司 | Train-mounted speed measurement positioning system and method based on satellite |
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