CN106515794A - Continuous correction method for absolute position of train in local scope - Google Patents
Continuous correction method for absolute position of train in local scope Download PDFInfo
- Publication number
- CN106515794A CN106515794A CN201610960809.8A CN201610960809A CN106515794A CN 106515794 A CN106515794 A CN 106515794A CN 201610960809 A CN201610960809 A CN 201610960809A CN 106515794 A CN106515794 A CN 106515794A
- Authority
- CN
- China
- Prior art keywords
- train
- distance measuring
- measuring sensor
- absolute position
- height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 7
- 238000012937 correction Methods 0.000 title abstract description 5
- 239000011159 matrix material Substances 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000002045 lasting effect Effects 0.000 claims description 11
- 238000002715 modification method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 241001669679 Eleotris Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a continuous correction method for the absolute position of a train in a local scope. The continuous correction method comprises the steps that a height difference positional matrix mounted on the ground is measured through a distance measurement sensor set mounted on a vehicle body; and the distance fed back by the distance measurement sensor set is converted into a coded sequence relative to positions to calculate the absolute position where the train is located, wherein the height difference positional matrix is a height difference matrix with the length being M and the width being N, basic component units of the height difference positional matrix are positioning units of certain heights, the positioning unit of each height has a unique code, and the distance measurement sensor set comprises N distance measurement sensors. Through the continuous correction method, the uncertainty of the train operation distance can be greatly lowered, and the reliability and safety of benchmarking parking of a driverless train operation (DTO) system and an unattended train operation (UTO) system can be greatly improved.
Description
Technical field
The present invention relates to train absolute position is persistently repaiied in technical field of rail traffic, more particularly to a kind of subrange
Correction method.
Background technology
GOA (Grade of Automatic) the automations grade of urban track traffic can be divided into 5 grades, GOA0
To GOA4.Main flow control system CBTC (Communication Based Train Control System) system belongs at present
GOA2 levels, are a kind of semi-automatic driving system STO (Semi-automated train operation).Belong to GOA3 without department
Machine Attended mode Train automated driving system DTO (Driverless train operation) and the unmanned value for belonging to GOA4
Train automated driving system UTO (Unattended train operation) under keeping, requires that train can be interior certainly at station
Before trend and it is moved rearward to realize that train stops to mark relative to shield door.But for automatic train protection system ATP
For (Automatic Train Protection), the acquisition of position is corrected and is come from the absolute position of ground transponder
The relative offset distance for coming from wheel shaft pulse or doppler velocity sensor adds up.As the not true of wheel diameter is considered
The inaccurate impact of qualitative and radar speed low speed, the multiple movable relative offset distance that can cause train are probabilistic
It is cumulative.Vehicle-mounted ATP system is difficult to accurate position judgment.This kind of result ultimately results in train can not be in DTO, UTO system
It is lower to realize repeatedly mobile adjustment in station, it is impossible to realize accurately stopping mark.
At present, mainly the absolute position of train is modified using the following two kinds mode：
The absolute update the system of train position has the following two kinds implementation at present, and these modes cut both ways：
1) cross-inductive loop wire
Cable loop wire is laid along the line in whole track circuit, and cable loop wire is located in the middle of track, is handed over every a certain distance
Fork is once.Train detects the phase place change of signal in loop wire by mobile unit when passing through each cable crosspoint.And to phase place
The number of times of change is counted, so that it is determined that the distance of train operation, reaches the purpose to train positioning.The amendment essence of this scheme
Degree is limited to track inner loop-line arrangement distance interval.Simultaneously because the position calculation of train is all derived from relative first loop wire
The amendment of the absolute position in crosspoint, if train receives any one traffic circle point during movable and receives mistake
Then follow-up calculating whole mistake.
2) dot-mode transponder method
Transponder is arranged in railway line curb line.After train receives transponder message, repaiied according to transponder numbering
The absolute position of positive train.Only using velocity sensor come cumulative relative offset distance.As transponder intensive can not be arranged,
So the lasting amendment of train absolute position in subrange can not be realized.
The content of the invention
It is an object of the invention to provide in a kind of subrange train absolute position lasting modification method, can cause row
The uncertainty of car range ability is greatly reduced, and can increase substantially reliability and safety that DTO, UTO system is stopped to mark
Property.
The purpose of the present invention is achieved through the following technical solutions：
The lasting modification method of train absolute position in a kind of subrange, including：
By the difference in height positional matrix for utilizing the distance measuring sensor group measurement for being installed on car body to be installed on ground；
The distance that distance measuring sensor group is returned is converted into into the related coded sequence in position absolute residing for train to calculate
Position；
Wherein, difference in height matrix of the difference in height positional matrix for M*N, its basic Component units is with a certain height
Positioning unit, arbitrarily N number of positioning unit can make up unique coded sequence；Contain in the distance measuring sensor group N number of
Distance measuring sensor.
It is described to be converted into the related coded sequence in position to judge residing for train by the distance that distance measuring sensor group is returned
Absolute position includes：
One unique coded sequence is highly worth to according to N number of positioning unit of N number of sensor measurement, in conjunction with height
The installation site information of difference positional matrix, so as to calculate the absolute position residing for train.
N number of distance measuring sensor in the distance measuring sensor group adopts linear array or nonlinear arrangement.
The distance measuring sensor is laser range sensor, ultrasonic range finder sensor or vortex distance measuring sensor.
When the distance measuring sensor group is arranged on train set, the difference in height positional matrix is arranged in the middle of rail and rests the head on
Wooden top；
When the distance measuring sensor group is arranged on train body side, the difference in height positional matrix installs phase homonymy
On the outside of rail.
As seen from the above technical solution provided by the invention, by multiple different positioning unit height subtractive combinations, obtain
To unique position encoded.Train optional position within the range can obtain accurately and meet the absolute position of positioning precision
Put, and without considering due to the increase of the multiple movable locational uncertainty for causing of train, so increase substantially DTO,
The reliability and security that UTO systems are stopped to mark.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to using needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the flow process of the lasting modification method of train absolute position in a kind of subrange provided in an embodiment of the present invention
Figure.
Fig. 2 is the difference in height matrix schematic diagram of 5*3 provided in an embodiment of the present invention；
Fig. 3 be distance measuring sensor in distance measuring sensor group provided in an embodiment of the present invention using linear array with it is non-
The schematic diagram of linear array.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on this
Inventive embodiment, the every other enforcement obtained under the premise of creative work is not made by those of ordinary skill in the art
Example, belongs to protection scope of the present invention.
The embodiment of the present invention provides a kind of lasting modification method of train absolute position in subrange, as shown in figure 1, its
Mainly include：
Step 11, the difference in height positional matrix that ground is installed on using the distance measuring sensor group measurement for being installed on car body；
Step 12, the distance that distance measuring sensor group is returned is converted into the related coded sequence in position to calculate residing for train
Absolute position.
In the embodiment of the present invention, difference in height matrix of the difference in height positional matrix for M*N, its basic Component units are tool
There is the positioning unit of a certain height, the positioning unit of each height can be unique encodings；Wrap in the distance measuring sensor group
N number of distance measuring sensor is contained.System can highly be worth to one uniquely according to N number of positioning unit of N number of sensor measurement
Coded sequence, in conjunction with the installation site information of difference in height positional matrix, so as to calculate the absolute position residing for train
It is illustrated in figure 2, the difference in height matrix schematic diagram of 5*3；Can be simultaneously by distance measuring sensor group as shown in Figure 3
The altitude information of 3 positioning units of collection, so as to constitute unique coded sequence.As shown in figure 3, the survey in distance measuring sensor group
Linear array (Fig. 3 a) or nonlinear arrangement (Fig. 3 b) can be adopted away from sensor.
In the embodiment of the present invention, the distance measuring sensor can for laser range sensor, ultrasonic range finder sensor or
Vortex distance measuring sensor；Different types of sensor has different effective scope of detection.
In the embodiment of the present invention, the restricted width of positioning unit is in the effective range of distance measuring sensor；Range finding sensing
Device effective scope of detection is less, and diversity is less, and the width of positioning unit just can be less.
In the embodiment of the present invention, between positioning unit, difference in height is limited to the range accuracy of distance measuring sensor；Distance measuring sensor
Range accuracy it is higher, the difference in height between positioning unit just can be less.The position encoded quantity that can be used is more.
In the embodiment of the present invention, positioning precision is limited to the width of positioning unit；By the width for reducing positional matrix unit
Degree, improves the positioning precision of train.
In the embodiment of the present invention, length (the width * positioning squares of positioning unit that effective range is limited to positional matrix are positioned
The line number of battle array)；Distance measuring sensor group is installed on underbody, and positional matrix can be installed above rail intermediate tie, not by between sleeper
Away from restriction；
By changing distance measuring sensor group installation site and direction, it is also possible to which positional matrix is installed on the outside of rail；Example
Such as, when the distance measuring sensor group is arranged on train body side, the difference in height positional matrix is installed outside the rail of phase homonymy
Side.
In the embodiment of the present invention, as position is from the position encoded of difference in height change.The complexity of coding can in case
Only due to detect in the middle of rail or outside existing equipment and provide errors present；Specifically：By increasing adjacent positioned unit
Difference in height excursion, it is possible to reduce the error of positioning；By the code distance for increasing adjacent lines location coding, increase the peace of positioning
Quan Xing；Distance measuring sensor redundant configuration can increase the security and availability of positioning.
The such scheme of the embodiment of the present invention, by multiple different positioning unit height subtractive combinations, obtains unique position
Coding.Train optional position within the range can obtain accurately and meet the absolute position of positioning precision, and without examining
Consider and the increase of the locational uncertainty for causing repeatedly is moved forward and backward due to train, and then DTO, UTO system is increased substantially to mark
The reliability and security of parking.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (5)
1. in a kind of subrange train absolute position lasting modification method, it is characterised in that include：
By the difference in height positional matrix for utilizing the distance measuring sensor group measurement for being installed on car body to be installed on ground；
The distance that distance measuring sensor group is returned is converted into the related coded sequence in position to calculate the absolute position residing for train；
Wherein, difference in height matrix of the difference in height positional matrix for M*N, its basic Component units is determining with a certain height
Bit location, arbitrarily N number of positioning unit can make up unique coded sequence；N number of range finding is contained in the distance measuring sensor group
Sensor.
2. in a kind of subrange according to claim 1 train absolute position lasting modification method, it is characterised in that
It is described to be converted into the related coded sequence in position to judge the absolute position residing for train by the distance that distance measuring sensor group is returned
Including：
One unique coded sequence is highly worth to according to N number of positioning unit of N number of sensor measurement, it is fixed in conjunction with difference in height
The installation site information of bit matrix, so as to calculate the absolute position residing for train.
3. in a kind of subrange according to claim 1 train absolute position lasting modification method, it is characterised in that
N number of distance measuring sensor in the distance measuring sensor group adopts linear array or nonlinear arrangement.
4. in a kind of subrange according to claim 1 train absolute position lasting modification method, it is characterised in that
The distance measuring sensor is laser range sensor, ultrasonic range finder sensor or vortex distance measuring sensor.
5. in a kind of subrange according to claim 1 train absolute position lasting modification method, it is characterised in that
When the distance measuring sensor group is arranged on train set, the difference in height positional matrix is arranged on rail intermediate tie
Side；
When the distance measuring sensor group is arranged on train body side, the difference in height positional matrix installs the rail of phase homonymy
Outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610960809.8A CN106515794B (en) | 2016-10-26 | 2016-10-26 | The lasting modification method of train absolute position in subrange |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610960809.8A CN106515794B (en) | 2016-10-26 | 2016-10-26 | The lasting modification method of train absolute position in subrange |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515794A true CN106515794A (en) | 2017-03-22 |
| CN106515794B CN106515794B (en) | 2019-06-04 |
Family
ID=58326158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610960809.8A Active CN106515794B (en) | 2016-10-26 | 2016-10-26 | The lasting modification method of train absolute position in subrange |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515794B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3093494A1 (en) * | 2019-03-08 | 2020-09-11 | Alstom Transport Technologies | Rail positioning system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53104913A (en) * | 1977-02-25 | 1978-09-12 | Mitsubishi Electric Corp | Photoelectric sensor |
| CN101570204A (en) * | 2008-04-29 | 2009-11-04 | 黄金富 | Unconventional signal system for ceaselessly automatically transmitting train location outwards by train |
| CN201566655U (en) * | 2009-11-23 | 2010-09-01 | 北京大成通号轨道交通设备有限公司 | Train stopping position detection system |
| CN101934806A (en) * | 2010-09-07 | 2011-01-05 | 中国人民解放军国防科学技术大学 | High-precision speed measurement positioning method and system for medium and low-speed maglev trains |
| CN102069824A (en) * | 2010-12-30 | 2011-05-25 | 北京交通大学 | Positioning device and method for rail traffic vehicle |
| CN103029725A (en) * | 2011-09-30 | 2013-04-10 | 无锡协讯科技有限公司 | Positioning device and positioning method in program reference table (PRT) system |
| CN103818407A (en) * | 2014-02-13 | 2014-05-28 | 南京邮电大学 | Method for positioning rail vehicles in real time on basis of radio frequency identification |
| CN104527735A (en) * | 2014-12-30 | 2015-04-22 | 中国人民解放军国防科学技术大学 | Magnetic-levitation train positioning and speed measuring device and method based on F rail |
-
2016
- 2016-10-26 CN CN201610960809.8A patent/CN106515794B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53104913A (en) * | 1977-02-25 | 1978-09-12 | Mitsubishi Electric Corp | Photoelectric sensor |
| CN101570204A (en) * | 2008-04-29 | 2009-11-04 | 黄金富 | Unconventional signal system for ceaselessly automatically transmitting train location outwards by train |
| CN201566655U (en) * | 2009-11-23 | 2010-09-01 | 北京大成通号轨道交通设备有限公司 | Train stopping position detection system |
| CN101934806A (en) * | 2010-09-07 | 2011-01-05 | 中国人民解放军国防科学技术大学 | High-precision speed measurement positioning method and system for medium and low-speed maglev trains |
| CN102069824A (en) * | 2010-12-30 | 2011-05-25 | 北京交通大学 | Positioning device and method for rail traffic vehicle |
| CN103029725A (en) * | 2011-09-30 | 2013-04-10 | 无锡协讯科技有限公司 | Positioning device and positioning method in program reference table (PRT) system |
| CN103818407A (en) * | 2014-02-13 | 2014-05-28 | 南京邮电大学 | Method for positioning rail vehicles in real time on basis of radio frequency identification |
| CN104527735A (en) * | 2014-12-30 | 2015-04-22 | 中国人民解放军国防科学技术大学 | Magnetic-levitation train positioning and speed measuring device and method based on F rail |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3093494A1 (en) * | 2019-03-08 | 2020-09-11 | Alstom Transport Technologies | Rail positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515794B (en) | 2019-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106672025B (en) | A kind of train position finding and detection method and system based on dynamic adjustment | |
| CN109583407B (en) | Track detection positioning system based on combination of NFC technology and machine vision | |
| CN105667542B (en) | Rail transit train wheel footpath calibration method | |
| CN1926020B (en) | Method and system for determining the position of an object moving along a course | |
| CN103158743A (en) | Rail train protection multifunctional method with positioning, velocity measurement and meter counting functions and the like | |
| CN102139704A (en) | High-accuracy train positioning system based on radio frequency technology and positioning method thereof | |
| CN103612649A (en) | Method and device for accurately positioning trains on basis of laser Doppler velocity measurement | |
| US10919550B2 (en) | Method and positioning device for determining the position of a track-guided vehicle, in particular a rail vehicle | |
| CN109080666B (en) | Train continuous real-time positioning system and method | |
| KR101186345B1 (en) | railway vehicle's running distance measuring system | |
| CN101219673A (en) | Anti-collision system and corresponding method for train actively transmitting running information of the same | |
| CN108146467A (en) | A kind of magnetic-levitation train is accurately positioned auxiliary device and method | |
| CN110553663A (en) | Comprehensive track detection method and system based on RFID (radio frequency identification) positioning technology | |
| CN113276911B (en) | Method and system for detecting position of suspension type monorail vehicle section train | |
| CN104684785A (en) | Method for locating rail vehicle | |
| CN111776021A (en) | Method and system for realizing positioning verification of rail vehicle | |
| CN111094104B (en) | Detecting and optimizing stop point accuracy for a vehicle | |
| CN106515794A (en) | Continuous correction method for absolute position of train in local scope | |
| CN202110276U (en) | Laser distance measuring device of coke oven locomotive | |
| GB2582936A (en) | Sensor based trackside train measuring system | |
| CN111776011B (en) | Railway train positioning-based track circuit shunt fault detection method | |
| KR102316770B1 (en) | Train Location Device and Method on railway lines | |
| KR101141357B1 (en) | Recognition and Correction of Location on Rail Track | |
| CN208593396U (en) | The monitoring system of gapless rail temperature stress | |
| CN114454726B (en) | Parking positioning method, system and storage medium for maglev train |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 2, No. two, No. 2, Da Liu Shu Road, Beijing, Beijing Applicant after: Communication signal Research Institute of China Railway Research Institute Group Co., Ltd. Applicant after: China Railway Scientific Research Institute Group Co., Ltd. Applicant after: Beijing Huatie Information Technology Co., Ltd. Applicant after: Beijing Ruichi Guotie Intelligent Transport Systems Engineering Technology Co.,Ltd. Address before: 100081 Institute of communication and signal, Chinese Academy of Railway Sciences, 2, Da Liu Shu Lu, Haidian District, Beijing, China Applicant before: Signal & Communication Research Institute, China Academy of Railway Sciences Applicant before: China Academy of Railway Sciences Applicant before: Huatie Information Technology Development General Co., Beijing Applicant before: Beijing Ruichi Guotie Intelligent Transport Systems Engineering Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |