CN106515794B - The lasting modification method of train absolute position in subrange - Google Patents
The lasting modification method of train absolute position in subrange Download PDFInfo
- Publication number
- CN106515794B CN106515794B CN201610960809.8A CN201610960809A CN106515794B CN 106515794 B CN106515794 B CN 106515794B CN 201610960809 A CN201610960809 A CN 201610960809A CN 106515794 B CN106515794 B CN 106515794B
- Authority
- CN
- China
- Prior art keywords
- train
- distance measuring
- measuring sensor
- height
- difference
- 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.)
- Active
Links
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 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
Abstract
The invention discloses a kind of lasting modification methods of train absolute position in subrange, comprising: the difference in height positional matrix on ground will be installed on using the distance measuring sensor group measurement for being installed on car body；The relevant coded sequence in position is converted by the distance that distance measuring sensor group returns to calculate absolute position locating for train；Wherein, the difference in height positional matrix is the difference in height matrix of M*N, and basic Component units are the positioning unit with a certain height, and the positioning unit of each height is unique encodings；N number of distance measuring sensor is contained in the distance measuring sensor group.By the above method, the uncertainty of train operation distance can be made to be greatly reduced, DTO, UTO system can be increased substantially to the reliability and security of mark parking.
Description
Technical field
The present invention relates to train absolute positions in technical field of rail traffic more particularly to a kind of subrange persistently to repair
Correction method.
Background technique
GOA (Grade of Automatic) the automation grade of urban track traffic can be divided into 5 grades, GOA0
To GOA4.Mainstream control system CBTC (Communication Based Train Control System) system belongs at present
GOA2 grades, be 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 in station certainly
Before trend and move backward to realize train stopping to mark relative to shield door.But for automatic train protection system ATP
For (Automatic Train Protection), the acquisition of position from the amendment of the absolute position of ground transponder and comes
It is cumulative derived from the opposite offset distance of wheel shaft pulse or doppler velocity sensor.Due to wheel diameter to be considered not really
The inaccurate influence of qualitative and radar speed low speed, the opposite offset distance that multiple back-and-forth motion will cause train are probabilistic
It is cumulative.Vehicle-mounted ATP system is difficult to realize accurate position judgement.Such result eventually leads to train cannot be in DTO, UTO system
Repeatedly mobile adjustment, can not achieve and accurately stop to mark in lower realization station.
Currently, being mainly modified using the following two kinds mode to the absolute position of train:
The absolute update the system of train position has the following two kinds implementation at present, these modes cut both ways:
1) cross-inductive loop wire
Cable loop wire is laid with along entire track circuit, cable loop wire is located among track, hands over every a certain distance
Fork is primary.Train detects the phase change of signal in loop wire by mobile unit when passing through each cable crosspoint.And to phase
The number of variation is counted, so that it is determined that the distance of train operation, achievees the purpose that position train.The amendment essence of this scheme
Degree is limited to track inner loop-line arrangement distance interval.Simultaneously because the position of train, which calculates, is all derived from opposite first loop wire
The amendment of the absolute position in crosspoint, if train receives any one traffic circle point during back-and-forth motion and receives mistake
The then whole mistakes of subsequent calculating.
2) dot-mode transponder method
Transponder is arranged in railway line curb line.After train receives transponder message, repaired according to transponder number
The absolute position of positive train.Only using velocity sensor come cumulative opposite offset distance.Since transponder cannot be arranged intensively,
So the lasting amendment of train absolute position in subrange can not be realized.
Summary of the invention
The object of the present invention is to provide a kind of lasting modification method of train absolute position in subrange, can to arrange
The uncertainty of vehicle range ability is greatly reduced, and can increase substantially DTO, UTO system to the reliability and safety of mark parking
Property.
The purpose of the present invention is what is be achieved through the following technical solutions:
The lasting modification method of train absolute position in a kind of subrange, comprising:
The difference in height positional matrix on ground will be installed on using the distance measuring sensor group measurement for being installed on car body；
It is absolute locating for train to calculate that the relevant coded sequence in position is converted by the distance that distance measuring sensor group returns
Position；
Wherein, the difference in height positional matrix is the difference in height matrix of M*N, and basic Component units are with a certain height
Positioning unit, any N number of positioning unit can make up unique coded sequence；It is contained in the distance measuring sensor group N number of
Distance measuring sensor.
The distance that distance measuring sensor group is returned is converted into the relevant coded sequence in position to judge locating for train
Absolute position includes:
A unique coded sequence is obtained according to N number of positioning unit height value of N number of sensor measurement, in conjunction with height
The installation site information of poor positional matrix, to calculate absolute position locating for train.
N number of distance measuring sensor in the distance measuring sensor group uses 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 mounted on train set, the difference in height positional matrix is mounted on pillow among rail
The wooden top；
When the distance measuring sensor group is mounted on train body side, difference in height positional matrix installation same side
On the outside of rail.
As seen from the above technical solution provided by the invention, it by multiple and different positioning unit height subtractive combinations, obtains
To unique position encoded.Any position of train in the range can obtain absolute position that is accurate and meeting positioning accuracy
Set, and do not have to consider repeatedly be moved forward and backward as train caused by locational uncertainty increase, and then increase substantially DTO,
Reliability and security of the UTO system to mark parking.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the 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 group provided in an embodiment of the present invention in distance measuring sensor using linear array with it is non-
The schematic diagram of linear array.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
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
It specifically includes that
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 converts the distance that distance measuring sensor group returns to the relevant coded sequence in position to calculate locating for train
Absolute position.
In the embodiment of the present invention, the difference in height positional matrix is the difference in height matrix of M*N, and basic Component units are tool
There is the positioning unit of a certain height, the positioning unit of each height can be unique encodings；It is wrapped in the distance measuring sensor group
N number of distance measuring sensor is contained.System can obtain one uniquely according to N number of positioning unit height value of N number of sensor measurement
Coded sequence, in conjunction with the installation site information of difference in height positional matrix, to calculate absolute position locating for train
It is illustrated in figure 2, the difference in height matrix schematic diagram of 5*3；It can be simultaneously by distance measuring sensor group as shown in Figure 3
The altitude information of 3 positioning units is acquired, 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 used away from sensor.
In the embodiment of the present invention, the distance measuring sensor can for laser range sensor, ultrasonic range finder sensor or
It is vortexed 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；Ranging sensing
Device effective scope of detection is smaller, and diversity is smaller, and the width of positioning unit can be smaller.
In the embodiment of the present invention, difference in height is limited to the range accuracy of distance measuring sensor between positioning unit；Distance measuring sensor
Range accuracy it is higher, the difference in height between positioning unit can be smaller.The position encoded quantity that can be used is more.
In the embodiment of the present invention, positioning accuracy is limited to the width of positioning unit；By the width for reducing positional matrix unit
Degree, the positioning accuracy of Lai Tigao train.
In the embodiment of the present invention, positioning effective range is limited to length (the width * positioning square of positioning unit of positional matrix
The line number of battle array)；Distance measuring sensor group is installed on vehicle bottom, and positional matrix can be installed above rail intermediate tie, not between by sleeper
Away from limitation；
By changing distance measuring sensor group installation site and direction, positional matrix can also be installed on the outside of rail；Example
Such as, when the distance measuring sensor group is mounted on train body side, outside the rail of difference in height positional matrix installation same side
Side.
In the embodiment of the present invention, since position is from the position encoded of difference in height variation.The complexity of coding can be to prevent
Only errors present is provided due to detecting rail centre or outside existing equipment；It is specific: by increasing adjacent positioned unit
Difference in height variation range, it is possible to reduce the error of positioning；By increasing the code distance of adjacent rows location coding, increase the peace of positioning
Quan Xing；Distance measuring sensor redundant configuration can increase the safety and availability of positioning.
The above scheme of the embodiment of the present invention obtains unique position by multiple and different positioning unit height subtractive combinations
Coding.Any position of train in the range can obtain absolute position that is accurate and meeting positioning accuracy, and not have to examine
Consider the increase of locational uncertainty caused by being repeatedly moved forward and backward as train, and then increases substantially DTO, UTO system to mark
The reliability and security of parking.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
1. the lasting modification method of train absolute position in a kind of subrange characterized by comprising
The difference in height positional matrix on ground will be installed on using the distance measuring sensor group measurement for being installed on car body；
The relevant coded sequence in position is converted by the distance that distance measuring sensor group returns to calculate absolute position locating for train；
Wherein, the difference in height positional matrix is the difference in height matrix of M*N, and basic Component units are to determine with a certain height
Bit location, any N number of positioning unit can make up unique coded sequence；N number of ranging is contained in the distance measuring sensor group
Sensor；A unique coded sequence is obtained according to N number of positioning unit height value of N number of sensor measurement, in conjunction with height
The installation site information of poor positional matrix, to calculate absolute position locating for train；
Positioning effective range is limited to the length of difference in height positional matrix, and the length of difference in height positional matrix is the width of positioning unit
Spend the line number of * positional matrix.
2. the lasting modification method of train absolute position in a kind of subrange according to claim 1, which is characterized in that
N number of distance measuring sensor in the distance measuring sensor group uses linear array or nonlinear arrangement.
3. the lasting modification method of train absolute position in a kind of subrange according to claim 1, which is characterized in that
The distance measuring sensor is laser range sensor, ultrasonic range finder sensor or vortex distance measuring sensor.
4. the lasting modification method of train absolute position in a kind of subrange according to claim 1, which is characterized in that
When the distance measuring sensor group is mounted on train set, the difference in height positional matrix is mounted on rail intermediate tie
Side；
When the distance measuring sensor group is mounted on train body side, the rail of difference in height positional matrix installation same side
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 CN106515794A (en) | 2017-03-22 |
| CN106515794B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3093494B1 (en) * | 2019-03-08 | 2021-07-23 | Alstom Transp Tech | Rail positioning system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53104913A (en) * | 1977-02-25 | 1978-09-12 | Mitsubishi Electric Corp | Photoelectric sensor |
| CN101570204B (en) * | 2008-04-29 | 2012-07-25 | 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 |
| CN101934806B (en) * | 2010-09-07 | 2012-11-14 | 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 |
| CN102069824B (en) * | 2010-12-30 | 2013-03-13 | 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 |
| CN104527735B (en) * | 2014-12-30 | 2016-09-14 | 中国人民解放军国防科学技术大学 | Magnetic-levitation train based on F rail location and speed measuring device and method |
-
2016
- 2016-10-26 CN CN201610960809.8A patent/CN106515794B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515794A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107976697B (en) | Train safety positioning method and system based on Beidou/GPS combination | |
| CN106672025B (en) | A kind of train position finding and detection method and system based on dynamic adjustment | |
| US9663128B2 (en) | Location and/or direction of travel detection system and method | |
| CN109583407B (en) | Track detection positioning system based on combination of NFC technology and machine vision | |
| CN105667542B (en) | Rail transit train wheel footpath calibration method | |
| CN104527735B (en) | Magnetic-levitation train based on F rail location and speed measuring device and method | |
| EP1720754B1 (en) | Method and device for securely determining the position of an object | |
| CN101219673B (en) | Anti-collision system and corresponding method for train actively transmitting running information of the same | |
| CN109664916A (en) | Using Vehicle Controller as the train operation control system of core | |
| CN105398474B (en) | Beidou technology based intelligent real-time monitoring visualization management system for railway anti-slip iron brake shoe | |
| US9221478B2 (en) | Method and device for monitoring train integrity | |
| CN105738863B (en) | A kind of subway train based on distance measurement mode is accurately positioned and safety navigation system | |
| CN111114593A (en) | Subway train autonomous positioning device, system and method based on multivariate information fusion | |
| CN103158743A (en) | Rail train protection multifunctional method with positioning, velocity measurement and meter counting functions and the like | |
| CN109080666B (en) | Train continuous real-time positioning system and method | |
| CN104684785A (en) | Method for locating rail vehicle | |
| US11479282B2 (en) | Method, vehicle device and controller for operating a track-bound traffic system | |
| CN111776021A (en) | Method and system for realizing positioning verification of rail vehicle | |
| CN106515794B (en) | The lasting modification method of train absolute position in subrange | |
| CN110133697A (en) | A kind of high-precision localization method of GPS based on RSU detection technique | |
| KR102316770B1 (en) | Train Location Device and Method on railway lines | |
| CN113687396A (en) | Positioning processing method and device, positioning equipment, vehicle and storage medium | |
| KR101141357B1 (en) | Recognition and Correction of Location on Rail Track | |
| KR20020060892A (en) | Communication based automatic train control system and method | |
| KR200228612Y1 (en) | Communication based automatic train control system |
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 |