CN106627666B - Wheel of railway self running device key point prevention and control device and method based on satellite positioning - Google Patents
Wheel of railway self running device key point prevention and control device and method based on satellite positioning Download PDFInfo
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- CN106627666B CN106627666B CN201610919849.8A CN201610919849A CN106627666B CN 106627666 B CN106627666 B CN 106627666B CN 201610919849 A CN201610919849 A CN 201610919849A CN 106627666 B CN106627666 B CN 106627666B
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- prevention
- wheel
- control
- running device
- control point
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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
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0018—Communication with or on the vehicle or vehicle train
- B61L15/0027—Radio-based, e.g. using GSM-R
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
- B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
-
- 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
Abstract
Differential corrections data are sent to mobile terminal by the invention discloses a kind of wheel of railway self running device key point prevention and control device and method based on satellite positioning, including difference station and mobile terminal, difference station；Mobile terminal is installed on wheel of railway self running device, and the real-time range of wheel of railway self running device with the key point for needing prevention and control is calculated according to real-time coordinates, carries out corresponding control vehicle movement according to the real-time range of mobile terminal to prevention and control point.The present invention designs independently, does not need and railway other systems carry out data communication；It is low in cost, it does not need that any ground installation is installed；Amount of surveying and mapping work is few, it is only necessary to survey and draw prevention and control point and the preceding station track trend of prevention and control point；Positioning accuracy is high, and using multimode differential carrier phase technology, positioning accuracy is less than 1 meter.
Description
Technical field
The present invention relates to wheel of railway self running device more particularly to a kind of wheel of railway self running devices based on satellite positioning
The device and method of key point prevention and control.
Background technique
Railway locomotive is completely in the state that driver artificially controls, there are more security risks, especially under shunting mode
It is that no parking that the ground key such as mark is anti-to yard station circle, contact net terminal, blind siding, safety line, fixed derailer, contact net
Point is controlled, controls vehicle automatically because can not achieve, when shunting service repeated accident.As locomotive more misses the stop boundary, electric locomotive without voucher
Cross the terminal of contact net, locomotive knocks blind siding and safety line soil is kept off, locomotive loads onto fixed derailer, electric locomotive is contacting
Net no parking mark nearby parking etc., cause serious consequence.In addition to locomotive, other wheel of railway self running devices for example locomotive, motor-car,
Railcar, operation vehicle for contact wire, work business large-scale maintenance machinery etc. also have same problem.
Current main solution has following two:
1, hardware device (dot-mode transponder or magnet steel) is installed below the rail of certain distance before prevention and control point.When railway from
When wheel running device passes through, vehicle-mounted prevention and control device just can perceive the hardware device, and carry out corresponding control vehicle movement.The party
The main problem of case is:
A, it needs that hardware device is installed below all prevention and control points of all yards, lower deployment cost is high；
It, just must be to hardware device mobile on rail, maintenance once b, yard has any change of prevention and control point position generation
It is at high cost；
C, hardware is installed on rail, may be stolen or by shift position, equipment is caused to can not work normally.It is easy to be broken
It is bad, poor reliability.
D, equipment to be installed under track, needs the multiple interagency coordinations of same railway, deployment difficulty is high.
2, measurement track switch exports total distance apart from prevention and control point in advance, according to the state analysis of track switch go out oneself it is current whether
Enter the station track where prevention and control point.Wheel of railway self running device go out after track switch according to vehicle wheel speed pulse transducer and front and back into
Gear state calculates the distance of oneself advance, calculates oneself and carries out with the real-time range between prevention and control point, and at different distances
Corresponding movement.The main problem of the program is:
A, scheme is complicated, it is necessary to obtain the state of track switch, it is necessary to data communication is carried out between other systems；It needs to connect
The front and back of wheel of railway self running device is connect into gear state information；
B, at high cost, it is necessary to which that wheel speed pulse transducer is installed；
C, lower deployment cost is high, and equipment storage data quantity is big, needs to store the detailed plan view of all yards.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of wheel of railway self running device pass based on satellite positioning
The anti-of wheel of railway self running device key point can be realized in conjunction with the simple surveying and mapping data of prevention and control point in key point prevention and control device and method
Control.
For this purpose, first aspect present invention provides a kind of wheel of railway self running device key point prevention and control dress based on satellite positioning
It sets, including difference station and mobile terminal.
Difference station includes the first high-precision GNSS satellite positioning module, the first wireless communication module and the first embedding assembly
Unit composition；First high-precision GNSS satellite positioning module provides positioning and output difference corrects data, the first embedding assembly
Unit receives the differential corrections data, and differential corrections data are sent to mobile terminal by the first wireless communication module.
Mobile terminal is installed on wheel of railway self running device, including the second high-precision GNSS satellite positioning module, prevention and control point
Surveying and mapping data module, the second wireless communication module and the second embedding assembly unit；Second wireless communication module, which receives, carrys out autodyne
The differential corrections data of substation；Prevention and control point surveying and mapping data module obtains prevention and control point coordinate and station track trend, the second high-precision in real time
The high-precision real-time coordinates at GNSS satellite locating module combination differential corrections data output mobile end, the second embedding assembly unit
The relationship for receiving the real-time coordinates and being moved towards according to the real-time coordinates with prevention and control point coordinate and station track calculates wheel of railway self operating and sets
It is standby current whether on the station track before prevention and control point, according to real-time coordinates calculate wheel of railway self running device and prevention and control point it is real-time away from
From according to the corresponding control vehicle movement of the real-time range of mobile terminal to prevention and control point progress.
First wireless communication module and second wireless communication module are data radio station, GPRS 3G/4G mould
Block.
Preferably, surveying and mapping data is the set of one group of coordinate, number of coordinates at least two；Rail trend before prevention and control point is such as
There is bend, then indicated with the mode of broken line, and the angle of adjacent segments is greater than 170 ° in broken line.
Second aspect of the present invention provides a kind of wheel of railway self running device key point prevention and control calculating side based on satellite positioning
Method includes the following steps:
A, three point B, C, D before prevention and control point A, prevention and control point are surveyed and drawn, A, B, C, D connection are indicated that track moves towards with broken line, and
Obtaining 4 points of the coordinate is respectively A (X0,Y0)、B(X1,Y1)、C(X2,Y2) and D (X3,Y3)；
B, make the parallel lines of two broken lines at two lateral extent L of broken line, cross the last one point of prevention and control point A and track trend
D makees vertical line, forms a polygon；If the positioning coordinate of mobile terminal is within the scope of the polygon, then it is assumed that mobile terminal enters anti-
Control track-bound；
C, the distance of deceleration is set as LR, the distance of braking is LB, wheel of railway self running device calculates the real-time seat of oneself in real time
The linear distance between prevention and control point coordinate is marked, when wheel of railway self running device moves closer to prevention and control point, distance is across LRWhen, hair
Reduce-speed sign out, wheel of railway self running device slow down；Distance is across LBWhen, brake signal is issued, wheel of railway self running device stops
Vehicle.
Based on above-mentioned disclosure, compared with prior art, the present invention is designed independently, does not need and railway other systems carry out
Data communication；It is low in cost, it does not need that any ground installation is installed；Amount of surveying and mapping work is few, it is only necessary to survey and draw prevention and control point and prevention and control
The preceding station track trend of point；Positioning accuracy is high, and using multimode differential carrier phase technology, positioning accuracy is less than 1 meter.
Detailed description of the invention
Fig. 1 is the structural frames of the wheel of railway self running device key point prevention and control device provided by the invention based on satellite positioning
Figure；
Fig. 2 is the schematic diagram of mapped point of the present invention；
Fig. 3 is the schematic diagram of prevention and control track-bound of the present invention；
Fig. 4 is that prevention and control distance of the present invention calculates schematic diagram.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
Referring to Fig. 1, the present invention provides a kind of wheel of railway self running device key point prevention and control device based on satellite positioning,
Including difference station 1 and mobile terminal 2.
Difference station 1 includes the first high-precision GNSS satellite positioning module 11 being fixedly mounted, the first wireless communication module 12
It is formed with the first embedding assembly unit 13；First high-precision GNSS satellite positioning module 11 provides positioning and output difference amendment
Data, the first embedding assembly unit 13 receives the differential corrections data, and is repaired difference by the first wireless communication module 12
Correction data is sent to mobile terminal 2.
Mobile terminal 2 is installed on wheel of railway self running device, including the second high-precision GNSS satellite positioning module 21, prevention and control
Point surveying and mapping data module 22, the second wireless communication module 23 and the second embedding assembly unit 24；Second wireless communication module 23
The differential corrections data for coming self difference station 1 are received, prevention and control point surveying and mapping data module 22 obtains prevention and control point coordinate in real time and station track is walked
To the second high-precision GNSS satellite positioning module 21 combines the high-precision real less than 1 meter at differential corrections data output mobile end 2
When coordinate, the second embedding assembly unit 24 receive the real-time coordinates simultaneously walked according to the real-time coordinates with prevention and control point coordinate and station track
To relationship, calculate wheel of railway self running device currently whether on the station track before prevention and control point, calculate railway according to real-time coordinates
From the real-time range of wheel running device and prevention and control point, it is dynamic that corresponding control vehicle is carried out according to the real-time range of mobile terminal 2 to prevention and control point
Make.It should be noted that satellite positioning module, wireless communication module involved in the present invention and embedding assembly unit can be with
Using the prior art or ready-made board is used, its structure and function are no longer repeated herein.
First wireless communication module 12 and second wireless communication module 23 are data radio station, GPRS or 3G/
4G module.
Surveying and mapping data is the set of one group of coordinate, number of coordinates at least two；Rail before prevention and control point is moved towards if any bend,
It is then indicated with the mode of broken line, and the angle of adjacent segments is greater than 170 ° in broken line.
Wheel of railway self running device key point prevention and control calculation method based on satellite positioning, includes the following steps:
A, referring to Fig. 2, first mapping needs three point B, C, D before the key point A of prevention and control, prevention and control point, with broken line by A, B,
C, D connection indicates track trend, and obtaining 4 points of the coordinate is respectively A (X0,Y0)、B(X1,Y1)、C(X2,Y2) and D (X3,
Y3)。
B, make the parallel lines of two broken lines at two lateral extent L of broken line, two lateral extent L of broken line generally takes 2 meters of (adjacent orbits
Minimum spacing is 4 meters).The last one point D for crossing prevention and control point A and track trend makees vertical line, one polygon of composition, such as Fig. 3,
In: line segment A1B1、AB、A2B2It is parallel to each other；B1C1、BC、B2C2It is parallel to each other；C1D1、CD、C2D2It is parallel to each other；Between parallel lines
Away from for L；Line segment A1A2It is vertical with AB；Line segment D1D2It is vertical with CD；The polygon row is formed with this.
If the positioning coordinate of mobile terminal within the scope of the polygon, then mobile terminal positioning the coordinate distance track away from
From centainly less than 2 meters, then it is assumed that mobile terminal enters prevention and control track-bound；Since the precision of positioning is less than 1 meter, it is believed that iron
Road is from wheel running device at this time just on the station track before prevention and control point.
C, the distance of deceleration is set as LR, the distance of braking is LB, wheel of railway self running device calculates the real-time seat of oneself in real time
Mark the linear distance between prevention and control point A coordinate.When wheel of railway self running device moves closer to prevention and control point, distance is across LRWhen,
Reduce-speed sign is issued, wheel of railway self running device slows down；Distance is across LBWhen, issue brake signal, wheel of railway self running device
Parking.
Selection calculates the reason of linear distance are as follows:
1, since the distance maximum of " prevention and control track-bound " is generally 150 meters to 200 meters, even if railway is at 150 meters to 200
Maximum bend radian in rice, the error maximum for directly calculating linear distance and calculating fold line distance do not exceed 5 meters, exist completely
In the error range of permission；
2, fold line distance is centainly greater than linear distance, that is to say, that actual range is centainly not less than calculated distance, meter
Calculation linear distance may result in controls vehicle in advance, this is also consistent with the theory of railway " guiding safety ".
Based on above-mentioned disclosure, compared with prior art, the present invention is designed independently, does not need and railway other systems carry out
Data communication；It is low in cost, it does not need that any ground installation is installed；Amount of surveying and mapping work is few, it is only necessary to survey and draw prevention and control point and prevention and control
The preceding station track trend of point；Positioning accuracy is high, and using multimode differential carrier phase technology, positioning accuracy is less than 1 meter.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of wheel of railway self running device key point prevention and control device based on satellite positioning, which is characterized in that including difference station
The mobile terminal and, in which:
Difference station includes the first high-precision GNSS satellite positioning module, the first wireless communication module and the first embedding assembly list
Member；First high-precision GNSS satellite positioning module provides positioning and output difference corrects data, and the first embedding assembly unit connects
The differential corrections data are received, and differential corrections data are sent to by mobile terminal by the first wireless communication module；
Mobile terminal is installed on wheel of railway self running device, including the mapping of the second high-precision GNSS satellite positioning module, prevention and control point
Data module, the second wireless communication module and the second embedding assembly unit；Second wireless communication module, which receives, comes self difference station
Differential corrections data；Prevention and control point surveying and mapping data module obtains prevention and control point coordinate and station track trend, the second high-precision GNSS in real time
The high-precision real-time coordinates at satellite positioning module combination differential corrections data output mobile end, the second embedding assembly unit receive
The real-time coordinates and the relationship moved towards according to the real-time coordinates with prevention and control point coordinate and station track, calculate wheel of railway self running device and work as
It is preceding that the real-time range of wheel of railway self running device and prevention and control point is calculated according to real-time coordinates whether on the station track before prevention and control point,
Corresponding control vehicle movement is carried out according to the real-time range of mobile terminal to prevention and control point.
2. the wheel of railway self running device key point prevention and control device according to claim 1 based on satellite positioning, feature
It is, first wireless communication module and second wireless communication module are data radio station, GPRS 3G/4G module.
3. the wheel of railway self running device key point prevention and control device according to claim 1 based on satellite positioning, feature
It is, surveying and mapping data is the set of one group of coordinate, number of coordinates at least two；Rail before prevention and control point is moved towards if any bend, then
It is indicated with the mode of broken line, and the angle of adjacent segments is greater than 170 ° in broken line.
4. a kind of wheel of railway self running device key point prevention and control calculation method based on satellite positioning, which is characterized in that including such as
Lower step:
A, mapping needs three point B, C, D before key point A, the prevention and control point A of prevention and control, and A, B, C, D connection are indicated track with broken line
Trend, and obtaining 4 points of the coordinate is respectively A (X0,Y0)、B(X1,Y1)、C(X2,Y2) and D (X3,Y3)；
B, make the parallel lines of two broken lines at two lateral extent L of broken line, the last one the point D for crossing prevention and control point A and track trend makees
Vertical line forms a polygon；If the positioning coordinate of mobile terminal is within the scope of the polygon, then it is assumed that mobile terminal enters prevention and control rail
Road range；
C, the distance of deceleration is set as LR, the distance of braking is LB, the real-time coordinates that wheel of railway self running device calculates oneself in real time arrive
Linear distance between prevention and control point coordinate, when wheel of railway self running device moves closer to prevention and control point, distance is across LRWhen, sending subtracts
Fast signal, wheel of railway self running device slow down；Distance is across LBWhen, issue brake signal, the parking of wheel of railway self running device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610919849.8A CN106627666B (en) | 2016-10-21 | 2016-10-21 | Wheel of railway self running device key point prevention and control device and method based on satellite positioning |
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|---|---|---|---|
| CN201610919849.8A CN106627666B (en) | 2016-10-21 | 2016-10-21 | Wheel of railway self running device key point prevention and control device and method based on satellite positioning |
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| CN106627666A CN106627666A (en) | 2017-05-10 |
| CN106627666B true CN106627666B (en) | 2018-12-28 |
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| CN113715872B (en) * | 2021-06-25 | 2023-08-11 | 上海富欣智能交通控制有限公司 | Rail transit train real-time position conversion method, storage medium and system |
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| CN1868795A (en) * | 2006-01-13 | 2006-11-29 | 彭波 | Safety control system of railway train arrangement operation |
| CN101306692A (en) * | 2008-05-07 | 2008-11-19 | 姬云东 | Shunting signal anti-overrunning system for locomotive |
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