CN106660568B - System and method for being positioned to the center for being guided beacon provisioned in vehicle route - Google Patents
System and method for being positioned to the center for being guided beacon provisioned in vehicle route Download PDFInfo
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- CN106660568B CN106660568B CN201580041473.9A CN201580041473A CN106660568B CN 106660568 B CN106660568 B CN 106660568B CN 201580041473 A CN201580041473 A CN 201580041473A CN 106660568 B CN106660568 B CN 106660568B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000005855 radiation Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
- B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
- B61L3/08—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
- B61L3/12—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves
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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 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
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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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
- B61L2027/202—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using European Train Control System [ETCS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of systems (1) and method for being positioned to the center along the beacon (4) for being guided vehicle route installation.The system (1) includes: to be configured for remotely providing the transmitter (11) of power to beacon；Ring (12) and second are received including first and receive the receiver of ring (13), and first, which receives ring (12) and second, receives ring (13) for picking up the electromagnetic signal generated from beacon (4) and respectively to processing unit (14) delivering the first signal (S1) and second signal (S2)；Processing unit (14) is capable of handling the first signal and the second signal (S1, S2)；The system according to the present invention (1) is characterized in that: the first reception ring (12) and the second reception ring (13) are configured for T at the time of signal (S1), (S2) and the processing unit (14) that delivering deviates in time when receiving the electromagnetic signal generated by beacon (4) are configured for calculating center of the receiver by beacon (4) according to the amplitude of the first signal (S1) and the amplitude of second signal (S2).
Description
The present invention relates to a method and a system for locating the centre of beacons installed at various locations along a route followed by a guided vehicle.
The present invention relates to the positioning of guided vehicles along a route. More particularly, the present invention relates to a system and method for locating a guided vehicle with respect to beacons or transponders (bases) installed at various locations along a route followed by the guided vehicle. By determining the center of the beacon, the system and method according to the present invention can accurately determine the position/location of the guided vehicle. From a general point of view, the invention relates to a beacon or transponder mounted on a route or road travelled by a guided vehicle, configured for exchanging data with the guided vehicle by means of electromagnetic signals when the guided vehicle passes in the vicinity of (e.g. above/over) the beacon or transponder. In particular, the transponder is a european transponder (eurobaise), i.e. a transponder complying with the european train control system, and which is installed between the rails of the track followed by the guided vehicle. The "guided vehicle" according to the invention refers to public transport means, such as buses, trolleybuses, trams, subways, trains or train sets etc., as well as load transportation means, such as for example bridge cranes, for which safety is a very important factor and which are guided along a route or track by at least one rail, in particular by two rails between which beacons/transponders are placed.
Systems and methods for determining the position of a guided vehicle relative to a beacon are well known in the art. For example, EP1227024B1 describes an embedded system for generating signals for locating a rail vehicle, wherein the embedded system comprises an antenna having a first loop and a second loop, the first and second loops being characterized by different radiation patterns and which generate a first induced current and a second induced current, respectively, when the antenna passes over a beacon located at a known position on the path of the rail vehicle. Since the first and second loops have different shapes, the phase change of the first induced current is different from the phase change of the second induced current, and thus the processing system uses the phase difference to determine the position of the rail vehicle relative to the beacon.
In general, the dynamics of the electromagnetic signal transmission between the on-board system for locating the rail vehicle and the beacon make it difficult to estimate the center of the beacon and, therefore, the exact position of the rail vehicle. In particular, dynamic (visual) accuracy is limited by the presence of "side lobes" (see fig. 4 of EP1227024B 1) which are due to the return path of the magnetic flux and which may increase the length of the region in which beacons are received by the on-board system antenna. Even in the case of a "figure-8" loop as described in EP1227024B1, dynamic detection of the beacon center is still challenging, since the induced signal may be very weak and a strong gain in the receiver has to be ensured. Finally, the known prior art uses phase detection for determining the center of the beacon, which may also be unreliable for weak signals.
It is therefore an object of the present invention to provide a system and a method for improving the determination of the position of a guided vehicle relative to a beacon or transponder, ensuring a reliable determination of the position of the beacon or transponder, which are economical and simple to implement, reduce the risk of false detections (in particular due to the presence of side lobes), and thus improve the reliability of the position determination of the guided vehicle relative to the beacon. Preferably, the system and method according to the invention do not require any phase analysis of the electromagnetic signals transmitted by the beacons.
The present invention provides a system for locating a beacon centre, the system being configured for mounting on a guided vehicle and being capable of locating a beacon centre as the guided vehicle passes over a beacon, the system comprising:
-a transmitter configured for remotely powering the beacon, in particular by means of radiated energy. Said transmitter comprises, for example, an antenna comprising a transmission loop for radiating energy, in particular radio frequency energy, by means of which the beacon is then powered and which is in turn able to transmit an electromagnetic signal;
a receiver comprising an antenna comprising two receiving loops for picking up electromagnetic signals generated by the beacon, more precisely by the transmitting loop of the beacon, the receiver thus comprises said two receiving loops, respectively a first receiving loop and a second receiving loop, preferably, the rings are characterized by the same radiation pattern, e.g. the first and second receiving rings are identical, so as to have the same radiation pattern, the first and second rings being configured to pick up electromagnetic signals transmitted by the beacon in response to the transmitter powering it, and delivering a first signal and a second signal, respectively, to the processing unit, the first signal and the second signal being currents induced by the electromagnetic signal in the first receiving loop and the second receiving loop, respectively, thus, the first and second receiving loops are preferably configured or shaped for delivering the same signal upon receipt of an electromagnetic signal generated by a beacon. The advantage of using a first receive loop and a second receive loop characterized by the same radiation pattern is that: the current signals generated by each ring in response to the electromagnetic signals of the beacons are identical, only offset in time, thus simplifying and making more efficient the determination of possible faults. The first and second receiving loops are preferably simple loops. Each current provides a measure of the amplitude of the electromagnetic signal related to the position of the first receiving loop, in particular connected to the first demodulator, and the second receiving loop, in particular connected to the second demodulator, respectively, with respect to the beacon, more precisely with respect to the center of the transmitting loop. In particular, the first receiving loop and the second receiving loop are positioned such that the first signal is offset in time with respect to the second signal when a guided vehicle equipped with a system according to the invention passes the beacon. In the context of the present invention, beacon center refers to the center of the transmit ring, e.g., its geometric center;
-a processing unit capable of processing a first signal and a second signal delivered by said first and second receiving ring, respectively, wherein the processing unit is configured for determining the instant T at which the receiver passes through the center of the beacon from the amplitude of the first signal and the amplitude of the second signal, wherein in particular T is given by:
t ═ T1+ T2)/2 (formula 1)
Where preferably T1 is the time at which the amplitude of the first signal reaches its maximum when the first reception loop passes over (e.g. passes over/above) the beacon and T2 is the time at which the amplitude of the second signal reaches its maximum when the second reception loop passes over (e.g. passes over/above) the beacon.
Preferably, the time instant T is determined by the processing unit by calculating at least one third signal which is a time-dependent function of the first and second signals, e.g. a function of the amplitudes of the first and second signals, e.g. a sum and/or a difference of the amplitudes/strengths of the first and second signals as a function of time, the processing unit being configured to determine an extremum of said third signal, the time instant at which said extremum occurs coinciding with the time instant T at which the receiver passes the beacon center. The processing unit according to the invention is therefore able to determine the instant at which the centre of the beacon is closest to the centre of mass of the system formed by the first and second receiving loops, and therefore the instant at which the position of the centre of mass is closest to the position of the beacon, which corresponds to the instant at which the third signal comprises an extremum, for example the instant at which the maximum occurs if the third signal is the sum of the amplitudes/strengths of the first and second signals, or the instant at which the minimum occurs if the third signal is equal to the difference of the amplitudes/strengths of the first and second signals. In practice, the first signal, or respectively the second signal, reaches its maximum at the moment when the first receiving loop, or respectively the second receiving loop, is in a plane parallel to the plane comprising the transmitting loop and aligned with the transmitting loop of the beacon, ideally at the moment when the center of the first receiving loop, or respectively the second receiving loop, and the center of the transmitting loop of the beacon are on the same straight line perpendicular to both the plane comprising the transmitting loop and the plane comprising the first receiving loop, or respectively the second receiving loop.
The invention also relates to a method for locating the center of a beacon installed at a location along a route followed by a guided vehicle on which a system for locating the center of the beacon is installed, said system comprising a transmitter, a receiver comprising a first receiving loop and a second receiving loop, and a processing unit, the method according to the invention comprising the steps of:
-remotely powering a beacon or transponder by means of a transmitter, wherein the beacon is adapted to transmit an electromagnetic signal to the system;
-transmitting an electromagnetic signal to a receiver, wherein the electromagnetic signal is generated by a beacon in response to its powering;
-picking up the electromagnetic signal by means of the first receiving loop and delivering the first signal to the processing unit;
-picking up the electromagnetic signal by means of the second receiving loop and delivering the second signal to the processing unit, wherein the second signal is offset in time with respect to the first signal and is preferably identical to the first signal: the same applies to the second reception loop, i.e. the second signal starts at time t2B and ends at time t2E, wherein preferably t1B < t2B ≦ t1E < t2E and preferably t1E-t1B ═ t2E-t2B, the first signal starts at time t1B when the first reception loop first receives the electromagnetic signal and ends at time t1E when the first reception loop stops receiving the electromagnetic signal;
-determining, by means of the processing unit, the instant T at which the receiver passes through the beacon center as a function of the amplitude/strength of the first signal and the amplitude/strength of the second signal, wherein in particular T is given by T ═ T1+ T2)/2, T1, T2 preferably being as defined hereinbefore. Preferably, the method comprises calculating a third signal which is the difference or sum of the amplitudes of the first and second signals as a function of time, and determining an extremum of the third signal, the extremum occurring at a time which coincides with the time at which the receiver passes the beacon centre. Those skilled in the art will appreciate that the time T determined by the present invention is the time when the receiver passes the beacon with its center closest to the center of the beacon, the center of the receiver being the centroid of the system formed by the first and second receive rings (i.e., the midpoint of the straight line segment connecting the geometric center of the first receive ring and the geometric center of the second receive ring) and the center of the beacon being the geometric center of the transmit ring.
Further aspects of the invention will be better understood by reference to the following drawings, wherein like reference numerals are used for like and corresponding parts:
fig. 1 is a schematic view of a first preferred embodiment of a system according to the invention mounted on a guided vehicle.
Fig. 2 is a schematic view of a second preferred embodiment of the system according to the invention.
Fig. 3 is a schematic illustration of a signal processed by a processing unit according to the invention.
Fig. 1 shows a system 1 according to the invention mounted on a guided vehicle 2, which is configured to follow a route defined by a pair of rails 3. The beacons 4 or transponders are mounted on the route or rail line followed by the guided vehicle 2, for example between the rails 3. The rail line may comprise several beacons 4 forming a system of beacons 4, each beacon being configured to exchange information with the guided vehicle 2 when the guided vehicle 2 passes in the vicinity of said beacon 4 (e.g. passes over/above said beacon 4). The beacon 4 and the system 1 exchange information by means of electromagnetic signals transmitted from the beacon 4 to the system 1, respectively, from the system 1 to the beacon 4, respectively.
The system 1 according to the invention is configured for being mounted on a guided vehicle 2 and is capable of locating the center of a beacon 4. The system 1 is thus able to locate the guided vehicle 2 relative to the beacons 4 and to efficiently determine the position of the vehicle on the network of the system equipped with beacons 4, the position of each beacon 4 being known.
The system 1 for locating the centre of a beacon 4 installed along a route followed by a guided vehicle 2 on which the system 1 is configured to be installed comprises at least a transmitter 11, a receiver and a processing unit 14.
The transmitter 11 is configured to remotely power the beacon 4. In particular, the transmitter 11 comprises an antenna for emitting radiated energy capable of powering the beacon 4 when the guided vehicle 2, or more precisely the transmitter 11 of the system 1 according to the invention, moves in the vicinity (e.g. above) of the beacon 4. Said transmitter 11 comprises, for example, an antenna comprising a transmission loop capable of radiating energy, in particular radio frequency energy, wherein said radiated energy is capable of powering the beacon 4, i.e. energizing said beacon 4 such that said beacon 4 is in turn capable of transmitting an electromagnetic signal to the system 1. The beacon 4 is of a type known in the art and comprises an antenna circuit capable of picking up the energy radiated by the transmitter 11 and of using said energy to transmit information back to the system 1 by means of a transmitter comprising a transmission loop for sending electromagnetic signals to the system 1. The beacon 4 is mounted at a known position/location along the route followed by the guided vehicle 2.
The receiver comprises two loops, a first receiving loop 12 and a second receiving loop 13, respectively, which are preferably characterized by the same radiation pattern in order to simplify the fault determination. By "identical radiation pattern" is meant that both rings provide the same response when subjected to the same electromagnetic signal. Preferably, the first and second receiving loops are identical. The first and second receiving rings 12, 13 deliver first and second signals S1, S2, respectively, upon receiving an electromagnetic signal transmitted by the beacon 4 in response to the transmitter 11 powering it. The first receiving loop 12 and the second receiving loop 13 are aligned with each other in the same plane (for example, in a horizontal plane) and are arranged one after another with respect to the displacement direction of the guided vehicle 2, with a part of the loops overlapping or not overlapping, so that the first signal S1 and the second signal S2 are shifted in time when the receiver passes the beacon 4. The first and second receiving loops 12 and 13 are, for example, rectangular loops arranged side by side in the same plane (see fig. 1), or rectangular loops having overlapping sides as shown in fig. 2, wherein the first and second receiving loops 12 and 13 slightly overlap according to the second preferred embodiment. In particular, when the system is mounted on the guided vehicle 2, the first receiving loop 12 and the second receiving loop 13 are in the same plane parallel to the plane comprising the transmitting loop of the beacon 4. Preferably, the outer dimensions of the first and second receiving loops 12, 13 are substantially equal to the outer dimensions of the transmitting loop of the beacon 4. When subjected to electromagnetic signals transmitted by the beacon 4, the first receiving loop 12 delivers a first signal S1 and the second receiving loop 13 delivers a second signal S2, wherein the first and second signals are currents induced by the electromagnetic signals in the first and second receiving loops, respectively.
The processing unit 14 is configured for processing the first and second signals delivered by the first and second receiving loops 12, 13, respectively. Fig. 3 schematically shows the strength of the first signal S1 and the second signal S2 in relation to the position or location of the system 1 relative to the beacon 4 when the guided vehicle 2, and thus the system 1, moves in the direction of displacement indicated by the arrow and passes over the beacon 4 (see e.g. fig. 1 or fig. 2). During said displacement, the first receiving ring 12 will first sense the electromagnetic signal transmitted by the transmitting ring of the beacon 4 and deliver a first signal S1, the first signal S1 will, in relation to the displacement of the system along the direction of displacement, first increase when approaching the beacon 4, then reach a maximum when the first receiving ring is aligned above the beacon 4, and then decrease when the distance from the beacon 4 increases. The second receiving loop 13 will sense the electromagnetic signal after the first receiving loop 12, since the second receiving loop 13 is mounted after the first receiving loop 12 with respect to the direction of displacement when the guided vehicle or system 1 moves in direction and then passes the beacon 4. Preferably, the first and second receiving rings 12, 13 have the same radiation pattern, so the second signal S2 will be the same as the first signal S1, but the second signal S2 delivered by the second receiving ring will have a time offset relative to the first signal S1 that depends on the speed of displacement of the system 1 (or guided vehicle 2) when passing over the beacon and the distance that the first receiving ring 12 is spaced from the second receiving ring 13, more precisely the distance D that the first receiving ring 12 first enters the portion of the magnetic field generated by the transmitting ring 41 of the beacon 4 and the second receiving ring 13 first enters the portion of the magnetic field generated by the transmitting ring 41 when the system 1 (or guided vehicle 2) moves in the direction of displacement and passes over the beacon 4 (see fig. 2). Preferably, the first and second receive loops are configured to deliver the same signal when passing through the beacon, but wherein the signals are offset in time. The processing unit 14 according to the invention receives two signals, a first signal S1 and a second signal S2, which are offset in time, preferably identical, and the first signal S1 continues for a time period ET1 and the second signal S2 continues for a time period ET2 (see fig. 3), preferably ET1 ═ ET2, ET1, ET2 respectively being time periods during which the first receiving loop, respectively the second receiving loop, are under the influence of the magnetic field generated by the transmitting loop of the beacon 4, said time periods ET1 and ET2 being offset in time relative to one another, i.e. ET1 starts at time t1B and ends at time t1E, ET2 starts at time t2B and ends at time t2E, wherein t1B < t2 ≦ t1 ≦ E < t2E and preferably t E-t1 ≦ t 2-E. Preferably, the time periods ET1 and ET2 overlap. In particular, T1 ═ T1B + (T1E-T1B)/2 and T2 ═ T2B + (T2E-T2B)/2.
The processing unit 14 is connected to the first and second receiving loops for receiving the first and second signals, and the processing unit 14 is configured for analyzing said first and second signals transmitted by the first and second receiving loops 12, 13. In particular, the processing unit calculates at least one third signal S3, the at least one third signal S3 being a function of any of the sum of the amplitudes or the difference between the amplitudes of the first signal S1 and the second signal S2 as a function of time t: s3 ═ f (S1(t) -S2(t)) or S3 ═ f (S1(t) + S2(t)), for example, S3 ═ S1-S2 or S3 ═ S1+ S2. The processing unit 14 may calculate other signals as a function f of (S1(t), S2(t)), such as any of the following: s3 ═ f (S1(t) + S2(t)), S3 ═ f (S1(t) -S2(t)), S4 ═ f (S1(t)), or S5 ═ f (S2 (t)). Preferably, to further improve the accuracy, the processing unit is able to determine, from at least the third signal S3, in particular additionally from S3', the instant at which the center of the receiver is located above the beacon 4, so as to be able to locate the position of the receiver, and therefore of the guided vehicle 2, relative to the beacon. In practice, the moment at which the receiver is centred above the transmission ring of the beacon 4 is the moment at which the amplitude/intensity of S3 and/or S3 'reaches an extreme value, which is accordingly a maximum for S3' and a minimum for S3. It should be noted that the center of the beacon 4 corresponds to the origin of the coordinate system of the graph in fig. 3 and it refers to the geometric center of the transmission ring. The center of the receiver is above the center of the beacon when the center of mass of the system formed by the first receive loop and the second receive loop is closest to the center of the transmit loop. Since the position of the center of the beacon is accurately known, the position of the guided vehicle 2 can also be accurately known. In particular, the processing unit 14 comprises two demodulators, respectively a first demodulator and a second demodulator, to which the first reception loop 12 is connected and to which the second reception loop 13 is connected for extracting information from the beacon electromagnetic signal.
In particular, once the beacon electromagnetic field sensed by the first receiving loop 12 exceeds a threshold, the first receiving loop 12 begins to receive messages from the beacon 4, which are embedded in the electromagnetic signal transmitted by the beacon 4. The same applies to the second receiving loop, which will get the same message as the first receiving loop. The time at which each message is received by the second receiving ring is only offset in time with respect to the time at which the message is received by the first receiving ring. Preferably, the processing unit 14 is configured for: the third signal is calculated only if the first reception loop, respectively the second reception loop have received at least one valid message and the second reception loop, respectively the first reception loop, respectively the second reception loop, respectively the first reception loop, receives another message, in case a message is still available and received on the first reception loop, respectively the second reception loop, or in case the first reception loop, respectively the second reception loop, no longer receives a message. Advantageously, imposing the condition of receiving a valid message for calculating the third signal ensures the determination of the position of the guided vehicle with respect to the beacon 4.
Preferably, the invention proposes to determine the time T according to the moment at which said message is received by the recipient. In particular, according to the invention, time T1 is given by T1 ═ T11+ (T12-T11)/2 and time T2 by T2 ═ T21+ (T22-T21)/2, and processing unit 14 is configured to measure:
time t11, at time t11 the first time the first receiving ring 12 receives a message from beacon 4,
time t12, at time t12 the first receiving ring 12 last received the message from the beacon,
time t21, at time t21 the first time the second reception ring 13 receives a message from beacon 4, an
Time t22, at time t22 the second receiving ring 13 last received the message from the beacon,
the processing unit is then configured to determine the time T from T11, T12, T21, T22 by means of a circuit capable of executing equation 1, where T11 < T21 ≦ T12 < T22. According to the invention, time interval [ t11, t12] is comprised in time interval [ t1B, t1E ] and time interval [ t21, t22] is comprised in time interval [ t2B, t2E ]. In particular, the first and second receiving loops 12, 13 are configured to transmit the same signals S1, S2 such that t12-t 11-t 22-t 21. Finally, the processing unit 14 may be configured for comparing the time T obtained by means of the third signal S3 with the times T obtained by means of T11, T12, T21 and T22, in order to confirm the value of T obtained and/or to calculate the average value of T. Indeed, according to the invention, the time T may be determined according to the third signal S3, and/or according to the times T11, T12, T21 and T22, and/or according to the times T1E, T1B, T2E, T2B, and/or combinations of the latter.
In summary, the present invention provides a simple system and method for determining the position of a guided vehicle relative to a beacon, such as a european transponder, wherein the position is determined by a system comprising an antenna having a first receive loop and a second receive loop that generate offset signals; the time of day, and hence the location of the guided vehicle, above the beacon or transponder is determined by averaging the time of day each of the first and second receive loops passes above the center of the beacon, in particular by calculating the sum and/or difference of the strengths of the signals provided by the first and second receive loops.
Claims (14)
1. A system (1) for locating the center of a beacon (4), the system (1) comprising:
-a transmitter (11) configured for remotely powering the beacon;
-a receiver comprising a first receiving loop (12) and a second receiving loop (13), the first receiving loop (12) and the second receiving loop (13) being adapted to pick up an electromagnetic signal generated by the beacon (4) in response to its powering and to deliver a first signal (S1) and a second signal (S2), respectively, to a processing unit (14) in response to the reception of the electromagnetic signal;
-the processing unit (14) capable of processing the first signal (S1) and the second signal (S2);
wherein,
-the first receiving ring (12) and the second receiving ring (13) are configured for delivering temporally offset signals (S1), (S2) upon reception of electromagnetic signals generated by the beacon (4);
-the processing unit (14) is configured for determining the time instant T at which the receiver passes the center of the beacon (4) from the amplitude of the first signal (S1) and the amplitude of the second signal (S2); and
wherein T is given by
T＝(T1+T2)/2
Wherein T1 is a time when the amplitude of the first signal (S1) reaches its maximum value when the first reception ring (12) passes the beacon (4), and T2 is a time when the amplitude of the second signal (S2) reaches its maximum value when the second reception ring (13) passes the beacon (4).
2. The system of claim 1, wherein the time T is determined by the processing unit (14) by calculating at least one third signal (S3), the at least one third signal (S3) being a function of the sum or difference of the amplitudes of the first signal (S1) and the second signal (S2) as a function of time, the processing unit being configured for determining an extremum of the third signal (S3), the extremum occurring at a time coinciding with the time T at which the receiver passes through the center of the beacon (4).
3. The system according to claim 1, wherein the time T1 is given by T1 ═ T11+ (T12-T11)/2 and the time T2 is given by T2 ═ T21+ (T22-T21)/2, wherein the processing unit (14) is configured to measure the time T11 at which the first receiving loop (12) first receives a message from the beacon (4), the time T12 at which the first receiving loop (12) last receives a message from the beacon, the time T21 at which the second receiving loop (13) first receives a message from the beacon (4) and the time T22 at which the second receiving loop (13) last receives a message from the beacon, wherein the processing unit determines the time T from T11, T3642, T21, T22, wherein T11 < T12 < T22.
4. The system according to claim 2, wherein the time T1 is given by T1 ═ T11+ (T12-T11)/2 and the time T2 is given by T2 ═ T21+ (T22-T21)/2, wherein the processing unit (14) is configured to measure the time T11 at which the first receiving loop (12) first receives a message from the beacon (4), the time T12 at which the first receiving loop (12) last receives a message from the beacon, the time T21 at which the second receiving loop (13) first receives a message from the beacon (4) and the time T22 at which the second receiving loop (13) last receives a message from the beacon, wherein the processing unit determines the time T from T11, T3642, T21, T22, wherein T11 < T12 < T22.
5. System according to claim 4, wherein the processing unit (14) is configured for comparing the time T obtained by means of the third signal (S3) with the time T obtained by means of T11, T12, T21, T22, in order to confirm the value of T obtained and/or to calculate the average value of T.
6. The system according to any one of claims 1 to 5, wherein the first receiving loop (12) and the second receiving loop (13) are configured to deliver the same signal (S1), (S2).
7. The system according to any one of claims 1 to 5, wherein the first receiving loop (12) and the second receiving loop (13) overlap.
8. The system according to any of claims 1 to 5, wherein the first receiving loop (12) is connected to a first demodulator and the second receiving loop (13) is connected to a second demodulator.
9. System according to any one of claims 1 to 5, wherein the first receiving ring (12) and the second receiving ring (13) are simple rings.
10. A guided vehicle (2) comprising a system (1) according to any one of claims 1 to 9.
11. A method for locating the center of a beacon (4) installed at a location along a route followed by a guided vehicle (2), on which guided vehicle (2) a system (1) for locating the center of the beacon (4) is installed, the system (1) comprising a transmitter (11), a receiver comprising a first receiving loop (12) and a second receiving loop (13), and a processing unit (14), the method comprising the steps of:
-remotely powering the beacon (4) by means of the transmitter (11), wherein the beacon (4) is adapted to transmit information to the system (1);
-transmitting an electromagnetic signal to the receiver, wherein the electromagnetic signal is generated by the beacon (4) in response to its powering;
-picking up the electromagnetic signal by means of the first receiving ring (12) and delivering a first signal (S1) to the processing unit (14);
-picking up the electromagnetic signal by means of the second receiving loop (13) and delivering a second signal (S2) to the processing unit (14), wherein the second signal (S2) is offset in time with respect to the first signal (S1);
-determining, by means of the processing unit, the instant T at which the receiver passes through the beacon center from the amplitude of the first signal and the amplitude of the second signal; and
where T is given by (T1+ T2)/2, where T1 is the time when the amplitude of the first signal reaches its maximum value when the first reception loop passes the beacon, and T2 is the time when the amplitude of the second signal reaches its maximum value when the second reception loop passes the beacon.
12. The method of claim 11, comprising calculating a third signal (S3) and determining an extremum of the third signal (S3), the third signal (S3) being the sum or difference of the amplitudes of the first signal (S1) and the second signal (S2) as a function of time, the extremum occurring at a time coinciding with a time at which the receiver passes through the center of the beacon (4).
13. The method according to claim 11 or 12, comprising measuring a time T11 at which the first receiving ring (12) first receives a message from the beacon (4), a time T12 at which the first receiving ring (12) last receives a message from the beacon, a time T21 at which the second receiving ring (13) first receives a message from the beacon (4), and a time T22 at which the second receiving ring (13) last receives a message from the beacon, and calculating T from T1 ═ T11+ (T12-T11)/2 and T2 ═ T21+ (T22-T21)/2.
14. The method of claim 11 or 12, wherein the first receiving loop (12) and the second receiving loop (13) are configured to deliver the same signal (S1, S2).
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| EP14290220 | 2014-07-25 | ||
| EP14290220.4 | 2014-07-25 | ||
| PCT/EP2015/056293 WO2016012106A1 (en) | 2014-07-25 | 2015-03-24 | System and method for locating the center of a beacon equipping guided vehicle routes |
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| Publication Number | Publication Date |
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| CN106660568A CN106660568A (en) | 2017-05-10 |
| CN106660568B true CN106660568B (en) | 2019-01-15 |
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| CN201580041473.9A Active CN106660568B (en) | 2014-07-25 | 2015-03-24 | System and method for being positioned to the center for being guided beacon provisioned in vehicle route |
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| EP (1) | EP3172107A1 (en) |
| CN (1) | CN106660568B (en) |
| WO (1) | WO2016012106A1 (en) |
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| JP6637826B2 (en) * | 2016-04-20 | 2020-01-29 | 株式会社日立製作所 | On-board communication device |
| DE102017205356A1 (en) * | 2017-03-29 | 2018-10-04 | Siemens Aktiengesellschaft | Vehicle with a recognition device for recognizing a track-side transmitting device and method for its operation |
| CN109204387B (en) * | 2017-06-30 | 2020-06-19 | 比亚迪股份有限公司 | Train positioning system and method |
| CN107449975B (en) * | 2017-08-25 | 2024-03-29 | 卡斯柯信号有限公司 | MTBF rotation testing device for transponder antenna |
| CN108333559B (en) * | 2018-01-11 | 2021-09-10 | 深圳市远望谷信息技术股份有限公司 | Method and device for accurately determining position of object running along track |
| CN110281988B (en) * | 2018-03-19 | 2021-03-26 | 比亚迪股份有限公司 | Method, device and equipment for correcting train running distance |
| CN108646750B (en) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | Portable factory AGV following method based on UWB non-base station |
| CN112606879A (en) * | 2020-12-29 | 2021-04-06 | 卡斯柯信号有限公司 | Vehicle positioning system and method for railway traffic |
| CN116198568A (en) * | 2021-11-30 | 2023-06-02 | 比亚迪股份有限公司 | Train positioning method and positioning system |
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| DE19549284C2 (en) * | 1995-12-22 | 2002-12-05 | Siemens Ag | train control device |
| FR2819772B1 (en) | 2001-01-22 | 2004-05-28 | Alstom | DEVICE AND METHOD FOR THE PUNCTUAL LOCATION OF A RAIL VEHICLE ALONG A RAIL TRACK EQUIPPED WITH BEACONS AND ANTENNA FOR EQUIPPING SUCH A DEVICE |
| DE102006033211A1 (en) * | 2006-07-12 | 2008-01-24 | Siemens Ag | System, in particular suburban train system, and method for vehicle-side route detection for such a system |
| US8576114B2 (en) * | 2011-06-24 | 2013-11-05 | Thales Canada Inc. | Location of a transponder center point |
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