CN107150703B - A kind of rail transit train line fitting localization method based on RFID surface beacon - Google Patents
A kind of rail transit train line fitting localization method based on RFID surface beacon Download PDFInfo
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- CN107150703B CN107150703B CN201710308384.7A CN201710308384A CN107150703B CN 107150703 B CN107150703 B CN 107150703B CN 201710308384 A CN201710308384 A CN 201710308384A CN 107150703 B CN107150703 B CN 107150703B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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Abstract
本发明公开了一种基于RFID地面信标的轨道交通列车线路拟合定位方法，包括下列步骤：无源地面信标将EPC编码发送给车载地面信标读写终端；车载定位系统将EPC编码传送至轨道交通列车地面监控中心系统的计算机；车载定位系统以EPC编码为索引，检索定位数据库副本，利用定位数据库提供的线路拟合参数，实现车载定位系统对相邻地面信标之间的拟合定位；轨道交通列车地面监控中心系统以EPC编码为索引，检索定位数据库，利用定位数据库提供的线路拟合参数，实现轨道交通列车地面监控中心系统对相邻地面信标之间的拟合定位。该发明简化现有列车轨迹推算系统中硬件结构和算法，减少地面信标铺设数量，提高定位精度，提高系统的可靠性。
The invention discloses a rail transit train line fitting and positioning method based on an RFID ground beacon, comprising the following steps: a passive ground beacon sends an EPC code to a vehicle-mounted ground beacon reading and writing terminal; The computer of the ground monitoring center system of rail transit trains; the on-board positioning system uses the EPC code as an index to retrieve the copy of the positioning database, and use the line fitting parameters provided by the positioning database to realize the fitting and positioning of the on-board positioning system between adjacent ground beacons. The rail transit train ground monitoring center system uses the EPC code as an index to retrieve the positioning database, and uses the line fitting parameters provided by the positioning database to realize the fitting positioning between the rail transit train ground monitoring center system between adjacent ground beacons. The invention simplifies the hardware structure and algorithm in the existing train track estimation system, reduces the laying quantity of ground beacons, improves the positioning accuracy and improves the reliability of the system.
Description
Technical field
The present invention relates to rail transit train positioning and control technology fields, and in particular to one kind is based on RFID (Radio
Frequency Identification-- radio frequency identification) surface beacon rail transit train be fitted localization method
Background technique
Train positioning is a critical technology in rail traffic control system, obtains the position of train accurately, in real time
Confidence breath is the basis of rail traffic control system.Train positioning based on surface beacon is current track traffic extensive utilization
A kind of positioning method.The surface beacon being installed on two rail center sleepers passes through in train and receives vehicle-mounted requestor
It is activated when the power carrier of transmission, the physical location information of surface beacon is sent to vehicle-mounted requestor, realize vehicle positioning system
The positioning and tracking of system and rail transit train ground monitoring center to train current location.Surface beacon provides surface beacon
The precise position information of point, the train positioning between adjacent surface beacon are then realized using the method for track.The fortune of train
It is dynamic to can be regarded as the movement in two-dimensional plane coordinate system (X, Y), it is known that the initial position (X0, Y0) of train and initial heading
Angle passes through the operating range of real-time measurement train and the variation of course angle, so that it may extrapolate the position of train in real time.Reckoning
It is the process of a deviation accumulation, the error of dead reckoning system is the process of a diverging.Current dead reckoning system base
This composition includes the compass, angular velocity gyro and the accelerometer, mileage gauge, the Doppler's thunder that measure distance change in measurement course
It reaches.Since the measurement of sensor is there are error, position error will add up over time.Especially when the precision of course information compared with
When poor, the train track that dead reckoning system is extrapolated will deviate actual travel track quickly.To improve course information precision, mention
The precision of high reckoning is often merged using the information of multiple course transmitters.Therefore, system rigid structure is complicated, simultaneously
Also need good data anastomosing algorithm.
Summary of the invention
The purpose of the present invention is to solve drawbacks described above in the prior art, provide a kind of based on RFID surface beacon
Rail transit train line fitting localization method simplifies system hardware structure and algorithm in existing train dead reckoning system, subtracts
Few surface beacon is laid with quantity, improves positioning accuracy, improves the reliability of system.
The purpose of the present invention can be reached by adopting the following technical scheme that:
A kind of rail transit train line fitting localization method based on RFID surface beacon, the line fitting positioning side
Method includes the following steps:
When being installed on the surface beacon read-write terminal of train bottom by right above surface beacon, it is installed on train rail
The EPC coding of surface beacon is sent to vehicle-mounted ground beacon read-write terminal by the passive ground beacon at the sleeper center between two rails,
And vehicle positioning system is sent to via wire channel；
Vehicle positioning system encodes the EPC, with being sent to rail transit train by the wireless channel of rail traffic
The computer of face monitoring center system；
Vehicle positioning system is encoded to index with the EPC, and retrieval is stored in the location database pair of vehicle positioning system
This, the line fitting parameter A/B/C/D provided using location database is real in conjunction with the speed and mileage of the offer of vehicle-mounted odometer
Existing vehicle positioning system positions the fitting between adjacent surface beacon；
Rail transit train ground monitoring centring system is encoded to index with the EPC, retrieves location database, using calmly
The line fitting parameter A/B/C/D that position database provides, the speed provided in conjunction with vehicle-mounted odometer and mileage, realize rail traffic
Train ground monitoring center system positions the fitting between adjacent surface beacon.
Further, the surface beacon is the general high frequency being packaged in by the hot-forming closed container of polyester material
RFID electronic label, the RFID electronic label are encoded with unique EPC.
Further, the EPC coding of surface beacon vehicle-mounted ground beacon is sent to according to RFID radio frequency read-write protocol to read
Write terminal.
Further, the vehicle-mounted ground beacon read-write terminal is sent to vehicle positioning via RS485 or RS232C channel
System.
Further, the location database is stored in the computer of rail transit train ground monitoring centring system,
The location database copy is stored in the computer of vehicle positioning system, the location database and the location database
The content of copy is readable writable information, the location data for the computer of rail transit train ground monitoring centring system
The content of library copy is read-only information for vehicle positioning system.
Further, the main rope of the location database and the location database copy is cited as the surface beacon
EPC coding.
Further, the location database and the content of the location database copy are supervised by rail transit train ground
The computer for controlling centring system carries out the synchronous real-time update of data under the information security authorization and protection of certain security level.
The present invention has the following advantages and effects with respect to the prior art:
The present invention utilizes geographical location information (including the surface beacon having been built up in rail transit train orbit construction
Curve type and curvilinear equation parameter between point exact position, adjacent surface beacon), the route between surface beacon is carried out
Fitting positioning.Except track switch, stand in etc. in addition to special points, theoretically, only need to be (straight in the place that route curve type changes
Line becomes easement curve, easement curve is rounded curve etc.) ((existing ground transponder needs 5M to be laid with 1 to setting surface beacon
Ground transponder), while positioning accuracy gets a promotion, the laying quantity of surface beacon is greatly reduced, track is reduced
Traffic positions the cost and project amount that ground installation is laid with, safeguards.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the rail transit train positioning system in embodiment based on surface beacon；
Fig. 2 (a) is straight line schematic diagram in rail traffic rail track；
Fig. 2 (b) is circular curve schematic diagram in rail traffic rail track；
Fig. 2 (c) is the easement curve schematic diagram that straight line and circular curve are connected in rail traffic rail track；
Fig. 3 is a kind of rail transit train line fitting localization method based on RFID surface beacon disclosed in the present invention
Flow chart.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment
Train positioning is a key technique in rail traffic control system, obtains the position of train accurately, in real time
Information is the basis of rail traffic control.Present embodiment discloses a kind of rail transit train routes based on RFID surface beacon
Approximating method realizes rail transit train to constitute surface beacon-combined train positioning system of satellite positioning-reckoning
The operation organization mode of " small marshalling, high density " provides technical support.
The technology of the present invention includes: 1) the rail transit train line fitting system structure based on RFID surface beacon；2) it navigates
Mark calculates algorithm；3) positioning system data structure.
System structure such as Fig. 1.
Surface beacon is installed on the sleeper at two rail centers of train rail.Surface beacon read-write terminal is installed on column
Vehicle bottom corresponding position when guaranteeing train operation, passes through surface beacon from surface.Surface beacon read-write terminal passes through
RS232C or RS458 is connected to vehicle-mounted Train Control computer system.Vehicle-mounted Train Control computer system is (referred to as vehicle-mounted fixed
Position system), by the existing communication channel of rail traffic, with the rail transit train ground monitoring centring system for being designed at ground
Computer connection.
Surface beacon is the general high frequency (433MHZ/ being packaged in by the hot-forming closed container of polyester material
915MHZ) RFID electronic label, label are encoded with unique EPC.
Location database is stored in the computer of rail transit train ground monitoring centring system, and copy is stored in vehicle-mounted
In the computer of positioning system.Location database and replica database content, for being felt concerned about in rail transit train ground monitoring
The computer of system is readable writable information, can be by the computer at rail transit train ground monitoring center, in certain security level
Information security authorization and protection under, carry out the synchronous real-time update of data.Deposit in the positioning in vehicle positioning system computer
Database Replica is read-only information for vehicle positioning system.The main rope of location database is cited as the EPC coding of surface beacon.
Location data library structure is defined as follows.
Function: index value is surface beacon EPC coding, provides line fitting parameter
1. location database DBASEN0002 interrecord structure of table
The line fitting parameter that is there is provided using location database, it can be achieved that position linear between adjacent surface beacon and
Nonlinear fitting positioning.
Line fitting principle:
According to national " Code for design of railway line " regulation, rail traffic rail track is by straight line, circular curve and connection
The easement curve of straight line and circular curve composition, is shown in Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c).
According to national " Code for design of railway line ", the curvilinear equation of straight line, circular curve and easement curve is respectively as follows:
Linear equation: y=bx+c；
Circular curve equation parabolic equation approximation: y=ax2+bx+c；
Easement curve equation:
Line fitting general equation: y=Ax3+Bx2+Cx+D；
For straight line, line fitting general equation parameter definition are as follows: A=0, B=0, C=b, D=c；
For circular curve, line fitting general equation parameter definition are as follows: A=0, B=a, C=b, D=c；
For easement curve, line fitting general equation parameter definition are as follows:B=0, C=0, D=0
With reference to the accompanying drawings 3, the rail transit train line fitting localization method based on RFID surface beacon in the present embodiment
Specific step is as follows:
1) when being installed on the surface beacon read-write terminal of train bottom by right above surface beacon, it is installed on train rail
The EPC of this surface beacon is encoded hair according to RFID radio frequency read-write protocol by the passive ground beacon at the sleeper center between two rail of road
Vehicle-mounted ground beacon read-write terminal is given, and is sent to vehicle positioning system via RS485/RS232C channel.
2) vehicle positioning system encodes the EPC, is sent to rail traffic column by the existing wireless channel of rail traffic
The computer at vehicle ground monitoring center.
3) vehicle positioning system is encoded to index with this EPC, and retrieval is stored in the location database pair of vehicle positioning system
This, the line fitting parameter A/B/C/D provided using location database is real in conjunction with the speed and mileage of the offer of vehicle-mounted odometer
Existing vehicle positioning system positions the fitting between adjacent surface beacon.
4) rail transit train ground monitoring centring system is encoded to index with this EPC, retrieves location database, using calmly
The line fitting parameter A/B/C/D that position database provides, the speed provided in conjunction with vehicle-mounted odometer and mileage, realize rail traffic
Train ground monitoring center system positions the fitting between adjacent surface beacon.
5) needs are controlled according to practical, formulates the location database more new technological process with certain security permission, is handed over by track
Logical train ground monitoring center system, carries out the modification and update of location database information.By rail transit train ground monitoring
Centring system ensures the consistency of gamut location database information.
Embodiment two
Surface beacon (RFID tag) in the embodiment of the present invention: the anti-gold of science and technology JT-305 hyperfrequency strip is led to using Shenzhen victory
Belong to passive RFID electronic label, supports EPC Global C1Gen2 and ISO18000-6C agreement, working frequency 860-960MHz；
Read and write sensitivity -17dBm, label chip: AlienH3；96 EPC codes, 512 user data areas.Time data memory 10 years,
Repeat erasable number: 100,000 times.Read distance: 5M (cooperation JT-8280 reader).
Surface beacon read-write terminal in the embodiment of the present invention: the read-write of science and technology JT-8280A ultrahigh frequency RFID is led to using Shenzhen victory
Device, support ISO18000-6C (EPC G2) agreement, working frequency 902-928MHz, communication interface Wiegand26 34 42,
RJ45, RS232 data-interface, steady operation distance 5M. power requirement DC-7.5-12V, 3A.
Vehicle positioning system and ground monitoring center wireless communication interface in the embodiment of the present invention: Jinan someone Internet of Things are used
The GPRS communication module USR-GPRS232-710 of network technology Co., Ltd.Wireless standard: GSM/GPRS, standard bands: 850/
Tetra- frequency of 900/1800/1900MHz, transmission power: GSM900lass4 (2W)/DCS1800class1 (1W)；GPRS Terminal
Device Class:Class B, GPRS Multi-slot Class:GPRS Class 10, GPRS Coding Schemes:
CS1-CS4, data-interface baud rate 300bps-115200bps.
The specific step of rail transit train line fitting localization method in the embodiment of the present invention based on RFID surface beacon
It is rapid as follows:
1) when being installed on the surface beacon read-write terminal of train bottom by right above surface beacon, it is installed on train rail
The EPC of this surface beacon is encoded and is sent according to RFID radio frequency read-write protocol by the passive ground beacon at the sleeper center between two rails
Vehicle-mounted ground beacon read-write terminal is given, and is sent to vehicle positioning system via RS232C channel.
2) vehicle positioning system encodes the EPC, is sent to by the wireless channel that USR-GPRS232-710 interface is established
The computer at rail transit train ground monitoring center.
3) vehicle positioning system is encoded to index with this EPC, and retrieval is stored in the location database pair of vehicle positioning system
This, reads between Current terrestrial beacon front and back beacon relevant information and neighboring upstream and contiguous downstream beacon and this surface beacon
Section fitting parameter A/B/C/D, realize between adjacent surface beacon position fitting position, realized in vehicle positioning system
Real time location tracking and display to train.
4) rail transit train ground monitoring centring system is encoded to index with this EPC, retrieves location database, and reading is worked as
Section fitting before and after preceding surface beacon between beacon relevant information and neighboring upstream and contiguous downstream beacon and this surface beacon
Parameter A/B/C/D realizes the fitting between position surface beacon, the realization pair in rail traffic train ground monitoring center system
The real time location tracking of train and display.
In conclusion the present invention is directed to the actual conditions of rail transit train reckoning, by means of RFID surface beacon
Provided orbital curve information solves following point present in existing rail transit train dead reckoning system: 1) ground
Beacon is laid with enormous amount；2) hardware configuration is complicated；3) positioning accuracy is low；4) more course transmitter data anastomosing algorithms are complicated.
A kind of rail transit train line fitting method based on RFID surface beacon disclosed by the invention simplifies existing train track and pushes away
System hardware structure and algorithm in calculation system reduce surface beacon and are laid with quantity, improve positioning accuracy, improve the reliable of system
Property.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (7)
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| CN110588722B (en) * | 2019-09-23 | 2021-08-24 | 北京全路通信信号研究设计院集团有限公司 | Train positioning method, train positioning processing unit and beacon reading unit |
| CN111252112B (en) * | 2019-11-25 | 2022-10-11 | 高新兴创联科技有限公司 | Positive line control method of rail transit engineering vehicle based on ground beacon |
| CN113734242B (en) * | 2021-10-13 | 2023-05-12 | 上海电气泰雷兹交通自动化系统有限公司 | Subway train accurate positioning method based on statistical characteristics |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7298264B1 (en) * | 2004-01-20 | 2007-11-20 | Charles A. Eldering | RFID tag filtering and monitoring |
| CN102497393A (en) * | 2011-11-28 | 2012-06-13 | 浙江网新技术有限公司 | High-speed train intelligent system and communication method thereof |
| CN103942522A (en) * | 2014-05-06 | 2014-07-23 | 宁波金洋化工物流有限公司 | Radio frequency identification matching system and method for drop and pull transport vehicle |
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| CN103072599A (en) * | 2012-04-28 | 2013-05-01 | 北方工业大学 | Method for positioning high-speed train in real time |
| US20150060608A1 (en) * | 2013-09-03 | 2015-03-05 | Metrom Rail, Llc | Rail Vehicle Signal Enforcement and Separation Control |
| US10000222B2 (en) * | 2015-08-13 | 2018-06-19 | Lockheed Martin Corporation | Methods and systems of determining end of train location and clearance of trackside points of interest |
| CN106541963B (en) * | 2016-10-12 | 2019-04-16 | 同济大学 | The system and method for acquisition orbital curve line information based on characteristic point triggering |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7298264B1 (en) * | 2004-01-20 | 2007-11-20 | Charles A. Eldering | RFID tag filtering and monitoring |
| CN102497393A (en) * | 2011-11-28 | 2012-06-13 | 浙江网新技术有限公司 | High-speed train intelligent system and communication method thereof |
| CN103942522A (en) * | 2014-05-06 | 2014-07-23 | 宁波金洋化工物流有限公司 | Radio frequency identification matching system and method for drop and pull transport vehicle |
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