CN107640184A - A kind of Train Wheel diameter automatic calibration system and its method based on precision ranging - Google Patents
A kind of Train Wheel diameter automatic calibration system and its method based on precision ranging Download PDFInfo
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- CN107640184A CN107640184A CN201711036113.7A CN201711036113A CN107640184A CN 107640184 A CN107640184 A CN 107640184A CN 201711036113 A CN201711036113 A CN 201711036113A CN 107640184 A CN107640184 A CN 107640184A
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Abstract
The invention discloses a kind of Train Wheel diameter automatic calibration system based on precision ranging, including, locating module, map-matching module, data recordin module, communication module, map data base and primary processor, wherein, the map data base is used for the relevant information of train car working line, TW TOF rangings start Kalman Filtering according to the range error scope valuation of offer, non-precision numerical value is filtered out by warning function, the primary processor respectively with TW TOF range finder modules, locating module, map-matching module, data recordin module, communication module is electrically connected with, the map data base is stored in primary processor.The present invention is according to system provided by the invention, realize that locomotive wheel is calibrated automatically by satellite positioning tech and TW TOF range finder modules, and the auxiliary of ground installation is not needed, so, both train position error had been reduced, train positioning precision is improved in the case where maintenance cost declines again, ensure that train operating safety.
Description
Technical field
The present invention relates to the automatic school technical field in Train Wheel footpath, more particularly to a kind of Train Wheel based on precision ranging is without leave
Dynamic calibration system and its method.
Background technology
Train positioning plays vital effect for train operation.The train Positioning Technology of actual input application at present
Have：Odometer, track circuit, inquiry response devices, inertial sensor, leaky cable, Doppler radar etc., wherein, odometer is
The most frequently used train locating method, it has the features such as cost is low, simple and practical.The method that train positioning is carried out using odometer
It is its girth to be multiplied according to the accumulative revolution of record wheel, you can calculate the mileage that train driving is crossed.Due to the railway line of train
Road is one-dimensional, according to the distance travelled of train on the line, you can determine the particular location of train.
It is using one of main source of error during odometer progress train positioning that wheel wear, which causes locomotive wheel diameter to change,.
Odometer is to be multiplied by wheel revolutions using wheel circumference to obtain operating range, and then obtains the current position of train, works as locomotive wheel
When footpath changes if alignment system still calculates girth with pre-set wheel footpath, larger positioning will certainly be caused to miss
Difference.And in train travelling process, wheel can continuous attrition, especially train implement braking (particularly brake hard) it
Afterwards, wheel wear is more prominent.Therefore need to correct the wheel wheel footpath in alignment system to reduce error, to reach train positioning
The high purpose of precision.
Current domestic railway mainly adjusts the wheel footpath value in alignment system by the method being automatically and manually combined.Certainly
Dynamic block section, when train passes through semaphore by a frame, its signal signaling frequency received can change, and use this
One method judges that locomotive have passed through semaphore position, with reference to the length and wheel revolutions of this block section, realizes automatic wheel
Machine adjustment is crossed in footpath.In Semi-automatic Block District, by entering the station or during exit signal, driver can be manually pressed by adjusting key,
Realize that wheel footpath adjusts, but this method is big by man's activity, and caused error is also very big.In addition, in the line equipped with transponder
It can also realize that wheel footpath is calibrated on road with reference to transponder, but the circuit of the transponder of country's laying at present is also less, and lay response
Construction, maintenance cost are all very big caused by device.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of Train Wheel diameter automatic calibration system based on precision ranging, according to system provided by the invention,
Mobile unit can be fully relied on, realizes that locomotive wheel is calibrated automatically by satellite positioning tech and TW-TOF range finder modules, and
And the auxiliary of ground installation is not needed, so, both reduced train position error, and improve in the case where maintenance cost declines
Train positioning precision, ensure that train operating safety.
A kind of Train Wheel diameter automatic calibration system based on precision ranging according to embodiments of the present invention, including TW-TOF are surveyed
Away from module, locating module, map-matching module, data recordin module, communication module, map data base and primary processor, wherein,
The map data base is used for the relevant information of train car working line, and TW-TOF rangings are according to the range error scope of offer
Valuation starts Kalman Filtering, and non-precision numerical value is filtered out by warning function, the primary processor respectively with TW-TOF range finder modules,
Locating module, map-matching module, data recordin module, communication module are electrically connected with, and the map data base is stored in main place
Manage in device.
In some embodiments of the invention, the relevant information includes orbital data, railway exclusive data and landform ring
Border data.
In some embodiments of the invention, the locating module is entered by satellite positioning receiver to locomotive current location
Row positioning, the current latitude and longitude coordinates of output locomotive；The map-matching module be by the positioning of locating module output and
The map data base is matched, and obtained matching result namely positions relevant position of the output on map；The number
According to logging modle to receive the wheel footpath calibration information sended over from primary processor, work state information etc., by these information
It is recorded centrally in SD storage cards, for transferring in the future；The communication module is responsible for being sent out wheel footpath calibration information；The master
Processor is embeded processor, completes the automatic calibration algorithm of wheel footpath, the other modules of control, data exchanging function.
In some embodiments of the invention, there is following annexation：The locating module determines locomotive position
Afterwards, locomotive position data message is sent to primary processor, locomotive wheel diameter TW-TOF ranging moulds is used in the primary processor
Block is calibrated to wheel footpath, and is recorded result by the data recordin module, and will be calibrated by communication module
Wheel footpath value afterwards is sent to the primary processor of responsible Train Detection and Identification.
In some embodiments of the invention, first, the position of wheel footpath calibration key point is determined, and establishes wheel footpath calibration and closes
The map data base of key point, wherein, the foundation of the map data base is by manually establishing or being established automatically by satellite fix；
Then, by TW-TOF range finder modules detect train by between the wheel revolutions between two calibration points, two key points it is actual away from
From, and judge whether train reaches the position of wheel footpath calibration key point with reference to satellite fix；If train does not reach
The position of the wheel footpath calibration key point, just calls the automatic correction algorithm of wheel footpath, and automatic amendment is carried out to the wheel footpath so as to real
The existing wheel footpath is calibrated automatically.
In some embodiments of the invention, the automatic makeover process of the wheel footpath includes：
1st, step 1：Satellite positioning information and odometer location information are received, row information of going forward side by side is synchronous, and then wheel spin is slided
Row carries out correction-compensation；
2nd, step 2：Judge location condition, when meeting that usable satellite number is more than 4 conditions with speed in more than 10km/h, enter
Driving wheel wheel footpath is calibrated automatically；
3rd, step 3：Judge whether train position is had arrived in the capture radius of wheel footpath calibration key point, if reached, from
The milimeter number of the point and the range information apart from a upper key point are extracted in database；
4th, step 4：Produce wheel footpath calibration information, in particular to, train after key point is reached, produce information at the time of with row control
Delay is had between at the time of system receives the message, herein delay in, train traveling a certain distance so as to produce error,
And carry out error compensation；
5th, step 5：The distance of a key point in the distance described in error compensation and step 3 according to step 4, meter
Calculate train and calibrate the distance travelled L of reality between key point in two wheel footpaths, while calculate wheel of the train between two calibration points
Revolution n, and new wheel footpath Dc, Dc=L/n π is calculated according to L and n；
6th, step 6：Judge whether new wheel footpath Dc and former wheel footpath D value of delta are more than the 1% of former wheel footpath, if greater than then carrying out
Amendment, otherwise without amendment, and using the new wheel footpath Dc as the wheel footpath value in train operation control system, for mileage
Calculate.
Beneficial effect in the present invention：According to system provided by the invention, mobile unit can be fully relied on, passes through satellite
Location technology and TW-TOF range finder modules realize that locomotive wheel is calibrated automatically, and do not need the auxiliary of ground installation, so, both
Reduce train position error, and train positioning precision is improved in the case where maintenance cost declines, ensure that train operation
Safety.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural representation of the Train Wheel diameter automatic calibration system based on precision ranging proposed by the present invention.
Fig. 2 is a kind of schematic flow sheet of the Train Wheel footpath automatic calibrating method based on precision ranging proposed by the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, purport
For explaining the present invention, and it is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Reference picture 1-2, a kind of Train Wheel diameter automatic calibration system based on precision ranging, including TW-TOF range finder modules,
Locating module, map-matching module, data recordin module, communication module, map data base and primary processor, wherein, describedly
Chart database is used for the relevant information of train car working line, and TW-TOF rangings are opened according to the range error scope valuation of offer
Dynamic Kalman Filtering, non-precision numerical value is filtered out by warning function, the primary processor respectively with TW-TOF range finder modules, positioning mould
Block, map-matching module, data recordin module, communication module are electrically connected with, and the map data base is stored in primary processor,
The relevant information includes orbital data, railway exclusive data and terrain environment data, and the locating module passes through satellite fix
Receiver positions to locomotive current location, the current latitude and longitude coordinates of output locomotive；The map-matching module is by institute
The positioning output and the map data base for stating locating module are matched, and obtained matching result namely positions output on ground
Relevant position on figure；The data recordin module to receive the wheel footpath calibration information sended over from primary processor, work
Status information etc., these information are recorded centrally in SD storage cards, for transferring in the future；The communication module is responsible for outgoing
Send wheel footpath calibration information；The primary processor is embeded processor, complete the automatic calibration algorithm of wheel footpath, the other modules of control,
Data exchanging function, there is following annexation：After the locating module determines locomotive position, locomotive position data are believed
Breath is sent to primary processor, and wheel footpath is calibrated using locomotive wheel diameter TW-TOF range finder modules in the primary processor, and
Result is recorded by the data recordin module, and by communication module is sent to the wheel footpath value after calibration responsible
The primary processor of Train Detection and Identification, first, the position of wheel footpath calibration key point is determined, and establish the ground of wheel footpath calibration key point
Chart database, wherein, the foundation of the map data base is by manually establishing or being established automatically by satellite fix；Then, lead to
TW-TOF range finder modules detection train is crossed by the wheel revolutions between two calibration points, the actual range between two key points, and is tied
Satellite fix is closed to judge whether train reaches the position of the wheel footpath calibration key point；If train does not reach the wheel footpath
The position of key point is calibrated, just calls the automatic correction algorithm of wheel footpath, automatic amendment is carried out to the wheel footpath so as to realize the wheel
Automatically calibrate in footpath.
The idiographic flow step of wheel footpath calibration is as follows：
Step 1 receives satellite positioning information (i.e. GPS location information) and odometer location information (i.e. ODO information in figure), goes forward side by side
Row information synchronization process, and then carry out the correction-compensation that wheel spin slides；
Step 2 judges location condition, when meeting that usable satellite number is more than 4 conditions with speed in more than 10km/h, carries out
Wheel wheel footpath is calibrated；Otherwise, the processing of repeat step 1, and continue condition judgment, untill condition meets, it is transferred to step
Rapid 3；
Step 3 judges whether train position enters the capture region of n-th wheel footpath calibration key point, in one embodiment, sentences
Whether disconnected distance D of the train current location away from next calibration point is less than capture radius, if meeting contact conditions, decides that row
Car has arrived at the capture region of wheel footpath calibration key point, and the information of the point is now extracted from database, such as milimeter number, away from
From with a distance from a upper key point etc., as train after key point is reached caused wheel footpath calibration information.
Step 4 obtains wheel footpath calibration information to correct capture delay time error.At the time of due to producing wheel footpath calibration information
Certain delay is had between at the time of receiving message with train control system, herein in delay, train can traveling it is certain
Distance, error thus can be produced, therefore error need to be compensated.It is described that two ways has been compensated to error：One kind is
The capture radius size of wheel footpath calibration key point is defined as to the function of a speed statistical property, according to train running speed
Difference, dynamic definition capture radius size；Another kind is the increase with speed, properly increases the output frequency of receiver；
The error compensation and the distance apart from a upper calibration point that step 5 obtains according to step 4, train is obtained at N-1
The actual range L between key point is calibrated with n-th, while calculates train between N-1 and n-th calibration key point
Wheel revolutions n, new wheel footpath Dc, Dc=L/n π is calculated according to L and n；
Step 6 judges whether new wheel footpath Dc and former wheel footpath D value of delta (δ=| Dc-D |) are more than the 1% of remote wheel footpath, if greatly
In being then modified, revised wheel footpath is：D=Dc, otherwise without amendment；And using new wheel footpath Dc as train operation control
Wheel footpath value in system processed, for mileage calculation.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
- A kind of 1. Train Wheel diameter automatic calibration system based on precision ranging, it is characterised in that：Including, locating module, map With module, data recordin module, communication module, map data base and primary processor, wherein, the map data base is used to store The relevant information of train operation circuit, TW-TOF rangings start Kalman Filtering according to the range error scope valuation of offer, passed through Warning function filters out non-precision numerical value, the primary processor respectively with TW-TOF range finder modules, locating module, map match mould Block, data recordin module, communication module are electrically connected with, and the map data base is stored in primary processor.
- A kind of 2. Train Wheel diameter automatic calibration system based on precision ranging according to claim 1, it is characterised in that：Institute Stating relevant information includes orbital data, railway exclusive data and terrain environment data.
- A kind of 3. Train Wheel diameter automatic calibration system based on precision ranging according to claim 1, it is characterised in that：Institute State locating module to position locomotive current location by satellite positioning receiver, the current latitude and longitude coordinates of output locomotive； The map-matching module is to be matched the positioning output of the locating module with the map data base, obtained matching As a result namely positioning exports the relevant position on map；The data recordin module is transmitted across to receive from primary processor Wheel footpath calibration information, the work state information etc. come, these information is recorded centrally in SD storage cards, for transferring in the future； The communication module is responsible for being sent out wheel footpath calibration information；The primary processor is embeded processor, and it is automatic to complete wheel footpath Calibration algorithm, the other modules of control, data exchanging function.
- A kind of 4. Train Wheel diameter automatic calibration system based on precision ranging according to claim 1, it is characterised in that：Tool There is following annexation：After the locating module determines locomotive position, locomotive position data message is sent to primary processor, in the master Wheel footpath is calibrated using locomotive wheel diameter TW-TOF range finder modules in processor, and will be handled by the data recordin module As a result recorded, and the wheel footpath value after calibration is sent to the primary processor of responsible Train Detection and Identification by communication module.
- A kind of 5. Train Wheel footpath automatic calibrating method based on precision ranging according to claim 1, it is characterised in that：It is first First, the position of wheel footpath calibration key point is determined, and establishes the map data base of wheel footpath calibration key point, wherein, the map number According to the foundation in storehouse by manually establishing or being established automatically by satellite fix；Then, train is detected by TW-TOF range finder modules By the wheel revolutions between two calibration points, the actual range between two key points, and satellite fix is combined whether to judge train Reach the position of the wheel footpath calibration key point；If train does not reach the position of the wheel footpath calibration key point, just call The automatic correction algorithm of wheel footpath, automatic amendment is carried out to the wheel footpath so as to realize that the wheel footpath is calibrated automatically.
- A kind of 6. Train Wheel footpath automatic calibrating method based on precision ranging according to claim 1, it is characterised in that：Institute Stating the automatic makeover process of wheel footpath includes：1st, step 1：Satellite positioning information and odometer location information are received, row information of going forward side by side is synchronous, and then wheel spin is slided Row carries out correction-compensation；2nd, step 2：Judge location condition, when meeting that usable satellite number is more than 4 conditions with speed in more than 10km/h, enter Driving wheel wheel footpath is calibrated automatically；3rd, step 3：Judge whether train position is had arrived in the capture radius of wheel footpath calibration key point, if reached, from The milimeter number of the point and the range information apart from a upper key point are extracted in database；4th, step 4：Produce wheel footpath calibration information, in particular to, train after key point is reached, produce information at the time of with row control Delay is had between at the time of system receives the message, herein delay in, train traveling a certain distance so as to produce error, And carry out error compensation；5th, step 5：The distance of a key point in the distance described in error compensation and step 3 according to step 4, meter Calculate train and calibrate the distance travelled L of reality between key point in two wheel footpaths, while calculate wheel of the train between two calibration points Revolution n, and new wheel footpath Dc, Dc=L/n π is calculated according to L and n；6th, step 6：Judge whether new wheel footpath Dc and former wheel footpath D value of delta are more than the 1% of former wheel footpath, if greater than then carrying out Amendment, otherwise without amendment, and using the new wheel footpath Dc as the wheel footpath value in train operation control system, for inner Journey calculates.
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| CN109017880A (en) * | 2018-06-28 | 2018-12-18 | 武汉钢铁有限公司 | A kind of rail vehicle management system |
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| CN110118985A (en) * | 2019-05-31 | 2019-08-13 | 卡斯柯信号有限公司 | The multi-sensor information fusion positioning system and method for SIL4 safety level |
| CN110329309A (en) * | 2019-07-12 | 2019-10-15 | 卡斯柯信号有限公司 | A method of realizing that wheel footpath is calibrated using satellite positioning |
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| CN111114583A (en) * | 2019-12-20 | 2020-05-08 | 青岛四方庞巴迪铁路运输设备有限公司 | Control method for automatic wheel diameter calibration of motor train unit |
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| CN114620096A (en) * | 2020-12-10 | 2022-06-14 | 比亚迪股份有限公司 | Processing method after wheel diameter calibration failure, vehicle-mounted controller, train and medium |
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| CN111114583B (en) * | 2019-12-20 | 2021-03-19 | 青岛四方庞巴迪铁路运输设备有限公司 | Control method for automatic wheel diameter calibration of motor train unit |
| CN114620096A (en) * | 2020-12-10 | 2022-06-14 | 比亚迪股份有限公司 | Processing method after wheel diameter calibration failure, vehicle-mounted controller, train and medium |
| CN114620096B (en) * | 2020-12-10 | 2023-05-09 | 比亚迪股份有限公司 | Processing method after wheel diameter calibration failure, vehicle-mounted controller, train and medium |
| CN113390435A (en) * | 2021-05-13 | 2021-09-14 | 中铁二院工程集团有限责任公司 | High-speed railway multi-element auxiliary positioning system |
| CN113390435B (en) * | 2021-05-13 | 2022-08-26 | 中铁二院工程集团有限责任公司 | High-speed railway multi-element auxiliary positioning system |
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