CN107861142A - A kind of positioning combined based on the Big Dipper and multi information and air navigation aid - Google Patents
A kind of positioning combined based on the Big Dipper and multi information and air navigation aid Download PDFInfo
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- CN107861142A CN107861142A CN201711085640.7A CN201711085640A CN107861142A CN 107861142 A CN107861142 A CN 107861142A CN 201711085640 A CN201711085640 A CN 201711085640A CN 107861142 A CN107861142 A CN 107861142A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention belongs to locomotive/railcar operation protection or control technology field, more particularly to a kind of localization method combined based on the Big Dipper and multi information, first, station is before being taken into use, the longitude and latitude position of collection station element is needed, establishes the longitude and latitude basic database of station each element；By the way of Differential positioning, Big Dipper difference base station combines vehicle-mounted Big Dipper parsing module, obtains the position where accurate locomotive/railcar；After ground-based server receives the longitude and latitude of locomotive/railcar, by carrying out matching treatment with the station element longitude and latitude of collection, calculate obtain locomotive/railcar AT STATION in section position.The present invention provides a kind of positioning combined based on the Big Dipper and multi information and air navigation aid, using big-dipper satellite differential position and the positional information of yard acquisition of information locomotive/railcar, can improve the precision of positioning.
Description
Technical field
The invention belongs to locomotive/railcar operation protection or control technology field, more particularly to one kind based on the Big Dipper and
The positioning and air navigation aid that multi information combines.
Background technology
At present, locomotive/railcar of system-wide operation has been realized in equipment control car in tractor-trailer train, but in shunting service
When artificially confirm ground signal by driver completely and manipulate locomotive operation.
Because train locomotive operation is generally carried out at the busy station of transport or marshalling yard, shunting service depends on driver completely
It is artificial to confirm ground signal, the work load of driver is not only increased, once accident occurs for driver's error in judgement, railway can be transported
It is defeated to cause large effect.
Existing locomotive/railcar location technology mainly uses ground transponder, is laying and later stage the shortcomings that this method
Maintenance cost is high, it is necessary to which vehicle station covers.
The content of the invention
For defect present in prior art, the present invention provides a kind of positioning combined based on the Big Dipper and multi information with leading
Boat method, using big-dipper satellite differential position and the positional information of yard acquisition of information locomotive/railcar, it is fixed to improve
The precision of position.
To achieve these goals, the present invention uses following technical scheme：
The present invention provides a kind of localization method combined based on the Big Dipper and multi information, contains following steps：
Step 1, the longitude and latitude of station each element is established in station before being taken into use, it is necessary to gather the longitude and latitude position of station element
Spend basic database；
Step 2, by the way of Differential positioning, Big Dipper difference base station combines vehicle-mounted Big Dipper parsing module, obtain accurate locomotive/
Position where railcar；
Step 3, after ground-based server receives the longitude and latitude of locomotive/railcar, the station element longitude and latitude with collection is passed through
Carry out matching treatment, calculate obtain locomotive/railcar AT STATION in section position.
Further, the specific implementation process of the step 1 is as follows：
Step 101, station map is generated
The technical data provided according to user generates a station map file, and obtains or edit the name of each station element
Title, type and numbering；
Step 102, station element relation is generated
According to the front and back position relation between the element of station, generate one using edit tool and include the connection of station all elements
Network of personal connections；
Step 103, station is got ready
Semaphore and the track switch for needing to get ready from station map export, longitude and latitude, the track switch of semaphore are gathered using dotting equipment
Center longitude and latitude, establish the longitude and latitude basic database of station each element.
Further, the specific implementation process of the step 2 is as follows：
Step 201, the Beidou receiver on Big Dipper difference base station carries out three-dimensional localization, calculates the coordinate of base station,
Due to a variety of errors be present, there is error in the benchmark station coordinates and the known coordinate of base station that calculate, calculate differential data；
Step 202, differential server receives the differential data of Big Dipper difference base station transmission in real time；
Step 203, vehicle-mounted Big Dipper parsing module receives the Big Dipper longitude and latitude of differential data and general precision, after being corrected
Locomotive/railcar coordinate of base station and the common error of subscriber station is eliminated, calculates the high-precision longitude and latitude of locomotive/railcar
Coordinate.
Further, the specific implementation process of the step 3 is as follows：
Step 301, section matching condition
The longitude and latitude degrees of data and yard element relation gathered using the longitude and latitude basic database at station, generation are adjacent with match point
All sections, the matching line segment of track switch, the both ends of line segment are the latitude and longitude coordinates points of acquired mistake；
Step 302, locomotive/railcar localization process
Ground-based server calculates locomotive/railcar according to positional information, the yard element latitude and longitude information of locomotive/railcar transmission
Closest section difference, when the nearest section difference of calculating is less than setting numerical value, with reference to the longitude and latitude basic data at station
Storehouse carries out the matching of locomotive/railcar and respective segments.
The present invention also provides a kind of air navigation aid combined based on the Big Dipper and multi information, based on the described Big Dipper and multi information
With reference to localization method, it is further comprising the steps of：
Step A, determine locomotive/railcar AT STATION in section position after, with reference to yard and system on-off state
Information judges the current operational mode of locomotive/railcar, by the red band and white light band, semaphore point that judge yard section
Lamp status information show whether locomotive/railcar needs parking waiting still to allow operation and running route, so as to be locomotive/rail
Road car is navigated；
Step B, sentenced in real time by red, the white light information of the localization method combining station place section combined based on the Big Dipper and multi information
The locomotive that off line car/railcar is currently run/railcar section, so as to be tracked to locomotive/railcar.
Further, the step A specifically includes following steps：
Step A1, locomotive/railcar direction positioning
According to the high-precision longitude and latitude degrees of data of the locomotive/railcar continuously received in setting time, calculating judges locomotive/railcar
Longitude and latitude row in the yard figure of place close to front signal machine is other, and then on the traffic direction for calculating locomotive/railcar is
It is capable or descending；
Step A2, locomotive/railcar navigation
When the occupied block of status display in the section where locomotive/track truck position of positioning and current reception yard information is
When same, show that locomotive/railcar is by the red band and white light band, Signal lighting status information that judge yard section
It is no to need parking waiting still to allow operation and running route, so as to be navigated for locomotive/railcar.
Further, the yard information is the information obtained from TDCS systems, and it includes section information, Signal lighting
Status information and the location status information of track switch.
Further, the step B is specially：Locomotive/track truck position is tracked, it is preceding with the traveling of locomotive/railcar
The section of square locking states becomes seizure condition, the seizure condition shown by yard section information, judges that locomotive/railcar is worked as
Preceding traveling reaffirms on which section, in combination with the latitude and longitude information received in real time to locomotive/track truck position,
So as in real time accurately to locomotive/railcar position tracking.
Compared with prior art, the present invention has advantages below：
1st, the present invention instead of the position of original laying ground transponder positioning vehicle/railcar using big-dipper satellite location technology
Confidence cease, substantially increase positioning precision, solve by ground transponder positioning need to transform yard caused by system Construction and
The problem of later maintenance cost is high.
2nd, localization method combination TDCS signals of the invention, it is possible to achieve locomotive/track truck position positioning is mutually authenticated,
Improve the reliability of positioning；In combination with TDCS signals, solve vehicle to run route and be accurately positioned and track, realize vehicle to run
The navigation and tracking of route.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of localization method combined based on the Big Dipper and multi information of the embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of localization method combined based on the Big Dipper and multi information of another embodiment of the present invention；
Fig. 3 is a kind of use surface chart of air navigation aid combined based on the Big Dipper and multi information of the embodiment of the present invention；
Fig. 4 is a kind of use surface chart of air navigation aid combined based on the Big Dipper and multi information of another embodiment of the present invention.
Embodiment
In order to make it easy to understand, explanation explained below is made to the part noun occurred in the present invention：
TDCS（Train Operation Dispatching Command System）, it is the dispatch control management for covering system-wide
System, the dispatch control management means peace of modernization can be provided for system-wide dispatch control administrative staff at different levels accurately and in time
Platform.
Differential positioning (Differential Positioning), be according to the observation data of more than two receiving devices come
Determine a kind of method of the relative position between observation station.Combined by the Big Dipper information of general precision with difference information, so as to
Obtain accurately latitude and longitude information.
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail：
Embodiment one, as shown in figure 1, a kind of localization method combined based on the Big Dipper and multi information, contains following steps：
The warp of station each element is established in step S101, station before being taken into use, it is necessary to gather the longitude and latitude position of station element
Latitude basic database；
Step S102, by the way of Differential positioning, Big Dipper difference base station combines vehicle-mounted Big Dipper parsing module, obtains accurate machine
Position where car/railcar；
Step S103, after ground-based server receives the longitude and latitude of locomotive/railcar, pass through the station element longitude and latitude with collection
Degree carry out matching treatment, calculate obtain locomotive/railcar AT STATION in section position.
A kind of localization method combined based on the Big Dipper and multi information of the present embodiment is substituted using big-dipper satellite location technology
The positional information of original laying ground transponder positioning vehicle/railcar, substantially increases positioning precision, solves and pass through
The problem of system Construction caused by ground transponder positioning need to transform yard and high later maintenance cost, while also mitigate driver
Work load, effectively maintain the safety of railway transportation.
Embodiment two, as shown in Fig. 2 a kind of localization method combined based on the Big Dipper and multi information, contains following steps：
Step S201, station map is generated, providing existing technical data according to user generates a station map file, mainly
Including the station such as semaphore, track switch, section, insulation joint element, and obtain or edit title, type and the volume of each station element
Number；
Step S202, station element relation is generated, closed according to the front and back position between the elements such as signaling at stations machine, track switch, section
System, a network of personal connections connected comprising station all elements is generated using edit tool；
Step S203, station are got ready, and semaphore and the track switch for needing to get ready from station map export, Field Force's use, which is got ready, to be set
Longitude and latitude, the center longitude and latitude of track switch of standby collection semaphore, establish the longitude and latitude basic database of station each element；
Because the accuracy rating of common Big Dipper longitude and latitude offer is at 20 meters or so, the precise positioning of locomotive/railcar can not be realized,
For the present embodiment by the way of Differential positioning, Big Dipper difference base station, which combines vehicle-mounted Big Dipper parsing module, can provide high-precision warp
Latitude information, the position where locomotive/railcar can be accurately recognized, be solved by following steps S204 to step S206
Precision problem.
Step S204, the Beidou receiver on Big Dipper difference base station are observed after four satellites and just carry out three-dimensional calmly
Position, calculate the coordinate of base station, due to exist orbit error, clocking error, SA influences, atmospheric effect, multipath effect and
Other errors, the benchmark station coordinates and the known coordinate of base station calculated is different, error be present, calculates difference number
According to i.e. error amount；
Step S205, differential server receives the differential data of Big Dipper difference base station transmission in real time, by being connected between Data-Link
Locomotive/railcar provides Differential positioning service；
Step S206, vehicle-mounted Big Dipper parsing module receive the Big Dipper longitude and latitude of differential data and general precision, after being corrected
Locomotive/railcar coordinate of common error through eliminating base station and subscriber station, such as satellite orbital error, SA influence, air
Influence etc., positioning precision is improved, calculates the high-precision latitude and longitude coordinates of locomotive/railcar；
Step S207, section matching condition, the longitude and latitude degrees of data gathered using the longitude and latitude basic database at station and yard member
Plain relation, the generation all sections adjacent with match point, track switch（Which bar line of track switch be accurate to）Matching line segment, line segment
Both ends are the latitude and longitude coordinates points of acquired mistake；
Step S208, locomotive/railcar localization process, positional information, yard of the ground-based server according to locomotive/railcar transmission
Element latitude and longitude information calculates the closest section difference of locomotive/railcar, when the nearest section difference of calculating is less than setting number
During value, the matching of locomotive/railcar and respective segments is carried out with reference to the longitude and latitude basic database at station.
A kind of localization method combined based on the Big Dipper and multi information of the present embodiment, utilizes big-dipper satellite differential position
With the positional information of yard acquisition of information locomotive/railcar, the precision of positioning can be greatly improved.
A kind of embodiment three, air navigation aid combined based on the Big Dipper and multi information, is comprised the following steps：
Step S301, determine locomotive/railcar AT STATION in section position after, with reference to yard and system switching value shape
State information judges the current operational mode of locomotive/railcar, by the red band and white light band, semaphore that judge yard section
Lighting state information draw locomotive/railcar whether need parking waiting still allow operation and running route, so as to for locomotive/
Railcar is navigated, and is specially：
a）, the positioning of locomotive/railcar direction, according to the high-precision longitude and latitude of the locomotive/railcar continuously received in setting time
Data, the longitude and latitude row calculated in yard figure where judging locomotive/railcar close to front signal machine is other, and then calculates machine
The traffic direction of car/railcar is up or descending；
b）, the navigation of locomotive/railcar, when the section where locomotive/track truck position of positioning and current receive in yard information
When the occupied block of status display is same, by the red band and white light band, Signal lighting state that judge yard section
Information show whether locomotive/railcar needs parking waiting still to allow operation and running route, so as to enter for locomotive/railcar
Row navigation.
Preferably, yard information is the information obtained from TDCS systems, and it includes section information, Signal lighting shape
State information and the location status information of track switch, obtain yard information from TDCS systems at present and belong to optimal side from angles of product
Case, in addition, the channel for obtaining yard information can also have：CTC system, computer interlocking or microcomputer monitoring etc..
Step S302, in the case of having positioned successfully, pass through the localization method combining station combined based on the Big Dipper and multi information
Locomotive/railcar section that red, the white light information real-time judge locomotive/railcar of place section are currently run, so as to locomotive/
Railcar is tracked.
Locomotive/track truck position is tracked, with the traveling of locomotive/railcar, the section of front locking states becomes to take
State, the seizure condition shown by yard section information, the current traveling of locomotive/railcar is judged on which section, simultaneously
Locomotive/track truck position is reaffirmed with reference to the latitude and longitude information received in real time, so as in real time accurately to locomotive/rail
Road truck position tracks.
As shown in figure 3, for the example of a navigation combined based on the Big Dipper and multi information, Fig. 3 is that locomotive/railcar is fixed
Position needs the interface of parking waiting, and for 5589 cars at XBJG, front signal machine XB is red light, and red light does not allow to pass through.
In addition, again for the example of another navigation combined in the Big Dipper and multi information, Fig. 4 is that locomotive/track has positioned
Allow the interface of locomotive/vehicle track running, 5589 cars are at XBJG, and front signal machine XB is green light, XB semaphores to X5 signals
White light band between machine is 5589 routes for allowing walking.
The localization method combination TDCS signals of the present invention, it is possible to achieve the navigation and tracking of locomotive/railcar, be easy to driver
Check the current location residing for locomotive/railcar and the running route that will walk.
Illustrated above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of localization method combined based on the Big Dipper and multi information, it is characterised in that contain following steps：
Step 1, the longitude and latitude of station each element is established in station before being taken into use, it is necessary to gather the longitude and latitude position of station element
Spend basic database；
Step 2, by the way of Differential positioning, Big Dipper difference base station combines vehicle-mounted Big Dipper parsing module, obtain accurate locomotive/
Position where railcar；
Step 3, after ground-based server receives the longitude and latitude of locomotive/railcar, the station element longitude and latitude with collection is passed through
Carry out matching treatment, calculate obtain locomotive/railcar AT STATION in section position.
2. the localization method according to claim 1 combined based on the Big Dipper and multi information, it is characterised in that the step 1
Specific implementation process it is as follows：
Step 101, station map is generated
The technical data provided according to user generates a station map file, and obtains or edit the name of each station element
Title, type and numbering；
Step 102, station element relation is generated
According to the front and back position relation between the element of station, generate one using edit tool and include the connection of station all elements
Network of personal connections；
Step 103, station is got ready
Semaphore and the track switch for needing to get ready from station map export, longitude and latitude, the track switch of semaphore are gathered using dotting equipment
Center longitude and latitude, establish the longitude and latitude basic database of station each element.
3. the localization method according to claim 1 combined based on the Big Dipper and multi information, it is characterised in that the step 2
Specific implementation process it is as follows：
Step 201, the Beidou receiver on Big Dipper difference base station carries out three-dimensional localization, calculates the coordinate of base station,
Due to a variety of errors be present, there is error in the benchmark station coordinates and the known coordinate of base station that calculate, calculate differential data；
Step 202, differential server receives the differential data of Big Dipper difference base station transmission in real time；
Step 203, vehicle-mounted Big Dipper parsing module receives the Big Dipper longitude and latitude of differential data and general precision, after being corrected
Locomotive/railcar coordinate of base station and the common error of subscriber station is eliminated, calculates the high-precision longitude and latitude of locomotive/railcar
Coordinate.
4. the localization method according to claim 1 combined based on the Big Dipper and multi information, it is characterised in that the step 3
Specific implementation process it is as follows：
Step 301, section matching condition
The longitude and latitude degrees of data and yard element relation gathered using the longitude and latitude basic database at station, generation are adjacent with match point
All sections, the matching line segment of track switch, the both ends of line segment are the latitude and longitude coordinates points of acquired mistake；
Step 302, locomotive/railcar localization process
Ground-based server calculates locomotive/railcar according to positional information, the yard element latitude and longitude information of locomotive/railcar transmission
Closest section difference, when the nearest section difference of calculating is less than setting numerical value, with reference to the longitude and latitude basic data at station
Storehouse carries out the matching of locomotive/railcar and respective segments.
5. a kind of air navigation aid combined based on the Big Dipper and multi information, it is characterised in that based on any one of Claims 1-4 institute
The localization method that the Big Dipper and multi information stated combine, it is further comprising the steps of：
Step A, determine locomotive/railcar AT STATION in section position after, with reference to yard and system on-off state
Information judges the current operational mode of locomotive/railcar, by the red band and white light band, semaphore point that judge yard section
Lamp status information show whether locomotive/railcar needs parking waiting still to allow operation and running route, so as to be locomotive/rail
Road car is navigated；
Step B, sentenced in real time by red, the white light information of the localization method combining station place section combined based on the Big Dipper and multi information
The locomotive that off line car/railcar is currently run/railcar section, so as to be tracked to locomotive/railcar.
6. the air navigation aid according to claim 5 combined based on the Big Dipper and multi information, it is characterised in that the step A
Specifically include following steps：
Step A1, locomotive/railcar direction positioning
According to the high-precision longitude and latitude degrees of data of the locomotive/railcar continuously received in setting time, calculating judges locomotive/railcar
Longitude and latitude row in the yard figure of place close to front signal machine is other, and then on the traffic direction for calculating locomotive/railcar is
It is capable or descending；
Step A2, locomotive/railcar navigation
When the occupied block of status display in the section where locomotive/track truck position of positioning and current reception yard information is
When same, show that locomotive/railcar is by the red band and white light band, Signal lighting status information that judge yard section
It is no to need parking waiting still to allow operation and running route, so as to be navigated for locomotive/railcar.
7. the air navigation aid according to claim 6 combined based on the Big Dipper and multi information, it is characterised in that the yard letter
Breath is the information obtained from TDCS systems, and it includes the location status of section information, Signal lighting status information and track switch
Information.
8. the air navigation aid according to claim 5 combined based on the Big Dipper and multi information, it is characterised in that the step B
Specially：Locomotive/track truck position is tracked, with the traveling of locomotive/railcar, the section of front locking states becomes to take shape
State, the seizure condition shown by yard section information, judge that the current traveling of locomotive/railcar on which section, is tied simultaneously
Close the latitude and longitude information received in real time to reaffirm locomotive/track truck position, so as in real time accurately to locomotive/track
Truck position tracks.
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