CN108045263A - Magnetic suspension train is accurately positioned and velocity-measuring system and method - Google Patents
Magnetic suspension train is accurately positioned and velocity-measuring system and method Download PDFInfo
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- CN108045263A CN108045263A CN201711294096.7A CN201711294096A CN108045263A CN 108045263 A CN108045263 A CN 108045263A CN 201711294096 A CN201711294096 A CN 201711294096A CN 108045263 A CN108045263 A CN 108045263A
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- magnetic suspension
- information
- suspension train
- vehicle
- train
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
It is accurately positioned the invention discloses a kind of magnetic suspension train and velocity-measuring system and method, including locating module, control module and display module, wherein locating module includes locating sign board, vehicle-mounted laser receiver at vehicle active laser emitter, guide rail, and control module includes signal processing circuit and controller.Wherein laser emitter and receiver plays measurement distance, distance change is measured during Scan orientation mark plate, so as to fulfill location information is read, then shown again by controller decoding, improve real-time and precision that magnetic suspension train is accurately positioned and tests the speed.The perfect absolute fix technology of magnetic suspension train of the present invention, can be accurately positioned test the speed, solve the problems, such as that current magnetic suspension train positioning accuracy is not high to the magnetic suspension train run at high speed.
Description
Technical field
It is accurately positioned the present invention relates to a kind of magnetic suspension train and velocity-measuring system and method, belongs to magnetic suspension train positioning skill
Art field.
Background technology
At present, on June 13rd, 2017, Beijing S1 lines complete the sliding experiment of first stage heat, are expected to realize that carrying tries within the year
Operation.In May, 2016, the first item in China it is entirely autonomous research and development manufacture medium-and low-speed maglev line --- Changsha magnetic floats project and formally throws
Enter operation, this is also the longest medium-and low-speed maglev commercial operation line of world's distance travelled so far.On January 4th, 2003, Sino-German conjunction
The first in the world magnetic suspension business's transport line for making to develop formally is started operation in Shanghai, 29.863 kilometers of special line overall length.It belongs to high
Speed magnetic suspension train scope, overall trip speed are 430 kilometers/hour.Moreover, as a unique high speed magnetic so far in the world
Floating commercial operation line, magnetic floats Shanghai demonstration line at the beginning of 2017, safe and stable to have run more than 5200 days, completes in operation
16,270,000 km of journey realizes 48,140,000 person-times of carrying, and is always maintained at the highest operation percent of punctuality of ground traffic tools so far
(99.84%) recorded with punctuality rate (99.92%).
At abroad, Japanese superconduction high-speed magnetic floating project construction continues to promote；The Hyperloop one in the U.S. are realized
More than 1000km/h test speeds.
In so accurately running, being accurately positioned for train seems increasingly important.However, for common wheel track iron
Road mainly determines position and the speed of train by track circuit and the photoelectric encoder on wheel, since magnetic floats row
Vehicle does not have a wheel, is not in contact between vehicle and track during operation, therefore cannot quote biography to testing the speed and positioning for magnetic-levitation train
The measuring method of system railway, it is necessary to work out new method for locating speed measurement.
The content of the invention
It is an object of the invention to overcome the defect of the prior art, a kind of electromagnetism reduced because of magnetic suspended guide is provided
Interference and generate reading code error, effectively improve positioning-speed-measuring precision magnetic suspension train be accurately positioned and velocity-measuring system and
Method.
What the present invention was realized in：
A kind of magnetic suspension train of present invention offer is accurately positioned and velocity-measuring system, including locating module, control module and shows
Show module,
The locating module includes locating sign board and vehicle-mounted laser receiver at vehicle active laser emitter, guide rail,
Locating sign board contains location information coding at the guide rail；
The control module includes signal processing circuit and controller, and the controller includes hardware and software part, institute
Stating hardware components in controller includes motherboard circuit and microcontroller, and the software section in the controller includes decoding journey
Sequence and detection program；
The display module includes communication device and LED display.
Further, the vehicle active laser emitter and vehicle-mounted laser receiver include high-frequency emission module.
Further, the location information coding that locating sign board contains at the guide rail is using gray encoding mode.
The present invention also provides it is a kind of be accurately positioned using magnetic suspension train and velocity-measuring system to carry out magnetic suspension train accurately fixed
The method that position is tested the speed, includes the following steps：
1) system is opened, and carries out Initialize installation and self-test, the automatic vehicle active laser emitter for checking train both sides
And whether receiver can normally receive and dispatch laser, then display screen is initialized, and magnetic suspension is waited after initialization and self-test success
Train departure；
2) locating sign board containing location information coding has been mounted at this aerotrain track on the way, it is vehicle-mounted to have
Source laser transmitter will be with higher frequency rapid fire laser, Scan orientation mark plate；
3) after the located mark plate reflection of the laser of vehicle active Laser emission, received by vehicle-mounted laser receiver, because
Very fast for the transmission speed of laser, this and previous step are almost completed simultaneously；
4) after vehicle-mounted laser receiver receives information, the signal processing this information being transferred in control module is electric
Road just quickly enters in next step after treated；
5) controller in control module after treated information is received, first passes through detection Programmable detection and determines at this time
Whether the coding information of bit flag plate is wrong, then confirms errorless rear feeding decoding program, decodes and determine on locating sign board
Bit-encoded information.
6) after decoded information is obtained, by a series of calculation process, you can obtain train position information and speed letter
Breath.
Further, after the location information of train and velocity information is obtained, then control the display screen in display module will
This presentation of information comes out.
Further, the LED display in the display module and information real-time display need not be come out, it only need to be every
Update location information and velocity information within several seconds；There is the estimated countdown reached terminal to show simultaneously, communication dress
It puts and speed, the location information in each section compartment is transmitted to driver's cabin and relevant traffic department, in order to which they understand train in time
Situation.
The invention has the advantages that：
The present invention is accurately positioned traditional magnetic suspension train and velocity-measuring system row improves, including locating module, control mould
Block and display module；Locating module includes locating sign board, vehicle-mounted laser receiver at vehicle active laser emitter, guide rail；
Control module includes signal processing circuit and controller；Display module includes communication device and LED display.Compared with tradition
Magnetic suspension alignment system, the laser emitter that uses of the present invention can more accurately read the coding to locating sign board
Information reduces the reading code error generated due to the electromagnetic interference of magnetic suspended guide, is effectively improved positioning-speed-measuring precision.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other attached drawings according to these attached drawings.
Fig. 1 is accurately positioned for magnetic suspension train provided in an embodiment of the present invention and the principle schematic of velocity-measuring system；
Fig. 2 is the overview flow chart that magnetic suspension train provided in an embodiment of the present invention is accurately positioned and velocity-measuring system is implemented；
Fig. 3 is accurately positioned for magnetic suspension train provided in an embodiment of the present invention and the structure of the locating sign board of velocity-measuring system
Schematic diagram；
Fig. 4 is accurately positioned for magnetic suspension train provided in an embodiment of the present invention and the Gray code conversion table of velocity-measuring system；
Fig. 5 is that magnetic suspension train provided in an embodiment of the present invention is accurately positioned and the controller of velocity-measuring system detects program
Flow diagram；
Fig. 6 is accurately positioned for magnetic suspension train provided in an embodiment of the present invention and the flow of the controller software of velocity-measuring system
Schematic diagram.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution 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, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all on the premise of creative work is not made
Other embodiments belong to the scope of protection of the invention.
Such as Fig. 1 to Fig. 6, a kind of magnetic suspension train of offer of the embodiment of the present invention is accurately positioned and velocity-measuring system, including positioning
Module, control module and display module；The locating module include vehicle active laser emitter, locating sign board at guide rail,
Vehicle-mounted laser receiver；The control module includes signal processing circuit and controller；The display module includes communication device
And LED display.
Positioning mould active laser transmitter in the block and vehicle-mounted laser receiver all include high-frequency emission module, in order to
Facilitate installation that vehicle-mounted laser transmitter and vehicle-mounted laser receiver are formed a laser range sensor and (form laser ranging
Instrument).The present invention is using the FBM300- in the triangulation distances sensing system high-precision laser measurement of Casati companies of Germany
GT70 series.The measurement frequency of FBM300-GT70 series can reach 1100KHz.In view of the laser of laser transmitter projects
May be harmful, then using Laser wavelength 685nm red visible lasers, and degree of protection can reach IP64,
The harmful effect to instrument such as rainwater or dust can be reduced.The operating voltage of FBM300-GT70 series be 24VDC, 280mA,
And the output signaling interface being equipped with is Ethernet (Ethernet), and transmission rate can reach 10M, can be quickly by measurement
Data transmission to control module.
Locating sign board is containing coding information at the positioning mould guide rail in the block.The present invention uses gray encoding
Mode.Gray code is exactly in one group of number, and the adjacent code of any two only has bit difference, and maximum number
Also only one digit number is different between minimum number.Gray code belongs to Reliability codes, is a kind of coding mode of error minimization.
Although natural binary code directly can be converted into analog signal by D/A converter, in some situations, such as from ten into
Each of binary code will become when the 3 of system are converted to 4, and digital circuit can be made to generate very big peak current pulse.And lattice
Thunder code is then without this shortcoming, and, when adjacent interdigit is converted, only one generates variation, it is greatly reduced by one for it
State is obscured to logic during next state.Since two adjacent interblocks of this coding only have a difference, thus
In the conversion for the corner displacement in direction amount-digital quantity, when the corner displacement amount generation minor variations in direction may
When causing the digital quantity to change, Gray code only changes one, so changes the situation of two or multidigit simultaneously with other codings
Compared to more reliable, you can reduce the possibility of error.The present invention uses the gray encoding of 10.The witness marker
Plate is the tooth for being similar to square wave, and when the laser scanning of laser emitter is when on tooth, the distance value measured is smaller, is Gray code
0；When the laser scanning of laser emitter is in hollow part, the distance value measured is larger, larger saltus step occurs with this, can be more
Simply it is judged as the 1 of Gray code.The tooth width of square wave is 5mm, and hollow out is also 5mm, ten altogether, just constitutes 50mm,
For a minor cycle.Because the present invention uses the gray encoding of 10, there are 1024 different numerical value, i.e., it is 1024 small
Cycle；It is a large period when scanning through this 1024 values, that is, the distance of 512m.Controller needs cumulative large period and small
The number in cycle, you can know the distance that magnetic suspension train is run over, then compared i.e. with the travel route of magnetic suspension train
It may know that the specific location of magnetic suspension train, achieve the purpose that magnetic suspension train positions with this；Controller calculating is passed by N number of week
Time T used in phase, then by the distance in this N number of cycle divided by time T.
The signal processing circuit that the control module includes, main rise eliminate the significant magnetic field that magnetic suspension train guide rail generates
Influence to the laser range sensor output signal that vehicle-mounted laser transmitter and vehicle-mounted laser receiver form, this is also this
The reason for invention is using gray encoding.
The controller that the control module includes is made of hardware and software two parts, and the hardware components of controller can divide
Into two parts, a portion is motherboard circuit, and another part is microcontroller (MCU).The microcontroller of the present invention is to use
The chip of the STM32F407 series of ST Microelectronics, the work highest dominant frequency of the chip can reach 168MHz,
Under 168MHz frequencies, when being performed from flash storage, STM32F407 has 210DMIPS/566CoreMark performances, and
FLASH zero wait states are realized using the ART accelerators of STMicw Electronics, these are all provided quickly to realize to decode
Advantage improves the real-time of this magnetic suspension positioning speed-measuring system.STM32F407 chips also have abundant connection work(
Can, outstanding innovative peripheral hardware such as has 10/100 interface of ethernet mac for meeting the requirement of 1588 v2 standards of IEEE, can
Quickly the information through signal processing circuit is passed to and stored.Motherboard circuit mainly contains crystal oscillating circuit, A/D conversion electricity
Road, reset circuit and power circuit.Because the significant magnetic field that magnetic suspended guide generates has an impact crystal oscillating circuit but also to carry
For the frequency of 168MHz, so to the more demanding of crystal oscillator.The effect of A/D conversion circuits is will to carry laser emitter
Digital signal is converted into the analog signal of the laser range sensor output of vehicle-mounted laser receiver composition, is re-fed into
STM32F407 chips are calculated.
The controller that the control module includes is made of hardware and software two parts, and software section is mainly by detection program
It is formed with decoding program.Detection program effect be, when magnetic suspension train carriage body rock and other situations caused by vehicle-mounted laser
Transmitter is unable to the coding information of normal scan locating sign board, such as misreads, skip etc..Detection program first determines whether after starting
The travel direction of magnetic suspension train, and judge whether to run through one group of locating sign board information, if run through determine whether be
Read locating sign board for the first time, be then to record the coding information if first time, if not then this coding information with
Upper one group of reading result is compared；Then sensor is normal when comparative result discovery meets the information of locating sign board, otherwise
If be judged as sensor code-reading failure.The effect of decoding program is that detection program is judged 10 errorless Gray code conversions
Into binary coding, Fig. 4 provides Gray code conversion table in the present invention.It is converted into bring after binary coding calculating.
What the display module included is communication device and LED display.STM32F407 surveys the positioning being calculated
Fast information passes to LED display through HDMI digital high-definition interfaces.But it due to the suspenopsia of human eye, can not absorb such as
This quick information.Display screen will show the distance that magnetic suspension train is run over, specific Time of Day and real-time under the time
Speed, and distance is updated every the time interval of 3 seconds, every the time renewal speed of 2 seconds.Communication device also can be by a section vehicle
The speed in compartment is transmitted to driver's cabin and relevant traffic department, in order to which they understand train situation in time.
The present invention also provides it is a kind of be accurately positioned using above-mentioned magnetic suspension train and velocity-measuring system carry out magnetic suspension train determine
The method that position is tested the speed, includes the following steps：
1) system is opened, and carries out Initialize installation and self-test, the automatic vehicle active laser emitter for checking train both sides
And whether receiver can normally receive and dispatch laser, then display screen carries out also beginning to initialize.It is waited after initialization and self-test success
Magnetic suspension train is dispatched a car.The witness marker containing location information coding has been mounted at the track of this magnetic suspension train on the way
Plate, vehicle active laser emitter will be with higher frequency rapid fire laser, Scan orientation mark plates.Vehicle active laser
After the located mark plate reflection of laser of transmitting, received by vehicle-mounted laser receiver, because the transmission speed of laser is very
Soon, almost complete simultaneously.Vehicle-mounted laser transmitter and vehicle-mounted laser receiver at this time forms a laser ranging sensing
Device.
2) locating sign board is containing gray encoding information, and the present invention is using 10 gray encodings, 50 millis
The meter Wei Yi minor cycles, 512 meters are a large period.When magnetic suspension train reaches different positions, leading in same large period
Coding information at rail contained by locating sign board is also different.What vehicle-mounted laser transmitter and vehicle-mounted laser receiver formed
Laser range sensor will be scanned the information of locating sign board, and next step is entered after scanning.
3) information that signal processing circuit obtains previous step is handled, and is produced with this to eliminate magnetic suspension train guide rail
The shadow for the laser range sensor output signal that raw significant magnetic field forms vehicle-mounted laser transmitter and vehicle-mounted laser receiver
It rings.
4) controller in control module is after treated information is received at this time, by the motherboard circuit in hardware
Into cross A/D conversion after, first pass through detection Programmable detection locating sign board coding information it is whether wrong, then confirm it is errorless after
Decoding program is sent into, decodes the location coding information on locating sign board.After decoding information, by a series of meter
Calculate the real-time speed for drawing distance that magnetic suspension train runs over and train.
5) LED display of display module is obtained by the HDMI digital high-definition interfaces picked out from control module through communication device
The distance that magnetic suspension train is run over is obtained, and to be updated once every the time of 3 seconds；Also magnetic suspension train real-time speed is obtained
Information, and to be updated once every the time of 2 seconds.And it can show the estimated countdown reached terminal.Communication device
The speed in each section compartment can be transmitted to driver's cabin and relevant traffic department, in order to which they understand train situation in time.
The present invention is intended to provide a kind of magnetic suspension train is accurately positioned and velocity-measuring system and method, using vehicle active laser
Transmitter emits laser, scans the absolute fix mark plate on train guide rail, which has good reflecting power, will
Laser emission is sent using signal processing circuit to control unit, control unit is decoded to vehicle active laser pickoff
Positioning-speed-measuring information is sent to display after decoding to show.
With rapid development of economy, in face of increasingly congested traffic pressure, magnetic suspension train low noise, speed is fast,
Safety, steady, energy-saving and environmental protection, therefore magnetic suspension train is increasingly paid attention to by people.A kind of magnetic suspension train of the present invention
Be accurately positioned and velocity-measuring system and method, the perfect absolute fix technology of magnetic suspension train, by vehicle-mounted laser transmitter and
The laser range sensor of vehicle-mounted laser receiver composition is scanned the location information of locating sign board at guide rail, obtains
The distance and real-time speed that magnetic suspension train is run over, then magnetcisuspension is drawn with this compared with magnetic suspension train travel route
The location of floating train.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of magnetic suspension train is accurately positioned and velocity-measuring system, including locating module, control module and display module, feature
It is：
The locating module includes locating sign board and vehicle-mounted laser receiver at vehicle active laser emitter, guide rail, described
Locating sign board contains location information coding at guide rail；
The control module includes signal processing circuit and controller, and the controller includes hardware and software part, the control
Hardware components in device processed include motherboard circuit and microcontroller, and the software section in the controller includes decoding program and inspection
Ranging sequence；
The display module includes communication device and LED display.
2. magnetic suspension train as described in claim 1 is accurately positioned and velocity-measuring system, it is characterised in that：The vehicle active swashs
Optical transmitting set and vehicle-mounted laser receiver include high-frequency emission module.
3. magnetic suspension train as described in claim 1 is accurately positioned and velocity-measuring system, it is characterised in that：It is positioned at the guide rail
The location information coding that mark plate contains is using gray encoding mode.
4. it is a kind of be accurately positioned using magnetic suspension train as described in any one of claims 1 to 3 and velocity-measuring system carry out magnetcisuspension
Floating train is accurately positioned the method to test the speed, it is characterised in that：Include the following steps：
1) system is opened, and carries out Initialize installation and self-test, is checked the vehicle active laser emitter of train both sides automatically and is connect
Receive whether device can normally receive and dispatch laser, then display screen is initialized, and magnetic suspension train is waited after initialization and self-test success
It dispatches a car；
2) locating sign board containing location information coding has been mounted at this aerotrain track on the way, vehicle active swashs
Optical transmitting set will be with higher frequency rapid fire laser, Scan orientation mark plate；
3) after the located mark plate reflection of the laser of vehicle active Laser emission, received by vehicle-mounted laser receiver, because swashing
The transmission speed of light is very fast, this and previous step are almost completed simultaneously；
4) after vehicle-mounted laser receiver receives information, the signal processing circuit that this information is transferred in control module,
It is just quickly entered after treated in next step；
5) controller in control module after treated information is received, first passes through detection Programmable detection positioning mark at this time
Whether the coding information of will plate is wrong, then confirms the errorless rear positioning volume be sent into decoding program, decode on locating sign board
Code information.
6) after decoded information is obtained, by a series of calculation process, you can obtain train position information and velocity information.
5. according to the method described in claim 4, it is characterized in that：After the location information of train and velocity information is obtained, then
Display screen in control display module comes out this presentation of information.
6. according to the method described in claim 4, it is characterized in that：LED display in the display module simultaneously need not will
Information real-time display comes out, and only every need to update location information and velocity information every few seconds；There is estimated reach simultaneously
The countdown of terminus shows that the speed in each section compartment is transmitted to driver's cabin and relevant traffic department by communication device, in order to
They understand train situation in time.
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| CN201711294096.7A CN108045263B (en) | 2017-12-08 | 2017-12-08 | Precise positioning and speed measuring system and method for magnetic suspension train |
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| CN201711294096.7A CN108045263B (en) | 2017-12-08 | 2017-12-08 | Precise positioning and speed measuring system and method for magnetic suspension train |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104027A (en) * | 2019-05-27 | 2019-08-09 | 上海电气泰雷兹交通自动化系统有限公司 | A kind of localization method of wheel-rail train |
| CN110281985A (en) * | 2019-03-19 | 2019-09-27 | 卡斯柯信号有限公司 | A kind of superhigh-speed magnetic hovertrain operation control system and method |
| CN111121757A (en) * | 2019-12-18 | 2020-05-08 | 航天时代电子技术股份有限公司 | Railway locomotive positioning and speed measuring system and method |
| CN111376948A (en) * | 2018-12-29 | 2020-07-07 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Rail train positioning method and system |
| CN111762236A (en) * | 2020-06-29 | 2020-10-13 | 交控科技股份有限公司 | Rail transit train positioning method, device and system |
| CN111890944A (en) * | 2020-06-28 | 2020-11-06 | 江西理工大学 | Magnetic suspension active guidance system based on big data |
| CN112172535A (en) * | 2020-10-16 | 2021-01-05 | 中国人民解放军国防科技大学 | Method for positioning, measuring speed and measuring height of magnetic-levitation train |
| CN112537208A (en) * | 2019-09-23 | 2021-03-23 | 中车株洲电力机车研究所有限公司 | Starting method and device for magnetic suspension high-speed train |
| CN112706622A (en) * | 2019-10-25 | 2021-04-27 | 株洲中车时代电气股份有限公司 | Electromagnet controller of maglev train |
| CN113075736A (en) * | 2021-03-24 | 2021-07-06 | 通号(北京)轨道工业集团有限公司轨道交通技术研究院 | Magnetic suspension train absolute positioning equipment and method |
| CN113291353A (en) * | 2020-02-24 | 2021-08-24 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Ultra-high-speed maglev train positioning and speed measuring system based on Manchester coding |
| CN113291354A (en) * | 2020-02-24 | 2021-08-24 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Superspeed maglev train positioning and speed measuring system based on m-sequence coding |
| CN113619651A (en) * | 2021-09-01 | 2021-11-09 | 中车株洲电力机车有限公司 | Magnetic-levitation train, speed-measuring and positioning method and system, track and metal toothed slot plate |
| CN114735049A (en) * | 2022-03-23 | 2022-07-12 | 北京全路通信信号研究设计院集团有限公司 | Laser radar-based speed measurement and positioning method and system for magnetic-levitation train |
| CN115195823A (en) * | 2022-06-01 | 2022-10-18 | 中铁第四勘察设计院集团有限公司 | Calibration method, positioning method, device, electronic equipment and storage medium |
| CN116661429A (en) * | 2023-08-02 | 2023-08-29 | 青岛富欣城轨科技有限公司 | Dynamic debugging method and system for train control process |
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