CN108407850A - train satellite positioning differential data processing method - Google Patents
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- CN108407850A CN108407850A CN201810435587.7A CN201810435587A CN108407850A CN 108407850 A CN108407850 A CN 108407850A CN 201810435587 A CN201810435587 A CN 201810435587A CN 108407850 A CN108407850 A CN 108407850A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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Abstract
The present invention proposes a kind of train satellite positioning differential data processing method, which is characterized in that including：By the satellite data and train status data of the train-installed management system acquisition train, and the satellite data and train status data are matched with train id information, is exported the data after matching to the ground-based server in real time by wireless network；The ground-based server is connect with the train-installed management system and satellite difference base station respectively, the ground-based server receives the satellite difference data of the satellite difference benchmark output, and the data of the train-installed management system output, and by Train Dynamic position solving unit to the speed of the train, wheel footpath is monitored in real time, by the ground-based server by it is described it is train-installed management system output data, satellite difference data, the velocity information of train, the wheel footpath information of train is merged, position correction is carried out to the train, and export calibration data.
Description
Technical field
The present invention relates to technical field of satellite, in particular to a kind of processing of train satellite positioning differential data
Method.
Background technology
Currently, being to be adopted according to the scenes Railway Bureau TDCS to the method for the dynamic tracking of running train in the railway system now
The occupancy of the signalling arrangement track circuit of collection and go out the position of clear condition adjudgement train into line trace, is checked using wireless running number
System carries out running number automatic Check and obtains train number number, and realizes and sentence into line trace to the orientation and trend of train in operation
It is disconnected.
Automatic Control Systems for train operation system (ATC) either in railway track traffic system or high ferro train operation
It is severe meeting in the systems such as control system (CTCS) and track circuit therein, wired, wireless and radio block center (RBC)
The geological disasters such as meteorological condition, thunder and lightning impacting with high pressure or mud-rock flow, easily cause block system to break down, make track circuit without
Method correctly transmits the information of semaphore, and current train-installed control device is only capable of by track circuit, ground transponder, rail
The information for the signal acquisition current line that the ground installations such as other cable, terrestrial wireless communication base station provide, once these ground arrange
Vehicle operation control breaks down or vehicle scheduling mistake occurs, and other side cannot be timely and effectively obtained between train close to each other
Transport condition, the block section that train operator can not ensure the safe distance between train, and enter front, which will will appear, to be closed
There is possibility of two trains that same direction, same station track are run in operation in plug section, this is possible to cause train colliding
Serious accident.
Since existing train positioning system is low to the positioning accuracy of train, consequently, it is possible to lead to serious accident,
Its reason is that not carrying out train using satellite base station when being positioned to train is accurately positioned.
Invention content
In consideration of it, the present invention proposes a kind of train satellite positioning differential data processing method, it is intended to which solution passes through satellite
Differential data improves the problem of train positioning accuracy.
On one side, the present invention proposes a kind of train satellite positioning differential data processing method, which is characterized in that packet
It includes：By the satellite data and train status data of the train-installed management system acquisition train, and by the satellite data
It is matched with train id information with train status data, is exported the data after matching to described in real time by wireless network
Face server；The ground-based server is connect with the train-installed management system and satellite difference base station respectively, describedly
Face server receives the satellite difference data of satellite difference benchmark output and the train-installed management system output
Data, and speed, the wheel footpath of the train are monitored in real time by Train Dynamic position solving unit, pass through the ground
Server by it is described it is train-installed management system output data, satellite difference data, the velocity information of train, the wheel footpath of train
Information is merged, and carries out position correction to the train, and export calibration data.
Further, the satellite difference data that the satellite difference base station will be observed that in real time, utilize network
System is exported by wired or wireless mode to the ground-based server and the satellite difference base station coverage area
Each train-installed management system, to complete the correction of train location data.
Further, the ground-based server includes monitoring central server and train supervision terminal, wherein the monitoring
Central server is used to receive satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and
According to the accurate train positioning result of the data acquisition；The train supervision terminal, for locomotive, vehicle, track, circuit
Carry out tracing management.
The beneficial effects of the present invention are by by ground-based server, by the satellite data of satellite difference data and train
It blends, and combines velocity information, the wheel footpath information of train, calibrated with the position to train, greatly improve train
Positioning accuracy.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the knot difference information acquisition system of train satellite positioning differential data processing method provided in an embodiment of the present invention
System structural schematic diagram.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.It should be noted that in the absence of conflict, embodiment in the present invention and
Feature in embodiment can be combined with each other.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The present invention proposes a kind of train satellite positioning differential data processing method, which is characterized in that including：By described
The satellite data and train status data of train-installed management system acquisition train, and by the satellite data and train status number
It is matched according to train id information, is exported the data after matching to the ground-based server in real time by wireless network；Institute
It states ground-based server to connect with the train-installed management system and satellite difference base station respectively, the ground-based server receives
The data of the satellite difference data of the satellite difference benchmark output and the train-installed management system output, and pass through
Train Dynamic position solving unit monitors speed, the wheel footpath of the train in real time, by the ground-based server by institute
Data, satellite difference data, the velocity information of train, the wheel footpath information of train for stating train-installed management system output are melted
It closes, position correction is carried out to the train, and export calibration data.
Further, the satellite difference data that the satellite difference base station will be observed that in real time, utilize network
System is exported by wired or wireless mode to the ground-based server and the satellite difference base station coverage area
Each train-installed management system, to complete the correction of train location data.
Further, the ground-based server includes monitoring central server and train supervision terminal, wherein the monitoring
Central server is used to receive satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and
According to the accurate train positioning result of the data acquisition；The train supervision terminal, for locomotive, vehicle, track, circuit
Carry out tracing management.
It is understood that by by ground-based server, the satellite data of satellite difference data and train is blended, and
Velocity information, wheel footpath information in conjunction with train, are calibrated with the position to train, greatly improve the positioning accurate of train
Degree.
Satellite positioning difference information acquisition based on the train satellite positioning differential data processing method in above-described embodiment
System, as shown in fig.1, it believes for the knot difference of train satellite positioning differential data processing method provided in an embodiment of the present invention
Cease acquisition system structure schematic diagram.An embodiment of the present invention provides a kind of yard satellite positioning difference information acquisition system, features
It is, including：Train-installed management system, ground-based server and satellite are accurately positioned subsystem, wherein the train-installed pipe
Reason system and the ground-based server, the train-installed management system are used for satellite data and train status data, in conjunction with
Data are exported the ground-based server by train id information in real time by wireless network；The satellite be accurately positioned subsystem with
The ground-based server connection, it includes satellite data system, satellite difference base station and row that the satellite, which is accurately positioned subsystem,
Vehicle dynamic position solving unit, wherein satellite data of the satellite difference base station for will be observed that in real time utilizes net
Network system is exported satellite difference data to ground-based server and the satellite difference base station by wired or wireless mode
Train-installed mobile terminal in coverage area carries out being accurately positioned for train to complete the correction of train location data；It is described
Train Dynamic position solving unit for monitoring speed, the wheel footpath of the train in real time, to be arranged described in real time calibration
The position of vehicle；The ground-based server is additionally operable to information between vehicle ground for carrying out data processing and transmission, the ground-based server
Transmission, acquires the satellite difference data.
Specifically, the ground-based server includes monitoring central server and train supervision terminal, wherein the monitoring
Central server is used to receive satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and
According to the accurate train positioning result of the data acquisition；The train supervision terminal, for locomotive, vehicle, track, circuit
Carry out tracing management.
Specifically, it further includes high-precision electronic map that the satellite, which is accurately positioned subsystem, the high-precision electronic
Figure is for train positioning result described in real-time display.The ground-based server, for generating the high-precision electronic map.It is described
Ground-based server is additionally operable to information transmission, train safety monitoring, train tracking, data record, status early warning between vehicle ground.It is described
Ground-based server is additionally operable to database maintenance, user management, network security management.
It is understood that carrying out the acquisition and transmission of data by the way that ground-based server is arranged, train is greatly improved
Positioning accuracy, and train is managed in real time by ground-based server, not only increases the security performance of train operation, subtract
The generation of few accident.
Specifically, in another realization method based on above-described embodiment, acquisition system includes：Train-installed management system
System, railway trains monitoring center system and satellite are accurately positioned subsystem.
Specifically, train-installed management system is used for satellite data and train status data, in conjunction with train id information,
Data are exported in real time to neighbouring train and the railway trains monitoring center system by wireless network.
Specifically, train-installed management system is mounted on train driving room, led to by Train-navigation system, speech talkback
News, vehicle-vehicle communication system, vehicle-earth communication system, data communication monitoring, satellite communication, gsm communication, train control system etc.
Composition.Onboard system is real-time by data using wireless network in conjunction with train ID number mainly by satellite data and train status data
It is sent to neighbouring train and railway trains monitoring center.Result after being resolved by system graphically illustrates, signal shows again, voice is broadcast
The forms such as report, warning alarm, order control are accordingly exported, and make running train can be with automatic sensing yard circuit, road
Trouble, yard state, range ability, hauling operation plan etc. realize that train, track switch, platform screen door automatically control.
Specifically, railway trains monitoring center system is used to handle the data received, the railway trains monitoring
Centring system is additionally operable to information transmission, train safety monitoring, train tracking, data record, status early warning between vehicle ground；Railway trains
Monitoring center system includes monitoring central server and train supervision terminal, wherein the monitoring central server is for receiving
Satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and according to data acquisition essence
True train positioning result；The train supervision terminal, for carrying out tracing management to locomotive, vehicle, track, circuit.It is described
Railway trains monitoring center system, for generating the high-precision electronic map.Railway trains monitoring center system, is additionally operable to vehicle
Information transmission, train safety monitoring, train tracking, data record, status early warning between ground.Railway trains monitoring center system, also
For database maintenance, user management, network security management.
Specifically, railway trains monitoring center manages system by server, monitor terminal (PC computers) and ground monitoring
The compositions such as software.
(1) monitoring central server
In yard region, satellite location data is received by wireless network or landline network, satellite difference data, is stood
After field microcomputer interlocking data and Train Dynamic data, server background software is resolved by decoding, and obtains accurate train positioning
As a result, the result goes out train position, motion track and operating status by yard high-precision electronic map (GIS) real-time display,
Positioning accuracy is up to Centimeter Level.For section without track switch section track, moved towards by satellite One-Point Location and track, in conjunction with train
Operating status and own dynamic push algorithm software correction, can be effectively ensured locomotive any time is accurately positioned in real time.
(2) train supervision terminal
Train supervision terminal refers to the administrative staff's desktop computer being connected in ground network system, mainly for easily
Tracing management of each professional in face to management essentials such as locomotive, vehicle, track, circuits.
Railway trains monitoring center system mainly completes data processing, high-precision electronic map (GIS) generates, vehicle-ground letter
Transmission, train safety monitoring, train tracking, data record, status early warning etc. are ceased, database maintenance, user management, net are also completed
The functions such as network safety management.
Specifically, it includes satellite data system, satellite difference base station and Train Dynamic that satellite, which is accurately positioned subsystem,
Position solving unit, wherein satellite data of the satellite difference base station for will be observed that in real time utilizes network system
By wired or wireless mode, satellite difference data are exported to ground-based server and the satellite difference base station and cover model
Train-installed mobile terminal in enclosing carries out being accurately positioned for train to complete the correction of train location data；The train is dynamic
State position solving unit for monitoring speed, the wheel footpath of the train in real time, to the position of train described in real time calibration
It sets.It further includes high-precision electronic map that satellite, which is accurately positioned subsystem, and the high-precision electronic map is for described in real-time display
Train positioning result.
Specifically, satellite-based " vehicle-ground ", " vehicle-vehicle " communication system, by acquiring train operation state number
Being accurately positioned in real time for train Centimeter Level is realized according to, yard track switch detection data, is calculated in conjunction with the software of entirely autonomous intellectual property
Method, high-precision electronic map realize train, track, platform, scheduling holographyization intelligent operation control system.
Satellite be accurately positioned subsystem by satellite data system, satellite difference base station, high-precision electronic map (GIS) and
Train Dynamic position solving unit composition.
Satellite difference base station, as dynamic difference positioning reference station, are built upon railroad track or yard region can be real
When receive satellite system data, and the information work station that seek difference can be calculated opposite observation point.When satellite difference base station works,
In real time it will be observed that satellite data, by network system by the way of wired or wireless, by satellite difference data transmission
To the train-installed mobile terminal in ground-based server and this base station coverage area, to complete the correction of train location data,
Realize being accurately positioned for train.
Simultaneously by Train Dynamic position solving unit, speed, the wheel footpath of train are monitored in real time, real time calibration row
Truck position, to realize that the train of Centimeter Level is accurately positioned.
It is understood that the present embodiment by be arranged train-installed management system, railway trains monitoring center system and
Satellite is accurately positioned subsystem, carries out the acquisition of train status data, satellite location data, and combined high precision electronic map is believed
Breath resolves train operation state, yard switch status information, and it is accurate in real time fixed to be carried out to train position in conjunction with satellite data
Position, while by the way that Train Dynamic position solving unit is arranged, speed, the wheel footpath of train are monitored in real time, real time calibration row
Truck position, to realize that the train of Centimeter Level is accurately positioned.This system is not only realized and is accurately positioned to train, and this system
Simple in structure, operational efficiency is high, and operating cost is low.Also, this system can also output train control command, accurate to train
Can also be realized on the basis of positioning to train automatically control and intelligent operation management.
In alternatively possible realization method based on above-described embodiment, unlike the embodiments above, this embodiment party
The satellite Precise Position System of formula further includes orbit information management system, orbit information management system be used for by Che-vehicle,
Car-ground communication system carries out the status monitoring of platform screen door and track switch.By Che-vehicle, car-ground communication system, platform is realized
Shield door, track switch status monitoring, realize the intelligent management of orbit information.
Orbit information manages system process flow：Observation data and locomotive are obtained by satellite positioning GNSS reference base station
The other information of positioning flowing terminal output, observation data and other information are packaged into data packet and are transmitted, pass through decoding
After resolving, respectively by the data transmission after decoding resolving to map operation tracing and monitoring unit and coordinate transformation projective transformation
Unit；Coordinate transformation projection transformation unit matches the map reference data of reception with map, through map match units match
After coordinate, data are exported to map operation tracing and monitoring unit, map operation tracing and monitoring unit combination precise electronic map
With output data after spatial geographic information, the requirement of data combination actual job, train track and other data outputs of output
It manages traffic order to locomotive and positions flowing terminal.
This system is in information source points such as acquisition locomotive status data, satellite location data, track high-precision electronic maps
On the basis of, train operation state, yard switch status information are resolved, train position is carried out in conjunction with satellite data accurate in real time
Positioning, output train control command, realize train automatically control and intelligent operation management.
Specifically, 1, train intelligent navigation and automatic control function：
(1) by automatically controlling adding for train by intelligent guidance system and operational plan with train controller interface
The Function for Automatic Pilot such as speed, braking, speed limit, parking.
(2) distance of the train away from front and back circuit (track switch), blind siding etc. is judged automatically, and safe distance can be set
Alarm, by with train controller interface, occurred with the accidents such as preventing from rushing, squeezing, take off, hit.
(3) in the form of line map or service chart, real-time display train is in the exact position of current orbit.
(4) operating status (speed, direction etc.) of real-time display current train.
(5) real-time display train front, rear yard, adjacent vehicle, switch status, and show at a distance from current location.
(6) in a manner of voice broadcast, yard in front of locomotive, adjacent vehicle, switch status and distance are reminded；Remind track operation
Protect point, circuit particular point, speed limit point etc..
(7) by with train controller interface, control train in abnormal operational conditions, (such as overrun a signal is driven in violation of rules and regulations
Sail, line fault etc.) automatic stopping.
(8) judgement distance of the train away from front locomotive, realization avoid rear-end collision close to alarm, speed limit or parking automatically.
(9) drive over the speed limit simultaneously speed limit of the automatic judgement train in predetermined region.
(10) by car-ground communication system, with track switch, platform screen door into line interface, realization automatically controls it.
(11) by with train controller interface, the automatic whistling of train in/out station, safe early warning.
(12) in special circumstances it manual intervention speed limit, parking and manually takes over.
2, intelligent operation management function
The management of basic information
(1) Train Conductors, operation management personnel's basic information management function are provided
(2) train (vehicle), yard, track switch, track section information management function
(3) yard and section high-precision electronic mapping and adjustment function
(4) yard and interval orbit circuit particular point geographical coordinate calibrating function
The dynamic management of vehicle-vehicle, vehicle-ground, vehicle-people
(1) train position state, the real time monitoring of operating status
(2) the automatic of train operation plan issues and executes
(3) train running information automatically recording and reports
(4) train arrival, storage information automatically recording and report
(5) it the transmission of the information of interim dynamic monitoring point and is reported (containing provisional repair, geological disaster or other danger along
Dangerous situation condition), and pass through the speed limit of train automatic controlling system realization train or parking.
(6) Che-vehicle, car-ground, vehicle-people real-time voice intercommunication function
Data record and historical data recovering and analysis
(1) in ground-based server system, the total data of all locomotives and line status can whole be recorded.
(2) can recovering and analysis according to condition be carried out to the travelling data of arbitrary train or arbitrary period.
Specifically, this system hardware, which takes 2 × 2, takes the double hot standby independent design thinkings of redundancy more than 2, system work ensure that
The high reliability and high stability of work.System backup power supply uses the power adaptation interface of adaptive train environment, built-in intelligence
Charge-discharge circuit, to ensure system normal power supply or the battery backup when dispatch from foreign news agency lacks；
(1) key equipment of this system is all designed using double unit redundancies, i.e., system data occurs, detection, communicates, place
Reason and result output and power supply are all configured using double units, are verified according to equipment room reliability, are ensured system in a certain unit
When equipment fault, the normal work of system is not interfered with；
(2) this system uses modularized design to unit, can the working condition of automatic checkout equipment itself and real-time
Tracking equipment operating condition, related monitoring result may be automatically transferred to external equipment or monitoring center by ad-hoc network, once
Discovering device failure, system is by real-time prompting or alarm.
Also, this system ensures the real-time and standard of data using the train monitoring of multiple software algorithm and verification scheme
True property.
It is understood that the present embodiment by be arranged train-installed management system, railway trains monitoring center system and
Satellite is accurately positioned subsystem, carries out the acquisition of train status data, satellite location data, and combined high precision electronic map is believed
Breath resolves train operation state, yard switch status information, and it is accurate in real time fixed to be carried out to train position in conjunction with satellite data
Position, while by the way that Train Dynamic position solving unit is arranged, speed, the wheel footpath of train are monitored in real time, real time calibration row
Truck position, to realize that the train of Centimeter Level is accurately positioned.This system is not only realized and is accurately positioned to train, and this system
Simple in structure, operational efficiency is high, and operating cost is low.Also, this system is by output train control command, to train, track switch and
Platform screen door carries out automatically controlling, can also be realized on the basis of being accurately positioned to train to train automatically control and intelligence
Operation management can be changed, greatly improve the control efficiency of automatic control system, reduce the operation cost of automatic control system.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (3)
1. a kind of train satellite positioning differential data processing method, which is characterized in that including：
By the satellite data and train status data of the train-installed management system acquisition train, and by the satellite data
It is matched with train id information with train status data, is exported the data after matching to described in real time by wireless network
Face server；
The ground-based server is connect with the train-installed management system and satellite difference base station respectively, the ground service
Device receives the satellite difference data of the satellite difference benchmark output and the data of the train-installed management system output,
And speed, the wheel footpath of the train are monitored in real time by Train Dynamic position solving unit, pass through the ground service
Device by it is described it is train-installed management system output data, satellite difference data, the velocity information of train, the wheel footpath information of train
It is merged, position correction is carried out to the train, and export calibration data.
2. train satellite positioning differential data processing method according to claim 1, which is characterized in that the satellite difference
The satellite difference data that base station will be observed that in real time, by network system by the way of wired or wireless, output
Each train-installed management system in the ground-based server and the satellite difference base station coverage area, to complete
The correction of train location data.
3. train satellite positioning differential data processing method according to claim 1, which is characterized in that the ground service
Device includes monitoring central server and train supervision terminal, wherein the monitoring central server is for receiving satellite digit
According to, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and it is fixed according to the accurate train of the data acquisition
Position result；
The train supervision terminal, for carrying out tracing management to locomotive, vehicle, track, circuit.
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| CN108622139A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard and locomotive real-time information interaction method |
| CN108622141A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard satellite positioning difference information acquisition system |
| CN109581900A (en) * | 2019-01-04 | 2019-04-05 | 程志勇 | A kind of intelligent control system based on movable building |
| CN109849978A (en) * | 2019-03-20 | 2019-06-07 | 武汉钢铁有限公司 | A kind of locomotive driving detection method, system and computer readable storage medium |
| CN110667651A (en) * | 2019-09-04 | 2020-01-10 | 成都九壹通智能科技股份有限公司 | Train autonomous operation management system based on high-precision position |
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| CN108622139A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard and locomotive real-time information interaction method |
| CN108622141A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard satellite positioning difference information acquisition system |
| CN109581900A (en) * | 2019-01-04 | 2019-04-05 | 程志勇 | A kind of intelligent control system based on movable building |
| CN109849978A (en) * | 2019-03-20 | 2019-06-07 | 武汉钢铁有限公司 | A kind of locomotive driving detection method, system and computer readable storage medium |
| CN110667651A (en) * | 2019-09-04 | 2020-01-10 | 成都九壹通智能科技股份有限公司 | Train autonomous operation management system based on high-precision position |
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Application publication date: 20180817 |