CN108549091A - A kind of GPS adds the system and method for wheel footpath derivation one bar, one file data - Google Patents
A kind of GPS adds the system and method for wheel footpath derivation one bar, one file data Download PDFInfo
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- CN108549091A CN108549091A CN201810264893.9A CN201810264893A CN108549091A CN 108549091 A CN108549091 A CN 108549091A CN 201810264893 A CN201810264893 A CN 201810264893A CN 108549091 A CN108549091 A CN 108549091A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of system and method that GPS adds wheel footpath to derive one file data of a bar, including pillar upright bar, signal trigger, wheel footpath Pulse sampling device and GPS information collector, wherein signal trigger is installed on vehicle, a signal is triggered when vehicle passes through pillar upright bar, system carries out GPS and the acquisition of wheel footpath pulse data after obtaining this signal；Wheel footpath Pulse sampling device is installed on wheel of vehicle position, and accumulated counts are carried out to the vehicle wheel rotation number of turns；GPS information collector, which is installed on vehicle, is acquired GPS data, and connection is communicated between signal trigger, wheel footpath Pulse sampling device and GPS information collector.Compared with the relevant technologies, a kind of GPS provided by the invention adds wheel footpath to derive the system and method for one file data of a bar, and compared with simple wheel footpath or GYK etc., precision higher, positioning is more acurrate.
Description
Technical field
The present invention relates to high-speed railway detection technique fields, and in particular to a kind of GPS adds wheel footpath to derive one file data of a bar
System and method.
Background technology
Overhead contact line state-detection monitoring device (abbreviation 4C systems) is a set of contact net applied to electric railway
Intelligent fault detecting system, one grade of a bar are the key functions in railway 4C intelligent measurements.
4C intelligent checking systems shoot each position by detecting operation of the vehicle on railway using high definition industrial camera
Then picture makes analysis to picture, to detect that circuit includes the electric railways associate device such as column, contact net
Failure.
For the positioning of failure, record and repair, need uniquely to confirm the corresponding column of each data monitored
Information, i.e.,：The column currently detected is which root post in entire railway line, including the bar number of the upright post rod, kilometer post,
Uplink and downlink, longitude and latitude, affiliated circuit, affiliated section etc. re-form a bar one on the bar position Information base of the upright post rod of acquisition
Profile database, but one file data of a bar how is accurately formed, it is a difficult point in 4C systems all the time.Bar position at present
Information determination mainly has following technology：
1, it is based on detecting wheel diameter encoder calculating operating range, be positioned in conjunction with artificial participation setting and amendment；
2, artificial to check bar number, then inquiry corresponding informance is gone by bar number；
3, using bar identification technology, the bar number that picture shooting goes out is identified by algorithm, to complete to position.
It is primarily present problems in one grade of location technology of an existing bar：
Operating range is calculated based on detection wheel diameter encoder, participates in being arranged and correcting the technology to position in conjunction with artificial
In, because detection vehicle long-play leads to wheel slip, idle running and railway basis in the variation of wheel footpath, driving process
The factors such as the error of data span itself cause to calculate mistake, and operating range is remoter, and the mistake of calculating is bigger, causes to examine
It surveys whole process and is required for artificial continuous correction, the larger problem of workload is caused to generate；
It is artificial to check bar number, then go to inquire corresponding informance in the technology to position by bar number, there are artificial modes to consume
When it is long, cannot be satisfied the demand of 4C detecting systems；
Using in bar identification technology location technology, because of a variety of originals such as uneven illumination is even, be blocked, pole tag breakage
Cause leads to not carry out correct bar number identification.
The circuit of some present Railway Bureaus all establishes GPS basic informations, we can install on detection vehicle in this way
GPS device acquires longitude and latitude degrees of data, and Data Matching is done then in conjunction with basic data, to realize positioning.But some are local
For example be not no GPS signal in tunnel, in order to can accurately also be positioned in tunnel, inventor is added and is pushed away using wheel footpath
It leads.But again because wheel leads to wheel diameter variation calculating error is will produce, in order to automatic due to long-play abrasion
This error is corrected, in the case that inventor has GPS data outside tunnel, corrects wheel footpath using the distance of GPS positioning always；
When having arrived tunnel etc. and taking less than effective GPS information, operating range is just calculated according to wheel footpath pulse, is then increased in basic data
Add to realize accurate positionin.
The present invention is exactly to study to add wheel footpath to derive one grade of location technology of a bar based on GPS, correctly to determine detection data institute
The information of corresponding upright post rod.
Invention content
In order to solve the problems, such as that the presence of above-mentioned technology, the present invention provide a kind of electrification railway contact net bar position information
Acquisition methods derive one grade of system and method for a bar by GPS plus wheel footpath, automatic, quick and accurately determine each pillar
The location information of upright bar ensures the accuracy and accuracy rate of acquired bar position information, the shape on the bar position Information base of acquisition
At one profile database of a bar.
The present invention provides a kind of system that GPS adds wheel footpath to derive one file data of a bar, including pillar upright bar, signal triggering
Device, wheel footpath Pulse sampling device and GPS information collector, wherein signal trigger are installed on vehicle, when vehicle passes through pillar
A signal is triggered when upright bar, system carries out GPS and the acquisition of wheel footpath pulse data after obtaining this signal；Wheel footpath Pulse sampling device
It is installed on wheel of vehicle position, accumulated counts are carried out to the vehicle wheel rotation number of turns；GPS information collector is installed on vehicle and is adopted
Collect GPS data, connection is communicated between signal trigger, wheel footpath Pulse sampling device and GPS information collector.
The invention also discloses a kind of GPS to add the method that wheel footpath derives one file data of a bar, includes the following steps：
Step 1, circuit, the starting and terminal point information of this secondary detection are set by operating personnel, system is obtained from database
The bar number of all pillar upright bars of this detection circuit, the basic data set of GPS and kilometer post, each basis number in set
According to the GPS comprising a pillar upright bar, bar number and kilometer post information.
Step 2, detection vehicle often passes through a pillar upright bar, and the signal trigger obtains a trigger signal, triggering
When signal occurs, the wheel footpath pulse data of the GPS data and vehicle at corresponding moment is obtained.
Step 3, aforementioned system is by the distance between two GPS algorithms, by a GPS (lat1, the lng1) number of acquisition
It is calculated according to GPS (lat (i), lng (i)) data all in basic data, in formula, i=0~n, i.e. certain circuit share n
+ 1 pillar upright bar will obtain relative distance and be compared, and obtain GPS value when distance is minimum and distance value is less than 5 meters, from
And the pillar upright bar that vehicle currently passes through is oriented, obtain the information such as label, the kilometer post of the pillar upright bar.
Step 4, aforementioned system preserves the first kilometer post mark1 and wheel footpath arteries and veins at that time for matching the pillar upright bar come
Rush number wheel1.
Step 5, in the case of GPS continuous effectives, cycle carries out the 2nd step and the operation of the 3rd step, the newest kilometer that will be obtained
Mark mark2, wheel footpath umber of pulse wheel2 are individually subtracted kilometer post and wheel footpath umber of pulse described in the 4th step, then are subtracted each other with kilometer post
Difference divided by the difference subtracted each other of wheel footpath umber of pulse, calculate the wheel footpath perimeter of vehicle.
Step 6, when obtaining trigger signal as not effective GPS, the system switches to automatically to be multiplied based on wheel footpath umber of pulse
Operating range pattern is obtained with wheel footpath perimeter：When system receives trigger signal, newest wheel footpath umber of pulse newWheel is obtained, is subtracted
After wheel footpath umber of pulse wheel3 when last root being gone to orient pillar upright bar by GPS signal, calculated multiplied by with the step 5
Perimeter out calculates vehicle row along with the kilometer post mark3 for the pillar upright bar that last root is determined by GPS signal
Sail distance.
Step 7, system circulation execution step 2,3,5,6, one bar of realization, one grade of positioning of automation, until detection terminates.
Further, the distance between GPS algorithmic formulas are as follows in the step 3：
Relative distance=(2*sin (sqrt (pow (sin (rad (lat1)-rad (lat2)/2), 2)+cos (rad
(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0
Enable the physical location in the GPS positioning data record of first bar corresponding to latitude and longitude coordinates be denoted as respectively (lat1,
Lng1), GPS all in basic data (lat (i), lng (i)) data are calculated, and in formula, i=0~n, lat indicate latitude
Degree, lng indicate longitude；
Further, wheel footpath perimeter algorithmic formula is as follows in the step 5：
Perimeter=(mark2-mark1)/(wheel2-wheel1)
Wherein, the kilometer of first bar matched is labeled as mark1, and wheel footpath umber of pulse is denoted as wheel1, continuous in GPS
In the case of effective, the newest kilometer post kilometer that cycle trigger signal matches is labeled as mark2, wheel footpath umber of pulse wheel2.
Further, when no GPS signal, the vehicle operating range distance algorithm, calculation formula is as follows：
Operating range=mark3+ (newWheel-wheel3) * perimeters, wherein mark3 kilometer posts and wheel3 wheel footpath arteries and veins
Rush number, the newest wheel footpath umber of pulses of newWheel.
Compared with the relevant technologies, a kind of GPS provided by the invention adds wheel footpath to derive the system and method for one file data of a bar
Advantageous effect is：
1) system is full-automatic, is participated in without artificial in operation, after the completion manually adjusting without the later stage；
2) bar number identification is not needed, so illumination, the picture quality etc. to external environment do not require；
3) no matter outside in tunnel or tunnel, system can intelligently switch, and complete to be accurately positioned；
4) it is based on GPS, compared with simple wheel footpath or GYK etc., precision higher, positioning is more acurrate.
Description of the drawings
Fig. 1 is the structural schematic diagram of the system of embodiment one provided by the invention；
Fig. 2 is the flow chart of the method for embodiment two provided by the invention；
In figure：The upright bar of 1- pillars, 2- signal triggers, 3- wheel footpaths Pulse sampling device, 4-GPS information acquisition devices.
Specific implementation mode
Come that the present invention will be described in detail below with reference to attached drawing and in conjunction with specific embodiments.
Embodiment one
Please refer to Fig. 1 and Fig. 2, wherein Fig. 1 is that the GPS of embodiment one provided by the invention adds wheel footpath to derive a bar
The structural schematic diagram of the system of one file data.
The system comprises pillar upright bar 1, signal trigger 2, wheel footpath Pulse sampling device 3 and GPS information collector 4,
Wherein signal trigger is installed on vehicle, and the concrete structure and operation principle, working method can refer to the practicality of inventor newly
Type patent, patent No. CN201621370363.5, patent name are that a kind of electrification railway contact net detection line-scan digital camera touches
Transmitting apparatus, a signal is triggered when vehicle passes through pillar upright bar, and system carries out GPS and wheel footpath umber of pulse after obtaining this signal
According to acquisition；Wheel footpath Pulse sampling device is installed on wheel of vehicle position, and accumulated counts are carried out to the vehicle wheel rotation number of turns；GPS information is adopted
Storage, which is installed on vehicle, is acquired GPS data, signal trigger, wheel footpath Pulse sampling device and GPS information collector it
Between communicate connection.
Embodiment two
The key step that GPS adds wheel footpath to derive one grade of bar system its application process is as follows：
S1, circuit, the starting and terminal point information of this detection are set by operating personnel, and system obtains this inspection from database
The crutched bar number of institute on line inspection road, GPS, the basic datas set such as kilometer post, each data include a pillar in set
GPS, bar number, kilometer post information.
S2, due to triggering the presence of system, detection vehicle often passes through a strut rod, can all obtain a trigger signal,
When trigger signal occurs, the wheel footpath pulse data of the GPS data and vehicle at corresponding moment is obtained.
S3, system is by the distance between two GPS algorithms, by GPS (lat1, the lng1) data and basic data of acquisition
In all GPS (lat2, lng2) data calculated, relative distance will be obtained and be compared, obtain distance it is minimum and away from
GPS value when being less than 5 meters from value obtains the letters such as label, the kilometer post of the pillar to orient the pillar that vehicle currently passes through
Breath, the distance between GPS algorithms are see algorithm one.
S4, system preserve the first kilometer post mark1 and wheel footpath pulse data at that time for matching the pillar come
wheel1。
S5, in the case of GPS continuous effectives, cycle carries out the 2nd step and the operation of the 3rd step, the newest kilometer post that will be obtained
The kilometer post and wheel footpath umber of pulse of the preservation of the 4th step is individually subtracted in mark2, wheel footpath umber of pulse wheel2, then subtracted each other with kilometer post
The difference that difference divided by wheel footpath umber of pulse are subtracted each other, calculates the wheel footpath perimeter of vehicle, and wheel footpath perimeter algorithm please check algorithm two.
S6, when obtaining trigger signal as not effective GPS, system switches to automatically is multiplied by wheel footpath week based on wheel footpath umber of pulse
Length obtains operating range pattern：When system receives trigger signal, newest wheel footpath umber of pulse newWheel is obtained, last is subtracted
After wheel footpath umber of pulse wheel3 when root orients strut rod by GPS signal, multiplied by the perimeter calculated with the 5th step, then
In addition the kilometer post mark3 for the strut rod that last root is determined by GPS signal, calculates vehicle operating range, no GPS signal
Operating range algorithm is shown in algorithm three.
S7, system circulation execute step 2,3,5,6 parts, one bar of realization, one grade of positioning of automation, until detection terminates.
Wherein, algorithm one：Distance between two GPS of calculating, formula is as follows, longitude and latitude (lat1, lng1) and longitude and latitude in formula
It spends (lat2, lng2).
Relative distance=(2*sin (sqrt (pow (sin (rad (lat1)-rad (lat2)/2), 2)+cos (rad
(lat1))*cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0
Algorithm two：Wheel footpath perimeter is calculated, formula is as follows：
Kilometer post mark1, wheel footpath umber of pulse wheel1 and kilometer post mark2, wheel footpath umber of pulse wheel2.
Perimeter=(mark2-mark1)/(wheel2-wheel1)
Algorithm three：When without GPS signal, vehicle operating range distance algorithm, calculation formula is as follows：
Kilometer post mark3 and wheel footpath umber of pulse wheel3, newest wheel footpath umber of pulse newWheel.
Operating range=mark3+ (newWheel-wheel3) * perimeters.
This method is based on GPS, and compared with simple wheel footpath or GYK etc., precision higher, positioning is more acurrate.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (5)
1. a kind of GPS add wheel footpath derive one file data of a bar system, which is characterized in that including pillar upright bar, signal trigger,
Wheel footpath Pulse sampling device and GPS information collector, wherein signal trigger are installed on vehicle, when vehicle passes through pillar upright bar
When trigger a signal, system obtains carrying out GPS and the acquisition of wheel footpath pulse data after this signal；Wheel footpath Pulse sampling device is installed
In wheel of vehicle position, accumulated counts are carried out to the vehicle wheel rotation number of turns；GPS information collector is installed on vehicle and is acquired
GPS data communicates connection between signal trigger, wheel footpath Pulse sampling device and GPS information collector.
2. system is applied in the method that GPS adds wheel footpath to derive one file data of a bar according to claim 1, feature exists
In including the following steps：
Step 1, circuit, the starting and terminal point information of this secondary detection are set by operating personnel, system obtains this from database
Detect the bar number of all pillar upright bars of circuit, the basic data set of GPS and kilometer post, each basic data packet in set
GPS, bar number containing a pillar upright bar and kilometer post information；
Step 2, detection vehicle often passes through a pillar upright bar, and the signal trigger obtains a trigger signal, in trigger signal
When appearance, the wheel footpath pulse data of the GPS data and vehicle at corresponding moment is obtained；
Step 3, aforementioned system is by the distance between two GPS algorithms, by GPS (lat1, a lng1) data of acquisition with
All GPS (lat (i), lng (i)) data are calculated in basic data, and in formula, i=0~n, i.e. certain circuit share n+1
Pillar upright bar will obtain relative distance and be compared, and GPS value when distance is minimum and distance value is less than 5 meters be obtained, depending on
Position goes out the pillar upright bar that vehicle currently passes through, and obtains the information such as label, the kilometer post of the pillar upright bar；
Step 4, aforementioned system preserves the first kilometer post mark1 and wheel footpath umber of pulse at that time for matching the pillar upright bar come
wheel1；
Step 5, in the case of GPS continuous effectives, cycle carries out the 2nd step and the operation of the 3rd step, the newest kilometer post that will be obtained
Kilometer post and wheel footpath umber of pulse described in the 4th step is individually subtracted in mark2, wheel footpath umber of pulse wheel2, then subtracted each other with kilometer post
The difference that difference divided by wheel footpath umber of pulse are subtracted each other calculates the wheel footpath perimeter of vehicle；
Step 6, when obtaining trigger signal as not effective GPS, the system switches to automatically is multiplied by wheel based on wheel footpath umber of pulse
Diameter perimeter obtains operating range pattern：When system receives trigger signal, newest wheel footpath umber of pulse newWheel is obtained, is subtracted most
After latter wheel footpath umber of pulse wheel3 when orienting pillar upright bar by GPS signal, calculated multiplied by with the step 5
Perimeter, the kilometer post mark3 of the pillar upright bar determined by GPS signal along with last root, calculate vehicle travel away from
From；
Step 7, system circulation execution step 2,3,5,6, one bar of realization, one grade of positioning of automation, until detection terminates.
3. method according to claim 2, which is characterized in that the distance between GPS algorithmic formulas are as follows in the step 3：
Relative distance=(2*sin (sqrt (pow (sin (rad (lat1)-rad (lat2)/2), 2)+cos (rad (lat1)) *
cos(rad(lat2))*pow(sin(rad(lng1)-rad(lng2)/2),2))))*6378137.0
Physical location in the GPS positioning data obtained when trigger signal being enabled to occur corresponding to latitude and longitude coordinates is denoted as respectively
(lat1, lng1), all GPS (lat (i), lng (i)) data are calculated in basic data, in formula, i=0~n, and lat tables
Show that latitude, lng indicate longitude.
4. method according to claim 2, which is characterized in that wheel footpath perimeter algorithmic formula is as follows in the step 5：
Perimeter=(mark2-mark1)/(wheel2-wheel1)
Wherein, the kilometer of first bar matched is labeled as mark1, and wheel footpath umber of pulse is denoted as wheel1, in GPS continuous effectives
In the case of, the newest kilometer post kilometer that cycle trigger signal matches is labeled as mark2, wheel footpath umber of pulse wheel2.
5. method according to claim 2, which is characterized in that when without GPS signal, the vehicle operating range distance algorithm,
Calculation formula is as follows：
Operating range=mark3+ (newWheel-wheel3) * perimeters, wherein mark3 kilometer posts and wheel3 wheel footpath pulses
Number, the newest wheel footpath umber of pulses of newWheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810264893.9A CN108549091A (en) | 2018-03-28 | 2018-03-28 | A kind of GPS adds the system and method for wheel footpath derivation one bar, one file data |
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| CN201810264893.9A CN108549091A (en) | 2018-03-28 | 2018-03-28 | A kind of GPS adds the system and method for wheel footpath derivation one bar, one file data |
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| CN112440832A (en) * | 2019-08-28 | 2021-03-05 | 湖南华宏铁路高新科技开发有限公司 | Method and system for deducing grouping and sequencing linkage of contact net operation vehicle |
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