CN108639109A - Subway train high-precision dot positioning system - Google Patents
Subway train high-precision dot positioning system Download PDFInfo
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- CN108639109A CN108639109A CN201810427635.8A CN201810427635A CN108639109A CN 108639109 A CN108639109 A CN 108639109A CN 201810427635 A CN201810427635 A CN 201810427635A CN 108639109 A CN108639109 A CN 108639109A
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- positioning system
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- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
- B61L25/026—Relative localisation, e.g. using odometer
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention proposes a kind of subway train high-precision dot positioning system, including：Train-installed equipment, ground stationary nodes equipment and ground monitoring center, wherein for carrying out point-to-point ranging between the train-installed equipment and the ground stationary nodes equipment；The train-installed equipment is arranged two, is separately positioned on the rear and front end of train, for monitoring the real-time accurate distance of vehicle and the train and ground stationary nodes equipment before and after the train；The train-installed equipment includes UWB device, and the UWB device is used for the ranging and communication of the train；Several ground stationary nodes equipment are set, and ground stationary nodes equipment room is for carrying out automatic and accurate ranging and communicating described in any two；The ground stationary nodes equipment is connect with the UWB device through wireless communication, and the ground stationary nodes equipment obtains the distance between the ground stationary nodes equipment and the UWB device data for being communicated with the UWB device.
Description
Technical field
The present invention relates to train Positioning Technology fields, in particular to a kind of subway train high-precision dot positioning system.
Background technology
Currently, on closed subway tunnel line, since circuit blocks verification to realize the transmission of satellite-signal and obtain
It takes, therefore attempts to realize that precisely point location almost can not for the train all fronts in tunnel using the Big Dipper or GPS satellite location technology
It can accomplish.
Invention content
In consideration of it, the present invention proposes a kind of subway train high-precision dot positioning system, it is intended to when solving without satellite-signal,
The problem of train is accurately positioned.
On one side, the present invention proposes a kind of subway train high-precision dot positioning system, including：Train-installed equipment,
Ground stationary nodes equipment and ground monitoring center, wherein the train-installed equipment and the ground stationary nodes equipment it
Between for carrying out point-to-point ranging；The train-installed equipment is arranged two, is separately positioned on the rear and front end of train, is used for
Monitor the real-time accurate distance of vehicle and the train and ground stationary nodes equipment before and after the train；The train-installed equipment
Including UWB device, the UWB device is used for the ranging and communication of the train；Several described ground stationary nodes are arranged to set
Standby, stationary nodes equipment room in ground described in any two is for carrying out automatic and accurate ranging and communicating；The ground stationary nodes
Equipment is connect with the UWB device through wireless communication, and the ground stationary nodes equipment is used for and the UWB device
Communication, and obtain the distance between the ground stationary nodes equipment and the UWB device data；The ground stationary nodes are set
It is standby also to be connect with the ground monitoring center with described, to carry out data transmission；The ground monitoring center includes monitoring center
Server, the range data that the monitoring central server is used to be exported according to the ground stationary nodes equipment generate
The precise position data of the train, and to the precise position data into transmission.
Further, the ground monitoring center further includes mobile terminal and/or management terminal, the mobile terminal and/
Or management terminal is used to carry out real-time dynamic monitoring and remote management to the train.
Further, accurate track circuit kilometer post built in the ground stationary nodes equipment.
Further, the positioning system is used to generate precise electronic map according to the subway line track.
Further, each ground stationary nodes equipment correspond on the precise electronic map one it is accurate one-dimensionally
Manage coordinate.
Further, the train-installed equipment further includes on-vehicle host and monitoring display.
Further, the train-installed equipment is preset with mobile unit interface.
Compared with prior art, beneficial effects of the present invention are：It is carried out using wireless pulses radiofrequency signal mechanism point-to-point
Two-way flight time ranging and communication, train can surveyed in range with rail track stationary nodes at a distance from by obtaining, automatic judgement
Exact position of the train on railway line road is closed by the mapping of high-precision railroad track electronic map and train operation track
System realizes that subway train is accurately positioned, to greatly improve the setting accuracy of train.
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 structural schematic diagram of subway train high-precision dot positioning system provided in an embodiment of the present invention.
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.
As shown in fig.1, it is the structural representation of subway train high-precision dot positioning system provided in an embodiment of the present invention
Figure.The present embodiment proposes a kind of subway train high-precision dot positioning system, including：Train-installed equipment, ground stationary nodes
Equipment and ground monitoring center, wherein for carrying out point-to-point ranging between train-installed equipment and ground stationary nodes equipment；
Train-installed equipment is arranged two, is separately positioned on the rear and front end of train, for monitoring vehicle and train and ground before and after train
The real-time accurate distance of stationary nodes equipment；Train-installed equipment includes UWB device, and UWB device is used for the ranging of train and leads to
Letter；Several ground stationary nodes equipment are set, and any two ground stationary nodes equipment room is for carrying out automatic and accurate ranging
With communication；Ground stationary nodes equipment is connect with UWB device through wireless communication, ground stationary nodes equipment be used for
UWB device communicates, and obtains the distance between ground stationary nodes equipment and UWB device data；Ground stationary nodes equipment is also
It is connect with ground monitoring center, to carry out data transmission；Ground monitoring center includes monitoring central server, monitoring center clothes
The range data that business device is used to be exported according to ground stationary nodes equipment, generates the precise position data of train, and to accurate position
Data are set into transmission.
Specifically, ground monitoring center further includes mobile terminal and/or management terminal, mobile terminal and/or management are eventually
End to train for carrying out real-time dynamic monitoring and remote management.
Specifically, accurate track circuit kilometer post built in the stationary nodes equipment of ground.Positioning system is used for base area
Iron line track generates precise electronic map.Each ground stationary nodes equipment correspond on precise electronic map one it is accurate one-dimensional
Geographical coordinate.Train-installed equipment further includes on-vehicle host and monitoring display.Train-installed equipment is preset with mobile unit and connects
Mouthful.
Specifically, the present embodiment positioning system is powered, grade is powered for three stage loads, is provided by subway train and trackside
AC220V power supply power supply mechanism, fluctuation range are+10%~-15%, frequency 50Hz.System itself carries intelligent standby electricity
Source, under dispatch from foreign news agency power blackout situation, it is ensured that armamentarium works 24 hours or more.
Specifically, mobile unit is by groups such as on-vehicle host, monitoring display, UWB rangings and communication devices (containing antenna)
At.Equipment is mounted on the driver's cabin of train rear and front end, is mainly used for vehicle and train and ground fixed position before and after monitoring train
The real-time accurate distance of (such as circuit end).
Equipment is connected by following interfaces and train：
(1) vehicle power supply interface：Vehicle-mounted AC220V power supplys can be connected and take electricity.
(2) vehicular speeds sensor interface (optional)：By connection train speed sensor, train tacho-pulse is obtained,
Train operation dynamic is monitored by the speed and direction that judge train.
(3) train terminal device communication connection (optional)：It can be set by the pre- wired connection port of train both ends driver's cabin
It is fixed, it is proposed that the both ends CAN bridge equipment to be used, to realize that device data interconnects.
(4) Vehicle Controller interface (optional, only to be needed in Train Control)：The mobile unit of system has been reserved multiple defeated
Outgoing interface, these interfaces mainly for realize train active safety protection when play a role.If permitted through user or main engine plants
Can, relevant interface can also be connect with train control system, and on-vehicle host can access train dynamics total loop control by I/O break-makes
System also can connect train control by serial RS485 interfaces, or is connected with ATP system by the data-interface of agreement.
Reserved installation space (being determined according to train driving room real space)
(1) antenna chamber reserves the installation ranging of the spaces 150X180X200mm and communication module above driver's cabin ceiling
(containing antenna) position.
(2) in bridge operation table top, 80X260X180mm display screen installation sites are reserved；
(3) the on-vehicle host peace in the spaces 200X200X260mm is reserved in the cabinet of bridge bottom or in bridge equipment cabinet
Holding position.
Specifically, ground installation, refers to the stationary nodes equipment as ground location mark point, as blind siding backstop,
Station passes in and out or specified point position marks etc., and for the equipment in addition to not setting display, device structure is consistent with on-vehicle host structure,
Include host and UWB rangings and communication module (containing antenna), host has reserved that CAN interface, serial ports and I/O interfaces etc. are multiple to be connect
Mouthful, it is suitable for the train safety monitoring of metro environment and a variety of applications of equipment management.In practical application, installed additional in ground installation
Wireless network DTU is, it can be achieved that equipment telemonitoring.When practical application, point device is fixed because undertaking communication function in ground, need by
The antenna of communication device is set in will antenna house, and is secured the equipment in the upright bar of about 3.5 meters of a height, and configuration can fill
Electric backup power supply, by coupling charging with AC220V mains supplies.
Specifically, above system is by ground fixed point, train mobile device, ground-based server, monitoring center and movement
The compositions such as equipment.Ground fixed point is responsible for receiving distance measurement request, and locomotive mobile device is responsible for sending distance measurement request and shows ranging
Data and push monitoring result arrive server, and server is responsible for data processing and is distributed, and monitoring center is responsible for remote monitor device
State.
In order to which distance, track condition and track switch are opened to letter with reaching while monitoring train directions, speed, vehicle vehicle distance, vehicle
Breath optimizes the security monitoring based on rail and Train Dynamic of train active safety protection system, is interlocked in existing ground computer
On the basis of the data of monitoring system are intact, ground-based server can unidirectionally receive the rail monitoring number that microcomputer interlock system is sent
According to track circuit state and track switch open and-shut mode information is obtained ahead of time according to the data monitoring of microcomputer interlock system, passes through train
High precision position data calculation realizes high accuracy positioning and the protection of train active safety of subway all fronts train.
If system cannot obtain the rail information and track switch open and-shut mode information data of ground computer interlocking monitoring, can
Consider to increase switch closure monitoring device in switch location, it, can be with by the communication function of ground fixed point (key point) equipment
Track switch opening and closing information is real-time transmitted on train remote monitoring system or running train, to realize that train operation dynamic is supervised
Control and remote management.
Specifically, the range-measurement system that the positioning system of above-described embodiment is based on ultra wide band (UWB) wireless communication technique is adopted
Two-way flight time ranging and communication are carried out with unique wireless pulses radiofrequency signal mechanism, which directly samples by being based on
Whether there is blocking on ranging path between the ranging quality monitoring mechanism detection device of signal signature, equipment built-in transceiver can
For collision avoidance, real time location tracking and key facility protection etc., tracking, navigator fix, intelligence are run for subway train
Monitoring etc. provides real-time range and sensing data.System is directly integrated into positioning and sensor communication capacity together, passes through
Customed ranging protocol, supporting interface can be connected with other monitorings or control device.Range-measurement system has communication function, can
Targetedly two-way flight time ranging is carried out between devices, and is carried out at the same time mutual liaison, is ensured
The accuracy of distance measurement result, distance measurement result can be directly used for calculating the relative position between distance-measuring equipment.
Point-to-point two-way flight time ranging and communication are carried out by using unique wireless pulses radiofrequency signal mechanism, is obtained
Accurate position of the train on railway line road must be judged automatically at a distance from rail track stationary nodes train in range can be surveyed
It sets, by the accurate skill and Algorithm mapping of high-precision railroad track electronic map and train operation track, realizes subway train
Be accurately positioned and safety navigation.
Increase node device in the crucial fixed point of track circuit, accurate track circuit milepost built in stationary nodes,
The standard for manual sampling of train shift position and fixed position ranging is formed, ensures high-precision of any time train on railway line road
" point location ".
It is understood that when the present embodiment carries out point-to-point two-way flight by using wireless pulses radiofrequency signal mechanism
Between ranging and communication, train can surveyed in range with rail track stationary nodes at a distance from by obtaining, and automatic judgement train is in track
Subway is realized by the mapping relations of high-precision railroad track electronic map and train operation track in exact position on circuit
Train is accurately positioned, to greatly improve the setting accuracy of train.
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 (7)
1. a kind of subway train high-precision dot positioning system, which is characterized in that including：Train-installed equipment, ground stationary nodes
Equipment and ground monitoring center, wherein for carrying out a little between the train-installed equipment and the ground stationary nodes equipment
To a ranging；
The train-installed equipment is arranged two, is separately positioned on the rear and front end of train, for monitoring vehicle before and after the train
And the real-time accurate distance of the train and ground stationary nodes equipment；
The train-installed equipment includes UWB device, and the UWB device is used for the ranging and communication of the train；
Several ground stationary nodes equipment are set, and ground stationary nodes equipment room is automatic for carrying out described in any two
Precision ranging with communicate；The ground stationary nodes equipment is connect with the UWB device through wireless communication, describedly
Face stationary nodes equipment for communicate with the UWB device, and obtain the ground stationary nodes equipment and the UWB device it
Between range data；
The ground stationary nodes equipment is also connect with described with the ground monitoring center, to carry out data transmission；
The ground monitoring center includes monitoring central server, and the monitoring central server according to the ground for fixing
The range data of node device output, generates the precise position data of the train, and to the precise position data into
Transmission.
2. subway train high-precision dot positioning system according to claim 1, which is characterized in that the ground monitoring center
Further include mobile terminal and/or management terminal, the mobile terminal and/or management terminal for moving the train in real time
State monitors and remote management.
3. subway train high-precision dot positioning system according to claim 1, which is characterized in that the ground stationary nodes
Accurate track circuit kilometer post built in equipment.
4. subway train high-precision dot positioning system according to claim 1, which is characterized in that the positioning system is used for
Precise electronic map is generated according to the subway line track.
5. subway train high-precision dot positioning system according to claim 4, which is characterized in that each ground is fixed
Node device corresponds to an accurate one-dimensional geographical coordinate on the precise electronic map.
6. subway train high-precision dot positioning system according to claim 4, which is characterized in that the train-installed equipment
Further include on-vehicle host and monitoring display.
7. subway train high-precision dot positioning system according to claim 6, which is characterized in that the train-installed equipment
It is preset with mobile unit interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810427635.8A CN108639109A (en) | 2018-05-07 | 2018-05-07 | Subway train high-precision dot positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810427635.8A CN108639109A (en) | 2018-05-07 | 2018-05-07 | Subway train high-precision dot positioning system |
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| CN201810427635.8A Pending CN108639109A (en) | 2018-05-07 | 2018-05-07 | Subway train high-precision dot positioning system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639107A (en) * | 2018-05-08 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Ground network monitoring system for train ranging |
| CN108791363A (en) * | 2018-05-09 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | Train active safety protection system based on super-broadband tech |
| CN109484435A (en) * | 2018-11-28 | 2019-03-19 | 交控科技股份有限公司 | A kind of train locating method and device suitable for intelligent track-traffic detection system |
| CN110329318A (en) * | 2019-06-28 | 2019-10-15 | 成都九壹通智能科技股份有限公司 | System and method based on subway mobile unit Yu ground installation precision ranging |
| CN110329317A (en) * | 2019-06-28 | 2019-10-15 | 成都九壹通智能科技股份有限公司 | Based on pinpoint subway train active protection method and system |
| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
| CN110775105A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Method and system for monitoring train in subway vehicle section based on UWB |
| CN111220940A (en) * | 2018-11-23 | 2020-06-02 | 比亚迪股份有限公司 | Ultra-wideband-based train positioning system and method |
| CN112153604A (en) * | 2019-06-28 | 2020-12-29 | 比亚迪股份有限公司 | Positioning accuracy verification method and device, storage medium, train and electronic equipment |
| CN112141169A (en) * | 2019-06-28 | 2020-12-29 | 比亚迪股份有限公司 | Verification method, verification device, storage medium, train and electronic equipment |
| CN114966527A (en) * | 2022-05-19 | 2022-08-30 | 润芯微科技(江苏)有限公司 | UWB communication system positioning device and method for obtaining rough azimuth angle through ranging |
| CN115298077A (en) * | 2019-08-29 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
| CN115298078A (en) * | 2019-09-09 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639107A (en) * | 2018-05-08 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Ground network monitoring system for train ranging |
| CN108791363A (en) * | 2018-05-09 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | Train active safety protection system based on super-broadband tech |
| CN111220940A (en) * | 2018-11-23 | 2020-06-02 | 比亚迪股份有限公司 | Ultra-wideband-based train positioning system and method |
| CN109484435A (en) * | 2018-11-28 | 2019-03-19 | 交控科技股份有限公司 | A kind of train locating method and device suitable for intelligent track-traffic detection system |
| CN112153604A (en) * | 2019-06-28 | 2020-12-29 | 比亚迪股份有限公司 | Positioning accuracy verification method and device, storage medium, train and electronic equipment |
| CN110329317A (en) * | 2019-06-28 | 2019-10-15 | 成都九壹通智能科技股份有限公司 | Based on pinpoint subway train active protection method and system |
| CN110329318A (en) * | 2019-06-28 | 2019-10-15 | 成都九壹通智能科技股份有限公司 | System and method based on subway mobile unit Yu ground installation precision ranging |
| CN112141169A (en) * | 2019-06-28 | 2020-12-29 | 比亚迪股份有限公司 | Verification method, verification device, storage medium, train and electronic equipment |
| CN112141169B (en) * | 2019-06-28 | 2022-03-15 | 比亚迪股份有限公司 | Verification method, verification device, storage medium, train and electronic equipment |
| CN112153604B (en) * | 2019-06-28 | 2022-03-18 | 比亚迪股份有限公司 | Positioning accuracy verification method and device, storage medium, train and electronic equipment |
| CN115298077A (en) * | 2019-08-29 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
| US11932295B2 (en) | 2019-08-29 | 2024-03-19 | Piper Networks, Inc. | Enhanced transit location systems and methods |
| CN115298078A (en) * | 2019-09-09 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
| CN110775105A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Method and system for monitoring train in subway vehicle section based on UWB |
| CN114966527A (en) * | 2022-05-19 | 2022-08-30 | 润芯微科技(江苏)有限公司 | UWB communication system positioning device and method for obtaining rough azimuth angle through ranging |
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Application publication date: 20181012 |