CN109334714A - The accurate shutdown system of train based on UWB wireless distance finding technology - Google Patents
The accurate shutdown system of train based on UWB wireless distance finding technology Download PDFInfo
- Publication number
- CN109334714A CN109334714A CN201810934552.8A CN201810934552A CN109334714A CN 109334714 A CN109334714 A CN 109334714A CN 201810934552 A CN201810934552 A CN 201810934552A CN 109334714 A CN109334714 A CN 109334714A
- Authority
- CN
- China
- Prior art keywords
- train
- uwb
- equipment
- distance
- ranging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
- B61L1/02—Electric devices associated with track, e.g. rail contacts
-
- 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
Abstract
The invention discloses a kind of accurate shutdown systems of train based on UWB wireless distance finding technology, it include: UWB wireless distance finding device, the UWB installed including the UWB main equipment installed on train and website trackside equipment is from equipment, UWB main equipment real-time measurement and UWB from distance between equipment；On-vehicle host is installed on train, real-time train speed information is inputted from train control system, and train speed information update frequency and phase are consistent with the ranging period of UWB wireless distance finding device；Train anchor point distance calculation module, according to formula D02=(D1+L0)2+L12Calculate the distance between UWB main equipment and train anchor point D1；Train real time position computing module goes out the train real time position in this ranging period by the train speed information the Fitting Calculation of this ranging periodical input in a ranging period.The distance between the present invention uses UWB wireless distance finding technology, by the real-time speed of train in combination traveling, when precise measurement traveling train enters the station and stop point, the accurate parking that realization train enters the station.
Description
Technical field
The present invention relates to rail traffic control technologies, and in particular to Train Stopping technology.
Background technique
In field of track traffic, subway train obtains the position that train is currently located by installing transponder in orbit
It sets, it, may be in positive and negative 10cm even positive and negative 30cm since the technical characterstic of wireless answering determines that positioning accuracy is not high.This leads
It has caused train arrival that cannot accurately stop, has affected passenger experience.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of trains based on UWB wireless distance finding technology accurately to stop
System, to realize accurate parking that train enters the station.
In order to solve the above technical problems, the present invention adopts the following technical scheme: the train essence based on UWB wireless distance finding technology
True shutdown system, comprising:
UWB wireless distance finding device, the UWB installed including the UWB main equipment installed on train and website trackside equipment from
Equipment, UWB main equipment real-time measurement and UWB are from distance between equipment；
On-vehicle host is installed on train, and real-time train speed information, and train speed are inputted from train control system
It spends information update frequency and phase is consistent with the ranging period of UWB wireless distance finding device；
Train anchor point distance calculation module, according to formula D02=(D1+L0)2+L12It calculates UWB main equipment and train stops
By the distance between point D1, wherein UWB main equipment and UWB are D0 from the linear distance of equipment, and UWB is stopped from equipment and train
Point lateral distance be L1, UWB from the distance of equipment and train anchor point longitudinal direction be L0；
Train real time position computing module passes through the train speed of this ranging periodical input in a ranging period
Information the Fitting Calculation goes out the train real time position in this ranging period, current time T1, and ranging inputs D1, input speed V1, then
In the time interval in (T1, T1+ ranging period), train is D2=D1-V1*t with a distance from anchor point, and t is since T1
Time migration.
Preferably, installation UWB from the website trackside equipment of equipment be semaphore.
Preferably, the ranging period is 50ms.
Preferably, when train is apart from 200 meters of station, UWB main equipment and UWB establish connection from equipment, start ranging.
Preferably, the range frequency of the UWB wireless distance finding device is preset, and with inputted in train control system
Velocity information frequency is consistent.
Preferably, the on-vehicle host and train control system and the time synchronization of UWB wireless distance finding device, and precision
In 1us or more.
Preferably, the on-vehicle host control UWB main equipment is initiated the ranging period and is inputted from train control system real
When the train speed period Phase synchronization.
The present invention uses UWB wireless distance finding technology, by combining the real-time speed of train in traveling, precise measurement traveling column
The distance between when pulling in and stop point, realize the accurate parking that train enters the station.It has the advantages that
1) UWB wireless distance finding method proposed by the present invention, it is real-time continuous measurement traveling train and stop point between away from
From can solve the problems, such as only just to know present position in the place for reading transponder with transponder localization method at present；
2) present invention proposes that the UWB wireless distance finding technology used, the range accuracy of itself compare transponder in 1cm or more
Positioning method want high an order of magnitude or more；
3) present invention considers train simultaneously and enters the station influence of the speed to distance measurement result, it can be achieved that traveling train and anchor point
Between a centimetre rank accurately stop；
4) invention also contemplates that on-vehicle host obtains the synchronism between train real-time speed and distance measurement result movement, most
Big guarantee range accuracy.
The specific technical solution of the present invention and its advantages will in the following detailed description in conjunction with attached drawing into
Row detailed description.
Detailed description of the invention
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
Fig. 1 is systematic schematic diagram of the invention；
Fig. 2 is time synchronization schematic diagram of the present invention.
Specific embodiment
Referring to fig. 1 and fig. 2, based on the accurate shutdown system of train of UWB wireless distance finding technology, comprising:
UWB wireless distance finding device, the UWB installed including the UWB main equipment installed on train and website trackside equipment from
Equipment, UWB main equipment real-time measurement and UWB are from distance between equipment；
On-vehicle host is installed on train, and real-time train speed information, and train speed are inputted from train control system
It is consistent with the ranging period of UWB wireless distance finding device to spend information update frequency；
Train anchor point distance calculation module, with reference to Fig. 1, due to UWB wireless distance finding device to test be main equipment and from
The distance between equipment is physically two points from equipment and train anchor point, but positional relationship is fixed, and can be closed by geometry
System calculates the actual range between main equipment and train anchor point.According to formula D02=(D1+L0)2+L12Calculate UWB main equipment
The distance between train anchor point D1, wherein UWB main equipment and UWB from the linear distance of equipment be D0, UWB from equipment and
The lateral distance of train anchor point be L1, UWB from the distance of equipment and train anchor point longitudinal direction be L0；
Train real time position computing module passes through the train speed of this ranging periodical input in a ranging period
Information the Fitting Calculation goes out the train real time position in this ranging period, current time T1, and ranging inputs D1, input speed V1, then
In the time interval in (T1, T1+ ranging period), train is D2=D1-V1*t with a distance from anchor point, and t is since T1
Time migration.
Wherein, UWB wireless distance finding device is the prior art, and UWB master-slave equipment has unique different coding, is used for phase
It shakes hands and identifies between corresponding master-slave equipment.
It will be appreciated by persons skilled in the art that ground station installation can be semaphore from the place of equipment, it can also
To be other fixed locations, it is desirable that and distance, the orientation of train stopping position determine, and covered when UWB main equipment enters the station
In range of signal.
When train on station (such as 200 meters or so), train UWB main equipment and website trackside equipment installation UWB from
Equipment establishes connection, starts ranging process.The frequency of UWB ranging parameters such as ranging fix in advance and train control system in it is defeated
The velocity information frequency entered is consistent (it is primary being such as set as 50ms, this 50ms is called the ranging period).
On-vehicle host inputs real-time train speed information from train control system, can be updated once, i.e., with every 50ms
The distance between the ranging period is 50ms, can guarantee when precise measurement traveling train enters the station in this way and stop point, realize column
The accurate parking to pull in can shorten the ranging period of course for accuracy is further increased, that is, be less than 50ms.
The time synchronization of on-vehicle host and train control system and UWB wireless distance finding device, precision is in 1us or more.Vehicle
Host control UWB main equipment is carried to initiate the ranging period and input the Phase synchronization in real-time speed period from train control system,
It is less than 1ms at the time of inputting real-time speed moment and the distance measurement result D0 of on-vehicle host, refering to what is shown in Fig. 2, due to the mistake of 1ms
Difference is smaller, it is believed that real-time speed is synchronous with distance measurement result.
The wireless distance finding technology of UWB range accuracy can be increased to 1cm even more than, while relative between transponder
The ranging of having a rest property, UWB wireless distance finding scheme are continuous rangings, and as each second 10 times is even higher, therefore ranging effect is well very much.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, is familiar with
The those skilled in the art should be understood that the present invention includes but is not limited to content described in specific embodiment above.It is any
Modification without departing from function and structure principle of the invention is intended to be included in the range of claims.
Claims (7)
1. the accurate shutdown system of train based on UWB wireless distance finding technology, characterized by comprising:
UWB wireless distance finding device, the UWB installed including the UWB main equipment installed on train and website trackside equipment from equipment,
UWB main equipment real-time measurement and UWB are from distance between equipment；
On-vehicle host is installed on train, real-time train speed information is inputted from train control system, and train speed is believed
It ceases renewal frequency and phase is consistent with the ranging period of UWB wireless distance finding device；
Train anchor point distance calculation module, according to formula D02=(D1+L0)2+L12Calculate UWB main equipment and train anchor point
The distance between D1, wherein UWB main equipment and UWB are D0 from the linear distance of equipment, and UWB is from equipment and train anchor point
Lateral distance is L1, UWB from the distance of equipment and train anchor point longitudinal direction be L0；
Train real time position computing module passes through the train speed information of this ranging periodical input in a ranging period
The Fitting Calculation goes out the train real time position in this ranging period, current time T1, and ranging inputs D1, input speed V1, then
In the time interval in (T1, T1+ ranging period), train with a distance from anchor point be D2=D1-V1*t, t be since T1 when
Between deviate.
2. the train accurate shutdown system according to claim 1 based on UWB wireless distance finding technology, it is characterised in that: peace
Fill UWB from the website trackside equipment of equipment be semaphore.
3. the train accurate shutdown system according to claim 2 based on UWB wireless distance finding technology, it is characterised in that: institute
Stating the ranging period is 50ms.
4. the train accurate shutdown system according to claim 1 based on UWB wireless distance finding technology, it is characterised in that: when
When train is apart from 200 meters of station, UWB main equipment and UWB establish connection from equipment, start ranging.
5. the train accurate shutdown system according to any one of claims 1 to 4 based on UWB wireless distance finding technology,
Be characterized in that: the range frequency of the UWB wireless distance finding device is preset, and is believed with the speed inputted in train control system
It is consistent to cease frequency.
6. the train accurate shutdown system according to claim 5 based on UWB wireless distance finding technology, it is characterised in that: institute
The time synchronization of on-vehicle host and train control system and UWB wireless distance finding device is stated, and precision is in 1us or more.
7. the train accurate shutdown system according to claim 5 based on UWB wireless distance finding technology, it is characterised in that: institute
On-vehicle host control UWB main equipment is stated to initiate the ranging period and input the phase in real-time train speed period from train control system
Bit synchronization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810934552.8A CN109334714A (en) | 2018-08-16 | 2018-08-16 | The accurate shutdown system of train based on UWB wireless distance finding technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810934552.8A CN109334714A (en) | 2018-08-16 | 2018-08-16 | The accurate shutdown system of train based on UWB wireless distance finding technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334714A true CN109334714A (en) | 2019-02-15 |
Family
ID=65291585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810934552.8A Pending CN109334714A (en) | 2018-08-16 | 2018-08-16 | The accurate shutdown system of train based on UWB wireless distance finding technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334714A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228506A (en) * | 2019-06-28 | 2019-09-13 | 湖南磁浮交通发展股份有限公司 | A kind of medium-and low-speed maglev train positioning-speed-measuring method and system based on wireless base station technology |
| CN110824515A (en) * | 2019-10-25 | 2020-02-21 | 中铁武汉勘察设计研究院有限公司 | GNSS and radar ranging combined hot metal intermodal vehicle tracking and positioning method and system |
| 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 |
| CN112141171A (en) * | 2019-06-27 | 2020-12-29 | 比亚迪股份有限公司 | Train parking control method and device, storage medium, train and electronic equipment |
| CN113525453A (en) * | 2021-07-20 | 2021-10-22 | 浙江众合科技股份有限公司 | Unmanned vehicle-ground cooperative system with vehicle front obstacle detection function |
| CN115140127A (en) * | 2022-08-19 | 2022-10-04 | 中国人民解放军国防科技大学 | Method for controlling train accurate braking and stopping process |
| CN115298077A (en) * | 2019-08-29 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006013994A (en) * | 2004-06-28 | 2006-01-12 | Renesas Technology Corp | Receiver, and communication apparatus using the same |
| CN1822976A (en) * | 2003-07-16 | 2006-08-23 | 国立运输安全研究所 | Device and method for positioning and controlling railway vehicles with ultra-large bandwidth |
| CN102167064A (en) * | 2011-04-08 | 2011-08-31 | 南京工程学院 | RFID (radio frequency identification devices)-assisted subway train position detecting and accurate parking system |
| CN102653278A (en) * | 2011-07-27 | 2012-09-05 | 徐菲 | Range-based train control train-mounted moving block system and method |
| US20130138314A1 (en) * | 2011-11-30 | 2013-05-30 | Harri Viittala | Position estimation system and method |
| CN106004931A (en) * | 2016-06-07 | 2016-10-12 | 深圳航天科技创新研究院 | Train approach warning system and method based on wireless distance measurement technique |
| CN107640164A (en) * | 2017-10-30 | 2018-01-30 | 成都九壹通智能科技股份有限公司 | A kind of train automated driving system based on UWB communications with ranging |
| CN108082225A (en) * | 2017-12-18 | 2018-05-29 | 江苏添仂智能科技有限公司 | Based on UWB sensors, as back indicator, to track, nobody pulls in the method that carries out automatically controlling |
-
2018
- 2018-08-16 CN CN201810934552.8A patent/CN109334714A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1822976A (en) * | 2003-07-16 | 2006-08-23 | 国立运输安全研究所 | Device and method for positioning and controlling railway vehicles with ultra-large bandwidth |
| JP2006013994A (en) * | 2004-06-28 | 2006-01-12 | Renesas Technology Corp | Receiver, and communication apparatus using the same |
| CN102167064A (en) * | 2011-04-08 | 2011-08-31 | 南京工程学院 | RFID (radio frequency identification devices)-assisted subway train position detecting and accurate parking system |
| CN102653278A (en) * | 2011-07-27 | 2012-09-05 | 徐菲 | Range-based train control train-mounted moving block system and method |
| US20130138314A1 (en) * | 2011-11-30 | 2013-05-30 | Harri Viittala | Position estimation system and method |
| CN106004931A (en) * | 2016-06-07 | 2016-10-12 | 深圳航天科技创新研究院 | Train approach warning system and method based on wireless distance measurement technique |
| CN107640164A (en) * | 2017-10-30 | 2018-01-30 | 成都九壹通智能科技股份有限公司 | A kind of train automated driving system based on UWB communications with ranging |
| CN108082225A (en) * | 2017-12-18 | 2018-05-29 | 江苏添仂智能科技有限公司 | Based on UWB sensors, as back indicator, to track, nobody pulls in the method that carries out automatically controlling |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141171A (en) * | 2019-06-27 | 2020-12-29 | 比亚迪股份有限公司 | Train parking control method and device, storage medium, train and electronic equipment |
| CN112141171B (en) * | 2019-06-27 | 2022-05-13 | 比亚迪股份有限公司 | Train parking control method and device, storage medium, train and electronic equipment |
| CN110228506A (en) * | 2019-06-28 | 2019-09-13 | 湖南磁浮交通发展股份有限公司 | A kind of medium-and low-speed maglev train positioning-speed-measuring method and system based on wireless base station technology |
| 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 |
| CN115298077A (en) * | 2019-08-29 | 2022-11-04 | 派珀网络公司 | Enhanced traffic positioning system and method |
| CN110824515A (en) * | 2019-10-25 | 2020-02-21 | 中铁武汉勘察设计研究院有限公司 | GNSS and radar ranging combined hot metal intermodal vehicle tracking and positioning method and system |
| CN110824515B (en) * | 2019-10-25 | 2022-04-15 | 中铁武汉勘察设计研究院有限公司 | GNSS and radar ranging combined hot metal intermodal vehicle tracking and positioning method and system |
| CN113525453A (en) * | 2021-07-20 | 2021-10-22 | 浙江众合科技股份有限公司 | Unmanned vehicle-ground cooperative system with vehicle front obstacle detection function |
| CN113525453B (en) * | 2021-07-20 | 2023-11-14 | 浙江众合科技股份有限公司 | Unmanned vehicle ground cooperative system with front obstacle detection function |
| CN115140127A (en) * | 2022-08-19 | 2022-10-04 | 中国人民解放军国防科技大学 | Method for controlling train accurate braking and stopping process |
| CN115140127B (en) * | 2022-08-19 | 2023-08-22 | 中国人民解放军国防科技大学 | Control method for accurate braking and stopping process of train |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109334714A (en) | The accurate shutdown system of train based on UWB wireless distance finding technology | |
| US8924066B2 (en) | Systems and methods for determining route location | |
| Albrecht et al. | A precise and reliable train positioning system and its use for automation of train operation | |
| US9194706B2 (en) | Method and system for identifying a directional heading of a vehicle | |
| US8862291B2 (en) | Method and system for identifying a directional heading of a vehicle | |
| US9296402B2 (en) | Vehicle location identification systems and methods | |
| CN109476236B (en) | Train fixed position stop control device | |
| WO2013047497A1 (en) | Train control system | |
| CN107953902A (en) | A kind of method of train position correction | |
| CN109080665B (en) | Train positioning method based on cross induction loop intersection information | |
| CN103612649A (en) | Method and device for accurately positioning trains on basis of laser Doppler velocity measurement | |
| CN100467322C (en) | Mobile block signal analogue control method of rail traffic | |
| CN112009522B (en) | Train control system and method for mountain track | |
| CN103996298B (en) | A kind of driver behavior modeling method and device | |
| JP2013141891A (en) | Railroad signal system using power supply system | |
| CN105151088B (en) | Railway locomotive is aided in calibration method and servicing unit | |
| CN104614748A (en) | Tramcar positioning method and position tracing method | |
| CN113247052B (en) | Train positioning method and system | |
| JP2013107434A (en) | In-vehicle device and train position identifying method | |
| US11318970B2 (en) | Vehicle control system | |
| RU2572457C2 (en) | Method of controlling shunting without shunting traffic lights | |
| JP2006006030A (en) | Drive pattern creation device, vehicle speed control device and vehicle drive support device | |
| JP6284723B2 (en) | Train position correction method | |
| KR20150143958A (en) | Train Operation apparatus by the station to station blocking and method thereof | |
| Gebauer et al. | Towards autonomously driving trains on tracks with open access |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190215 |
|
| RJ01 | Rejection of invention patent application after publication |