CN109547974B - Redundant communication positioner of train binary channels - Google Patents
Redundant communication positioner of train binary channels Download PDFInfo
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- CN109547974B CN109547974B CN201811563491.5A CN201811563491A CN109547974B CN 109547974 B CN109547974 B CN 109547974B CN 201811563491 A CN201811563491 A CN 201811563491A CN 109547974 B CN109547974 B CN 109547974B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
Abstract
The invention discloses a dual-channel redundant communication positioning device for a train, which adopts a protocol conforming to the IEEE802.15.4C WPAN (wireless personal area network) international standard for wireless communication, works in the 780MHz ISM (industrial, scientific and medical) frequency band, and is a multipurpose device which not only realizes the two-way medium-low speed micro-distance communication of the train-ground, but also has the function of positioning and checking the train. The system is typically applied to providing regional wireless coverage (such as a platform, a return rail and a transfer rail) for rail transit applications, providing a real-time and transparent train-ground wireless communication channel for an urban rail transit signal control system, and also being used for constructing basic communication equipment of a point-connected train control system. And the train-ground information interaction such as platform screen door joint control, speed limit, state and the like is realized, and the auxiliary checking of the train mileage coordinates is completed at the same time. The generalized design may also be extended to other business systems.
Description
Technical Field
The invention relates to the technical field of railway communication, in particular to a dual-channel redundant communication positioning device for a train.
Background
With the rapid development of communication technology and information technology, computers exchanging data services through wireless channels have been widely used in many fields such as industry, commerce, transportation, military and so on. The current wireless network communication system widely adopts the spread spectrum communication technology, and the domestic radio management committee has opened the 2.4-2.4835 GHz frequency band as the industrial, scientific and medical ISM frequency band of free use. Data communication technologies based on 2.4G ISM frequency bands, represented by different standards such as wireless local area networks (IEEE 802.11.a/b/G), Bluetooth (IEEE 802.15.1), ZigBee (IEEE 802.15.4) and the like, are developed rapidly, and are convenient for work and life of people.
In the field of urban rail transit, wireless communication technology is also applied to different systems including communication signals, dispatching and commanding, public security and fire protection, mobile communication, passenger information publishing and the like. Constantly keeping high-speed and stable data exchange between subway trains and ground equipment becomes a foundation and a precondition for ensuring efficient operation of subway passenger transport systems. The wireless data communication technology between the train and the ground has various implementation forms, for example: 800MHz trunking communication technology using leaky-cable transmission, 802.11WLAN communication technology using directional antennas, and dedicated communication technology using transponder point antennas, among others. Besides wireless communication interaction, the accurate positioning of the online train is also very important for realizing safe and accurate control of the train, and since a large number of lines of urban rail transit are underground, conventional GPS/Beidou and other satellite positioning technologies cannot be effectively applied, the autonomous accurate positioning of the train needs to be realized by other means. At present, the absolute coordinate correction of a ground transponder is commonly combined with a method for autonomous speed and distance measurement of a train.
The following introduces the current urban rail transit field to realize the vehicle-ground communication mode within the local area (e.g. station platform):
(1) WLAN wireless local area network technology
The WLAN technology is adopted, and the vehicle-ground wireless communication mode is generally applied in the field of urban rail transit at present. Usually, a plurality of APs (wireless access points) are arranged beside a ground steel rail at certain intervals, a directional antenna is connected to the outside, an independent AP unit is arranged on a vehicle, and a corresponding directional antenna is arranged on the roof of the vehicle, so that bidirectional communication is completed. Since WLAN technology based on 802.11WLAN communication protocols is currently adopted by a number of different systems. The frequency band of 2.4G divided by the 802.11 protocol is very limited in resource, and there are only 11 channels in total in terms of 5 MHz/channel, and there are only 3 channels that do not interfere with each other. Therefore, the performance of each system is restricted, and potential mutual interference problems are brought about. Since the 2.4G frequency band is a public open frequency band and WLAN is a civil technology, the popularization of a large number of wireless terminals (e.g. notebook wireless internet) becomes an external interference source. Meanwhile, the 802.11 protocol used by the WLAN technology requires authentication when both communication parties establish communication, which has a long delay and is not favorable for transmission of critical service data with high real-time requirement. In addition, the integration level of the WLAN equipment is not high, the installation positions of the equipment are scattered, radio frequency cables are required for interconnection, the requirement on space is large, the electromagnetic compatibility is difficult to meet, the field intensity coverage is wide, only a two-way communication function can be realized, and the requirement on an accurate positioning function cannot be met.
(2) Vehicle-ground communication loop line technology
The train-ground communication loop technology has a long application history in the field of urban rail transit, a communication loop cable with a certain length is usually laid between two steel rails in a platform area, ground transceiver equipment is arranged indoors and connected with a loop coupling unit arranged beside the rails through cables, and the coupling unit is connected with the loop cable. And an induction antenna is hoisted at the bottom of the train, so that train-ground half-duplex communication is realized. Because of no unified international standard, communication loop products of different manufacturers are different in working frequency band, modulation mode, communication rate and communication protocol, the communication rate is often only several K to dozens of kbits/second, the communication data volume is also only dozens to hundreds of bytes, and both the real-time performance and the communication capacity are difficult to support complex function application. In addition, the loop construction and installation work amount is large, and the maintenance work is also complex.
(3) Query transponder technology
The inquiry transponder system is characterized in that a transponder antenna is arranged in the center of a ground steel rail, an inquiry transponder antenna is arranged at the bottom of a train car, a working power supply is established for the transponder by a power signal radiated by the inquiry transponder, and data stored in the transponder antenna is read out, so that the interaction of train-ground information is realized. The system works stably due to the adoption of a special frequency band and a special modulation mode, but the inquiry transponder can only realize the communication in a point-type area (usually about 1 meter), and the train can not keep the communication when leaving the antenna induction area of the transponder, so the system can be used for checking the train mileage coordinate, but can only realize the one-way communication to the train.
Based on the above analysis, it can be seen that the existing vehicle-ground communication technologies are all insufficient, and a functional composite device which gives consideration to vehicle-ground bidirectional wireless communication and accurate positioning is lacked.
Disclosure of Invention
The invention aims to provide a train dual-channel redundant communication positioning device, which is a multipurpose device for realizing train-ground bidirectional medium-low speed micro-distance communication and also having a train positioning and checking function.
The purpose of the invention is realized by the following technical scheme:
a train dual channel redundant communication locating device comprising: two sets of directional antennas and two sets of core circuit boards; wherein:
the two sets of core circuit boards have the same structure and comprise: the system comprises a bottom plate, a core processing module and a radio frequency T/R processing module, wherein the core processing module is connected with the radio frequency T/R processing module and is arranged on the bottom plate;
the two sets of core circuit boards are respectively connected with a directional antenna, and the core processing modules in the two sets of core circuit boards realize a handshake mechanism through internal communication interfaces;
the radio frequency T/R processing module adopts a wireless personal area network international standard protocol and provides received signal strength RSSI to the core processing module so as to assist in positioning the train.
The technical scheme provided by the invention can realize the local bidirectional wireless communication between the train and the ground, which has high real-time performance, strong anti-interference capability, medium speed and redundant configuration, gives consideration to the auxiliary positioning function of the train and meets the specific application requirement of the rail transit.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic diagram of a train dual-channel redundant communication positioning device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a core circuit board according to an embodiment of the invention;
FIG. 3 is an installation diagram of a train dual-channel redundant communication positioning device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of train positioning assistance checking provided by an embodiment of the present invention;
FIG. 5 is a flowchart of train positioning assistance checking provided by an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating that information transmission between a vehicle-mounted information system and a trackside signal system is achieved by using a train dual-channel redundant communication positioning device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a train dual-channel redundant communication positioning device, as shown in figure 1, which mainly comprises: two sets of directional antennas and two sets of core circuit boards; wherein:
the two sets of core circuit boards have the same structure and comprise: the system comprises a bottom plate, a core processing module and a radio frequency T/R processing module, wherein the core processing module is connected with the radio frequency T/R processing module and is arranged on the bottom plate;
the two sets of core circuit boards are respectively connected with a directional antenna, and the core processing modules in the two sets of core circuit boards realize a handshake mechanism through internal communication interfaces;
the radio frequency T/R processing module adopts a wireless personal area network international standard protocol and provides received signal strength RSSI to the core processing module so as to assist in positioning the train.
The train dual-channel redundant communication positioning device provided by the embodiment of the invention adopts an international standard protocol conforming to IEEE802.15.4C WPAN (Wireless personal area network), works in an industrial, scientific and medical (industrial, scientific and medical) frequency band of 780MHz ISM (Wireless personal area network), and is a multipurpose device which not only realizes train-ground two-way medium-low speed microspur communication, but also has a train positioning and checking function. The system is typically applied to providing regional wireless coverage (such as a platform, a return rail and a transfer rail) for rail transit applications, providing a real-time and transparent train-ground wireless communication channel for an urban rail transit signal control system, and also being used for constructing basic communication equipment of a point-connected train control system. And the train-ground information interaction such as platform screen door joint control, speed limit, state and the like is realized, and the auxiliary checking of the train mileage coordinates is completed at the same time. The generalized design may also be extended to other business systems.
For ease of understanding, the train dual channel redundant communication locating device is described in detail below.
Firstly, a device structure.
In the embodiment of the invention, the shell of the whole device is processed by adopting the aviation aluminum profile, so that the device has good EMC performance. The whole device is of a rectangular structure, cables (Ethernet or CAN, RS422/485 and the like) are led out through aviation plugs arranged on the side surfaces of the shells and are connected with other equipment, 4 mounting holes are formed in the upper surface of the device, and the middle part of the device is a radio frequency emission area cover plate made of halogen-free polycarbonate organic glass materials with fireproof performance; the side surface is also provided with a special ventilation respirator, so that the air pressure inside and outside the shell can be ensured to be balanced, and the waterproof and dustproof effects can be achieved; the lower surface of the machine shell is a detachable cover plate, and the periphery of the machine shell is protected by waterproof rubber strips. The whole body has the characteristics of fire prevention, compression resistance, dust prevention and water prevention. The overall protection level of the vehicle-ground communication positioning device can reach the IP66 level.
The whole device is a stacked cavity with an upper layer and a lower layer; the upper layer is an antenna cavity, two sets of directional antennas with the working frequency band of 780MHz are installed, the directional antennas are designed in a PCB on-board solid state mode, and antenna feeders are connected to two corresponding sets of core circuit boards in the lower circuit cavity respectively through internal via holes. Each set of core circuit board in the circuit cavity and the directional antenna in the antenna cavity are independently combined.
In the embodiment of the invention, the two sets of core circuit boards in the circuit cavity are two sets of circuit units which are completely, equally and independently arranged physically. The circuit adopts a modular design, as shown in figure 2, the core circuit board mainly comprises a bottom plate, a core processing module and a radio frequency T/R processing module, the core processing module and the radio frequency T/R processing module are connected with the bottom plate by adopting a porous industrial connector and are connected with each other in a reinforcing way by using a special nylon fixing bolt so as to meet the severe working environment of the installation vibration of the ballast bed and the vehicle body. In addition, a power supply unit is also arranged to supply power for the core processing module and the radio frequency T/R processing module.
The bottom plate is mainly used for providing power supply and external interface connection for the embedded core processing module and the wireless communication processing module.
The core circuit board can adopt a 2-bit ARM7-TDMI embedded CPU to develop application software programs based on a mu C/OS-II real-time operating system. The core circuit board has rich peripheral resources, and comprises circuits such as on/off input and output, EEPROM, RTC clock, SDRAM/FLASH, watchdog, NOR and NAND FLASH large-capacity memories, LCD drive circuit, CAN controller LAN field bus, RS422/485 communication interface, Ethernet and the like.
The whole communication positioning device is designed into a single double-channel redundancy configuration, two sets of physically-designed and completely-independent communication positioning modules are installed in one machine shell, and a double-channel parallel working system is adopted. Each channel independently works on channels of different frequency bands (such as 782MHz and 784MHz), does not interfere with each other, and a handshaking mechanism is realized between two CPUs (core circuit boards) through an internal communication interface to guarantee a time sequence interval on a time domain, so that a double-channel parallel communication positioning function based on time domain and frequency domain double isolation is realized, any host fails, a communication link between a current track section train and a ground host is not influenced, and the reliability and the availability of the system are guaranteed to the maximum extent.
And II, mounting the area.
As shown in fig. 3, in practical application, the train dual-channel redundant communication positioning devices, which are respectively called a vehicle-mounted communication positioning device and a ground communication positioning device, are respectively installed at the bottom of a train and at the center of a ground track; the vehicle-mounted communication positioning device can be installed at the bottom of a train in a support hoisting mode, and the ground communication positioning device can be installed on a center line of a ballast bed through a support.
The two sets of devices adopt the same hardware and software design except different installation modes, so that the universal design is realized to the maximum extent, the equipment types are reduced, the future maintenance and replacement are convenient, and the device is economical and applicable.
And thirdly, communication and positioning principles.
In the embodiment of the invention, the wireless communication adopts an international standard protocol conforming to IEEE802.15.4C WPAN (Wireless personal area network), and works in 780MHz ISM (Industrial, scientific and medical) frequency band.
IEEE802.15.4 describes a physical layer and a media access control protocol of a low-speed wireless personal area network, defines a wireless network technology with short distance, low power consumption, medium data rate, low cost and high reliability, can work in ISM frequency bands of 314 plus 316MHz, 430 plus 434MHz, 779 plus 787MHz, 868/915M and 2.4GHz, has the highest data transmission rate of 250kbps, and is widely applied to the fields of Internet of things, industrial control, remote monitoring, building automation and the like. IEEE802.15.4C is an international standard promulgated and implemented in 2009 specifically for chinese internet of things applications. Three exclusive free usable frequency bands such as 314-316 MHz, 430-434 MHz and 779-787 MHz are defined, and the 15 th part is specially required for remote communication and information exchange local area network and metropolitan area network among GB/T15629.15-2010 information technology systems: low-speed Wireless Personal Area Network (WPAN) medium access control and physical layer specifications are also well defined.
The radio frequency T/R processing module provides 4 communication channels with the bandwidth of 2MHz within the range of 779 MHz-787 MHz, adopts DSSS direct sequence spread spectrum communication technology, and provides a high-speed anti-interference data communication link based on a plurality of logic channels based on an O-QPSK modulation mode and a 16-bit PN sequence (pseudo-random spread spectrum code), and can obtain ultrahigh anti-interference capability and low error rate. Through the internal integrated RF front-end module, the output power reaches +10dBm, and the receiving sensitivity of the radio station reaches-110 dBm. The method comprises the steps that a dual-channel dual-frequency-band parallel working system is adopted; parameters such as communication channels, power, receiving sensitivity and the like which can be configured by software; a secure communication protocol; software and hardware double watchdog protection; the key design technologies such as key data multiple backup and the like can ensure reliable bidirectional data transmission of the train and the ground with the maximum rate of 250Kbits/s under severe field conditions.
The radio frequency T/R processing module can be configured by software except communication parameters, and also provides an RSSI (received Signal Strength indicator) received Signal Strength indicating function, and the core processing module can measure and calculate the Signal Strength of the current received communication receipt frame by reading the numerical value of the RSSSI register. The vehicle-mounted communication positioning device is designed by adopting a solid directional antenna, the coverage of the communication field intensity is normally distributed, and the coverage range of the field intensity can be controlled by configuring communication transmitting power and receiving sensitivity through software.
When the train passes through the ground communication positioning device, the vehicle-mounted communication positioning device continuously receives communication information frames within a field intensity coverage range according to a fixed communication period, the core processing module judges the RSSI value corresponding to each frame, and the RSSI peak value is searched through a radio frequency signal detection algorithm; when the RSSI peak value is searched, the time difference value between the current moment and the peak moment of the ground communication positioning device is sent to the vehicle-mounted main control unit together with a communication information frame, the vehicle-mounted main control unit stores the coordinate data of the ground electronic map in advance and corrects the train positioning error by combining the current train speed (obtained by a speed measurement sensor), so that the train positioning auxiliary check is completed while the train-ground data interaction is completed. The principle and the flow of the train positioning auxiliary check are respectively shown in fig. 4 and fig. 5.
The train positioning error correction formula is as follows:
ΔS＝(ΔTLCU+ΔTcurrent time-RSSI peak value+ΔTCPU)×V；
Wherein the content of the first and second substances,Δs represents a positioning error to be corrected;ΔTLCUrepresenting the processing time delay of the vehicle-mounted communication positioning device;ΔTcurrent time-RSSI peak valueIndicating searching RSSI peak value time delay;ΔTCPUrepresenting the processing time delay of the core processing module; v denotes the current train speed per hour.
A typical application case is given below. As shown in fig. 6, taking the transmission of information from the vehicle-mounted information system to the trackside signal system as an example: after receiving the information of the vehicle-mounted signal system, the vehicle-mounted communication positioning device sends the information to the ground communication positioning device in a wireless spread spectrum communication mode, the ground communication positioning device converges the information into a ground optical fiber network through the trackside relay unit, and the optical fiber Ethernet switch forwards the received information to the indoor host and finally sends the information to the trackside signal system through the indoor host.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1.A train dual-channel redundant communication positioning device is characterized by comprising: two sets of directional antennas and two sets of core circuit boards; wherein:
the two sets of core circuit boards have the same structure and comprise: the system comprises a bottom plate, a core processing module and a radio frequency T/R processing module, wherein the core processing module is connected with the radio frequency T/R processing module and is arranged on the bottom plate;
the two sets of core circuit boards are respectively connected with a directional antenna, and the core processing modules in the two sets of core circuit boards realize a handshake mechanism through internal communication interfaces;
the radio frequency T/R processing module adopts a wireless personal area network international standard protocol and provides received signal strength RSSI to the core processing module so as to assist in positioning the train;
the train dual-channel redundant communication positioning devices are respectively arranged at the bottom of a train and at the center of a ground track and are respectively called as a vehicle-mounted communication positioning device and a ground communication positioning device;
when the train passes through the ground communication positioning device, the vehicle-mounted communication positioning device continuously receives communication information frames within a field intensity coverage range according to a fixed communication period, the core processing module judges the RSSI value corresponding to each frame, and the RSSI peak value is searched through a radio frequency signal detection algorithm; when the RSSI peak value is searched, the time difference value between the current moment and the peak moment passing through the ground communication positioning device is sent to the vehicle-mounted main control unit together with a communication information frame, the vehicle-mounted main control unit stores the coordinate data of a ground electronic map in advance and corrects the positioning error of the train by combining the current train speed, so that the auxiliary train positioning check is completed while the train-ground data interaction is completed;
the train positioning error correction formula is as follows:
ΔS＝(ΔTLCU+ΔTcurrent time-RSSI peak value+ΔTCPU)×V；
Wherein the content of the first and second substances,Δs represents a positioning error to be corrected;ΔTLCUrepresenting the processing time delay of the vehicle-mounted communication positioning device;ΔTcurrent time-RSSI peak valueIndicating searching RSSI peak value time delay;ΔTCPUrepresenting the processing time delay of the core processing module; v denotes the current train speed per hour.
2. The train dual channel redundant communication locating device of claim 1,
the shell of the whole device is made of aviation aluminum profiles and is of a rectangular structure, an aviation plug is arranged on the surface side face of the shell, a lead-out cable is connected with other equipment, 4 mounting holes are formed in the upper surface of the shell, and the middle part of the shell is a radio frequency emission area cover plate made of halogen-free polycarbonate organic glass materials with fireproof performance; the side surface is also designed with a special ventilation respirator, the lower surface of the machine shell is a detachable cover plate, and the periphery of the machine shell is protected by waterproof adhesive tapes.
3. The train dual-channel redundant communication positioning device as claimed in claim 2, wherein the whole device is a stacked cavity with upper and lower layers; the upper layer is an antenna cavity, two sets of directional antennas with the working frequency band of 780MHz are installed, the directional antennas are designed in a PCB on-board solid state mode, and antenna feeders are connected to two corresponding sets of core circuit boards in the lower circuit cavity respectively through internal via holes.
4. The train dual-channel redundancy communication positioning device of claim 1, wherein the core processing module comprises a series of peripheral resources, namely: on/off input/output, EEPROM, RTC clock, SDRAM/FLASH, watchdog, NOR and NAND FLASH mass storage, LCD driver circuit, CAN controller local area network field bus, RS422/485 communication interface, and Ethernet.
5. The dual-channel redundant communication positioning device for the train as claimed in claim 1, wherein the radio frequency T/R processing module adopts IEEE802.15.4C WPAN wireless personal area network international standard protocol, provides 4 communication channels with 2MHz bandwidth in the range of 779MHz to 787MHz dedicated free use frequency band, and provides a high-speed interference-resistant data communication link based on a plurality of logical channels by using DSSS direct sequence spread spectrum communication technology and based on an O-QPSK modulation method and a 16-bit PN sequence; through the internal integrated RF front-end module, the output power reaches +10dBm, and the receiving sensitivity of the radio station reaches-110 dBm.
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| CN111246429B (en) * | 2020-01-15 | 2022-08-26 | 北京锦鸿希电信息技术股份有限公司 | GSM-R handover switching method and device based on redundant network |
| CN112660203B (en) * | 2021-03-18 | 2021-06-22 | 北京全路通信信号研究设计院集团有限公司 | Head-tail redundancy system of vehicle-mounted signal equipment and execution method thereof |
| CN115567615A (en) * | 2022-09-06 | 2023-01-03 | 卡斯柯信号有限公司 | FSK and LAN protocol conversion device for rail transit signal system |
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| Precise positioning of RFID tags using a phased array antenna;Colin C. Bantin; Andrea Luttgen; Carl Schwellnus; Walter Kinio;《 Proceedings of the 2012 IEEE International Symposium on Antennas and Propagation》;20120714;全文 * |
| 基于冗余技术的列车组合定位方法研究;乔方博;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑 》;20180615;全文 * |
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