CN109649442A - A kind of rail friendship Signal Products vehicle location calibration system based on virtual beacon - Google Patents
A kind of rail friendship Signal Products vehicle location calibration system based on virtual beacon Download PDFInfo
- Publication number
- CN109649442A CN109649442A CN201811337252.8A CN201811337252A CN109649442A CN 109649442 A CN109649442 A CN 109649442A CN 201811337252 A CN201811337252 A CN 201811337252A CN 109649442 A CN109649442 A CN 109649442A
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- China
- Prior art keywords
- vehicle location
- subject matter
- track
- sensor
- map datum
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- 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.)
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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 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, and the rail based on virtual beacon hands over Signal Products vehicle location calibration system, comprising: trackside subject matter is set to by train operation track, and each subject matter has the feature of difference with other subject matters；The storage of track map datum and update module, are stored with track map datum, which includes synchronized update when the subject matter feature by track and subject matter feature in orbit change；Alignment sensor has at least two alignment sensors, and the characteristic information of at least a kind of acquisition trajectory both sides subject matter and combination track map datum realization vehicle location at least two alignment sensors；Train locating module merges the vehicle location information of at least two alignment sensors, votes through final vehicle location information.The present invention merges the technical solution for calculating mobile unit position in real time using multisensor synchronous acquisition with perception, improves the positioning resolution and positioning accuracy of mobile unit, convenient for improving stopping accuracy.
Description
Technical field
The present invention relates to technology of track traffic, and in particular to rail traffic signal system.
Background technique
Rail hand over Signal Products mobile unit by the modes such as passive tag, active beacon or loop wire carry out initial alignment or
Positioning calibration, with the position of acquisition/correct itself.
Either beacon or loop wire require just to need to be laid with one every several hundred rice along track laying, such as beacon
A, bring defect is as follows:
1. complete sets of equipment increased costs；
2. track foundation construction requirements are higher, beacon is equipped with strict demand to beacon when positioning, otherwise can be to positioning
Error is brought, or even can not be positioned；
3. the interval that the resolution ratio of positioning depends on beacon arrangement；
4. beacon or loop wire relevant device are disposed in trackside, it is possible to will affect the appearance of the city；
5. increasing the difficulty of follow-up maintenance.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of, and the rail based on virtual beacon hands over Signal Products vehicle fixed
Position calibration system, obtains higher calibration accuracy.
In order to solve the above technical problems, the present invention adopts the following technical scheme: the rail based on virtual beacon hands over Signal Products
Vehicle location calibration system, comprising:
Trackside subject matter is set to by train operation track, and each subject matter has the spy of difference with other subject matters
Sign；
The storage of track map datum and update module, are stored with track map datum, which includes track
Other subject matter feature and synchronized update when subject matter feature in orbit changes；
Alignment sensor has at least two alignment sensors, and at least one kind is adopted at least two alignment sensors
Collect the characteristic information of track both sides subject matter and track map datum is combined to realize vehicle location；
Train locating module merges the vehicle location information of at least two alignment sensors, votes through final vehicle
Location information.
Preferably, same sensor is simutaneously arranged in headstock and the tailstock and the sensor of headstock and the tailstock uses two to take two
Framework.
Preferably, the sensor includes visual sensor and radar, the visual sensor and radar acquisition trajectory two
The characteristic information of other subject matter simultaneously combines track map datum to realize vehicle location.
Preferably, the sensor further includes inertial navigation unit.
The present invention merges the technical solution for calculating mobile unit position in real time, tool using multisensor synchronous acquisition with perception
It has the advantages that:
1. eliminating trackside beacon or loop wire equipment, reduce complete set of equipments cost；
2. eliminating the installation of trackside beacon or loop wire equipment, reduce the dependence to infrastructure construction requirement；
3. improving the positioning resolution and positioning accuracy of mobile unit, convenient for improving stopping accuracy, theoretically parking is inclined
Difference < 1cm；
4. reducing trackside equipment, the space of road surface or trackside is increased indirectly, be can be used for beautifying city and is perhaps installed
Other equipment；
5. reducing trackside equipment, eliminate the maintenance of subsequent trackside equipment, reduce maintenance difficulties, reduce maintenance at
This.
The specific technical solution of the present invention and its advantages will carry out detailed in the following detailed description
Explanation.
Specific embodiment
With the application of the breakthrough of sensor technology and related algorithm, especially visual sensor and radar sensor,
Signal Products are handed over to bring new thinking of development to rail.
The present invention is based on existing sensor technologies, and it is fixed to propose a kind of rail friendship Signal Products vehicle based on virtual beacon
Position calibration system, comprising:
Trackside subject matter is set to by train operation track, and each subject matter has the spy of difference with other subject matters
Sign；The storage of track map datum and update module, are stored with track map datum, which includes the mark by track
Object feature and subject matter feature in orbit synchronized update when changing；
Alignment sensor has at least two alignment sensors, and at least one kind is adopted at least two alignment sensors
Collect the characteristic information of track both sides subject matter and track map datum is combined to realize vehicle location；
Train locating module merges the vehicle location information of at least two alignment sensors, votes through final vehicle
Location information.
Wherein, trackside subject matter can be the road sign of trackside, be also possible to Traffic signal post, can also be trackside object (ratio
Such as building or green plants), it is also possible to their synthesis.If it is the road sign and Traffic signal post of trackside, they are included
Digital label easily identifies；It is similar with recognition of face if it is trackside object, need to extract their spy with uniqueness
Levy data.Of course, it is possible to identify trackside object by way of deep learning.
In view of single type sensing data bring error, present invention introduces at least two different types of positioning to pass
Sensor.It is preferentially selected based on a type of sensor according to current environment and vehicle speed information, other types sensor
Supplemented by.It is selected based on a continuation when the master reference data failure preferentially selected, then from aiding sensors.Location Calculation
When the data used always with master reference data for main foundation, auxiliary sensor data is served only for calibrating or supplement.
It can be simutaneously arranged same sensor in headstock and the tailstock, same type sensor needs the pass to same object
Key feature carries out cross-talk.Consider from safety and reliability, sensor ends needs accomplish intersection sensing, and (multiple sensors are to same
The overlapping perception of one object), binary channels independently calculates, and finally needs to complete binary channels voting, the positioning number after voting through
According to above giving vehicle-mounted business.Specifically, the locating calibration system of headstock and the tailstock is be mutually backups use (warm standby), headstock work
When, positioning result can be synchronized to the tailstock, location information will not be reported to the vehicle-mounted business of itself by the system where the tailstock, instead
It,.2 take 2 refer to headstock or tailstock one end where system itself complete binary channels and independently calculate, binary channels voting；Vehicle
It does not need 2 to take 2 again between head and the tailstock.Headstock and the single-ended complete independently 2 of the tailstock take 2, and master is completed in headstock and the cooperation of tailstock both ends
For redundancy, an end data is synchronized to other end in operational process, in order to smooth subsequent active-standby switch.
The sensor includes visual sensor and radar, the visual sensor and radar acquisition trajectory both sides subject matter
Characteristic information and combine track map datum realize vehicle location, the positioning of mobile unit can be accurately finished.Vision passes
Sensor can use high speed camera, determine that wherein a width is that train positions picture, takes in conjunction with electronic map from the image of acquisition
Extrapolate the location information of train positioning picture.
In addition, the sensor further includes inertial navigation unit, and can be using other alignment sensors in the prior art.
The present invention merges the data of multiple sensors (vision, radar, inertial navigation) information, in conjunction with the existing track map of mobile unit
Data complete the calculating (positioning) of vehicle-mounted position itself, and these information are no longer dependent on original trackside beacon or loop wire letter
Breath.The perception of different sensors is merged, and is avoided the blind area of single type sensor, is improved the positioning resolution of mobile unit
And positioning accuracy, convenient for improving stopping accuracy.Due to reducing trackside equipment, the space of road surface or trackside is increased indirectly,
The maintenance for eliminating subsequent trackside equipment, reduces maintenance difficulties, reduces maintenance cost.
Mobile unit itself is stored with track database, and corresponding is other attribute informations of track map, such as line segment
Information, speed-limiting messages and affiliated trackside id information etc., and the track database information in the process of running can by with ground
The secure communication of equipment carries out immediate updating.According to the location information after voting through, in conjunction with the existing track number of mobile unit
Vehicle-mounted decision and control function are completed according to library information.The invention proposes the strategies of track map synchronized update, increase reality
Availability during the operation of border；Propose the method for track database immediate updating, increase during actual operation can
With property and flexibility.
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 (4)
1. the rail based on virtual beacon hands over Signal Products vehicle location calibration system, characterized by comprising:
Trackside subject matter is set to by train operation track, and each subject matter has the feature of difference with other subject matters；
The storage of track map datum and update module, are stored with track map datum, which includes by track
Subject matter feature and synchronized update when subject matter feature in orbit changes；
Alignment sensor has at least two alignment sensors, and at least a kind of acquisition rail at least two alignment sensors
The characteristic information of road both sides subject matter simultaneously combines track map datum to realize vehicle location；
Train locating module merges the vehicle location information of at least two alignment sensors, votes through final vehicle location
Information.
2. the rail according to claim 1 based on virtual beacon hands over Signal Products vehicle location calibration system, feature exists
In: same sensor is simutaneously arranged in headstock and the tailstock and the sensor of headstock and the tailstock uses two to take two frameworks.
3. the rail according to claim 1 based on virtual beacon hands over Signal Products vehicle location calibration system, feature exists
In: the sensor includes visual sensor and radar, the spy of the visual sensor and radar acquisition trajectory both sides subject matter
Reference ceases and track map datum is combined to realize vehicle location.
4. the rail according to claim 3 based on virtual beacon hands over Signal Products vehicle location calibration system, feature exists
In: the sensor further includes inertial navigation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811337252.8A CN109649442A (en) | 2018-11-12 | 2018-11-12 | A kind of rail friendship Signal Products vehicle location calibration system based on virtual beacon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811337252.8A CN109649442A (en) | 2018-11-12 | 2018-11-12 | A kind of rail friendship Signal Products vehicle location calibration system based on virtual beacon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109649442A true CN109649442A (en) | 2019-04-19 |
Family
ID=66110789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811337252.8A Pending CN109649442A (en) | 2018-11-12 | 2018-11-12 | A kind of rail friendship Signal Products vehicle location calibration system based on virtual beacon |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758472A (en) * | 2019-10-08 | 2020-02-07 | 北京市地铁运营有限公司地铁运营技术研发中心 | Train positioning method, device, system and storage medium |
| CN111114593A (en) * | 2019-12-18 | 2020-05-08 | 中铁电气化局集团有限公司 | Subway train autonomous positioning device, system and method based on multivariate information fusion |
| CN111717244A (en) * | 2019-12-18 | 2020-09-29 | 河南思维轨道交通技术研究院有限公司 | Train automatic driving sensing method and system |
| CN111976789A (en) * | 2020-05-11 | 2020-11-24 | 香港铁路有限公司 | Train-mounted system and method for determining safe speed and position of train |
| CN113511235A (en) * | 2020-04-10 | 2021-10-19 | 北京瑞途科技有限公司 | Positioning calibration method based on track |
| CN115320672A (en) * | 2022-08-10 | 2022-11-11 | 浙江众合科技股份有限公司 | Interval positioning method and system based on electronic tag and image recognition fusion |
| CN116902042A (en) * | 2023-09-12 | 2023-10-20 | 比亚迪股份有限公司 | Positioning method, system and train |
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| CN116902042A (en) * | 2023-09-12 | 2023-10-20 | 比亚迪股份有限公司 | Positioning method, system and train |
| CN116902042B (en) * | 2023-09-12 | 2024-01-09 | 比亚迪股份有限公司 | Positioning method, system and train |
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Application publication date: 20190419 |