CN110116740A - Rail vehicle positioning device based on calculations of offset, system and method - Google Patents
Rail vehicle positioning device based on calculations of offset, system and method Download PDFInfo
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- CN110116740A CN110116740A CN201910444709.3A CN201910444709A CN110116740A CN 110116740 A CN110116740 A CN 110116740A CN 201910444709 A CN201910444709 A CN 201910444709A CN 110116740 A CN110116740 A CN 110116740A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001186 cumulative effect Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 11
- 230000004807 localization Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B61L25/021—Measuring and recording of train speed
-
- 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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
Abstract
The rail vehicle positioning device that the present invention relates to a kind of based on calculations of offset, system and method, which includes the first data-interface, for receiving the velocity information of the collected vehicle of current time period；Second data-interface, the trigger signal provided for receiving recognizer；Accumulator, for calculating the offset of current time period with received velocity information, and when not receiving trigger signal, add up the offset of the current time period in offset accumulative before, when receiving trigger signal, offset accumulative before is reset, restarts cumulative offset amount based on the offset of the current time period；Third data-interface, the offset added up for exporting accumulator to current time period.The present invention determines the current location of vehicle by the way of calculating offset, and positioning accuracy is higher.
Description
Technical field
The present invention relates to rail vehicle control technology field, in particular to a kind of rail vehicle positioning based on calculations of offset
Device, system and method.
Background technique
With popularizing for automobile, urban transportation receiving pressure is increasing, and accident is also to be stepped up.Since traffic above-ground
It is difficult to bear, underground traffic is expensive and space is limited, therefore overhead rail traffic is come into being.
Track unmanned vehicle drives in the process of development, needs the acquisition, processing and control of various information, especially real-time
The higher the better with required precision.Such as the location information of vehicle, station acquisition can be realized by GPS etc. at present, but in real time
Property and accuracy are but difficult to ensure.Therefore, how to realize that accurate positioning is a technical problem to be solved urgently.
Summary of the invention
It is an object of the invention to improve the not high deficiency of positional accuracy in the presence of the prior art, a kind of base is provided
In the rail vehicle positioning device and system of calculations of offset, to improve the accuracy of positioning.
In order to achieve the above-mentioned object of the invention, the embodiment of the invention provides following technical schemes:
A kind of rail vehicle positioning device based on calculations of offset, comprising:
First data-interface, for receiving the velocity information of the collected vehicle of current time period；
Second data-interface, the trigger signal provided for receiving recognizer；
Accumulator for calculating the offset of current time period with received velocity information, and is not receiving triggering
When signal, the offset for the current time period that adds up in offset accumulative before will when receiving trigger signal
Accumulative offset is reset before, restarts cumulative offset amount based on the offset of the current time period；
Third data-interface, the offset added up for exporting accumulator to current time period.
On the other hand, the rail vehicle positioning system based on calculations of offset that the present invention also provides a kind of, comprising:
Along several location tags of track setting, each location tags have an ID number, and a location tags are used for
Identify a position of track；
It is installed on the recognizer of vehicle, in sensing range of the vehicle driving to current location label, described in recognition
The ID number of current location label；
Speed acquisition device, for acquiring the velocity information of current time period vehicle；
And the rail vehicle positioning device above-mentioned based on calculations of offset, it is adopted by the first data-interface and the speed
Acquisition means connection, is connect by the second data-interface with the recognizer.
In another embodiment, the above-mentioned rail vehicle positioning system based on calculations of offset, further includes communication device
And remote server, the rail vehicle positioning device based on calculations of offset pass through the communication device and the remote service
The ID number of accumulative offset and corresponding location tags is sent to remote server by device data communication.It is communicated by setting
Dress and remote server, may be implemented for current vehicle position information to be transferred to remote server, realize long-range monitoring.
Preferably, in the above-mentioned rail vehicle positioning system based on calculations of offset, the location tags are RFID label tag, institute
Stating recognizer is RFID card reader.RFID technique is mature, and at low cost, is the preferred embodiment of location tags.
On the other hand, the embodiment of the invention also provides a kind of rail vehicle localization method based on calculations of offset, including
Following steps:
The velocity information of the collected vehicle of current time period is received, and current time is calculated according to the velocity information
The offset in period；
Judge whether to receive the trigger signal that recognizer provides；
If not receiving trigger signal, the offset for the current time period that adds up in offset accumulative before
Amount, and the position of the previous location tags read with the recognizer, and currently accumulative offset determine track
The position of vehicle；
If receiving trigger signal, offset accumulative before is reset, with the offset of the current time period
Based on restart cumulative offset amount, and with the position of the currently-read location tags arrived of the recognizer and described
The offset of current time period determines the position of rail vehicle.
Compared with prior art, the present invention combines offset on the basis of location tags, can more accurately obtain
Current vehicle position.In addition, cumulative errors institute can be eliminated by way of only adding up the offset between two location tags
Caused by position inaccurate, therefore further improve the accuracy of vehicle location, meet the future of automatic driving vehicle development
Demand.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of the rail vehicle positioning device provided in an embodiment of the present invention based on calculations of offset.
Fig. 2 is the structural schematic diagram of the rail vehicle positioning system provided in an embodiment of the present invention based on calculations of offset.
Fig. 3 is the flow chart of the rail vehicle localization method provided in an embodiment of the present invention based on calculations of offset.
Description of symbols in figure
Track 1, RFID label tag 2, remote server device 3, speed acquisition device 4, RFID card reader 5, vehicle 6.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Referring to Fig. 2, arrow indicates vehicle traffic direction in Fig. 2, provided in the present embodiment a kind of based on calculations of offset
Rail vehicle positioning system, including several RFID label tags 2, a RFID card reader 5, a speed acquisition device 4, one
Rail vehicle positioning device (hereinafter certain local abbreviation positioning devices) based on calculations of offset illustrates only two in Fig. 2
RFID label tag 2 is as signal.
Several RFID label tags 2 are spaced along track 1 to be arranged, the spacing distance of two neighboring RFID label tag can it is identical can also
With difference, but a RFID label tag is to identify a position of track, is known quantity, can be labeled in map.Each
RFID label tag has exclusive ID number, as long as obtaining its i.e. knowable position of ID number.
Generally, in order to avoid mutual interference, the spacing distance of two neighboring RFID label tag 2 is greater than its positioning accurate
Degree, can also save label cost in this way.If inevitably two RFID label tags 2 are closer, such as the point of rail time-division
Not She Zhi RFID label tag 2 on two tracks 1, since each RFID label tag 2 has an independent ID number, RFID card reading
Device just can export trigger signal to positioning device when reading the ID number of RFID label tag 2 for the first time, and read subsequent
Then ignore when identical ID number, does not export trigger signal to positioning device.
RFID card reader 5 is installed on vehicle 6, and RFID card reader 5 is used to read in the traveling of vehicle 6 to Current RFID tags 2
Take the information of the RFID label tag 2.
Readily comprehensible, in the present embodiment, RFID label tag 2 is illustrated only as a kind of preferably embodiment, technology
Maturation, it is at low cost, it is sufficient to meet the needs of station location marker.As other embodiments, naturally it is also possible to be made using other devices
For location tags, the effect of station location marker is realized, RFID card reader is then changed to that the knowledge of the location tags can be distinguished accordingly
Device is read, such as RFID label tag is changed to optical transmitting set, RFID card reader is changed to optical receiver.
Speed acquisition device 4 can be installed on vehicle, for acquiring the velocity information of current time period vehicle, and be led to
The first data-interface for crossing positioning device is transferred to positioning device.
Referring to Fig. 1, the rail vehicle positioning device described in the present embodiment based on calculations of offset, including the first data connect
Mouth, the second data-interface, accumulator and third data-interface.
Wherein, the first data-interface is used to receive the velocity information of the collected vehicle of current time period.Based on speed
The structure of acquisition device is different, the structure corresponding change of the first data-interface, to realize this positioning device and speed acquisition device
Connection, and the speed data of current vehicle is obtained from speed acquisition device.First data-interface is usually wired connection interface,
But if speed acquisition device gives speed data transmission to this positioning device by way of wireless transmission, first number
It is then corresponding wireless transport module according to interface.
Wherein, for the second data-interface for receiving the trigger signal that recognizer provides, i.e. positioning device passes through the second data
Interface is connect with recognizer.Here trigger signal refers to that triggering accumulator executes clear operation (being also possible to non-clear operation)
Signal.In one embodiment, when the ID number of recognizer recognition to new location tags, trigger signal is just exported to this
Positioning device does not just export trigger signal to this positioning device when the ID number of new location tags is arrived in no recognition.
Wherein, accumulator is used to calculate the offset of current time period with received velocity information, and is not receiving
When trigger signal, the offset for the current time period that adds up in offset accumulative before is receiving trigger signal
When, offset accumulative before is reset, restarts cumulative offset amount based on the offset of the current time period.
Third data-interface is data output interface, the offset added up for exporting accumulator to current time period
Amount.The position that the offset is identified plus positioning label, as current vehicle position.
In the present embodiment, accumulator can be accumulating operating circuit, be also possible to be integrated with the processor of accumulating operation.It is tired
The offset Δ S=V for adding device to add up to current time period1T+V2T...+VnT, wherein Vn indicates n-th of time cycle
(and current time period) collected vehicle velocity information, the speed of different time cycle vehicles may it is identical or
It is different.If accumulator receives trigger signal in current time period, current time period is first time cycle, i.e.,
N=1, if accumulator is not received by trigger signal in current time period, current time period is corresponding n-th of the time
Period.
As illustrated in fig. 2, it is assumed that the position that a location tags are identified is S1, before vehicle is currently at the location tags
Side's (being only reference with vehicle traffic direction), vehicle is currently at the 3rd time cycle, then the offset of accumulator output is
Δ S=V1T+V2T+V3T, the current specific location of vehicle are S1+V1T+V2T+V3T。
In the present solution, default speed of vehicle within the period at the same time is constant, and because this time period is shorter, positioning accurate
Degree is higher, and in an experimental example, the time cycle is set as 50ms, and changes in vehicle speed is almost negligible in 50ms, therefore
Positioning accuracy is very high.
With the accumulation of time, because error caused by velocity variations can be increasing.The present embodiment positioning device, not only leads to
It crosses location tags and adds the mode of offset to improve positioning accuracy, and be directed to each location tags, all recalculate partially
Shifting amount, therefore the accumulated error of front can be eliminated, further increase positioning accuracy.
The positioning accuracy of RFID label tag is usually within one meter, and in above-mentioned positioning system, RFID label tag once enters RFID
The sphere of action of card reader, i.e. readable information, position error is tens centimetres at this time.It reads after label i.e. with the time cycle
Start constantly to calculate offset, error just becomes very little.Offset is recalculated when by reading new RFID label tag, it can
To eliminate the accumulated error of front, positioning accuracy is further increased.Accordingly, with respect to the prior art, positioned described in the present embodiment
Positioning accuracy can be improved in system, passes through technical support for realization is unmanned.
If controlling the vehicle control system of vehicle operation on vehicle, the offset of accumulator output is transferred directly to
Vehicle control system.If vehicle is or to need to be monitored remotely by remotely controlling, then the above-mentioned track based on calculations of offset
It further include communication device and remote server 3 in vehicle positioning system, the rail vehicle positioning device based on calculations of offset passes through
The ID number of accumulative offset and corresponding location tags is sent to remotely by communication device and 3 data communication of remote server
Server 3, as shown in Figure 2.Communication device is 4G module or 5G module, ensures the timeliness and reliability of data transmission, remotely
Server 3 can be Cloud Server.
As shown in figure 3, being based on above system, it is fixed that the embodiment of the invention provides a kind of rail vehicles based on calculations of offset
Position method, comprising the following steps:
The velocity information of the collected vehicle of current time period is received, and current time is calculated according to the velocity information
The offset in period；
Judge whether to receive the trigger signal that recognizer provides；
If not receiving trigger signal, the offset for the current time period that adds up in offset accumulative before
Amount, and the position of the previous location tags read with the recognizer, and currently accumulative offset determine track
The position of vehicle；
If receiving trigger signal, offset accumulative before is reset, with the offset of the current time period
Based on restart cumulative offset amount, and with the position of the currently-read location tags arrived of the recognizer and described
The offset of current time period determines the position of rail vehicle.
Without description place in this method embodiment, the associated description of aforementioned system may refer to.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, term " first ", " second " etc. be only used for distinguish description, and should not be understood as instruction or
Imply relative importance.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.
Claims (7)
1. a kind of rail vehicle positioning device based on calculations of offset characterized by comprising
First data-interface, for receiving the velocity information of the collected vehicle of current time period；
Second data-interface, the trigger signal provided for receiving recognizer；
Accumulator for calculating the offset of current time period with received velocity information, and is not receiving trigger signal
When, the offset for the current time period that adds up in offset accumulative before, when receiving trigger signal, by before
Accumulative offset is reset, and restarts cumulative offset amount based on the offset of the current time period；
Third data-interface, the offset added up for exporting accumulator to current time period.
2. a kind of rail vehicle positioning system based on calculations of offset characterized by comprising
Along several location tags of track setting, each location tags have an ID number, and a location tags are for identifying
One position of track；
It is installed on the recognizer of vehicle, it is described current for distinguishing in sensing range of the vehicle driving to current location label
The ID number of location tags；
Speed acquisition device, for acquiring the velocity information of current time period vehicle；
Rail vehicle positioning device described in claim 1 based on calculations of offset, passes through the first data-interface and the speed
Acquisition device connection, is connect by the second data-interface with the recognizer.
3. the rail vehicle positioning system according to claim 2 based on calculations of offset, which is characterized in that further include communication
Device and remote server, the rail vehicle positioning device based on calculations of offset pass through the communication device and described long-range
The ID number of accumulative offset and corresponding location tags is sent to remote server by server data communication.
4. the rail vehicle positioning system according to claim 2 or 3 based on calculations of offset, which is characterized in that institute's rheme
Setting label is RFID label tag, and the recognizer is RFID card reader.
5. the rail vehicle positioning system according to claim 3 based on calculations of offset, which is characterized in that the communication dress
It is set to 4G module or 5G module.
6. the rail vehicle positioning system according to claim 3 based on calculations of offset, which is characterized in that the long-range clothes
Business device is Cloud Server.
7. a kind of rail vehicle localization method based on calculations of offset, which comprises the following steps:
The velocity information of the collected vehicle of current time period is received, and current time period is calculated according to the velocity information
Offset；
Judge whether to receive the trigger signal that recognizer provides；
If not receiving trigger signal, the offset for the current time period that adds up in offset accumulative before, and
With the position for the previous location tags that the recognizer is read, and currently accumulative offset determines rail vehicle
Position；
If receiving trigger signal, offset accumulative before is reset, using the offset of the current time period as base
Plinth restarts cumulative offset amount, and with the position of the currently-read location tags arrived of the recognizer and described current
The offset of time cycle determines the position of rail vehicle.
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| CN201910444709.3A CN110116740B (en) | 2019-05-27 | 2019-05-27 | Rail vehicle positioning device, system and method based on offset calculation |
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| CN201910444709.3A CN110116740B (en) | 2019-05-27 | 2019-05-27 | Rail vehicle positioning device, system and method based on offset calculation |
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| CN110803202A (en) * | 2019-12-21 | 2020-02-18 | 山东科技大学 | High-precision positioning method for rail vehicle |
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