CN110116740B - Rail vehicle positioning device, system and method based on offset calculation - Google Patents
Rail vehicle positioning device, system and method based on offset calculation Download PDFInfo
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- CN110116740B CN110116740B CN201910444709.3A CN201910444709A CN110116740B CN 110116740 B CN110116740 B CN 110116740B CN 201910444709 A CN201910444709 A CN 201910444709A CN 110116740 B CN110116740 B CN 110116740B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 11
- 230000008447 perception Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to a rail vehicle positioning device, a system and a method based on offset calculation, wherein the positioning device comprises a first data interface, a second data interface and a third data interface, wherein the first data interface is used for receiving speed information of a vehicle acquired in a current time period; the second data interface is used for receiving a trigger signal given by the reader; the accumulator is used for calculating the offset of the current time period according to the received speed information, accumulating the offset of the current time period on the offset accumulated before when the trigger signal is not received, clearing the offset accumulated before when the trigger signal is received, and restarting accumulating the offset based on the offset of the current time period; and a third data interface for outputting the accumulated offset from the accumulator to the current time period. The invention adopts a mode of calculating the offset to determine the current position of the vehicle, and has higher positioning accuracy.
Description
Technical Field
The invention relates to the technical field of railway vehicle control, in particular to a railway vehicle positioning device, a system and a method based on offset calculation.
Background
With the popularization of automobiles, urban traffic is subjected to larger and larger pressure, and accidents are gradually increased. Since ground traffic is difficult to withstand, underground traffic is expensive and space is limited, and thus air rail traffic has been developed.
In the development process of the unmanned railway vehicle, various information needs to be collected, processed and controlled, and especially the requirements on real-time performance and accuracy are higher and better. For example, the position information of the vehicle can be acquired through GPS, but real-time performance and accuracy are difficult to ensure. Therefore, how to realize accurate positioning is a technical problem to be solved.
Disclosure of Invention
The invention aims to overcome the defect of low positioning accuracy in the prior art, and provides a rail vehicle positioning device and system based on offset calculation so as to improve positioning accuracy.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a rail vehicle locating device based on offset calculation, comprising:
the first data interface is used for receiving the speed information of the vehicle acquired in the current time period;
the second data interface is used for receiving a trigger signal given by the reader;
the accumulator is used for calculating the offset of the current time period according to the received speed information, accumulating the offset of the current time period on the offset accumulated before when the trigger signal is not received, clearing the offset accumulated before when the trigger signal is received, and restarting accumulating the offset based on the offset of the current time period;
and a third data interface for outputting the accumulated offset from the accumulator to the current time period.
In another aspect, the present invention also provides a rail vehicle positioning system based on offset calculation, including:
a plurality of position tags disposed along the track, each position tag having an ID number, one position tag for identifying one position of the track;
the reader is arranged on the vehicle and used for reading the ID number of the current position tag when the vehicle runs to the perception range of the current position tag;
the speed acquisition device is used for acquiring the speed information of the vehicle in the current time period;
and the rail vehicle positioning device based on offset calculation is connected with the speed acquisition device through a first data interface and is connected with the reader through a second data interface.
In another embodiment, the above-mentioned railway vehicle positioning system based on offset calculation further comprises a communication device and a remote server, wherein the railway vehicle positioning device based on offset calculation is in data communication with the remote server through the communication device, and the accumulated offset and the ID number of the corresponding position tag are sent to the remote server. By arranging the communication device and the remote server, the current position information of the vehicle can be transmitted to the remote server, and remote monitoring is realized.
Preferably, in the above-mentioned railway vehicle positioning system based on offset calculation, the position tag is an RFID tag, and the reader is an RFID reader. RFID technology is mature and low cost, and is the preferred implementation of location tags.
On the other hand, the embodiment of the invention also provides a rail vehicle positioning method based on offset calculation, which comprises the following steps:
receiving speed information of a vehicle acquired in a current time period, and calculating the offset of the current time period according to the speed information;
judging whether a trigger signal given by the reader is received or not;
if the trigger signal is not received, accumulating the offset of the current time period on the offset accumulated before, and determining the position of the railway vehicle according to the position of the previous position tag read by the reader and the current accumulated offset;
and if the trigger signal is received, resetting the accumulated offset, restarting the accumulated offset based on the offset of the current time period, and determining the position of the railway vehicle based on the position of the position tag read by the reader and the offset of the current time period.
Compared with the prior art, the method and the device can be used for obtaining the current position of the vehicle more accurately by combining the offset on the basis of the position label. In addition, by only accumulating the offset between the two position labels, the inaccuracy of positioning caused by accumulated errors can be eliminated, so that the accuracy of vehicle positioning is further improved, and the future requirement of unmanned vehicle development is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a rail vehicle positioning device based on offset calculation according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a rail vehicle positioning system based on offset calculation according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for positioning a railway vehicle based on offset calculation according to an embodiment of the present invention.
Description of the drawings
Track 1, RFID label 2, remote server 3, speed acquisition device 4, RFID card reader 5, vehicle 6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Referring to fig. 2, an arrow in fig. 2 indicates a running direction of a vehicle, and in this embodiment, a rail vehicle positioning system based on offset calculation is provided, which includes a plurality of RFID tags 2, an RFID reader 5, a speed acquisition device 4, and a rail vehicle positioning device (hereinafter, referred to as a positioning device) based on offset calculation, and only two RFID tags 2 are shown in fig. 2 as an illustration.
The RFID tags 2 are arranged at intervals along the track 1, and the interval distance between two adjacent RFID tags can be the same or different, but one RFID tag is a position of the track, which is a known quantity and can be marked in a map. Each RFID tag carries a unique ID number, and its location can be known as long as the ID number is obtained.
In general, in order to avoid interference with each other, two adjacent RFID tags 2 are spaced apart by a distance greater than their positioning accuracy, which can also save tag costs. If the distance between two RFID tags 2 is inevitably short, for example, the RFID tags 2 on two tracks 1 are respectively arranged in a track, and each RFID tag 2 has an independent ID number, the RFID reader can output a trigger signal to the positioning device when the ID number of the RFID tag 2 is read for the first time, and ignore when the same ID number is read subsequently, and does not output the trigger signal to the positioning device.
The RFID reader 5 is mounted on the vehicle 6, and the RFID reader 5 is configured to read information of the current RFID tag 2 when the vehicle 6 travels to the RFID tag 2.
It will be readily appreciated that in this embodiment, the RFID tag 2 is merely an example of a preferred embodiment, and is mature in technology and low in cost, and is sufficient to meet the requirements of location identification. As other embodiments, it is of course possible to use other devices as the position tag to realize the function of position identification, and the RFID reader is changed to a corresponding reader capable of reading the position tag, for example, the RFID tag is changed to a light emitter, and the RFID reader is changed to a light receiver.
The speed acquisition device 4 may be mounted on the vehicle for acquiring speed information of the vehicle for a current time period and transmitting the positioning device through a first data interface of the positioning device.
Referring to fig. 1, the offset calculation-based rail vehicle positioning device in this embodiment includes a first data interface, a second data interface, an accumulator, and a third data interface.
The first data interface is used for receiving speed information of the vehicle acquired in the current time period. Based on the different structures of the speed acquisition devices, the structure of the first data interface is correspondingly changed so as to realize that the positioning device is connected with the speed acquisition devices and acquire the speed data of the current vehicle from the speed acquisition devices. The first data interface is typically a wired connection interface, but if the speed acquisition device transmits the speed data to the positioning device by means of wireless transmission, the first data interface is a corresponding wireless transmission module.
The second data interface is used for receiving a trigger signal given by the reader, namely the positioning device is connected with the reader through the second data interface. The trigger signal here refers to a signal that triggers the accumulator to perform a zero-out operation (or may be a non-zero-out operation). In one embodiment, when the reader recognizes the ID number of the new position tag, a trigger signal is output to the positioning device, and when the reader does not recognize the ID number of the new position tag, the trigger signal is not output to the positioning device.
The accumulator is used for calculating the offset of the current time period according to the received speed information, accumulating the offset of the current time period on the previously accumulated offset when the trigger signal is not received, clearing the previously accumulated offset when the trigger signal is received, and restarting to accumulate the offset based on the offset of the current time period.
The third data interface is a data output interface for outputting the accumulated offset from the accumulator to the current time period. The offset is added with the position marked by the positioning label, namely the current position of the vehicle.
In this embodiment, the accumulator may be an accumulation circuit or a processor integrated with accumulation. The offset Δs=v accumulated by the accumulator to the current time period 1 T+V 2 T...+V n T, where Vn represents the speed information of the vehicle collected during the nth time period (also the current time period), the speeds of the vehicles may be the same or different during different time periods. If the accumulator is connected in the current time periodWhen the trigger signal is received, the current time period is the first time period, namely n=1, and if the accumulator does not receive the trigger signal in the current time period, the current time period is the corresponding nth time period.
As shown in fig. 2, assuming that the position identified by one position tag is S1, the vehicle is currently in front of the position tag (referring to only the vehicle running direction), the vehicle is currently in the 3 rd time period, and the offset output by the accumulator is Δs=v 1 T+V 2 T+V 3 T, the current specific position of the vehicle is S1+V 1 T+V 2 T+V 3 T。
In this scheme, defaulting to be the speed of vehicle is unchangeable in same time period, therefore the shorter the time period, the higher the positioning accuracy, and in an experimental example, the time period is set to 50ms, and the vehicle speed change is almost negligible in 50ms, so the positioning accuracy is very high.
The error due to the speed change increases more and more with time. According to the positioning device, the positioning accuracy is improved in a mode of adding the offset to the position labels, and the offset is recalculated for each position label, so that the accumulated error can be eliminated, and the positioning accuracy is further improved.
In the positioning system, once the RFID tag enters the action range of the RFID card reader, the information can be read, and the positioning error is tens of centimeters. The offset is calculated continuously from the beginning of the time period after the tag is read, and the error becomes small. By recalculating the offset when a new RFID tag is read, the previous accumulated error can be eliminated, and the positioning accuracy is further improved. Therefore, compared with the prior art, the positioning system of the embodiment can improve the positioning precision and realize unmanned technical support.
If the vehicle control system controlling the operation of the vehicle is on the vehicle, the offset output by the accumulator is directly transmitted to the vehicle control system. If the vehicle is remotely controlled or needs to be remotely monitored, the system for positioning the railway vehicle based on the offset calculation further comprises a communication device and a remote server 3, wherein the railway vehicle positioning device based on the offset calculation is in data communication with the remote server 3 through the communication device, and the accumulated offset and the ID number of the corresponding position tag are sent to the remote server 3, as shown in fig. 2. The communication device is a 4G module or a 5G module, the timeliness and the reliability of data transmission are guaranteed, and the remote server 3 can be a cloud server.
As shown in fig. 3, based on the above system, the embodiment of the invention provides a rail vehicle positioning method based on offset calculation, which includes the following steps:
receiving speed information of a vehicle acquired in a current time period, and calculating the offset of the current time period according to the speed information;
judging whether a trigger signal given by the reader is received or not;
if the trigger signal is not received, accumulating the offset of the current time period on the offset accumulated before, and determining the position of the railway vehicle according to the position of the previous position tag read by the reader and the current accumulated offset;
and if the trigger signal is received, resetting the accumulated offset, restarting the accumulated offset based on the offset of the current time period, and determining the position of the railway vehicle based on the position of the position tag read by the reader and the offset of the current time period.
Where not described in this method embodiment, reference may be made to the description of the foregoing system.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.
Claims (7)
1. A rail vehicle locating device based on offset calculation, comprising:
the first data interface is used for receiving the speed information of the vehicle acquired in the current time period;
the second data interface is used for receiving a trigger signal given by the reader;
the accumulator is used for calculating the offset of the current time period according to the received speed information, accumulating the offset of the current time period on the offset accumulated before when the trigger signal is not received, clearing the offset accumulated before when the trigger signal is received, and restarting accumulating the offset based on the offset of the current time period;
and a third data interface for outputting the accumulated offset from the accumulator to the current time period.
2. A rail vehicle locating system based on offset calculation, comprising:
a plurality of position tags disposed along the track, each position tag having an ID number, one position tag for identifying one position of the track;
the reader is arranged on the vehicle and used for reading the ID number of the current position tag when the vehicle runs to the perception range of the current position tag;
the speed acquisition device is used for acquiring the speed information of the vehicle in the current time period;
the offset calculation based rail vehicle positioning device of claim 1, connected to the speed acquisition device via a first data interface, and connected to the reader via a second data interface.
3. The offset-based railway vehicle locating system of claim 2, further comprising a communication device and a remote server, wherein the offset-based railway vehicle locating device communicates data with the remote server via the communication device, and transmits the accumulated offset and the ID number of the corresponding location tag to the remote server.
4. A rail vehicle positioning system based on offset calculations as claimed in claim 2 or 3, wherein the position tag is an RFID tag and the reader is an RFID reader.
5. The offset calculation based rail vehicle positioning system of claim 3, wherein the communication device is a 4G module or a 5G module.
6. The offset computing-based rail vehicle positioning system of claim 3, wherein the remote server is a cloud server.
7. A method of offset calculation based rail vehicle positioning implemented using the offset calculation based rail vehicle positioning system of claim 2, comprising the steps of:
receiving speed information of a vehicle acquired in a current time period, and calculating the offset of the current time period according to the speed information;
judging whether a trigger signal given by the reader is received or not;
if the trigger signal is not received, accumulating the offset of the current time period on the offset accumulated before, and determining the position of the railway vehicle according to the position of the previous position tag read by the reader and the current accumulated offset;
and if the trigger signal is received, resetting the accumulated offset, restarting the accumulated offset based on the offset of the current time period, and determining the position of the railway vehicle based on the position of the position tag read by the reader and the offset of the current time period.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN110116740B true CN110116740B (en) | 2024-03-08 |
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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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