CN110118985A - The multi-sensor information fusion positioning system and method for SIL4 safety level - Google Patents
The multi-sensor information fusion positioning system and method for SIL4 safety level Download PDFInfo
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- CN110118985A CN110118985A CN201910469061.5A CN201910469061A CN110118985A CN 110118985 A CN110118985 A CN 110118985A CN 201910469061 A CN201910469061 A CN 201910469061A CN 110118985 A CN110118985 A CN 110118985A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The present invention relates to a kind of multi-sensor information fusion positioning system of SIL4 safety level and methods, the system includes data acquisition module and on-vehicle safety computer module, the data acquisition module includes GNSS data acquisition module and ODO data acquisition module, and the on-vehicle safety computer module includes database module, the information Fusion Module connecting with the GNSS data acquisition module and ODO data acquisition module, the virtual beacon module connecting with the information Fusion Module and control software.Compared with prior art, the present invention with high security, it is at low cost the advantages that.
Description
Technical field
The present invention relates to signal fields, more particularly, to a kind of multi-sensor information fusion positioning system of SIL4 safety level
And method.
Background technique
The quantity of trackside trackside equipment can not only be reduced using GNSS technology, additionally it is possible to lower construction and fortune well
The cost for seeking aspect can also moreover increase the level of the management of railway operation aspect above.Common train positioning side
Method respectively has the advantage and disadvantage of itself, and the technology up to the present without a kind of positioning can more efficient individual solution train
Location technology on problem.
The positioning of multi sensor combination is that can effectively promote entire train integrated positioning system for train
On fault-tolerant performance, the covered range of institute above the confidence level of information on position and space-time, be that current train tests the speed
The important development direction of location technology.Both at home and abroad the Study of location combined of multi-sensor information based on GNSS gradually at
It is ripe, schedule has all been put on to practical implementation both at home and abroad.European next generation's railway signal control system, also by the application of GNSS
As key technology point；As Beidou satellite alignment system is gradually improved, " the empty world " has also been carried out in domestic railway signal field
Etc. projects, increase promote GNSS engineer application.But how GNSS realizes Safety Integrity in railway signal field is applied
4 grades, be always the problem for hindering its engineering practice.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of SIL4 safety levels
Multi-sensor information fusion positioning system and method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of multi-sensor information fusion positioning system of SIL4 safety level, including data acquisition module and on-vehicle safety meter
Calculation machine module, the data acquisition module include GNSS data acquisition module and ODO data acquisition module, the on-vehicle safety meter
Calculation machine module includes that database module, the information connected with the GNSS data acquisition module and ODO data acquisition module merge
Module, the virtual beacon module connecting with the information Fusion Module and control software, the database module includes electronics
Map data base and virtual beacon database, in which:
The GNSS data acquisition module includes speed and position letter for acquiring multiple groups GNSS data, the GNSS data
Breath；
The ODO data acquisition module is used to acquire the ODO data on multiple groups difference wheel shaft, and the ODO data include speed
Spend information；
The information Fusion Module is used to merge GNSS data and ODO data obtain safe fuse information, and the safety is melted
Closing information includes speed and location information；
The virtual beacon module is used to compare virtual beacon data according to the location information in the safe fuse information
Library carries out virtual beacon capture, obtains safety beacon positioning；
The control software receives the safe fuse information and safety beacon positioning.
Preferably, the GNSS data is by the GNSS receiver satellite that satellite information and difference base station acquire based on the received
Difference information generates, in which:
The GNSS receiver is also used to RAIM fault detection and signal-to-noise ratio detection, and the RAIM fault detection is to reject
Fault satellites, the signal-to-noise ratio detection is for evading multipath or alternative route influence in positioning signal transmittance process；
The difference base station is also used to based on determining position detection and difference information verifying, the determining position detection judgement
Whether satellite control station or individual satellites failure are occurred, and incipient fault satellite-signal is rejected in the difference information verifying and difference is believed
Number.
Preferably, the safe fuse information obtains process specifically: successively carries out Safety Judgment and Kalman filtering
Processing, the Safety Judgment includes that GNSS data Safety Judgment and ODO Information Security differentiate, corresponding to obtain GNSS safety
Speed and location information and ODO safe speed information；
The Kalman filtering obtains safe fuse information for improving the precision of information after Safety Judgment.
Preferably, the ODO Information Security differentiates specifically: ODO data are successively carried out with ODO health monitoring, ODO group
Close failure safe voting and the diagnosis of ODO motion model；
The GNSS data Safety Judgment specifically: GNSS health status monitoring is first carried out to GNSS data, then together
Step carries out the voting and based on ODO information safely of GNSS fault detection based on the electronic map database, GNSS combined fault
Detection.
Preferably, Kalman filtering processing include will be into according to electronic map database and ODO safe speed information
The diverging of row Kalman filtering is examined.
Preferably, the GNSS receiver includes the multifrequency receiver of 2 or 3 different suppliers, the difference base station packet
Differential device containing 2 sets of different suppliers.
Preferably, the safety hazards side crash rate w of the multi-sensor information fusion positioning system are as follows:
DC=1- (1-DCmap)(1-DCODO)
In formula, DC is that map adds ODO combine detection coverage rate, DCmapTo detect coverage rate, DC based on electronic mapODOBase
Coverage rate is detected in ODO, λ is single differential receivers and difference station equipment crash rate, wmapIt detects and fails for electronic map, wODO
It detects and fails for ODO, Tl is system overhaul or replacement cycle, and MTTR is the average recovery interval time.
A kind of multi-sensor information fusion localization method of SIL4 safety level, comprising:
S1: acquisition multiple groups GNSS data and multiple groups ODO data；
S2: successively carry out that safety is sentenced and Kalman filtering is melted safely to multiple groups GNSS data and multiple groups ODO data
Close information；
S3: according to the secure location information and virtual beacon database in the safe fuse information, virtual beacon is carried out
Capture obtains safety beacon positioning；
S4: by the control software of the safe fuse information and safety beacon localized delivery to on-vehicle safety computer module
In.
Preferably, the GNSS data is by the GNSS receiver satellite that satellite information and difference base station acquire based on the received
Difference information generates, and the function of the GNSS receiver further includes RAIM fault detection and signal-to-noise ratio detection, the difference base station
Function further include based on determine position detection and difference information verifying；
The GNSS receiver includes the multifrequency receiver of 2 or 3 different suppliers, the difference base station include 2 sets not
With the differential device of supplier.
Preferably, Safety Judgment described in step S2 includes that GNSS data and ODO Information Security differentiate, the ODO number
ODO health monitoring, ODO combined fault voting and the diagnosis of ODO motion model safely are successively carried out according to Safety Judgment, obtain ODO
Then safe speed information, the GNSS data Safety Judgment first carry out GNSS health status monitoring while carrying out based on electronics
ODO infomation detection is decided by vote safely and are based on to the GNSS fault detection of map data base, GNSS combined fault, obtains GNSS safety speed
Degree and location information.
Compared with prior art, the present invention have with following the utility model has the advantages that
1) the present invention is based on the multi-sensor informations of GNSS, in conjunction with GNSS detection, ODO detection and wireless sensor-void
Quasi- beacon technique, constructs 4 grades of system architectures of Safety Integrity and message processing flow, in no physical beacon, upwards
Speed, position and the virtual beacon location information of layer Train Control software output safety, and quantitative evaluating method is provided, pacify
Full property and accuracy are high；
2) present invention is realized using GNSS detection module based on position detection satellite system failure and exception is determined, is passed through
Difference information threshold value inspection, indirect verification difference station and satellitosis, improve the safety of system；
3) present invention uses different difference GNSS receiver and different difference station, the equipment for selecting different vendor's production, solution
Certainly same producer's common cause failure problem that may be present, high system safety；
4) present invention has carried out GNSS health status monitoring, by fail-safe computer to position location satellite quantity, HDOP value, height
Degree angle of cut-off and difference grade are monitored, and increase security of system.
Detailed description of the invention
Fig. 1 is system architecture diagram of the invention；
Fig. 2 is information processing technology relational graph of the invention；
Fig. 3 is Safety Judgment flow chart of the invention；
Fig. 4 is information process figure of the invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment 1
The present embodiment provides a kind of multi-sensor information fusion positioning system of SIL4 safety level, it is complete to meet safety by such as Fig. 1
Kind 4 grades of degree, including data acquisition module and on-vehicle safety computer module, the data acquisition module include GNSS data acquisition
Module and ODO data acquisition module, the on-vehicle safety computer module are 4 grades of Safety Integrity for meeting train application environment
General purpose computer, including database module, the information being connect with the GNSS data acquisition module and ODO data acquisition module
Fusion Module, the virtual beacon module connecting with the information Fusion Module and control software, the database module include
Electronic map database and virtual beacon database, related information processing technology relationship are as shown in Figure 2, in which:
For the GNSS data acquisition module for acquiring multiple groups GNSS data, GNSS data includes speed and location information,
By GNSS receiver, satellite information and the satellite difference information of difference base station acquisition are generated based on the received；
To realize that the safety such as Fig. 3 differentiates that process, GNSS receiver are made of 2 or 3 multifrequency receivers, the core of receiver
Chip centroid should be realized from algorithm by different suppliers, and to evade receiver systematic failure itself, difference function, which is removed, improves precision,
Environment, which can also be evaded, influences such as ionosphere, earth rotation, relativistic effect；It should include 2 sets in single base station in difference base station
Differential device composition, the core chips of differential device should be realized from algorithm by different suppliers, be to evade differential device itself
The failure of system property.
ODO combination, is made of the ODO sensor being installed on different wheel shafts.
GNSS receiver is also used to RAIM fault detection and signal-to-noise ratio detection；
RAIM fault detection: being directed to the possible failure of GNSS satellite itself, examines using the RAIM that at least 6 satellites participate in
It surveys, to find and reject fault satellites；
Signal-to-noise ratio detection: the signal-to-noise ratio by detecting GNSS evades multipath/substitution way in positioning signal transmittance process
Diameter influences.Multipath or alternative route influence, and can also be evaded by selecting suitable virtual beacon position, virtual beacon data
Library building process, selected areas should have greater than 15 ° satellite look angles.
The difference base station is also used to based on determining position detection and difference information verifying；
Based on determining position detection: comparison satellite positioning location and difference base station known position information judge whether occur
Satellite control station or individual satellites failure.Mobile unit determines known location by ground fixed beacon, with vehicle-mounted GNSS device
Information comparison is resolved, as initialization self-test；
Difference information verifying: by each satellite difference information received, by judging carrier-to-noise ratio in differential data packet, carrying
Wave phase correction value, ephemeris Satellite health code bit etc. reject incipient fault satellite-signal and differential signal.
The ODO data acquisition module is for acquiring multiple groups ODO data, and the ODO data include velocity information, by difference
ODO sensor on wheel shaft, which acquires, to be obtained；
The information Fusion Module obtains safe fuse information for merging GNSS data and ODO data, and process is successively
Safety Judgment and Kalman filtering processing are carried out, Safety Judgment includes GNSS data Safety Judgment and ODO data safety
Property differentiate, it is corresponding to obtain GNSS safe speed and location information and ODO safe speed information；
ODO Information Security differentiates that specific step is as follows:
ODO health monitoring: determining the fault characteristic of ODO by failure mode analysis (FMA), design correlation detecting circuit into
Row monitoring；
ODO combined fault is decided by vote safely: output information of the safety ratio to the autonomous channel ODO, primary output signal difference
When within the scope of beyond system setting acceptable thresholds, ODO combined fault is judged；
ODO motion model diagnosis: by realizing motion model diagnosis, sentencing to the kinematics parameters threshold decision such as acceleration
Whether disconnected system occurs phenomenon of skidding or dally.
Specific step is as follows for GNSS data Safety Judgment:
GNSS health status monitoring, detection requirement: position location satellite quantity>6, HDOP value<1, height angle of cut-off>15, difference
Grade is height, rejects potential dangerous GNSS information；
GNSS fault detection, GNSS combined fault safety voting and base based on the electronic map database are carried out simultaneously
In ODO infomation detection:
Based on electronic map GNSS fault detection: single GNSS receiver information can be used as input, positioning failure
GNSS receiver；Information after GNSS receiver is decided by vote safely can also be used, carry out fault diagnosis, guarantee output position location safety
Property；
GNSS combined fault is decided by vote safely: output speed and location information of the safety ratio to 2 GNSS receivers, speed
Difference is more than 5%, when position is more than 10 meters, abandons relevant information；Continue it is overproof more than 30 seconds when, judge GNSS system failure；
Based on ODO infomation detection: during not occurring to skid or dally, ODO information can be used as GNSS fault detection criterion；
After skid occurs, velocity information after compensation also can be used, inputted as ODO infomation detection.
Kalman filtering is used to improve the precision of the information after Safety Judgment, obtains safe fuse information, and safety merges
Information includes speed and location information, and the Kalman filtering processing includes: Kalman filtering: its GNSS speed inputted, position
It sets etc. as security information, ODO information is also security information；By Kalman filtering, phase closing precision can be improved；Kalman filtering hair
It dissipates and examines: there may be failures such as filtering divergences, guaranteeing that fused speed, position are safety value.
Virtual beacon module is used to compare the virtual letter of off-line arrangement according to the location information in the safe fuse information
Database is marked, realizes virtual beacon capture, obtains safety beacon positioning；
The control software collects the safe fuse information and safety beacon positioning.
The present embodiment realizes the security architecture such as Fig. 4, the safety danger of multi-sensor information fusion location technology system
Dangerous side crash rate w are as follows:
DC=1- (1-DCmap)(1-DCODO)
In formula, DC is that map adds ODO combine detection coverage rate, DCmapTo detect coverage rate, DC based on electronic mapODOBase
Coverage rate is detected in ODO, λ is single differential receivers and difference station equipment crash rate, wmapIt detects and fails for electronic map, wODO
It detects and fails for ODO, Tl is system overhaul or replacement cycle, and MTTR is the average recovery interval time.
In the present embodiment:
DCmap=87.78%, DCODO=95.73%, λ=1.1E-5, wmap=1E-10/h, wODO=1E-10/h, Tl=
5*365*24h, MTTR=1h；
The present embodiment safety hazards side crash rate w are as follows: 1.45558E-10/h < 1E-8, system meet Safety Integrity 4
Grade requires.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of multi-sensor information fusion positioning system of SIL4 safety level, including data acquisition module and on-vehicle safety calculate
Machine module, which is characterized in that the data acquisition module includes GNSS data acquisition module and ODO data acquisition module, described
On-vehicle safety computer module includes database module, connect with the GNSS data acquisition module and ODO data acquisition module
Information Fusion Module, the virtual beacon module that is connect with the information Fusion Module and control software, the database mould
Block includes electronic map database and virtual beacon database, in which:
For the GNSS data acquisition module for acquiring multiple groups GNSS data, the GNSS data includes speed and location information；
The ODO data acquisition module is used to acquire the ODO data on multiple groups difference wheel shaft, and the ODO data include speed letter
Breath；
The information Fusion Module obtains safe fuse information, the safety fusion letter for merging GNSS data and ODO data
Breath includes speed and location information；
The virtual beacon module is used to compare virtual beacon database according to the location information in the safe fuse information,
Virtual beacon capture is carried out, safety beacon positioning is obtained；
The control software receives the safe fuse information and safety beacon positioning.
2. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 1, which is characterized in that
By GNSS receiver, satellite information and the satellite difference information of difference base station acquisition generate the GNSS data based on the received,
In:
The GNSS receiver is also used to RAIM fault detection and signal-to-noise ratio detection, and the RAIM fault detection is to reject failure
Satellite, the signal-to-noise ratio detection is for evading multipath or alternative route influence in positioning signal transmittance process；
The difference base station is also used to based on determining position detection and difference information verifying, and the determining position detection judges whether
There is satellite control station or individual satellites failure, incipient fault satellite-signal and differential signal are rejected in the difference information verifying.
3. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 1, which is characterized in that
The safe fuse information obtains process specifically: successively carries out Safety Judgment and Kalman filtering processing, the safety
Differentiate to include that GNSS data Safety Judgment and ODO Information Security differentiate, it is corresponding to obtain GNSS safe speed and location information
With ODO safe speed information；
The Kalman filtering obtains safe fuse information for improving the precision of information after Safety Judgment.
4. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 3, which is characterized in that
The ODO Information Security differentiates specifically: ODO data is successively carried out with ODO health monitoring, ODO combined fault is decided by vote safely
It is diagnosed with ODO motion model；
The GNSS data Safety Judgment specifically: GNSS health status monitoring is first carried out to GNSS data, then same stepping
ODO infomation detection is decided by vote safely and are based on to the capable GNSS fault detection based on the electronic map database, GNSS combined fault.
5. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 3, which is characterized in that
The Kalman filtering processing includes that will carry out Kalman filtering diverging according to electronic map database and ODO safe speed information
It examines.
6. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 2, which is characterized in that
The GNSS receiver includes the multifrequency receiver of 2 or 3 different suppliers, and the difference base station includes 2 sets of different suppliers
Differential device.
7. a kind of multi-sensor information fusion positioning system of SIL4 safety level according to claim 2, which is characterized in that
The safety hazards side crash rate w of the multi-sensor information fusion positioning system are as follows:
DC=1- (1-DCmap)(1-DCODO)
In formula, DC is that map adds ODO combine detection coverage rate, DCmapTo detect coverage rate, DC based on electronic mapODOBased on ODO
Coverage rate is detected, λ is single differential receivers and difference station equipment crash rate, wmapIt detects and fails for electronic map, wODOFor ODO
Detection failure, Tl are system overhaul or replacement cycle, and MTTR is the average recovery interval time.
8. a kind of multi-sensor information fusion localization method of SIL4 safety level characterized by comprising
S1: acquisition multiple groups GNSS data and multiple groups ODO data；
S2: successively carry out that safety is sentenced and Kalman filtering is merged safely letter to multiple groups GNSS data and multiple groups ODO data
Breath；
S3: according to the secure location information and virtual beacon database in the safe fuse information, carrying out virtual beacon capture,
Obtain safety beacon positioning；
S4: by the safe fuse information and safety beacon localized delivery into the control software of on-vehicle safety computer module.
9. a kind of multi-sensor information fusion localization method of SIL4 safety level according to claim 8, which is characterized in that
By GNSS receiver, satellite information and the satellite difference information of difference base station acquisition generate the GNSS data based on the received, institute
The function of stating GNSS receiver further includes RAIM fault detection and signal-to-noise ratio detection, and the function of the difference base station further includes being based on
Determine position detection and difference information verifying；
The GNSS receiver includes the multifrequency receiver of 2 or 3 different suppliers, and the difference base station includes 2 sets of different confessions
Answer the differential device of quotient.
10. a kind of multi-sensor information fusion localization method of SIL4 safety level according to claim 8, feature exist
In Safety Judgment described in step S2 includes that GNSS data and ODO Information Security differentiate that the ODO Information Security differentiates
ODO health monitoring, ODO combined fault voting and the diagnosis of ODO motion model safely are successively carried out, ODO safe speed information is obtained,
Then the GNSS data Safety Judgment first carries out GNSS health status monitoring while carrying out based on electronic map database
ODO infomation detection is decided by vote safely and are based on to GNSS fault detection, GNSS combined fault, obtains GNSS safe speed and position is believed
Breath.
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