CN110281988A - Bearing calibration, device and the equipment of train driving distance - Google Patents
Bearing calibration, device and the equipment of train driving distance Download PDFInfo
- Publication number
- CN110281988A CN110281988A CN201810224912.5A CN201810224912A CN110281988A CN 110281988 A CN110281988 A CN 110281988A CN 201810224912 A CN201810224912 A CN 201810224912A CN 110281988 A CN110281988 A CN 110281988A
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- Prior art keywords
- train
- operating range
- transponder
- vobc
- btm
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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
- B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
- B61L1/02—Electric devices associated with track, e.g. rail contacts
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
Abstract
The present invention proposes bearing calibration, device and the equipment of a kind of train driving distance, wherein, when executing subject is transponder transmission unit BTM, method includes: to launch outward electromagnetic wave by receiving antenna, and the response message that response detected device is sent, wherein, the identification information of transponder is carried in response message；After detecting response message, during the entire process of being driven out to transponder, in real time according to the data frame currently received from vehicle control syetem VOBC, the current driving distance of train is obtained, it wherein, include current vehicle speed, current driving time and the current driving distance of train in data frame；Determine first operating range of the train in transponder center position；First operating range is sent to the VOBC, so that the VOBC is corrected the operating range of train.This method makes the judgement of transponder center position more accurate as a result, and the correction accuracy of train driving distance can be improved, and is conducive to the driving safety of train.
Description
Technical field
The present invention relates to Vehicle Engineering technical field more particularly to a kind of bearing calibration of train driving distance, device and
Equipment.
Background technique
The driving safety of train increasingly attracts people's attention, and in order to improve the driving safety of train, various electronics are set
The spare operation information to monitor train, convenient for carrying out precautionary measures in time, the accident in train travelling process that reduces occurs general
Rate.In turn, for the arrival time for calculating the distance between different shift trains, expecting train, in complicated traffic environment
Train is set to need to be corrected the operating range of train according to the Methodistic operation of route map of train.
In the related technology, the operating range of train is corrected mainly when train is by transponder, passes through train
On Vehicle Controller (Vehicle On-Board Controller, abbreviation VOBC) receive transponder periodic feedback and answer
Message is answered, is calculated according to the response message received by transponder center position, then according to calculated transponder
Center position is corrected the operating range of train, and this method can accumulate the error generated when VOBC is calculated, so that
The correction inaccuracy of operating range.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of bearing calibration of train driving distance.This method is by answering
It answers device transmission unit (Balise Transmission Module, abbreviation BTM) and is determining that train is in transponder central point
When position, the first operating range of train at this time is sent to VOBC, the first operating range that then VOBC is sent according to BTM,
The correction of train driving distance is carried out, for example, when train driving is to transponder central point, the calculated train the first row of BTM
Sailing distance S_btm is 3035m, when VOBC receives the first operating range of BTM transmission, calculated the second operating range of train
S_vobc is 3055m, accurate location S_ of the transponder that VOBC is obtained by transponder identification information in electronic map
Emap is 3000m, then according to S=S_vobc-S_btm+S_emap, the real time running distance of train is 3025m after being corrected.
This method no longer merely increases BTM pairs in the correction course of operating range by the correction that VOBC carries out operating range
The judgement of center position, so that the judgement of center position is more accurate, so as to improve the correction of train driving distance
Precision is conducive to the driving safety of train.
Second object of the present invention is to propose the bearing calibration of another train driving distance.
Third object of the present invention is to propose the bearing calibration of another train driving distance.
Fourth object of the present invention is to propose a kind of BTM device.
5th purpose of the invention is to propose a kind of VOBC device.
6th purpose of the invention is to propose a kind of train control system.
7th purpose of the invention is to propose a kind of mobile unit.
8th purpose of the invention is to propose a kind of computer program product.
9th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of bearing calibration of train driving distance, hold
Row main body is transponder transmission unit BTM, comprising the following steps:
Electromagnetic wave, and the response message that response detected device is sent are launched outward by receiving antenna；Wherein, in response message
Carry the identification information of transponder；
After detecting response message, during the entire process of being driven out to transponder, in real time according to currently from vehicle-mounted control system
The data frame received in system VOBC, obtains the current driving distance of train；Wherein, work as front truck including train in data frame
Speed, current driving time and current driving distance；
Determine first operating range of the train in the transponder center position；
First operating range is sent to VOBC, so that VOBC is corrected the operating range of train.
The bearing calibration of the train driving distance of the embodiment of the present invention, launches outward electromagnetic wave simultaneously by receiving antenna first
The response message that response detected device is sent, after receiving response message during the entire process of being driven out to transponder, real-time basis
The data frame currently received from vehicle control syetem VOBC obtains the current driving distance of train, then determines that train exists
The first operating range in transponder center position, is finally sent to VOBC for the first operating range, so that VOBC is to train
Operating range be corrected.This method is when determining that train is in transponder center position as a result, at this time by train
First operating range is sent to VOBC, and then VOBC is calculated according to BTM the first operating range sent and VOBC in the time of reception
Train driving distance out does difference, calculate after range difference in conjunction with the exact position of transponder to the operating range of train into
Row correction, can be improved the correction accuracy of train, and the correction for carrying out train driving distance is no longer merely gone by VOBC
The correction for sailing distance increases judgement of the BTM to center position in the correction course of operating range, so that center point
The judgement set is more accurate, so as to improve the correction accuracy of train driving distance, is conducive to the driving safety of train.
In addition, the bearing calibration of train driving distance according to the above embodiment of the present invention, can also have following additional
Technical characteristic:
In an embodiment of the invention, first operating range of the train in the transponder center position is determined,
Include:
Compare real-time reception to the signal strength of the response message, determines the strongest response message of signal strength
The time of reception；Wherein, the time of reception is the train at the time of in the transponder center position；If described
The sending instant of the time of reception non-data frame determines early then according to the sending instant of each data frame received
In the time of reception and previous data frame adjacent thereto；
According to the previous data frame, first operating range is calculated.
In an embodiment of the invention, according to the previous data frame, first operating range is calculated, comprising:
From the previous data frame, the current vehicle speed and the current driving distance are extracted；By time of reception and described
The sending instant of previous data frame does difference, and the difference is multiplied with the current vehicle speed, then with the previous data
Current driving distance in frame is added, and obtains first operating range.
In an embodiment of the invention, electromagnetic wave is launched outward by receiving antenna, and answering of sending of response detected device
While answering message, data frame is periodically received from VOBC.
To achieve the goals above, second aspect of the present invention embodiment proposes the correction side of another train driving distance
Method, when executing subject is VOBC, comprising the following steps:
Periodically data frame is sent to BTM；Wherein, when the data frame includes the current vehicle speed of train, current driving
Between and current driving distance；
Receive the response message for the transponder that the BTM is sent；Wherein, the transponder is carried in the response message
Identification information；
Receive the first operating range when the train that the BTM is sent is in the transponder center position；Its
In, first operating range is to be in the transponder in the train according to the data frame received by the BTM
It is calculated when center position；
According to first operating range and the identification information, the operating range of the train is modified.
The bearing calibration of the train driving distance of the embodiment of the present invention periodically sends data frame to BTM first, then
The response message and train for receiving the transponder that BTM is sent are in the first operating range when the transponder center position,
Finally according to the first operating range and identification information, the operating range of train is modified.This method is fallen out in determination as a result,
When vehicle is in transponder center position, the first operating range of train at this time is sent to VOBC, then VOBC is sent out according to BTM
The first operating range sent carries out the correction of train driving distance, the correction of operating range is no longer merely carried out by VOBC,
In the correction course of operating range, judgement of the BTM to center position is increased, so that the judgement of center position is more quasi-
Really, so as to improve the correction accuracy of train driving distance, be conducive to the driving safety of train.
In addition, the bearing calibration of train driving distance according to the above embodiment of the present invention, can also have following additional
Technical characteristic:
In an embodiment of the invention, compare real-time reception to the signal strength of the response message, determine signal
The time of reception of the strongest response message of intensity；Wherein, the time of reception is the train at the transponder center
At the time of on point position.
In an embodiment of the invention, according to first operating range and the identification information, to the train
Operating range is modified, comprising: determines the train in the second operating range of the time of reception；Calculate second row
It is poor to sail the distance between distance and first operating range；The positioning of the transponder is obtained according to the identification information-enquiry
Distance；The orientation distance is added with the range difference, obtains the target travel distance of the train.
In order to achieve the above object, third aspect present invention embodiment proposes the bearing calibration of another train driving distance, packet
Include following steps:
VOBC periodically sends data frame to BTM；Wherein, when data frame includes the current vehicle speed of train, current driving
Between and current driving distance；
BTM launches outward electromagnetic wave, and the response message that response detected device is sent by receiving antenna；And it will detect
The response message is sent to VOBC；Wherein, the identification information of transponder is carried in response message；
During the entire process of by transponder, basis obtains BTM currently from the data frame received in VOBC in real time
The current driving distance of train；
BTM determines train in the first operating range passed through in the transponder center position and is sent to VOBC；
VOBC is modified the operating range of train according to the first operating range and identification information.
The bearing calibration of the train driving distance of the embodiment of the present invention as a result, sends the process of data frame in VOBC to BTM
In, BTM by the response message detected and can be sent to VOBC, during the entire process of train is driven out to transponder, BTM and
VOBC can carry out parallel full-duplex communication, and the transmission of data frame and response message has no sequencing, to improve logical
Believe efficiency, data collision is avoided to increase the calculating error of train driving distance.
This method is when BTM determines that train is in transponder center position, by the first operating range of train at this time
It is sent to VOBC, the first operating range that then VOBC is sent according to BTM carries out the correction of train driving distance, no longer merely
Ground increases BTM and sentences to center position by the correction that VOBC carries out operating range in the correction course of operating range
It is disconnected, so that the judgement of center position is more accurate, so as to improve the correction accuracy of train driving distance, be conducive to train
Driving safety.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of BTM device, comprising:
Detecting module, for launching outward electromagnetic wave, and the response message that response detected device is sent by receiving antenna；Its
In, the identification information of the transponder is carried in the response message；
Module is obtained, for after detecting the response message, during the entire process of being driven out to the transponder, in real time
According to the data frame currently received from vehicle control syetem VOBC, the current driving distance of train is obtained；Wherein, the number
According to current vehicle speed, current driving time and the current driving distance in frame including train；
Determining module, for determining first operating range of the train in the transponder center position；
Correction module, for first operating range to be sent to the VOBC, so that the VOBC is to the train
Operating range be corrected.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of VOBC device, comprising:
Sending module, for periodically sending data frame to BTM；Wherein, the data frame includes that train works as front truck
Speed, current driving time and current driving distance；
Receiving module, for receiving the response message for the transponder that the BTM is sent；Wherein, it is taken in the response message
Identification information with the transponder, and receive the train that the BTM is sent and be in the transponder center position
When the first operating range；
Correction module is used for according to first operating range and the identification information, to the operating range of the train
It is modified.
In order to achieve the above object, the 6th purpose of the invention is to propose a kind of train control system, comprising: such as above-mentioned reality
Apply BTM 1 and VOBC 2 described in example.
When the system determines that train is in transponder center position by BTM, by the first operating range of train at this time
It is sent to VOBC, then VOBC is according to BTM the first operating range sent and VOBC in the time of reception calculated train driving
Distance does difference, calculates the exact position after range difference in conjunction with transponder and is corrected to the operating range of train, can be with
The correction accuracy of train is improved, the correction of train driving distance is carried out, the school of operating range is no longer merely carried out by VOBC
Just, in the correction course of operating range, judgement of the BTM to center position is increased, so that the judgement of center position is more
It is accurate to add, and so as to improve the correction accuracy of train driving distance, is conducive to the driving safety of train.
To achieve the goals above, seventh aspect present invention embodiment proposes a kind of mobile unit, including processor and deposits
Reservoir, processor run journey corresponding with executable program code by reading the executable program code stored in memory
Sequence with the bearing calibration for realizing the train driving distance as described in first aspect embodiment or is realized as second aspect is real
Apply the bearing calibration of train driving distance described in example.
To achieve the goals above, eighth aspect present invention embodiment proposes a kind of computer program product, works as computer
Instruction processing unit in program product realizes the bearing calibration of the train driving distance as described in first aspect embodiment when executing
Or realize the bearing calibration of the train driving distance as described in second aspect embodiment.
To achieve the goals above, ninth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, and the train row as described in first aspect embodiment is realized when which is executed by processor
It sails the bearing calibration of distance or realizes the bearing calibration of the train driving distance as described in second aspect embodiment.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the executing subject connection schematic diagram of the bearing calibration of the train driving distance of one embodiment of the invention；
Fig. 2 is the flow diagram of the bearing calibration of the train driving distance of one embodiment of the invention；
Fig. 3 is the flow diagram of the bearing calibration of the train driving distance of another embodiment of the present invention；
Fig. 4 is the flow diagram of the bearing calibration of the train driving distance of another embodiment of the invention；
Fig. 5 is that the BTM apparatus structure of one embodiment of the invention is intended to；
Fig. 6 is the VOBC apparatus structure schematic diagram of one embodiment of the invention；
Fig. 7 is a kind of structural schematic diagram for the correction system that the embodiment of the present invention proposes train driving distance；And
Fig. 8 is the block diagram of the exemplary computer device of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings bearing calibration and the device of the train driving distance of the embodiment of the present invention are described.
Wherein, in the bearing calibration of the train driving distance of the embodiment of the present invention, it is related to BTM, VOBC and transponder.
Wherein, BTM includes BTM host and receiving antenna.Information exchange can be carried out between BTM and transponder and VOBC.VOBC and
BTM is installed ON TRAINS, and transponder is mounted on the track of train driving.As shown in Figure 1, the subrack and BTM on VOBC are logical
It crosses four-wire interface (RS422) and carries out two-way communication, BTM host is connect by antenna with BTM receiving antenna, BTM receiving antenna sense
The response message that transponder transmission will be received when should arrive transponder, then feeds back to VOBC for response message by subrack.
Fig. 2 is a kind of flow chart of the bearing calibration of train driving distance provided by one embodiment of the invention, such as Fig. 2
It is shown, when executing subject is transponder transmission unit BTM, the bearing calibration of the train driving distance can include:
Step 101, electromagnetic wave, and the response message that response detected device is sent are launched outward by receiving antenna, wherein answer
Answer the identification information that transponder is carried in message.
Specifically, receiving antenna during train driving on BTM constantly launches outward electromagnetic wave, when train is by pacifying
When above the transponder near track, transponder receives the electromagnetic energy of BTM receiving antenna transmission, and energy is converted to
Working power works to start the electronic circuit of transponder, then the transmission of pre-stored or train control center point
The response message of 1023 transponders transmission cycles through away, until electromagnetic energy disappears, when electromagnetic energy disappears, explanation
Train is driven out to transponder.
Further, BTM receives the response message that transponder is sent by receiving antenna, wherein includes line in response message
The current road segments such as road essential information, speed-limiting messages and station route information control train needed for information, convenient for driver according to
The control train driving of response message safety.Meanwhile in order to distinguish the different transponders installed on track, taken in response message
Identification information with transponder, the identification information of each transponder are unique in train control system.BTM is received in real time
Response message to the identification information for carrying transponder is sent to VOBC, and then VOBC can be according to the identification information of transponder
The exact position of current transponder is searched out in electronic map.
Step 102, after detecting response message, during the entire process of being driven out to transponder, in real time according to currently from
The data frame received in VOBC obtains the current driving distance of train, wherein in data frame including train current vehicle speed,
Current driving time and current driving distance.
Specifically, launching outward the same of the electromagnetic wave response message that simultaneously response detected device is sent by receiving antenna in BTM
When, data frame can also be periodically received from VOBC, wherein in data frame comprising the current running velocity of train, when driving
Between and the information such as operating range.
Since the speed of train can change in the process of moving, VOBC can be by installing sensor ON TRAINS
Or tachymeter, the speed of train is recorded, and it is current according to the running time under friction speed train to be calculated
Operating range, after then reaching preset data frame sending cycle, VOBC is by the current driving speed of train, current driving time
And the train drivings information such as current driving distance is sent to BTM.
Step 103, first operating range of the train in transponder center position is determined.
Wherein, by electromagnetic wave propagation characteristic it is found that the signal strength of the received response message of BTM and BTM and transponder
The distance between it is related, BTM and transponder distance it is more close, the signal strength of the response message received is bigger, and sails in train
Out during the entire process of transponder, BTM at a distance from transponder first from the distant to the near, when BTM is located on transponder central point,
BTM is nearest at a distance from transponder, and subsequent BTM is gradually distance from transponder central point, therefore the letter of the received response message of BTM again
Convex function relationship is presented in number intensity and above-mentioned distance, and response message signal strength is gradually increased, when arriving signal intensity is strongest
It is gradually reduced again after quarter.By comparing the signal strength of different moments response message, the strongest response report of signal strength is determined
Text obtains the time of reception of the strongest response message of signal strength, then the time of reception is the BTM on train at transponder center
At the time of on point position, in the present embodiment, it is thus necessary to determine that the current driving distance of time of reception train, the traveling of train at this time away from
From the first operating range for being train in transponder center position.
Further, BTM can determine train in transponder according to the train driving information in the data frame received
The first operating range on heart point position.Specifically, the first operating range is several if the time of reception is data frame sending instant
According to the train current driving distance in frame, and due to VOBC periodically to BTM send data frame, data frame sending instant with connect
Time receiving carves may be not consistent, therefore BTM needs the train driving information in the data frame according to similar in the time of reception to determine the
One operating range.
In an embodiment of the invention, BTM is determined according to the sending instant of each data frame received earlier than reception
Moment and previous data frame adjacent thereto are the target data frame for calculating the first operating range, for example, the reception that BTM is determined
Moment be 2 hours 30 points 40 seconds, and BTM record reception data frame when be carved with 2 hours 30 points, 2 hours 30 points 30 seconds and 2 hours
31 points, then it is target data frame that BTM, which selects 2 hours 30 points of 30 seconds data frames, according to the train driving information in the data frame
Calculate the first operating range.
Specifically, BTM first is from above-mentioned target data frame, the current vehicle speed of train and current is extracted when sending data frame
The sending instant of the time of reception and target data frame are done difference by operating range, then by difference and working as in target data frame
Preceding speed is multiplied to obtain running hand distance of the train from target data frame sending instant to time of reception train, then above-mentioned distance with
In target data frame current driving distance be added, and then obtain train driving to transponder center position first travel away from
From.
Train driving range correction method of the invention as a result, the judgement by BTM to center position, so that central point
The judgement of position is more accurate, so as to improve the correction accuracy of train driving distance, is conducive to the driving safety of train, and
And train is calculated in the first distance of transponder center position, convenient in next step to train row according to the data frame that VOBC is sent
Distance is sailed to be corrected.
Step 104, the first operating range is sent to VOBC, so that VOBC is corrected the operating range of train.
Since train is travelling on the way, the travel speed for the train that VOBC is gone out by real-time measurement, in conjunction with the traveling of train
Time adds up the operating range of train, since there are errors when the travel speed of train measures, in the mistake of cumulative calculation
Cheng Zhong can constantly add up error, cause the error of calculated operating range also can be increasing.If by VOBC
It is calculated that there are the operating ranges of error as the true operating range of train, may calculated train current location with
The larger problem of physical location deviation where train can have biggish accident risk in this way in the control process of train.
In order to reduce accident risk, need to be modified the calculated operating range of VOBC, it, can be in the present embodiment
First operating range and VOBC of the calculated train of BTM on the position of transponder central point are in the time of reception calculated column
Vehicle operating range does difference, calculates the exact position after range difference in conjunction with transponder and carries out school to the operating range of train
Just, the correction accuracy of train can be improved, more accurately reduce the deviation of operating range corresponding position and train physical location.
As an example, the first operating range is sent to VOBC by BTM so that VOBC according to receive the first traveling away from
The second operating range corresponding from the moment is corrected the operating range of train.
In this example, when VOBC receives the first operating range of target of BTM transmission, according to real-time train driving
Speed and running time calculate the second operating range, and the second operating range and the first operating range of target that are calculated are done
Difference obtains range difference, then the range difference is the first operating range that train exceeds when VOBC receives the first operating range
Difference.Further, due to the identification information of carrying transponder in response message, VOBC is by receiving the response in response message
Device identification information finds the exact position of current transponder in electronic map, and the precise information of transponder marks in advance
The actual range of the distance train starting point of transponder.
In the present embodiment, the train driving distance that VOBC is calculated when VOBC receives the response message of BTM transmission is
Surmount transponder center position, so needing in the calculating of exact position, one is carried out to exact position using range difference
Fine tuning.Specifically, the column after the distance the actual range of transponder i.e. apart from starting point is corrected plus above-mentioned range difference
Vehicle operating range.
Although the operating range of the train after correcting at this time may possibly still be present certain deviation, accurate in transponder
On the basis of position, the physical location deviation of the corresponding position of the operating range of train and train can be substantially reduced, and improve train
The accuracy of positioning.
In conclusion the bearing calibration of the train driving distance of the embodiment of the present invention, passes through receiving antenna to outgoing first
The response message that radio magnetic wave and response detected device are sent, in the whole process for being driven out to transponder after receiving response message
In, in real time according to the data frame currently received from vehicle control syetem VOBC, the current driving distance of train is obtained, then
It determines first operating range of the train in transponder center position, the first operating range is finally sent to VOBC, so that
VOBC is corrected the operating range of train.
This method is when determining that train is in transponder center position as a result, by the first traveling of train at this time away from
From VOBC is sent to, then VOBC is according to BTM the first operating range sent and VOBC in the time of reception calculated train row
It sails distance and does difference, calculate the exact position after range difference in conjunction with transponder and the operating range of train is corrected, it can
To improve the correction accuracy of train, the correction of train driving distance is carried out, no longer merely carries out operating range by VOBC
Correction, in the correction course of operating range, increases judgement of the BTM to center position, so that the judgement of center position
It is more accurate, so as to improve the correction accuracy of train driving distance, be conducive to the driving safety of train.
It based on the above embodiment, can also be in order to more clearly illustrate the bearing calibration of the train driving distance
VOBC is that the above method is explained in executing subject.Fig. 3 is a kind of train provided by another embodiment of the present invention
The flow chart of the bearing calibration of operating range.As shown in figure 3, the bearing calibration of the train driving distance the following steps are included:
Step 201, periodically to BTM send data frame, wherein the data frame include train current vehicle speed and
Current driving time and current driving distance.Specifically, train is in the process of moving, VOBC periodically sends number to BTM
It wherein include the train drivings information such as current vehicle speed and the current driving time of train in data frame according to frame.Row about train
The description for sailing speed can be found in the record of related content in above-described embodiment, and details are not described herein again.
Step 202, the response message for the transponder that BTM is sent is received, wherein the mark of transponder is carried in response message
Information.
Specifically, transponder is influenced to open by the electromagnetic wave that BTM antenna issues when train is during being driven out to transponder
Dynamic electronic circuit simultaneously sends response message to BTM antenna, and BTM antenna receives the response message that transponder is sent, wherein replying report
Comprising information needed for the current road segments such as route essential information, speed-limiting messages and station route information control train in text, it is convenient for
Driver is according to the control train driving of response message safety.Meanwhile in order to distinguish the different transponders installed on track, answer
The identification information that transponder is carried in message is answered, the identification information of each transponder is unique, BTM in train control system
The identification information for the transponder being currently received is sent to Vehicle Controller VOBC, and then VOBC is searched out in electronic map
The exact position of current transponder, so that the train driving distance with error calculated to train is corrected.
Step 203, the first operating range when the train that BTM is sent is in transponder center position is received；Wherein,
One operating range is to be calculated according to the data frame received when train is in transponder center position by BTM.
Step 204, according to first operating range and identification information, the operating range of train is modified.
Wherein, the available transponder central point in exact position of current transponder is searched out in electronic map by VOBC
Accurate distance apart from starting point needs to obtain train by transponder center in order to which the operating range to train is corrected
BTM calculated the first operating range of train when point.
As an example, when train is during the entire process of being driven out to transponder, BTM can be according to VOBC periodicity sending
Data frame in the current line comprising acquisition of information trains such as the current vehicle speed of train, current driving time and current driving distances
Distance is sailed, then the signal strength of response message determines train in the reception in transponder center position based on the received
It carves, specifically, BTM compares real-time reception to the signal strength of response message, determines the strongest response message of signal strength, obtain
Take the time of reception of the strongest response message of signal strength, then the time of reception be train in transponder center position when
It carves.And then BTM determines the first operating range of train according to the train driving information in the data frame of transmission.
It can be found in the record of related content in above-described embodiment about the first traveling determination of distance process, it is no longer superfluous herein
It states.
Further, VOBC can receive first operating range of the train of BTM transmission in transponder center position.
VOBC can determine whether train is in the center position of transponder according to the signal strength of the response report sent from BTM.
It will determine that corresponding calculated train driving distance is as the second operating range at the time of transponder is in center position.
In the present embodiment, after BTM gets response message, need by certain transmission time, then issue VOBC, because
This, at the time of the center position for the transponder that BTM is determined, can have certain time difference at the time of determination with VOBC.Into one
Second operating range and the first operating range are done difference by step ground, VOBC, obtain a range difference, and then combine the mark of transponder
Know information, the operating range of train is modified.
Specifically, VOBC obtains the orientation distance of transponder according to identification information-enquiry, by orientation distance and range difference phase
Add, obtains the target travel distance after train is corrected when receiving transponder center position of VOBC.
In conclusion the bearing calibration of the train driving distance of the embodiment of the present invention, VOBC periodically sends number to BTM
According to frame and receive BTM transmission transponder response message, then receive BTM send train be in transponder center position
When the first operating range the operating range of train is modified and then according to the first operating range and identification information.
This method is when determining that train is in transponder center position as a result, by the first traveling of train at this time away from
From VOBC is sent to, then VOBC is according to BTM the first operating range sent and VOBC in the time of reception calculated train row
It sails distance and does difference, calculate the exact position after range difference in conjunction with transponder and the operating range of train is corrected, it can
To improve the correction accuracy of train, the correction of train driving distance is carried out, no longer merely carries out operating range by VOBC
Correction, in the correction course of operating range, increases judgement of the BTM to center position, so that the judgement of center position
It is more accurate, so as to improve the correction accuracy of train driving distance, be conducive to the driving safety of train.
Based on the above embodiment, in order to more clearly illustrate the bearing calibration of the train driving distance, Fig. 4 is the present invention
A kind of flow chart of the bearing calibration of train driving distance provided by another embodiment.As shown in figure 4, the train driving away from
From bearing calibration the following steps are included:
Step 301, VOBC periodically to BTM send data frame, wherein data frame include train current vehicle speed, when
Preceding running time and current driving distance.
It can be found in the record of related content in above-described embodiment about the introduction of step 301, details are not described herein again.
Step 302, BTM launches outward electromagnetic wave, and the response message that response detected device is sent by receiving antenna,
In, the identification information of transponder is carried in response message.
It can be found in the record of related content in above-described embodiment about the introduction of step 302, details are not described herein again.
It should be noted that sequencing is had no between step 301 and step 302, for parallel the step of executing.Step
303, BTM after detecting response message, and during the entire process of being driven out to transponder, basis is currently received from VOBC in real time
Data frame, obtain the current driving distance of train.
It can be found in the record of related content in above-described embodiment about the introduction of step 303, details are not described herein again.
Step 304, BTM sends the response message detected to VOBC；Wherein, the mark of transponder is carried in response message
Information.
After BTM detects response message, so that it may the response message detected are sent to VOBC, in order to VOBC
The identification information of transponder is extracted from response message, and then can inquire the accurate position of transponder on the electronic map
It sets.
It should be noted that sequencing is had no between step 303 and step 304, for parallel the step of executing.BTM and
VOBC is communicated by way of full duplex, and during VOBC sends data frame to BTM, BTM can will be detected
Response message is sent to VOBC, to improve the efficiency of transmission of equipment room, data collision is avoided to increase train driving distance
Calculate error.
Step 305, BTM determines the first operating range when train is in transponder center position and is sent to VOBC.
BTM determines transponder center position, and then determine this according to the signal strength of the response message detected
Corresponding first operating range of center position.Determination process about transponder center position can be found in above-described embodiment
The record of related content, details are not described herein again.
Step 307, VOBC is modified the operating range of train according to the first operating range and identification information.
VOBC searches out the exact position of current transponder according to identification information in electronic map, and then available
Accurate distance of the transponder central point apart from starting point.Then it according to the first operating range received, can be calculated with itself
The second operating range when being in transponder center position, determine a range difference, then range difference and will orient
Accurate distance be added, using the operating range obtained after addition, the operating range of train is corrected.
In the present embodiment, during VOBC sends data frame to BTM, BTM can be sent out the response message detected
It gives VOBC, BTM and VOBC to be communicated by way of full duplex, BTM determines that train is in transponder center position
When, the first operating range of train at this time is sent to VOBC, then VOBC is according to BTM the first operating range sent and VOBC
Difference is done in the time of reception calculated train driving distance, calculates the exact position after range difference in conjunction with transponder to column
The operating range of vehicle is corrected, can be to avoid data collision, when reducing waiting by transmitted in parallel data frame and response message
Between, to further increase the correction accuracy of train.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of BTM device.Fig. 5 is one implementation of the present invention
The BTM apparatus structure of example is intended to.As shown in figure 5, the BTM device includes: detecting module 110, obtains module 120, determining module
130 and correction module 140.
Wherein, detecting module 110, for launching outward electromagnetic wave by receiving antenna, and answering of sending of response detected device
Answer message；Wherein, the identification information of the transponder is carried in response message.
Module 120 is obtained, for after detecting the response message, during the entire process of being driven out to transponder, in real time
According to the data frame currently received from vehicle control syetem VOBC, the current driving distance of train is obtained；Wherein, data frame
In include train current vehicle speed, current driving time and current driving distance.
Determining module 130, for determining first operating range of the train in transponder center position.
Correction module 140, for the first operating range to be sent to the VOBC, so that operating range of the VOBC to train
It is corrected.
Corresponding thereto, Fig. 6 is a kind of structural schematic diagram of VOBC device provided in an embodiment of the present invention.As shown in fig. 6,
The VOBC includes: sending module 210, receiving module 220 and correction module 230.
Wherein, sending module 210, for periodically sending data frame to BTM；Wherein, data frame includes working as train
Preceding speed, current driving time and current driving distance.
Receiving module 220, the response message of the transponder for receiving BTM transmission；Wherein, response is carried in response message
The identification information of device, and receive the first operating range when the train that BTM is sent is in transponder center position；Straightening die
Block, for being modified to the operating range of train according to the first traveling range information and identification information.
Correction module 230, for travelling range information and the identification information according to described first, to the row of the train
Distance is sailed to be modified.
It should be noted that the explanation of the aforementioned bearing calibration embodiment to train driving distance is also applied for the reality
The correction control apparatus of the train driving distance of example is applied, details are not described herein again.
In conclusion the means for correcting of the train driving distance of the embodiment of the present invention, determines that train is in response by BTM
When device center position, the first operating range of train at this time is sent to VOBC, the first row that then VOBC is sent according to BTM
It sails distance and VOBC and does difference in the time of reception calculated train driving distance, calculate after range difference in conjunction with transponder
Exact position is corrected the operating range of train, and the correction accuracy of train can be improved, and carries out the school of train driving distance
Just, BTM centering merely no longer is increased in the correction course of operating range by the correction that VOBC carries out operating range
The judgement of heart point position, so that the judgement of center position is more accurate, so as to improve the correction essence of train driving distance
Degree, is conducive to the driving safety of train.
Fig. 7 is a kind of structural schematic diagram for the correction system that the embodiment of the present invention proposes train driving distance.Such as Fig. 7 institute
Show, the correction system of the train driving distance includes: BTM 1 and VOBC 2.Wherein the structure type of BTM 1 can participate in above-mentioned reality
Apply introduction and Fig. 5 of example.2 structure type of VOBC can participate in introduction and Fig. 6 of above-described embodiment.
When the system determines that train is in transponder center position by BTM, by the first operating range of train at this time
It is sent to VOBC, then VOBC is according to BTM the first operating range sent and VOBC in the time of reception calculated train driving
Distance does difference, calculates the exact position after range difference in conjunction with transponder and is corrected to the operating range of train, can be with
The correction accuracy of train is improved, the correction of train driving distance is carried out, the school of operating range is no longer merely carried out by VOBC
Just, in the correction course of operating range, judgement of the BTM to center position is increased, so that the judgement of center position is more
It is accurate to add, and so as to improve the correction accuracy of train driving distance, is conducive to the driving safety of train.
In order to realize above-described embodiment, the present invention also proposes a kind of mobile unit, which is characterized in that including processor and deposits
Reservoir.Wherein, processor is run and executable program code pair by reading the executable program code stored in memory
The program answered, with the bearing calibration or realization such as second for realizing the train driving distance as described in first aspect embodiment
The bearing calibration of train driving distance described in aspect embodiment.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, which is characterized in that works as computer
Instruction processing unit in program product realizes the bearing calibration of the train driving distance as described in first aspect embodiment when executing
Or realize the bearing calibration of the train driving distance as described in second aspect embodiment.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Contain computer program, which is characterized in that the train as described in first aspect embodiment is realized when the program is executed by processor
The bearing calibration of operating range or the bearing calibration for realizing the train driving distance as described in second aspect embodiment.
Fig. 8 shows the block diagram for being suitable for the exemplary computer device for being used to realize embodiment of the present invention.What Fig. 8 was shown
Computer equipment 12 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 8, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can be with
Including but not limited to: one or more processor or processing unit 16, system storage 28 connect different system components
The bus 18 of (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (Industry Standard
Architecture；Hereinafter referred to as: ISA) bus, microchannel architecture (Micro Channel Architecture；Below
Referred to as: MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics Standards
Association；Hereinafter referred to as: VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnection；Hereinafter referred to as: PCI) bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that computer equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
Memory 28 may include the computer system readable media of form of volatile memory, such as random access memory
Device (Random Access Memory；Hereinafter referred to as: RAM) 30 and/or cache memory 32.Computer equipment 12 can be with
It further comprise other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example,
Storage system 34 can be used for reading and writing immovable, non-volatile magnetic media, and (Fig. 8 do not show, commonly referred to as " hard drive
Device ").Although being not shown in Fig. 8, the disk for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided and driven
Dynamic device, and to removable anonvolatile optical disk (such as: compact disc read-only memory (Compact Disc Read Only
Memory；Hereinafter referred to as: CD-ROM), digital multi CD-ROM (Digital Video Disc Read Only
Memory；Hereinafter referred to as: DVD-ROM) or other optical mediums) read-write CD drive.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24
Deng) communication, the equipment interacted with the computer system/server 12 can be also enabled a user to one or more to be communicated, and/
Or with enable the computer system/server 12 and one or more of the other any equipment (example for being communicated of calculating equipment
Such as network interface card, modem etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, it calculates
Machine equipment 12 can also pass through network adapter 20 and one or more network (such as local area network (Local Area
Network；Hereinafter referred to as: LAN), wide area network (Wide Area Network；Hereinafter referred to as: WAN) and/or public network, example
Such as internet) communication.As shown, network adapter 20 is communicated by bus 18 with other modules of computer equipment 12.It answers
When understanding, although not shown in the drawings, other hardware and/or software module can be used in conjunction with computer equipment 12, including but not
Be limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and
Data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the method referred in previous embodiment.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (14)
1. a kind of bearing calibration of train driving distance, which is characterized in that executing subject is transponder transmission unit BTM, described
Method includes:
Electromagnetic wave, and the response message that response detected device is sent are launched outward by receiving antenna；Wherein, in the response message
Carry the identification information of the transponder；
After detecting the response message, during the entire process of being driven out to the transponder, in real time according to currently from vehicle-mounted control
The data frame received in system VOBC processed obtains the current driving distance of train；It wherein, include the column in the data frame
Current vehicle speed, current driving time and the current driving distance of vehicle；
Determine first operating range of the train in the transponder center position；
First operating range is sent to the VOBC, so that the VOBC carries out school to the operating range of the train
Just.
2. the method according to claim 1, wherein the determining train is in the transponder center position
The first operating range, comprising:
Compare real-time reception to the signal strength of the response message, determines the strongest response message of signal strength；
Obtain the time of reception of the strongest response message of signal strength；Wherein, the time of reception is the train in institute
At the time of stating in transponder center position；
If the sending instant of the time of reception non-data frame, according to the transmission of each data frame received
Moment determines previous data frame earlier than the time of reception and adjacent thereto；
According to the previous data frame, first operating range is calculated.
3. according to the method described in claim 2, it is characterized in that, described according to the previous data frame, described the is calculated
One operating range, comprising:
From the previous data frame, the current vehicle speed and the current driving distance are extracted；
The sending instant of the time of reception and the previous data frame are done into difference, by the difference and the current vehicle speed
It is multiplied, then is added with the current driving distance in the previous data frame, obtain first operating range.
4. method according to claim 1-3, which is characterized in that described to launch outward electromagnetism by receiving antenna
Wave, and while the response message of response detected device transmission, the data frame is periodically received from the VOBC.
5. a kind of bearing calibration of train driving distance, which is characterized in that executing subject VOBC, which comprises
Periodically data frame is sent to BTM；Wherein, the data frame include the current vehicle speed of train, the current driving time with
And current driving distance；
Receive the response message for the transponder that the BTM is sent；Wherein, the mark of the transponder is carried in the response message
Information；
Receive the first operating range when the train that the BTM is sent is in the transponder center position；Wherein, institute
Stating the first operating range is to be in the transponder central point in the train according to the data frame received by the BTM
It is calculated when position；
According to first operating range and the identification information, the operating range of the train is modified.
6. according to the method described in claim 5, it is characterized by further comprising:
Compare real-time reception to the signal strength of the response message, determines the strongest response message of signal strength；；
Obtain the time of reception of the strongest response message of signal strength；Wherein, the time of reception is the train in institute
At the time of stating in transponder center position.
7. according to the method described in claim 6, it is characterized in that, described believe according to first operating range and the mark
Breath, is modified the operating range of the train, comprising:
Determine the train in the second operating range of the time of reception；
It is poor to calculate the distance between second operating range and first operating range；
The orientation distance of the transponder is obtained according to the identification information-enquiry；
The orientation distance is added with the range difference, obtains the target travel distance of the train.
8. a kind of bearing calibration of train driving distance characterized by comprising
VOBC periodically sends data frame to BTM；Wherein, when the data frame includes the current vehicle speed of train, current driving
Between and current driving distance；
The BTM launches outward electromagnetic wave, and the response message that response detected device is sent by receiving antenna；And it will detect
The response message is sent to the VOBC；Wherein, the identification information of the transponder is carried in the response message；
The BTM is during the entire process of by the transponder, in real time according to currently receiving from the VOBC
In data frame, the current driving distance of train is obtained；
The BTM determines the train in the first operating range passed through in the transponder center position and is sent to described
VOBC；
The VOBC is modified the operating range of the train according to first operating range and the identification information.
9. a kind of BTM characterized by comprising
Detecting module, for launching outward electromagnetic wave, and the response message that response detected device is sent by receiving antenna；Wherein,
The identification information of the transponder is carried in the response message；
Module is obtained, for after detecting the response message, during the entire process of being driven out to the transponder, real-time basis
The data frame currently received from vehicle control syetem VOBC determines the current operating range of train；Wherein, the data frame
In include the train current vehicle speed, current driving time and current driving distance；
Determining module, for determining first operating range of the train in the transponder center position；
Correction module, for first operating range to be sent to the VOBC, so that row of the VOBC to the train
Distance is sailed to be corrected.
10. a kind of VOBC characterized by comprising
Sending module sends data frame for periodically BTM；Wherein, the data frame includes the current vehicle speed, current of train
Running time and current driving distance；
Receiving module, for receiving the response message for the transponder that the BTM is sent；Wherein, institute is carried in the response message
The identification information of transponder is stated, and receives the train that the BTM is sent and is in the transponder center position
When the first operating range；Wherein, first operating range is according to the data frame received by the BTM described
Train, which is in, to be calculated when the transponder center position；
Correction module, for being carried out to the operating range of the train according to first operating range and the identification information
Amendment.
11. a kind of train control system characterized by comprising BTM according to any one of claims 8 and as claimed in claim 9
VOBC。
12. a kind of mobile unit, which is characterized in that including processor and memory；
Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the bearing calibration for realizing the train driving distance as described in any in claim 1-4
Or realize the bearing calibration of the train driving distance as described in any in claim 5-7.
13. a kind of computer program product, which is characterized in that when the instruction processing unit in the computer program product executes
It realizes the bearing calibration of the train driving distance as described in any in claim 1-4 or realizes as appointed in claim 5-7
The bearing calibration of train driving distance described in one.
14. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The bearing calibration of the train driving distance as described in any in claim 1-4 is realized when being executed by processor or is realized as weighed
Benefit requires the bearing calibration of any train driving distance in 5-7.
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| CN201810224912.5A CN110281988B (en) | 2018-03-19 | 2018-03-19 | Method, device and equipment for correcting train running distance |
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| CN112082519A (en) * | 2020-08-28 | 2020-12-15 | 通号城市轨道交通技术有限公司 | Method and device for checking position of ground transponder in rail transit |
| CN112124369A (en) * | 2020-09-18 | 2020-12-25 | 交控科技股份有限公司 | Train positioning method and system |
| CN113096376A (en) * | 2021-04-26 | 2021-07-09 | 广州通达汽车电气股份有限公司 | Method, device, equipment and storage medium for judging vehicle crossing |
| CN113247052A (en) * | 2021-04-27 | 2021-08-13 | 北京全路通信信号研究设计院集团有限公司 | Train positioning method and system |
| CN114435430A (en) * | 2020-11-02 | 2022-05-06 | 比亚迪股份有限公司 | Method, system, device and medium for compensating and correcting positioning error of transponder |
| CN115056819A (en) * | 2022-06-23 | 2022-09-16 | 交控科技股份有限公司 | Train wheel diameter correction method and device based on transponder |
| WO2023098538A1 (en) * | 2021-11-30 | 2023-06-08 | 比亚迪股份有限公司 | Train positioning method and positioning system |
| CN116534086A (en) * | 2023-06-08 | 2023-08-04 | 深圳市海成智联科技有限公司 | Vehicle positioning tracking and driving event judging method and system of rail transit system |
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| CN116534086A (en) * | 2023-06-08 | 2023-08-04 | 深圳市海成智联科技有限公司 | Vehicle positioning tracking and driving event judging method and system of rail transit system |
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