CN110307843B - Method for judging train lane change by using inertial navigation equipment - Google Patents
Method for judging train lane change by using inertial navigation equipment Download PDFInfo
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- CN110307843B CN110307843B CN201910623637.9A CN201910623637A CN110307843B CN 110307843 B CN110307843 B CN 110307843B CN 201910623637 A CN201910623637 A CN 201910623637A CN 110307843 B CN110307843 B CN 110307843B
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- train
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- inertial navigation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The invention discloses a method for judging a train lane change by using inertial navigation equipment, which is characterized in that the inertial navigation equipment is arranged on a train, a Z axis in a three-dimensional coordinate axis of the inertial navigation equipment is perpendicular to a plane where a railway surface is located, a Y axis is parallel to the advancing direction of the train, and an X axis is perpendicular to the advancing direction of the train, acceleration data of the X axis is obtained in real time by the inertial navigation equipment, the acceleration data of the X axis is processed, and whether the train lane change is performed or not and the lane change direction, the lane change start and the lane change end conditions of the train lane change are obtained according to the sudden change characteristic of the acceleration perpendicular to the advancing direction of the train on the railway surface during the lane change of the train. The method can judge whether the train changes the track and obtain the specific situation when changing the track, has low cost and is beneficial to wide equipment.
Description
Technical Field
The invention belongs to the field of inertial navigation, and particularly relates to a method for judging a train lane change by using inertial navigation equipment.
Background
The basic working principle of inertial navigation is based on Newton mechanics, the acceleration of a carrier is measured in an inertial reference system, then the integration is calculated over time, then a certain mathematical mode is utilized to transform the result into a navigation coordinate system used currently, and finally information such as speed, yaw angle, position and the like in the navigation coordinate system used currently can be obtained. The inertial navigation equipment is generally internally provided with three mutually perpendicular three-dimensional coordinate axes, and the acceleration of the direction of each coordinate axis can be obtained.
There are only two situations for train lane change: no lane change and lane change. The track change can be only changed from the current track to the next track, the turnout is generally in a herringbone shape, two possible track change directions cannot appear at the turnout (the track change directions are determined by the structure and the safety of train wheels, and even if a train needs to be changed from the current track to another track through two track changes, the track change directions can be realized only through one change), at present, the equipment cost for judging the track change of the train is very high, and the track change is not beneficial to wide equipment.
Disclosure of Invention
The invention aims to provide a method for judging the lane change of a train by using inertial navigation equipment, which can judge whether the train changes the lane or not and obtain the specific situation when the lane is changed, has low cost and is beneficial to wide equipment.
The technical scheme adopted by the invention is as follows:
a method for judging a train lane change by using inertial navigation equipment is characterized in that the inertial navigation equipment is installed on a train, a Z axis in a three-dimensional coordinate axis of the inertial navigation equipment is perpendicular to a plane where a railway surface is located, a Y axis is parallel to the advancing direction of the train, and an X axis is perpendicular to the advancing direction of the train, acceleration data of the X axis is obtained in real time through the inertial navigation equipment, the acceleration data of the X axis is processed, whether the train lane change occurs or not is judged according to the fact that the acceleration perpendicular to the advancing direction of the train on a railway surface is suddenly changed when the train lane change occurs, and the lane change direction, the lane change start condition and the lane change end condition when the train lane change occurs are obtained.
Further, the processing steps of the acceleration data of the X axis are as follows:
1) setting up a data window consisting of N 1 Data composition, continuously reading in N 2 Data and inserting the first N in the data window according to time sequence 2 A position, N 2 ＜N 1 Then continuously reading in data, and filling the data into the rest positions in the data window according to the time sequence, when the data window reaches N 1 When there is data, calculate N 1 Standard deviation of individual data, then preceding N 2 On the basis of unchanging every data, making the next bit data replace previous bit data, then filling the read-in data into Nth bit data 1 Position, calculate N again 1 Standard deviation of each data, thus cycling;
2) when the obtained standard deviation is basically zero, judging that the train does not change the track, when the obtained standard deviation is suddenly changed and is far more than zero, judging that the train starts changing the track, taking the time of the sudden change of the standard deviation as the time of starting changing the track of the train, after judging that the train starts changing the track, calculating the front N 2 Mean X2 of individual data and mean X of the remaining data 1 ，X 1 Greater than X 2 When the train changes the track direction, the deviation of the track direction to the X axis is judged 1 Less than X 2 And when the obtained standard deviation is recovered to be basically zero, the time of the sudden change disappearance of the standard deviation is taken as the time of the train changing ending.
Further, the inertial navigation equipment is connected with display equipment, and the display equipment can display whether the train starts to change the track or not and can display the direction of the train changing the track.
Furthermore, the inertial navigation equipment is provided with a base, and when the inertial navigation equipment is installed on a train, the base is parallel to a plane where a railway surface is located.
The invention has the beneficial effects that:
the method judges whether the train changes the track and the specific situation during the track change by combining the inertial navigation equipment with the characteristic that the acceleration perpendicular to the advancing direction of the train on the railway surface changes suddenly when the train changes the track, has low cost and is beneficial to wide equipment.
Detailed Description
The present invention will be further described with reference to the following examples.
A method for judging a train lane change by using inertial navigation equipment is characterized in that the inertial navigation equipment is installed on a train, a Z axis in three-dimensional coordinate axes of the inertial navigation equipment is perpendicular to a plane where a railway surface is located, a Y axis is parallel to the advancing direction of the train, and an X axis is perpendicular to the advancing direction of the train, acceleration data of the X axis is obtained in real time by the inertial navigation equipment (the data of the other two coordinate axes do not participate in the train lane change judgment), the acceleration data of the X axis is processed by the inertial navigation equipment or external data processing equipment, and whether the train lane change is carried out or not is judged according to the sudden change characteristic of the acceleration perpendicular to the advancing direction of the train on the railway surface when the train lane change is carried out, and the lane change direction, the lane change start and the lane change end condition when the train lane change is carried out are obtained.
The processing steps of the acceleration data of the X axis are as follows:
1) setting up a data window consisting of N 1 Data composition (N) 1 Adjusting according to the output rate per second of the inertial navigation equipment and the actual requirement, N 1 Greater than 2, suggest N 1 10), N is read in continuously 2 Data and inserting the first N in the data window according to time sequence 2 A position (N) 2 Adjusting according to the output rate per second of the inertial navigation equipment and the actual requirement, wherein N is more than 1 2 ＜N 1 Suggest N 2 ＝8)，N 2 ＜N 1 Then continuously reading in data, and filling the data into the rest positions in the data window according to the time sequence, when the data window reaches N 1 When there is data, calculate N 1 Standard deviation of individual data, then preceding N 2 On the basis of unchanged data, make the latterBit data replaces the previous bit data, and the read data is filled into the Nth bit 1 Position, calculate N again 1 Standard deviation of each data, thus cycling;
2) when the obtained standard deviation is basically zero, judging that the train does not change the track, when the obtained standard deviation is suddenly changed and is far more than zero, judging that the train starts changing the track, taking the time of the sudden change of the standard deviation as the time of starting changing the track of the train, after judging that the train starts changing the track, calculating the front N 2 Mean value X of individual data 2 And the mean value X of the remaining data 1 ，X 1 Greater than X 2 When the train changes the track direction, the deviation of the track direction to the X axis is judged 1 Less than X 2 And when the obtained standard deviation is recovered to be basically zero, the time of the sudden change disappearance of the standard deviation is taken as the time of the train changing ending.
In this embodiment, the inertial navigation device is connected to a display device, and the display device can display whether the train starts and ends changing the track and can display the direction of changing the track. For example, if the train is not changed, the display is not performed, the left turn display of the train is +1, the right turn display of the train is-1, when the train changes left turn through the turnout, the +1 display is performed on the display device and continues to the end of the left turn, and when the train changes right turn through the turnout, the-1 display is performed on the display device and continues to the end of the right turn.
Like most inertial navigation devices, in this embodiment, the inertial navigation device has a base that is parallel to a plane on which a railway surface is located when the inertial navigation device is installed on a train.
The method judges whether the train changes the track and the specific situation during the track change by combining the inertial navigation equipment with the characteristic that the acceleration perpendicular to the advancing direction of the train on the railway surface changes suddenly when the train changes the track, has low cost and is beneficial to wide equipment.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (3)
1. A method for judging a train lane change by using inertial navigation equipment is characterized by comprising the following steps: installing inertial navigation equipment on a train, enabling a Z axis in a three-dimensional coordinate axis of the inertial navigation equipment to be perpendicular to a plane where a railway surface is located, enabling a Y axis to be parallel to the advancing direction of the train and enabling an X axis to be perpendicular to the advancing direction of the train, acquiring acceleration data of the X axis in real time through the inertial navigation equipment, processing the acceleration data of the X axis, and judging whether the train changes the track or not and obtaining the conditions of the track changing direction, the track changing start and the track changing end when the train changes the track according to the characteristic that the acceleration perpendicular to the advancing direction of the train on a railway surface can change suddenly when the train changes the track;
the processing step of the acceleration data of the X-axis is,
1) setting up a data window consisting of N 1 Data composition, continuously reading in N 2 Data and inserting the first N in the data window according to time sequence 2 A position, N 2 <N 1 Then continuously reading in data, and filling the data into the rest positions in the data window according to the time sequence, when the data window reaches N 1 When there is data, calculate N 1 Standard deviation of individual data, then preceding N 2 On the basis of unchanging every data, making the next bit data replace previous bit data, then filling the read-in data into Nth bit data 1 Position, calculate N again 1 Standard deviation of each data, thus cycling;
2) When the obtained standard deviation is basically zero, judging that the train does not change the track, when the obtained standard deviation is suddenly changed and is far more than zero, judging that the train starts changing the track, taking the time of the sudden change of the standard deviation as the time of starting changing the track of the train, after judging that the train starts changing the track, calculating the front N 2 Mean value of individual data X 2 And the mean value X of the remaining data 1 ，X 1 Greater than X 2 When the train changes the track direction, the deviation of the track direction to the X axis is judged 1 Less than X 2 And when the obtained standard deviation is recovered to be basically zero, the time of the sudden change disappearance of the standard deviation is taken as the time of the train changing ending.
2. The method for judging a lane change of a train using an inertial navigation device according to claim 1, wherein: the inertial navigation equipment is connected with display equipment, and the display equipment can display whether the train starts or ends changing the track and can display the direction of changing the track of the train.
3. The method for judging a lane change of a train using an inertial navigation device according to claim 1, wherein: the inertial navigation equipment is provided with a base, and when the inertial navigation equipment is installed on a train, the base is parallel to a plane where a railway surface is located.
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| CN106882141A (en) * | 2017-02-16 | 2017-06-23 | 深圳市航天无线通信技术有限公司 | Driving behavior detection method and device |
| CN109204318A (en) * | 2018-07-25 | 2019-01-15 | 深圳市元征科技股份有限公司 | A kind of method and terminal device of the rapidly lane change of judgement vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070027597A1 (en) * | 2003-09-23 | 2007-02-01 | Daimlerchrysler Ag | Method and device for recognising lane changing operations for a motor vehicle |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105444770A (en) * | 2015-12-18 | 2016-03-30 | 上海交通大学 | Intelligent mobile phone-based lane grade map generating and positioning system and method |
| CN106643749A (en) * | 2016-09-14 | 2017-05-10 | 北京航空航天大学 | Dangerous driving behavior detection method based on intelligent cellphone |
| CN106494407A (en) * | 2016-11-16 | 2017-03-15 | 山东天地通数码科技有限公司 | Judge analysis method and the device of motoring condition |
| CN106882141A (en) * | 2017-02-16 | 2017-06-23 | 深圳市航天无线通信技术有限公司 | Driving behavior detection method and device |
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