CN110422205A - Method is detected and corrected in a kind of bullet train idling slide - Google Patents
Method is detected and corrected in a kind of bullet train idling slide Download PDFInfo
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- CN110422205A CN110422205A CN201910648458.0A CN201910648458A CN110422205A CN 110422205 A CN110422205 A CN 110422205A CN 201910648458 A CN201910648458 A CN 201910648458A CN 110422205 A CN110422205 A CN 110422205A
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- 238000005259 measurement Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
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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
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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Abstract
The present invention provides a kind of bullet train idling slides, and method is detected and corrected, this method comprises: step S1, establishing the velocity error benchmark of the initial output speed of velocity sensor and inertial navigation initial velocity；Step S2, the velocity error of calculating speed sensor output speed and corresponding moment inertial navigation speed；Step S3, bullet train state and velocity sensor state are judged according to velocity error and velocity error benchmark；If step S4, bullet train state is normal operating condition, renewal speed baseline error goes to step S2；If step S5, bullet train state is idle running or sliding state, erection rate sensor output speed；If step S6, velocity sensor state is itself velocity jump state, renewal speed baseline error, does not go to step S2.The present invention improves train positioning accuracy, it is ensured that safe train operation it is possible to prevente effectively from since velocity sensor faults itself causes the case where misjudging, failing to judge.
Description
Technical field
The present invention relates to train high-precision location technique field more particularly to a kind of detection of bullet train idling slide and repair
Correction method.
Background technique
The high accuracy positioning of train has automatic train protection system and train operation control system vital
Effect, positioning accuracy and reliability directly influence train security protection distance, runing time interval, Train Control parameter and
Safe train operation.With the progress of science and technology, train Positioning Technology is also constantly developing, track circuit positioning, speed
Sensor speed-position detection, Doppler radar speed-position detection, induction loop positioning, inquiry response devices positioning, inertial navigation positioning with
And satellite positioning etc. has all obtained different degrees of application.
In the traffic based on wheel track, idle running between wheel track and slide be it is unavoidable, train occur idle running be due to
Vehicle wheel rotational speed sharply increases and frictional force is too small, causes the phenomenon that face rotation in orbit of the rotating wheel of train is without walking.Column
Vehicle there is a phenomenon where slide be due to train wheels are not rotated by locking and train moves on.Velocity sensor is by locomotive
Take turns the influence to that idle running may occur and slide, it will cause train positioning accuracy to decline, be directly related to train traffic safety.
In wheel sliding, error is once slided up to 10m, therefore how to be detected the generation of idling slide and disappeared as far as possible
It is an important research direction for improving train positioning accuracy except idling slide bring influences.
Currently, common train, which dallies and slides detection method mainly, accelerating detection, speed difference detection method and cunning
Row rate detection method etc..Accelerating detection is the difference namely acceleration of the speed and present speed before comparing train t seconds, when
When acceleration absolute value is more than the judgment value of setting, then determine occur dallying and slide phenomenon.Speed difference detection method is with same
Take turns the later vacation with wheel when certain acceleration operation of order sending to the revolving speed and train traction or braking of 4 wheels
A maximum or the smallest standard as vehicle wheel rotational speed in this 5 revolving speeds of revolving speed is thought, when the revolving speed and standard value of some wheel
When difference is more than the limit value of setting, it can judge whether train is dallied and slided.The rate detection method of sliding is according to column
Axletree tangential velocity relatively judges whether train occurs idling slide compared with the practical traveling speed of train.
Domestic and international related research institutes are to the idle running of train and slide and done more research, are all to add under normal circumstances
Based on velocity measuring, slides supplemented by rate detection and speed difference detection, be combined with each other.But these detection methods are only with speed
The case where output speed for spending sensor itself detects, and causes to misjudge, fail to judge happens occasionally.
Summary of the invention
Method is detected and corrected in order to solve the above technical problems, providing a kind of bullet train idling slide in the present invention, benefit
With the different characteristics of velocity sensor and inertial navigation output speed, carry out convenient for Project Realization the detection of train idling slide and
Modification method, for improving train positioning accuracy, it is ensured that train traffic safety has very important meaning.
The present invention adopts the following technical scheme:
Method is detected and corrected in a kind of bullet train idling slide, which comprises
Step S1, the velocity error benchmark of the initial output speed of velocity sensor and inertial navigation initial velocity is established；
Step S2, the velocity error of calculating speed sensor output speed and corresponding moment inertial navigation speed；
Step S3, bullet train state and velocity sensor state are judged according to velocity error and velocity error benchmark；
If step S4, bullet train state is normal operating condition, renewal speed baseline error, with the speed at current time
Error goes to step S2 as velocity error benchmark；
If step S5, bullet train state be idle running or sliding state, it is opposite using current time inertial navigation speed
In the speed increment erection rate sensor output speed of last moment inertial navigation speed；
If step S6, velocity sensor state is itself velocity jump state, renewal speed baseline error, does not go to step
S2。
Preferably, bullet train state and velocity sensor are judged according to velocity error and velocity error benchmark in step S3
State includes:
According to velocity error and velocity error benchmark relative error increment；
By relative error increment compared with detection threshold；
When relative error increment is less than detection threshold, determine that current time bullet train state is normal operating condition；
When relative error increment is continuously more than or equal to detection threshold three times or more than three times, current time is determined
Bullet train state is idle running or sliding state；
It is more than or equal to detection threshold when relative error increment current time, but is not continuously to be more than or equal to three times
When detection threshold, judgement velocity sensor state is itself velocity jump.
Preferably, it is calculate by the following formula relative error increment Delta v:
Δ v=δ vi-δv0,
In formula, Δ v is relative error increment, δ v0For velocity error benchmark, δ viSpeed is exported for the i-th moment velocity sensor
The velocity error of degree and inertial navigation speed.
Preferably, detection threshold is 3 × Δ VLog, wherein Δ VLogFor the range rate error of velocity sensor.
Preferably, it is calculate by the following formula current time inertial navigation speedRelative to last moment inertial navigation speedSpeed increment Δ vIns:
In formula,For the i-th moment inertial navigation speed,For the (i-1)-th moment inertial navigation speed, Δ vInsIt is current
Moment inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
Preferably, to obtain velocity sensor revised i-th moment by following formula erection rate sensor output speed defeated
Speed out
In formula,For the revised i-th moment output speed of velocity sensor,It is defeated for the i-th moment of velocity sensor
Speed out, Δ vInsFor current time inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
Preferably, the velocity error benchmark δ v of step S1 is found out by following formula0:
In formula, δ v0For velocity error benchmark,For the initial output speed of velocity sensor,It is initial for inertial navigation
Speed, VRFor lever arm speed；
Wherein inertial navigation initial velocityIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veIt is led for inertia
The east orientation speed component of boat.
Preferably, the velocity error δ v of step S2 is found out by following formulai:
In formula, δ viFor the velocity error of the i-th moment velocity sensor output speed and inertial navigation speed,For speed
I-th moment of sensor output speed,For the i-th moment inertial navigation speed, VRFor lever arm speed；
Wherein the i-th moment inertial navigation speedIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veIt is led for inertia
The east orientation speed component of boat.
Preferably, lever arm speed is asked by lever arm length between inertial navigation and velocity sensor and gyro angular speed
Out:
In formula, VRFor lever arm speed, ωx、ωy、ωzRespectively X-axis, Y-axis, Z axis gyro angular speed, Rx、Ry、RzRespectively
X-axis, Y-axis, Z axis lever arm length,Respectively X-axis, Y-axis, Z axis lever arm velocity component.
The present invention establishes the velocity error benchmark of the initial output speed of velocity sensor and inertial navigation initial velocity, meter
The velocity error of velocity sensor output speed with corresponding moment inertial navigation speed is calculated；According to velocity error and velocity error
Benchmark judges whether bullet train dallies or slide；And when dallying or sliding occur in bullet train, current time is utilized
Speed increment erection rate sensor output speed of the inertial navigation speed relative to last moment inertial navigation speed.The present invention
It is possible to prevente effectively from improving train positioning accuracy, really since velocity sensor faults itself causes the case where misjudging, failing to judge
Protect safe train operation.
Detailed description of the invention
Fig. 1 shows the flow diagram that method is detected and corrected in bullet train idling slide.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Velocity sensor is mounted in train wheel shaft, and the row of train is calculated by the rotation and wheel diameter of wheel shaft
Sail speed, velocity sensor measurement accuracy is high, and does not have accumulated error, but is dallied and slided by train and influenced, measurement accuracy
It can severe exacerbation.Inertial navigation system is mounted under bogie or compartment, resolves to obtain the operation of train by inertial navigation
Both speed, velocity accuracy is not influenced by dallying and sliding, but inertial navigation speed is accumulated at any time, therefore can use
The judgement that the different characteristics of speed is dallied and slided.
The present invention utilizes the different characteristics of velocity sensor and inertial navigation output speed, and it is real convenient for engineering to provide development
Method is detected and corrected in existing train idling slide, specific as follows:
Method is detected and corrected in a kind of bullet train idling slide, which comprises
Step S1, the velocity error benchmark of the initial output speed of velocity sensor and inertial navigation initial velocity is established；
Step S2, the velocity error of calculating speed sensor output speed and corresponding moment inertial navigation speed；
Step S3, bullet train state and velocity sensor state are judged according to velocity error and velocity error benchmark；
If step S4, bullet train state is normal operating condition, renewal speed baseline error, with the speed at current time
Error goes to step S2 as velocity error benchmark；
If step S5, bullet train state be idle running or sliding state, it is opposite using current time inertial navigation speed
In the speed increment erection rate sensor output speed of last moment inertial navigation speed；
If step S6, velocity sensor state is itself velocity jump state, renewal speed baseline error, does not go to step
S2。
Specific embodiment of the invention is given below, referring to Fig.1.
When train brings into operation, after all mobile units are powered, start the first time dallied and slided judgement, first with speed
It spends the initial output speed of sensor and inertial navigation initial velocity establishes the two velocity error benchmark δ v0.When train dallies and slides
When capable judgement is not first time, if the judgement of front does not have renewal speed baseline error, foundation is directly judged with first time
The velocity error benchmark δ v of the initial output speed of velocity sensor and inertial navigation initial velocity0Speed as this judgement is missed
Poor benchmark.
The velocity error benchmark δ v of step S1 is found out by following formula0:
In formula, δ v0For velocity error benchmark,For the initial output speed of velocity sensor,It is initial for inertial navigation
Speed, VRFor lever arm speed；
Wherein inertial navigation initial velocityIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veIt is led for inertia
The east orientation speed component of boat.
Its Caused by Lever Arm speed is found out by lever arm length between inertial navigation and velocity sensor and gyro angular speed:
In formula, VRFor lever arm speed, ωx、ωy、ωzRespectively X-axis, Y-axis, Z axis gyro angular speed, Rx、Ry、RzRespectively
X-axis, Y-axis, Z axis lever arm length,Respectively X-axis, Y-axis, Z axis lever arm velocity component.
After velocity error benchmark is established, in subsequent velocity sensor data renewable time, calculating speed sensor output speed
It spends and the velocity error of corresponding moment inertial navigation speed.The velocity error δ v of step S2 is found out by following formulai:
In formula, δ viFor the velocity error of the i-th moment velocity sensor output speed and inertial navigation speed,For speed
I-th moment of sensor output speed,For the i-th moment inertial navigation speed, VRFor lever arm speed；
Wherein the i-th moment inertial navigation speedIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veIt is led for inertia
The east orientation speed component of boat.
Bullet train state and velocity sensor are judged according to velocity error and velocity error benchmark in step S3 of the present invention
State include: according to velocity error and velocity error benchmark relative error increment, and by relative error increment and detection door
Limit compares.When relative error increment is less than detection threshold, determine that current time bullet train state is normal operating condition；When
When relative error increment is continuously more than or equal to detection threshold three times or more than three times, current time bullet train shape is determined
State is idle running or sliding state；It is more than or equal to detection threshold when relative error increment current time, but is not continuous three
It is secondary be more than or equal to detection threshold when, judgements velocity sensor state be itself velocity jump.The detection threshold is according to 3 σ original
Then it is determined as 3 × Δ VLog, wherein Δ VLogFor the range rate error of velocity sensor, can be determined according to the inherent parameters of instrument.It is logical
It crosses following formula and calculates relative error increment Delta v:
Δ v=δ vi-δv0,
In formula, Δ v is relative error increment, δ v0For velocity error benchmark, δ viSpeed is exported for the i-th moment velocity sensor
The velocity error of degree and inertial navigation speed.
If bullet train state is idle running or sliding state, using current time inertial navigation speed relative to upper a period of time
Carve the speed increment erection rate sensor output speed of inertial navigation speed.
It is calculate by the following formula current time inertial navigation speedRelative to last moment inertial navigation speedSpeed
Spend increment Delta vIns:
In formula,For the i-th moment inertial navigation speed,For the (i-1)-th moment inertial navigation speed, Δ vInsIt is current
Moment inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
The revised i-th moment output speed of velocity sensor is obtained by following formula erection rate sensor output speed
In formula,For the revised i-th moment output speed of velocity sensor,It is defeated for the i-th moment of velocity sensor
Speed out, Δ vInsFor current time inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
The present invention improves it is possible to prevente effectively from since velocity sensor faults itself causes the case where misjudging, failing to judge
Train positioning accuracy, it is ensured that safe train operation.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. method is detected and corrected in a kind of bullet train idling slide, which is characterized in that the described method includes:
Step S1, the velocity error benchmark of the initial output speed of velocity sensor and inertial navigation initial velocity is established；
Step S2, the velocity error of calculating speed sensor output speed and corresponding moment inertial navigation speed；
Step S3, bullet train state and velocity sensor state are judged according to velocity error and velocity error benchmark；
If step S4, bullet train state is normal operating condition, renewal speed baseline error, with the velocity error at current time
As velocity error benchmark, step S2 is gone to；
If step S5, bullet train state is idle running or sliding state, using current time inertial navigation speed relative to upper
The speed increment erection rate sensor output speed of one moment inertial navigation speed；
If step S6, velocity sensor state is itself velocity jump state, renewal speed baseline error, does not go to step S2.
2. method is detected and corrected in a kind of bullet train idling slide according to claim 1, which is characterized in that step S3
It is middle bullet train state to be judged with velocity error benchmark according to velocity error and velocity sensor state includes:
According to velocity error and velocity error benchmark relative error increment；
By relative error increment compared with detection threshold；
When relative error increment is less than detection threshold, determine that current time bullet train state is normal operating condition；
When relative error increment is continuously more than or equal to detection threshold three times or more than three times, current time high speed is determined
Train status is idle running or sliding state；
It is more than or equal to detection threshold when relative error increment current time, but is not continuous three times more than or equal to detection
When thresholding, judgement velocity sensor state is itself velocity jump.
3. method is detected and corrected in a kind of bullet train idling slide according to claim 2, which is characterized in that
It is calculate by the following formula relative error increment Delta v:
Δ v=δ vi-δv0,
In formula, Δ v is relative error increment, δ v0For velocity error benchmark, δ viFor the i-th moment velocity sensor output speed with
The velocity error of inertial navigation speed.
4. method is detected and corrected in a kind of bullet train idling slide according to claim 2, which is characterized in that the inspection
Survey thresholding is 3 × Δ VLog, wherein Δ VLogFor the range rate error of velocity sensor.
5. method is detected and corrected in a kind of bullet train idling slide according to claim 1, which is characterized in that under
Formula calculates current time inertial navigation speedRelative to last moment inertial navigation speedSpeed increment Δ vIns:
In formula,For the i-th moment inertial navigation speed,For the (i-1)-th moment inertial navigation speed, Δ vInsFor current time
Inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
6. method is detected and corrected in a kind of bullet train idling slide according to claim 5, which is characterized in that under
Formula erection rate sensor output speed obtains the revised i-th moment output speed of velocity sensor
In formula,For the revised i-th moment output speed of velocity sensor,Speed is exported for the i-th moment of velocity sensor
Degree, Δ vInsFor current time inertial navigation speedRelative to last moment inertial navigation speedSpeed increment.
7. method is detected and corrected in a kind of bullet train idling slide according to claim 1, which is characterized in that under
Formula finds out the velocity error benchmark δ v of step S10:
In formula, δ v0For velocity error benchmark,For the initial output speed of velocity sensor,For inertial navigation initial velocity,
VRFor lever arm speed；
Wherein inertial navigation initial velocityIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veFor inertial navigation
East orientation speed component.
8. method is detected and corrected in a kind of bullet train idling slide according to claim 1, which is characterized in that under
Formula finds out the velocity error δ v of step S2i:
In formula, δ viFor the velocity error of the i-th moment velocity sensor output speed and inertial navigation speed,For velocity pick-up
I-th moment of device output speed,For the i-th moment inertial navigation speed, VRFor lever arm speed；
Wherein the i-th moment inertial navigation speedIt is found out according to axial speed each under the navigational coordinate system of inertial navigation:
In formula, vnFor the north orientation speed component of inertial navigation, vuFor the sky orientation speed component of inertial navigation, veFor inertial navigation
East orientation speed component.
9. method is detected and corrected in a kind of bullet train idling slide according to claim 7 or 8, which is characterized in that institute
Lever arm speed is stated to find out by lever arm length between inertial navigation and velocity sensor and gyro angular speed:
In formula, VRFor lever arm speed, ωx、ωy、ωzRespectively X-axis, Y-axis, Z axis gyro angular speed, Rx、Ry、RzRespectively X-axis, Y
Axis, Z axis lever arm length,Respectively X-axis, Y-axis, Z axis lever arm velocity component.
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| CN110422205B (en) | 2021-06-08 |
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