CN110687564A - High-precision positioning system in train tunnel based on RFID - Google Patents
High-precision positioning system in train tunnel based on RFID Download PDFInfo
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- CN110687564A CN110687564A CN201911014390.7A CN201911014390A CN110687564A CN 110687564 A CN110687564 A CN 110687564A CN 201911014390 A CN201911014390 A CN 201911014390A CN 110687564 A CN110687564 A CN 110687564A
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- train
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- positioning system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
A high-precision positioning system in a train tunnel based on RFID comprises a multimode GNSS receiver, an inertia measurement unit, a data processing unit, an RFID radio frequency tag, an RFID card reader and a train position information monitoring system. The high-precision positioning system in the train tunnel based on the RFID can uninterruptedly output accurate train position information and is suitable for a high-speed train with the speed per hour of 350 km.
Description
Technical Field
The invention relates to high-precision positioning of a vehicle position when a rail transit vehicle travels into a tunnel, in particular to a high-precision positioning system in a train tunnel based on RFID.
Background
The high-speed train has high running speed, high running density and short space distance between the front and the rear tracking trains, and a train control system needs to accurately measure the running position of the train on the line so as to provide correct control information for the train. The traditional train control system controls the train to run in a fixed blocking mode, and detects the position of the train in a line by means of a track circuit, so that a driving permission condition is provided for a subsequent train. With the continuous increase of the train speed and the further reduction of the driving interval, the discrete position information provided by the track circuit can not effectively ensure the driving safety. The train control system needs to measure the real-time position of the train by means of new equipment, and provides continuous and accurate train position information for the train control system, so that the running interval is shortened under the condition of further ensuring safety.
When a train runs at a high speed, the spatial displacement of the train changes rapidly, and a train control system needs to master the position coordinates of each train in real time so as to provide correct driving permission for subsequent trains, so that the detection of the train position should have continuity, and the specific position of the train can be mastered at any time in the whole running process of the train, including in areas without navigation satellite signals, such as tunnels or valleys, and the like, and also can be continuously positioned. In addition, the train position is a necessary condition for generating the driving permission, the accuracy of the detection result directly influences whether the train control system can correctly control the train to run, and the smaller the train position error measured by the positioning equipment is, the better the train position error is on the premise of ensuring the safety. In the process of positioning the train, the influence of severe weather and external electromagnetic waves is caused, the measurement result of the equipment often generates errors and even loses the effect, and therefore the selected positioning equipment needs to have the capacity of resisting interference and adapting to environmental changes.
The function of train positioning is to accurately determine the specific position of a train at any time and any place. Although the measurement signal is easy to process by using a single measuring device, the invention has limitations, in order to obtain reliable train position information in the whole running distance of the train, the information of various position sensors is fused, the advantages and the disadvantages are made up, the measurement information obtained by different channels is filtered and corrected by a multi-sensor data fusion processing technology, the measurement error is eliminated as much as possible, and more accurate train position information on the whole line is obtained.
There are many scholars in China studying the positioning method of the equipment in the tunnel. The Chinese patent application with the application number of CN201820249366.6 and the name of 'equipment positioning system in tunnel' proposes that: arranging N positioning base stations in the tunnel, simultaneously receiving signals transmitted by RFID tags carried by equipment, sending the received RFID signals to a server by the base stations, and finally calculating the position of the equipment; chinese patent application No. CN201711049292.8 entitled "an RFID-based intelligent tunnel navigation device and navigation system" uses only an RFID signal as an analog GPS signal, and does not combine the signal with inertial navigation. Chinese patent application No. CN201410240140.6, entitled "a vehicle-mounted combined positioning device", mentions that the position obtained by RFID of a train is determined by calculating the strength of the transponder signal.
However, it is difficult for the above techniques to provide real-time high-precision positioning for a high-speed train (350km/h) in a tunnel.
Disclosure of Invention
The invention aims to solve the problems that the GNSS positioning technology can not realize train positioning and the long-time working positioning result of an inertia measurement unit is dispersed in the environment that a navigation satellite signal of a railway train can not reach, such as a tunnel, and the invention adopts the following technical scheme for realizing the aim:
a high-precision positioning system in a train tunnel based on RFID comprises a multimode GNSS receiver, an inertia measurement unit, a data processing unit, an RFID radio frequency tag, an RFID card reader and a train position information monitoring system; wherein the content of the first and second substances,
the multimode GNSS receiver and the inertia measurement unit are arranged on the train and used for outputting position information of the train;
the data processing unit performs information fusion on output information of the GNSS receiver and the inertial measurement unit, adopts a combined result of the GNSS receiver and the inertial measurement unit at a place with a satellite signal, performs information fusion by adopting the inertial measurement unit and the RFID radio frequency tag at a place without the satellite signal, such as a tunnel, and obtains position information corresponding to the RFID radio frequency tag through a lookup table;
the RFID radio frequency tag is arranged on the tunnel wall, a barreled cover for limiting the radiation range of the RFID radio frequency tag is arranged on the tunnel wall, and position coordinates close to the central point of the track are written in the RFID radio frequency tag;
the RFID card reader is arranged at a window on the side face of the train, and the height of the RFID card reader is approximately equal to that of an RFID radio frequency tag on the tunnel wall;
the train position information monitoring system is a computer or a mobile phone which organically combines the fused information positioning data with a railway electronic map and displays dynamic continuous real-time position information of a train in a tunnel.
The RFID radio frequency tags are more than two and are mounted on the tunnel wall at certain intervals.
Wherein the location coordinates include longitude, latitude, and altitude.
The multi-mode GNSS receiver is a high-precision receiver adopting a satellite-based augmentation technology.
The RFID tag selected for use is an active device based on ultra-wideband technology, with response times on the order of milliseconds.
Compared with the prior art, the invention has the following technical effects:
by adopting the RFID-based high-precision positioning system in the train tunnel, the RFID tag can be used as a GNSS position reference station in the tunnel without satellite signals, and the combined measurement value after a certain distance is corrected by using the RFID tag, so that the positioning system can uninterruptedly output accurate train position information, the continuous work of the positioning system is kept, and the system is suitable for a high-speed train with the speed of 350km per hour.
The information transmission direction of the RFID is more determined by using the directional cover, so that the calibration data received by the receiver is more accurate, and the positioning precision is improved.
The method for looking up the table is used for acquiring the position information corresponding to the RFID, so that the rapidity of acquiring the position information is ensured.
The continuous output of inertial navigation makes up the defects of GNSS discrete measurement and incapability of accurately positioning when navigation satellite signals are shielded, and the short-time measurement precision is greatly improved; meanwhile, the measurement error of the inertial unit can be eliminated in time by depending on the measurement result of the GNSS, and the GNSS mobile phone is flexible and has good environment adaptability. When satellite signals are lost, the system can correct the data measured before the GNSS fails as a reference.
The data in the RFID tags are used for assisting and calibrating inertial navigation data in the tunnel, and the obtained final positioning data is combined with a railway electronic map, so that the positioning information can be displayed on a terminal screen, and the positioning information can be vividly understood by people, particularly railway operators, so that trains can be avoided in time, and railway safety accidents are reduced.
Drawings
FIG. 1 is a schematic structural diagram of a high-precision positioning system in a train tunnel based on RFID in the invention;
fig. 2 is a schematic view of an rf tag installation.
The system comprises a 1-GNSS receiver, a 2-inertia measurement unit, a 3-RFID reader, a 4-RFID radio frequency tag, a 5-data processing unit and a 6-train position information monitoring system.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
Referring to fig. 1, a high-precision train positioning system in a tunnel based on RFID includes a multimode GNSS receiver 1, an inertial measurement unit 2, a data processing unit 5, an RFID radio frequency tag 4, an RFID card reader 3, and a train position information monitoring system 6.
A multimode GNSS receiver 1 and an inertial measurement unit 2 are installed on the train and used for outputting position information of the train. The antenna of the multimode GNSS receiver 1 needs to be installed on the top outside the train to ensure the visibility of the satellite signals in the open environment. When the inertial navigation equipment is installed, the installation direction needs to be noticed, and an indication arrow on the inertial navigation equipment needs to be consistent with the traveling direction of a train. Preferably, the multimode GNSS receiver is a high-precision receiver using a satellite-based augmentation technology.
The data processing unit performs information fusion on output information of the GNSS receiver 1 and the inertial measurement unit 2, adopts a combination result of the GNSS receiver 1 and the inertial measurement unit 2 at a place with satellite signals, performs information fusion by adopting the inertial measurement unit 2 and the RFID tag 4 at a place without satellite signals such as a tunnel, and obtains position information corresponding to the RFID tag through a lookup table.
For example, the SF3050 high-precision GNSS receiver and the fiber strapdown inertial navigation 61556 adopt a position and speed combination mode to fuse output information of the two, a high-precision combined positioning result can be given in a place with good satellite signal reception, when entering a tunnel, the inertial navigation takes a position output by the SF3050 at last as an initial position to carry out navigation autonomous navigation positioning, when a train travels for 1km, a vehicle-mounted RFID card reader reads a train position stored in a radio frequency tag located on the tunnel wall, and corrects an output result of the inertial navigation, so that the inertial navigation starts to carry out navigation positioning again from a position point stored in the tag, and thus error accumulation caused by inertial navigation for a period of time is counteracted, and accuracy of the output result is ensured.
The RFID radio frequency tag 4 is arranged on the wall of the tunnel, and a barreled cover for limiting the radiation range of the RFID radio frequency tag is arranged in order to guarantee the accuracy of the RFID position. The RFID tag 4 is provided in plurality and is mounted on the tunnel wall at a predetermined interval. Writing position coordinates close to the central point of the track into the RFID tag 4: longitude, latitude, and altitude. The position coordinates are determined accurately in advance by other mapping methods.
As an example, RFID tags are installed at intervals of 1km, and the position of the center point of the track is set as longitude: 118 ° 32.5634', latitude: 32 ° 14.3534', height: 99.99 meters, then the format of the written label is:
longitude: 118 ° 32.5634'; latitude: 32 degree 14.3534' degree format, occupying 9 bytes
Height: 99.99 precision 2-bit decimal occupying 3 bytes
Then sent to the integrated navigation processing software through the serial port
$GGGGG，，3214.3534，，11832.5634，，，，，0099.99，，，，，
The RFID card reader (3) is arranged at a window on the side face of the train, and the height of the RFID card reader is approximately equal to that of the RFID radio frequency tag (4) on the tunnel wall. By way of example, the card reader mounted at the window employs a microstrip antenna, and may also be customized to a conformal antenna integral with the window.
Preferably, the RFID tag selected is an active device based on ultra-wideband technology, with response times on the order of milliseconds.
The train position information monitoring system (6) is a computer or a mobile phone, organically combines the fused information positioning data with the railway electronic map, and displays dynamic continuous real-time position information of the train in the tunnel.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present system has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the present system.
Claims (5)
1. A high-precision positioning system in a train tunnel based on RFID is characterized by comprising a multimode GNSS receiver (1), an inertia measurement unit (2), a data processing unit (5), an RFID radio frequency tag (4), an RFID card reader (3) and a train position information monitoring system (6); wherein the content of the first and second substances,
the multimode GNSS receiver (1) and the inertia measurement unit (2) are arranged on the train and used for outputting position information of the train;
the data processing unit performs information fusion on output information of the GNSS receiver (1) and the inertial measurement unit (2), adopts a combination result of the GNSS receiver (1) and the inertial measurement unit (2) in places with satellite signals, and performs information fusion on places without satellite signals, such as tunnels, by adopting the inertial measurement unit (2) and the RFID radio frequency tag (4), wherein position information corresponding to the RFID radio frequency tag is obtained through a lookup table;
the RFID radio frequency tag (4) is arranged on the wall of a tunnel and is provided with a barreled cover for limiting the radiation range of the tunnel, and position coordinates close to the central point of a track are written in the RFID radio frequency tag (4);
the RFID card reader (3) is arranged at a window on the side face of the train, and the height of the RFID card reader is approximately equal to that of the RFID radio frequency tag (4) on the tunnel wall;
the train position information monitoring system (6) is a computer or a mobile phone, organically combines the fused information positioning data with the railway electronic map, and displays dynamic continuous real-time position information of the train in the tunnel.
2. The RFID-based train in-tunnel high-precision positioning system according to claim 1, wherein the number of the RFID radio frequency tags (4) is more than two, and the RFID radio frequency tags are installed on the tunnel wall at certain intervals.
3. The RFID-based intra-tunnel high accuracy train positioning system of claim 1, wherein the location information comprises longitude, latitude and altitude coordinate information.
4. The RFID-based in-train-tunnel high-precision positioning system according to claim 1, wherein the GNSS receiver (1) is a high-precision receiver adopting a satellite-based augmentation technology.
5. The RFID-based in-train-tunnel high-precision positioning system according to claim 1, characterized in that the RFID radio frequency tag (4) is an active device based on ultra wide band technology, and the response time is in the order of milliseconds.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911014390.7A CN110687564A (en) | 2019-10-24 | 2019-10-24 | High-precision positioning system in train tunnel based on RFID |
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| CN201911014390.7A CN110687564A (en) | 2019-10-24 | 2019-10-24 | High-precision positioning system in train tunnel based on RFID |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256708A (en) * | 2020-02-17 | 2020-06-09 | 青岛黄海学院 | Vehicle-mounted integrated navigation method based on radio frequency identification |
| CN111785013A (en) * | 2020-04-27 | 2020-10-16 | 厦门硅田系统工程有限公司 | Method for judging and processing vehicle accidents in tunnel based on city perception microgrid |
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN116062008A (en) * | 2023-03-09 | 2023-05-05 | 北京全路通信信号研究设计院集团有限公司 | Railway dispatching positioning method and system |
-
2019
- 2019-10-24 CN CN201911014390.7A patent/CN110687564A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256708A (en) * | 2020-02-17 | 2020-06-09 | 青岛黄海学院 | Vehicle-mounted integrated navigation method based on radio frequency identification |
| CN111785013A (en) * | 2020-04-27 | 2020-10-16 | 厦门硅田系统工程有限公司 | Method for judging and processing vehicle accidents in tunnel based on city perception microgrid |
| CN111785013B (en) * | 2020-04-27 | 2021-10-01 | 厦门硅田系统工程有限公司 | Method for judging and processing vehicle accidents in tunnel based on city perception microgrid |
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN113063413B (en) * | 2021-02-19 | 2023-09-19 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN116062008A (en) * | 2023-03-09 | 2023-05-05 | 北京全路通信信号研究设计院集团有限公司 | Railway dispatching positioning method and system |
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