CN110871826B - Train positioning control system and method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
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- 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
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- 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
- B61L27/70—Details of trackside communication
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Abstract
The invention provides a train positioning control system and a method, wherein the train positioning control system comprises: a plurality of first ultra-wideband communication modules disposed at the station; the second ultra-wideband communication module is arranged on the train and is in wireless communication with the plurality of first ultra-wideband communication modules; and the calculating module is used for calculating the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules according to the signal transmission time difference between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules, and calculating the position coordinates of the train according to the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules. The train positioning control system and method provided by the embodiment of the invention can be used for accurately positioning the train, and are low in cost and simple to implement.
Description
Technical Field
The invention relates to the technical field of trains, in particular to a train positioning control system and method.
Background
In a conventional CBTC (Communication Based Train automatic Control System), a Train-mounted controller of a Train communicates with an active or passive transponder disposed on the ground to acquire current position information of the Train, and then calculates a deceleration and stop curve of the Train according to a current speed of the Train, thereby implementing accurate stop Control of the Train. Because the speed of the train and the parking brake system are not complete linear systems, the aim of accurate parking can be achieved by performing multiple times of calibration in the whole parking process. Each additional calibration point requires a corresponding additional transponder device, so that in order to improve the parking accuracy, more transponder devices need to be added, and each track line needs to be laid separately, resulting in an increase in construction cost. Furthermore, as the number of transponder devices increases, the subsequent maintenance costs also increase accordingly.
Disclosure of Invention
The object of the present invention is to solve at least to some extent one of the above mentioned technical problems.
Therefore, the first objective of the present invention is to provide a train positioning control system, which can accurately position a train, and has low cost and simple implementation.
The second objective of the present invention is to provide a train positioning control method.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a train positioning control system, including:
a plurality of first ultra-wideband communication modules disposed at the station;
the second ultra-wideband communication module is arranged on the train and is in wireless communication with the plurality of first ultra-wideband communication modules respectively;
and the calculation module is used for calculating the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules respectively according to the signal transmission time difference between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules, and calculating the position coordinate of the train according to the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
Optionally, the calculation module is specifically configured to:
receiving a first time when a ranging request sent by the second ultra-wideband communication module is received;
receiving a second time when the second ultra-wideband communication module receives a plurality of the first ultra-wideband communication modules responding to the ranging request;
and calculating the signal transmission time difference according to the first time and the second time.
Optionally, the calculation module is specifically configured to:
acquiring position coordinates of a plurality of first ultra-wideband communication modules;
and calculating the position coordinates of the train according to the position coordinates of the plurality of first ultra-wideband communication modules and the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
Optionally, the second ultra-wideband communication module is arranged at a head of the train.
Optionally, the number of the first ultra-wideband communication modules is three, the three first ultra-wideband communication modules are arranged on the platform, and the positions of the three first ultra-wideband communication modules are right triangles.
Optionally, the calculating module is further configured to:
receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication modules;
judging whether the distance between the first ultra-wideband communication modules changes or not, wherein the change amount is larger than a preset error;
and if the variable quantity is larger than the preset error, generating alarm information.
Optionally, the calculation module is specifically configured to: receiving a third time when the first ultra-wideband communication module sends a mutual ranging request;
receiving a fourth time when the first ultra-wideband communication module receives the response of other first ultra-wideband communication modules to the mutual ranging request;
calculating the mutual signal transmission time difference according to the third time and the fourth time;
and calculating the distance between the first ultra-wideband communication modules according to the mutual signal transmission time difference.
Optionally, the train is provided with a first transceiver module and a vehicle-mounted controller,
the calculation module is used for sending the position coordinates of the train to the first transceiver module;
the first transceiver module is used for sending the position coordinates of the train to the vehicle-mounted controller;
and the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
Optionally, a second transceiver module is arranged on the platform, a vehicle-mounted controller is arranged on the train, and the calculation module is configured to send the position coordinate of the train to the second transceiver module;
the second transceiver module is used for sending the position coordinates of the train to the vehicle-mounted controller;
and the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
The train positioning control system provided by the embodiment of the invention can be used for accurately positioning the train, and is low in cost and simple to realize. In order to achieve the above object, an embodiment of a second aspect of the present invention provides a train positioning control method, including:
respectively acquiring signal transmission time differences between a second ultra-wideband communication module and a plurality of first ultra-wideband communication modules;
respectively calculating the distances between the plurality of first ultra-wideband communication modules and the second ultra-wideband communication module according to the signal transmission time difference between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules;
and calculating the position coordinates of the train according to the distances between the first ultra-wideband communication modules and the second ultra-wideband communication modules.
Optionally, respectively obtaining the signal transmission time differences between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules includes:
receiving a first time when a ranging request sent by the second ultra-wideband communication module is received;
receiving a second time when the second ultra-wideband communication module receives a plurality of the first ultra-wideband communication modules responding to the ranging request;
and calculating the signal transmission time difference according to the first time and the second time.
Optionally, calculating the position coordinates of the train according to the distances between the plurality of first ultra-wideband communication modules and the second ultra-wideband communication modules includes:
acquiring position coordinates of a plurality of first ultra-wideband communication modules;
and calculating the position coordinates of the train according to the position coordinates of the plurality of first ultra-wideband communication modules and the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
Optionally, the method further comprises:
receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication modules;
judging whether the distance between the first ultra-wideband communication modules changes or not, wherein the change amount is larger than a preset error;
and if the variable quantity is larger than the preset error, generating alarm information.
Optionally, the receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication module, includes:
receiving a third time when the first ultra-wideband communication module sends a mutual ranging request;
receiving a fourth time when the first ultra-wideband communication module receives the response of other first ultra-wideband communication modules to the mutual ranging request;
calculating the mutual signal transmission time difference according to the third time and the fourth time;
and calculating the distance between the first ultra-wideband communication modules according to the mutual signal transmission time difference.
Optionally, the method further comprises:
and sending the position coordinate of the train to a vehicle-mounted controller in a wired or wireless mode, so that the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
The train positioning control method provided by the embodiment of the invention can be used for accurately positioning the train, and is low in cost and simple to implement.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block diagram of a train positioning control system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an effect of a first ultra-wideband communication module disposed at a station according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a distance measurement principle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of coordinate system ranging with a station entry starting point as an origin of a coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a coordinate system ranging with a first ultra-wideband communication module B as an origin of the coordinate system according to an embodiment of the present invention;
fig. 6 is a block diagram of a train positioning control system according to another embodiment of the present invention;
fig. 7 is a block diagram of a train positioning control system according to another embodiment of the present invention;
fig. 8 is a flowchart of a train positioning control method according to an embodiment of the present invention;
fig. 9 is a flowchart of a train positioning control method according to another embodiment of the present invention;
fig. 10 is a flowchart of a train positioning control method according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A train positioning control system and method according to an embodiment of the present invention will be described below with reference to the drawings.
Fig. 1 is a block diagram of a train positioning control system according to an embodiment of the present invention.
As shown in fig. 1, the train positioning control system includes a plurality of first ultra-wideband communication modules 110, a plurality of second ultra-wideband communication modules 120, and a calculation module 130.
A plurality of first ultra-wideband communication modules 110 are disposed on the station. The number of the first ultra-wideband communication modules 110 can be set according to actual requirements, and if the requirement on the positioning accuracy is high, the number of the first ultra-wideband communication modules 110 is correspondingly increased; if low cost is required, the number of the first ultra-wideband communication modules 110 can be reduced on the basis of ensuring the positioning accuracy.
In one embodiment of the present invention, the number of first ultra-wideband communication modules 110 is set to three. The three first ultra-wideband communication modules are arranged on the platform beside the track, and the positions of the three first ultra-wideband communication modules are in a right-angled triangle shape. As shown in fig. 2, a connection line between the first ultra-wideband communication module a and the first ultra-wideband communication module B is perpendicular to the track of the platform; the connecting line between the first ultra-wideband communication module B and the first ultra-wideband communication module C is parallel to the track of the platform. And the distance between them should not be less than 3 meters. The minimum scale of the clock is 10 nanoseconds, the speed of signal transmission is 299792458 meters/second, and the distance obtained by multiplying the speed by the time is approximately equal to 3 meters. If the distance is less than 3 meters, the precision of the clock cannot be achieved, and a ranging blind area can be generated. Therefore, to avoid blind areas, the distance between the first ultra-wideband communication modules should be greater than 3 meters.
The second ultra-wideband communication module 120 is disposed on the train, and the second ultra-wideband communication module 120 can perform wireless communication with the plurality of first ultra-wideband communication modules 110, respectively.
In one embodiment of the present invention, the second ultra-wideband communication module 120 may be disposed at a head portion of the train.
A calculating module 130, configured to calculate distances between the second ultra-wideband communication module 120 and the plurality of first ultra-wideband communication modules 110 according to the signal transmission time differences between the second ultra-wideband communication module 120 and the plurality of first ultra-wideband communication modules 110, and calculate position coordinates of the train according to the distances between the second ultra-wideband communication module 120 and the plurality of first ultra-wideband communication modules 110. The calculation module 130 may be disposed on the train as shown in fig. 1, or may be disposed on the platform (ground).
Specifically, a first time when the second ultra-wideband communication module 120 sends a ranging request may be received, and then a second time when the second ultra-wideband communication module 120 receives a plurality of first ultra-wideband communication modules 110 responding to the ranging request may be received, and a signal transmission time difference may be calculated according to the first time and the second time. Since the sent ranging request is a pulse signal, the speed can be considered as the speed of light. Therefore, the speed of light is known, and the time is the signal transmission time difference, so the distances between the second ultra-wideband communication module 120 and the plurality of first ultra-wideband communication modules 110 are calculated respectively.
Next, the position coordinates of the plurality of first ultra-wideband communication modules 110 are preset and thus known. The location coordinates of the train can be calculated in combination with the distances between the second ultra-wideband communication module 120 and the plurality of first ultra-wideband communication modules 110.
Specifically, the distance between the second ultra-wideband communication module 120 and the plurality Of first ultra-wideband communication modules 110 is measured by TW-TOF (Two Way-Time Of Light). The TW-TOF principle is as follows: as shown in fig. 3, each UWB (Ultra wide band) communication module generates a separate timestamp when it is started. The UWB communication module a transmits a request pulse signal at Ta1 on the local time stamp, and the UWB communication module B receives the pulse signal at Tb1 on the local time stamp. After the UWB communication module B has processed the data, a response signal is transmitted at time Tb2 on the local time stamp, and the UWB communication module a receives the response signal at time Ta2 on the local time stamp. And calculating the distance between the UWB communication module A and the UWB communication module B according to the signal transmission time difference.
For example, as shown in fig. 4, suppose that three first ultra-wideband communication modules 110, A, B, C respectively, are disposed on a platform, and a second ultra-wideband communication module 121 disposed on a train is P. Then, distances L1, L2, L3 between P and A, B, C, respectively, can be measured using the TW-TOF principle. In this example, the second ultra-wideband communication module 121 actively sends out a request periodically, and the first ultra-wideband communication module 110 at the station responds to the request. The coordinates of a disposed on the docking station are known as (X1, Y1, Z1), the coordinates of B are known as (X2, Y2, Z2), and the coordinates of C are known as (X3, Y3, Z3), and the coordinates of P (X, Y, Z) can be calculated by using equations 1-3 in conjunction with the measured distances L1, L2, and L3.
Equation 1: l12＝(X-X1)2+(Y-Y1)2+(Z-Z1)2
Equation 2: l22＝(X-X2)2+(Y-Y2)2+(Z-Z2)2
Equation 3: l32＝(X-X3)2+(Y-Y3)2+(Z-Z3)2
The three-dimensional coordinate system of this embodiment uses the central line of the track as the y-axis, the center of the earth upward as the z-axis, the direction perpendicular to the yz-plane as the x-axis, and the station entry starting point as the origin O of the coordinate system.
In order to simplify the calculation, a coordinate system may be further established as shown in fig. 5, that is, the first ultra-wideband communication module B is used as an origin of the coordinate system, a connection line between the first ultra-wideband communication module B and the first ultra-wideband communication module C is a y-axis, a connection line between the first ultra-wideband communication module B and the first ultra-wideband communication module a is an x-axis, and a center of the earth is a z-axis. Thus, the coordinates of a may be (X1, 0, 0), the coordinates of B may be (0, 0, 0), and the coordinates of C may be (0, Y3, 0), thereby reducing the amount of calculation.
Different from the transponder equipment laid on each track line in the prior art, the embodiment only arranges the first ultra-wideband communication module on the platform, so that the train running on a plurality of track lines can be positioned, and the cost is saved. The ultra-wideband communication module and the transponder are different in positioning mode, and the transponder reports the preset position information to complete train positioning; the ultra-wideband communication module measures distance through TW-TOF and calculates the position coordinates of the train. Compared with the situation that the train can report the position only through the transponder device, the ultra-wideband communication module can realize real-time positioning, provide real-time position information for the train and realize more accurate control.
In addition, the calculating module 130 may be further configured to receive a distance between the first ultra-wideband communication modules 110, which is periodically detected by the first ultra-wideband communication module 110, and then determine whether the distance between the first ultra-wideband communication modules 110 changes, where the change is greater than a preset error. And if the variable quantity is larger than the preset error, generating alarm information. In order to prevent the first ultra-wideband communication module 110 of the station from being moved for an uncertain reason, the coordinate position is changed, and the positioning result is affected. The first ultra-wideband communication modules 110 may periodically perform ranging to detect a distance therebetween. Once the change in distance between each other is found to exceed the allowable error value, it may be determined that there is a change in the position of the first ultra-wideband communication module 110, and alarm information may be generated. Then, sending alarm information to a train control center to remind maintenance personnel of correcting the position coordinates; meanwhile, the running train can be informed that the current ranging result is not credible, so that the running safety of the train is ensured.
The method in which the regularly detected first ultra-wideband communication modules 110 are at a distance from each other is also measured using the TW-TOF. That is, each of the first ultra-wideband communication modules 110 is embedded with a micro-control chip, and the micro-control chip can control the first ultra-wideband communication modules 110 to periodically transmit pulse signals so as to detect and obtain the distance between them.
Specifically, a third time when the first ultra-wideband communication module 110 issues a mutual ranging request may be received, and then a fourth time when the first ultra-wideband communication module 110 receives other first ultra-wideband communication modules 110 responding to the mutual ranging request may be received. And calculating the mutual signal transmission time difference according to the third time and the fourth time, and finally calculating the distance between the first ultra-wideband communication modules according to the mutual signal transmission time difference.
According to the train positioning control system provided by the embodiment of the invention, the plurality of first ultra-wideband communication modules arranged on the platform are communicated with the second ultra-wideband communication module arranged in the positioning equipment on the train, the distance between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules is obtained through measurement, and the position coordinate of the train is calculated according to the distance, so that the train can be accurately positioned, the cost is low, and the implementation is simple.
In another embodiment of the present invention, as shown in fig. 6, the system may further include a first transceiver module 140 and an on-board controller 150.
The first transceiver module 140 and the onboard controller 150 are disposed on the train, and connect the first transceiver module 140 and the onboard controller 150.
In this embodiment, the computing module 130 is disposed on the train and is connected to the second ultra-wideband communication module 120 and the first transceiver module 140, respectively. The calculation module 130 may transmit the position coordinates of the train to the first transceiver module 140. The first transceiver module 140 then forwards the position coordinates of the train to the on-board controller 150. Finally, the onboard controller 150 can control the train to enter and stop according to the position coordinates of the train.
In yet another embodiment of the present invention, as shown in fig. 7, the system may further include a second transceiver module 160.
Wherein the second transceiver module 160 is installed on the ground (platform).
In this embodiment, the calculation module 130 is disposed on the ground (platform) and is connected to the first ultra-wideband communication module 110 and the second transceiver module 160, respectively. The calculation module 130 may send the position coordinates of the train to the second transceiver module 160, and the second transceiver module 160 forwards the position coordinates of the train to the on-board controller 150. Finally, the onboard controller 150 can control the train to enter and stop according to the position coordinates of the train.
It should be noted that the two embodiments are different only in that the first one is to arrange the computing module 130 on the train, and the second one is to arrange the computing module 130 on the ground (platform). When the calculation module 130 is disposed on the ground, the first ultra-wideband communication module 110 is controlled by the calculation module 130 in a unified manner, and sends out ranging requests one by one in a time division multiplexing manner. The second ultra-wideband communication module 120 on the train may respond to the ranging request when the train enters within the valid signal range of the first ultra-wideband communication module 110. The specific distance measurement principle and the positioning principle are completely the same as those of the previous embodiment, and the description of this embodiment is omitted. In the embodiment, the train is accurately positioned by the plurality of first ultra-wideband communication modules 110 arranged at the platform, and then the train is accurately controlled to enter the station and stop by the vehicle-mounted controller 150, so that the stability and safety of train operation are ensured.
In order to implement the embodiment, the invention further provides a train positioning control method, and the method is applied to the computing module. The computing module can be arranged on the ground or on a train.
Fig. 8 is a flowchart of a train positioning control method according to an embodiment of the present invention.
As shown in fig. 8, the train positioning control method includes:
s801, respectively acquiring signal transmission time differences between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
Specifically, a first time when a ranging request sent by a second ultra-wideband communication module is received, a second time when the second ultra-wideband communication module receives a plurality of first ultra-wideband communication modules responding to the ranging request is received, and a signal transmission time difference is calculated according to the first time and the second time.
S802, respectively calculating the distances between the plurality of first ultra-wideband communication modules and the second ultra-wideband communication module according to the signal transmission time difference between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
The first ultra-wideband communication modules are arranged on the platform, and the second ultra-wideband communication modules are arranged on the train.
And S803, calculating the position coordinates of the train according to the distances between the plurality of first ultra-wideband communication modules and the plurality of second ultra-wideband communication modules.
Specifically, position coordinates of a plurality of first ultra-wideband communication modules may be acquired, and then the position coordinates of the train may be calculated according to the position coordinates of the plurality of first ultra-wideband communication modules and distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
It should be noted that the foregoing explanation of the train positioning control system is also applicable to the train positioning control method in the embodiment of the present invention, and details not disclosed in the embodiment of the present invention are not repeated herein.
According to the train positioning control method, the plurality of first ultra-wideband communication modules arranged on the platform are communicated with the second ultra-wideband communication module arranged on the train, the distance between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules is obtained through measurement, the position coordinate of the train is calculated according to the distance, the train can be accurately positioned, the cost is low, and the method is easy to implement.
In another embodiment of the present invention, as shown in fig. 9, the train positioning control method further includes:
s804, the position coordinates of the train are sent to the vehicle-mounted controller in a wired or wireless mode, so that the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinates of the train.
It should be noted that the foregoing explanation of the train positioning control system is also applicable to the train positioning control method in the embodiment of the present invention, and details not disclosed in the embodiment of the present invention are not repeated herein.
This embodiment is through setting up the accurate location of a plurality of first ultra wide band communication modules at the platform to the train, and then advances to stop to the train through on-vehicle controller and carry out accurate control, has guaranteed the steady and the safety of train operation.
In another embodiment of the present invention, as shown in fig. 10, the train positioning control method further includes:
and S805, receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication modules.
Specifically, a third time when a mutual ranging request sent by a first ultra-wideband communication module is received, a fourth time when the first ultra-wideband communication module receives other first ultra-wideband communication modules responding to the mutual ranging request is received, a mutual signal transmission time difference is calculated according to the third time and the fourth time, and finally, a distance between the first ultra-wideband communication modules can be calculated according to the mutual signal transmission time difference.
S806, judging whether the distance between the first ultra-wideband communication modules changes or not, wherein the change amount is larger than a preset error.
And S807, if the variation is larger than the preset error, generating alarm information.
In order to prevent the first ultra-wideband communication module of the station from being moved due to uncertain reasons, the coordinate position is changed, and the positioning result is influenced. The first ultra-wideband communication modules can be used for ranging regularly to detect the distance between the first ultra-wideband communication modules. Once the change of the distance between the first ultra-wideband communication module and the second ultra-wideband communication module exceeds the allowable error value, the change of the position of the first ultra-wideband communication module can be determined, and alarm information can be generated. Then, sending alarm information to a train control center to remind maintenance personnel of correcting the position coordinates; meanwhile, the running train can be informed that the current ranging result is not credible, so that the running safety of the train is ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A train positioning control system, comprising:
a plurality of first ultra-wideband communication modules disposed at the station;
the second ultra-wideband communication module is arranged on the train and is in wireless communication with the plurality of first ultra-wideband communication modules respectively;
the calculation module is used for calculating the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules according to the signal transmission time difference between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules, and calculating the position coordinates of the train according to the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules;
wherein the calculation module is specifically configured to:
receiving a first time when a ranging request sent by the second ultra-wideband communication module is received;
receiving a second time when the second ultra-wideband communication module receives a plurality of the first ultra-wideband communication modules responding to the ranging request;
calculating the signal transmission time difference according to the first time and the second time;
the computing module is further configured to:
receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication modules;
judging whether the distance between the first ultra-wideband communication modules changes or not and whether the change quantity is larger than a preset error or not;
and if the variable quantity is larger than the preset error, generating alarm information.
2. The system of claim 1, wherein the computing module is specifically configured to:
acquiring position coordinates of a plurality of first ultra-wideband communication modules;
and calculating the position coordinates of the train according to the position coordinates of the plurality of first ultra-wideband communication modules and the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
3. The system of claim 1, wherein the second ultra-wideband communication module is disposed at a head of the train.
4. The system of claim 1, wherein the number of the first ultra-wideband communication modules is three, three of the first ultra-wideband communication modules are disposed on the docking station, and the three of the first ultra-wideband communication modules are positioned in a right triangle.
5. The system of claim 1, wherein the computing module is specifically configured to: receiving a third time when the first ultra-wideband communication module sends a mutual ranging request;
receiving a fourth time when the first ultra-wideband communication module receives the response of other first ultra-wideband communication modules to the mutual ranging request;
calculating a mutual signal transmission time difference according to the third time and the fourth time;
and calculating the distance between the first ultra-wideband communication modules according to the mutual signal transmission time difference.
6. The system of claim 1, wherein a first transceiver module and an onboard controller are provided on the train,
the calculation module is used for sending the position coordinates of the train to the first transceiver module;
the first transceiver module is used for sending the position coordinates of the train to the vehicle-mounted controller;
and the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
7. The system of claim 1, wherein a second transceiver module is disposed on said platform, an on-board controller is disposed on said train,
the calculation module is used for sending the position coordinates of the train to the second transceiver module;
the second transceiver module is used for sending the position coordinates of the train to the vehicle-mounted controller;
and the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
8. A train positioning control method is characterized by comprising the following steps:
respectively acquiring signal transmission time differences between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules;
respectively calculating the distances between a plurality of first ultra-wideband communication modules and a plurality of second ultra-wideband communication modules according to the signal transmission time difference between the second ultra-wideband communication modules and the plurality of first ultra-wideband communication modules;
calculating the position coordinates of the train according to the distances between the first ultra-wideband communication modules and the second ultra-wideband communication modules;
wherein, respectively obtain the signal transmission time difference between the second ultra-wideband communication module and a plurality of the first ultra-wideband communication modules, include:
receiving a first time when a ranging request sent by the second ultra-wideband communication module is received;
receiving a second time when the second ultra-wideband communication module receives a plurality of the first ultra-wideband communication modules responding to the ranging request;
calculating the signal transmission time difference according to the first time and the second time;
further comprising:
receiving the distance between the first ultra-wideband communication modules, which is periodically detected by the first ultra-wideband communication modules;
judging whether the distance between the first ultra-wideband communication modules changes or not and whether the change quantity is larger than a preset error or not;
and if the variable quantity is larger than the preset error, generating alarm information.
9. The method of claim 8, wherein calculating the location coordinates of the train from the distances between the plurality of first ultra-wideband communication modules and the second ultra-wideband communication module comprises:
acquiring position coordinates of a plurality of first ultra-wideband communication modules;
and calculating the position coordinates of the train according to the position coordinates of the plurality of first ultra-wideband communication modules and the distances between the second ultra-wideband communication module and the plurality of first ultra-wideband communication modules.
10. The method of claim 8, wherein receiving the distance of the first ultra-wideband communication modules from each other that the first ultra-wideband communication modules periodically detect comprises:
receiving a third time when the first ultra-wideband communication module sends a mutual ranging request;
receiving a fourth time when the first ultra-wideband communication module receives the response of other first ultra-wideband communication modules to the mutual ranging request;
calculating a mutual signal transmission time difference according to the third time and the fourth time;
and calculating the distance between the first ultra-wideband communication modules according to the mutual signal transmission time difference.
11. The method of claim 8, further comprising:
and sending the position coordinate of the train to a vehicle-mounted controller in a wired or wireless mode, so that the vehicle-mounted controller is used for controlling the train to enter the station and stop according to the position coordinate of the train.
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| CN201811027503.2A CN110871826B (en) | 2018-09-04 | 2018-09-04 | Train positioning control system and method |
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| CN111391895B (en) * | 2020-03-27 | 2021-11-30 | 湖南中车时代通信信号有限公司 | Train parking control method, device and system |
| CN111645723A (en) * | 2020-06-10 | 2020-09-11 | 北交智慧科技有限公司 | Parking assist system and parking assist method |
| CN111559412A (en) * | 2020-06-18 | 2020-08-21 | 中车株洲电力机车有限公司 | Locomotive benchmarking method and locomotive benchmarking system based on UWB positioning |
| CN111880142B (en) * | 2020-08-10 | 2023-05-09 | 北京天润海图科技有限公司 | Vehicle positioning method and device |
| CN115339486B (en) * | 2022-08-18 | 2024-03-19 | 青岛海信微联信号有限公司 | Method, device and system for determining train envelope |
| CN115339487A (en) * | 2022-08-18 | 2022-11-15 | 青岛海信微联信号有限公司 | Train positioning method and equipment |
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