CN111224710A - Virtual transponder capturing method and system based on satellite space distribution inspection - Google Patents

Virtual transponder capturing method and system based on satellite space distribution inspection Download PDF

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CN111224710A
CN111224710A CN202010022929.XA CN202010022929A CN111224710A CN 111224710 A CN111224710 A CN 111224710A CN 202010022929 A CN202010022929 A CN 202010022929A CN 111224710 A CN111224710 A CN 111224710A
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satellite
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virtual transponder
transponder
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CN111224710B (en
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刘江
蔡伯根
王剑
陆德彪
上官伟
姜维
柴琳果
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Beijing Jiaotong University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • 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
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

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Abstract

The invention provides a virtual transponder capturing method and a virtual transponder capturing system based on satellite space distribution inspection, wherein the virtual transponder capturing method comprises the steps of firstly establishing a virtual transponder basic database, then obtaining the current position and the running state of a train according to satellite navigation, and predicting a target virtual transponder to be captured and pre-capturing trigger time according to the basic database; and calculating a visible satellite spatial distribution characteristic value and a predicted value in real time from the pre-capturing trigger moment, estimating a satellite spatial distribution reference value according to the basic database, judging the capturing state of a target virtual responder to be captured according to the satellite spatial distribution characteristic value, the characteristic value predicted value and the reference value, determining the capturing moment, correcting the current position of the train and updating the basic database of the virtual responder. The method overcomes the limitation of implementing capture space analysis starting from a positioning domain, improves the capture precision and real-time performance of the virtual transponder, and can effectively support the design, development and equipment manufacturing of a novel train control system.

Description

Virtual transponder capturing method and system based on satellite space distribution inspection
Technical Field
The invention belongs to the field of rail transit train operation control, and particularly relates to a virtual transponder capturing method and a virtual transponder capturing system based on satellite space distribution inspection.
Background
With the development of cities, rail transit plays an increasingly important role in cities and communication among cities. In the operation process of the rail transit system, the train operation control system is a control center for determining the train operation safety and improving the transportation efficiency. The train control system comprises a trackside part and a vehicle-mounted part, and realizes the positioning and control of the train through the communication between trackside equipment and vehicle-mounted equipment. In order to improve the positioning precision of the train, a large number of transponders need to be arranged along the railway line, and the increase of the number of the transponders also increases the cost and the later maintenance difficulty of the system. Therefore, the international railway consortium (UIC) has proposed a Virtual transponder (VB) based on a Global Navigation Satellite System (GNSS), which introduces a Satellite positioning technology into a novel train control System to replace the conventional trackside transponder device.
The virtual transponder can effectively ensure compatibility between a train positioning and control mode and a conventional system mode. The satellite positioning terminal detects the position of the train and the position relation between the train and the front target virtual transponder in real time, triggers the internal logic of the vehicle-mounted equipment at the moment when the train passes through the position of the virtual transponder, extracts the information of the virtual transponder, and adopts an interface and an information structure consistent with a real transponder to realize the functions of position correction and transponder message transmission. In the process, how to accurately identify the 'passing' behavior of the train to the position of the virtual transponder, namely capturing the target virtual transponder, is a key condition for triggering the function of the virtual transponder in time.
In the prior art, a conventional virtual transponder capturing scheme usually adopts a distance judgment principle based on a fixed capturing radius or estimates a spatial approach relationship between a train and a virtual transponder by combining a positioning process, but the scheme does not fully consider core characteristics of the virtual transponder based on satellite positioning, cannot fully exert the advantages and application potentials of navigation satellite observation information, and limits the capturing precision and application efficiency of the virtual transponder.
Disclosure of Invention
The embodiment of the invention aims to solve the problems of low positioning precision and low efficiency of a virtual transponder, and provides a virtual transponder capturing method and a virtual transponder capturing system based on satellite space distribution inspection.
In order to achieve the above object, the present invention adopts the following technical solutions.
In a first aspect, an embodiment of the present invention provides a virtual transponder acquisition method based on satellite spatial distribution inspection, where the virtual transponder acquisition method includes the following steps:
step S1, collecting data of the target track circuit to establish a virtual responder basic database;
step S2, acquiring the coordinate position of the current running train according to the satellite navigation information, calculating the running state information of the train, extracting the information related to the current running train in the virtual transponder basic database, and predicting the target virtual transponder to be captured and the pre-capturing trigger time;
step S3, extracting the observation information of the navigation satellite in real time from the pre-capturing trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the pre-measured value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
step S4, extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
step S5, judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
and step S6, sending position correction information at the capturing time of the target virtual transponder to be captured, correcting the current position of the train according to the position correction information, and updating the basic database of the virtual transponder.
As a preferred embodiment of the present invention, the data in the virtual transponder basic database in step S1 is track route space data, along-line terrain environment data, virtual transponder state sequence, virtual transponder space data; wherein the content of the first and second substances,
the track line space data is used for storing the related information of a plurality of line key points and comprises line key point numbers PindexRoute key point mileage S (P)index) Line key point three-dimensional coordinate position (L)index,Bindex,Hindex) Line number N (P) of the lineindex) Attribute of key point of line U (P)index) Running direction D (P)index) Wherein, subscript index represents a line key point label;
data of terrain environment along the line as key point of the line in a predetermined direction W (P)index) The boundary (A) of the terrain shielded areaU(Pindex),AD(Pindex) Wherein, W (P)index) Representing by a line key point PindexAzimuthal angle of center, and W (P)index)∈[0°,360°]，AU(Pindex)、AD(Pindex) Respectively upper bound of visual elevation angleAnd a lower bound;
the virtual responder state sequence comprises a target line index number N and a direction flag bit DNVirtual responder number biVirtual responder capture state Acq (i, D)N)；
The virtual transponder space data includes a virtual transponder number biVirtual responder mileage SiVirtual responder three-dimensional coordinate position (L)i,Bi,Hi)。
As a preferred embodiment of the present invention, the step S2 specifically includes the following steps:
step S21, combining the real-time observation information obtained by the satellite positioning receiver and the auxiliary positioning sensor at the current t moment, calculating the three-dimensional space position of the train in current operation
Figure BDA0002361443530000031
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure BDA0002361443530000032
Step S22, extracting the track line space data in the virtual transponder basic database according to the current running data of the train, and calculating the current running mileage S (t) of the train;
step S23, estimating the longitudinal running speed of the current position track of the train by using the current running mileage S (t) of the train and the running mileage S (t-tau) of the last positioning calculation period
Figure BDA0002361443530000033
Predicting the running mileage of the train at the following m moments
Figure BDA0002361443530000041
Wherein τ is a preset calculation cycle duration, k is 1,2, …, m is a maximum detection step length;
step S24, according to the current train running direction D (t), extracting the virtual responder state sequence in the virtual responder basic database, and determining the direction to be caughtObtain the number b of the target virtual responderj；
Step S25, according to the number b of the target virtual responder to be capturedjExtracting corresponding virtual responder space data and determining target virtual responder mileage SjWhen the forward detection at the maximum detection step length m at the time t satisfies the formula (1):
Figure BDA0002361443530000042
wherein HcapOne-dimensional pre-capture radius for the virtual transponder;
predicting the current time t as the pre-capture trigger time of the target virtual responder to be captured
Figure BDA0002361443530000043
As a preferred embodiment of the present invention, the step S3 specifically includes the following steps:
step S31, self-pre-capture trigger time
Figure BDA0002361443530000044
Next time period of
Figure BDA0002361443530000045
Initially, the number n of visible satellites observed by the current navigation satellite and the satellite identification number lambda are extracted from the satellite positioning receiver in real time in each periodnSatellite elevation angle phinSatellite azimuth angle omeganAnd navigation satellite ephemeris data;
step S32, according to the number n of the visible satellites observed by the current navigation satellite and the satellite identification number lambdanSatellite elevation angle phinSatellite azimuth angle omeganAnd the navigation satellite ephemeris data, and calculating a current time visible satellite space distribution characteristic value through an equation (2):
Figure BDA0002361443530000046
in formula (2), the subscript σ represents time, FβIs the β th diagonal element of the visible satellite space feature matrix F, where F is (M)TM)-1And the M matrix is calculated by equation (3):
Figure BDA0002361443530000051
step S33, extracting track line space data, and using the predicted value of the travel distance operated at the following α (α is not more than m) moments
Figure BDA0002361443530000052
Calculating the predicted value of the three-dimensional space position of the train at the subsequent time
Figure BDA0002361443530000053
Step S34, calculating the satellite elevation angle predicted value of n navigation satellites at the following α moments by adopting the ephemeris data of the navigation satellites
Figure BDA0002361443530000054
Satellite azimuth prediction
Figure BDA0002361443530000055
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment by adopting the formula (2)
Figure BDA0002361443530000056
As a preferred embodiment of the present invention, the step S4 specifically includes the following steps:
step S41, in the next time period of the pre-capture trigger time
Figure BDA0002361443530000057
At the moment, extracting the three-dimensional space position of the target virtual transponder to be captured from the space data of the virtual transponder and the terrain environment data along the line
Figure BDA0002361443530000058
And topographic shading area boundary information;
step S42, combining the ephemeris data of the navigation satellites, calculating the number of visible satellites with the elevation angle greater than 0 at the current time sigma and the subsequent α times of the nearest virtual transponder ahead in real time in each period
Figure RE-GDA00024417260400000513
Figure RE-GDA00024417260400000514
And each moment of time
Figure RE-GDA00024417260400000515
Satellite identification number of satellite
Figure RE-GDA00024417260400000516
And the position in three-dimensional space
Figure RE-GDA00024417260400000518
The subscript u indicates the satellite serial number,
Figure RE-GDA00024417260400000517
and further calculating the elevation angle of the visible satellite of the target virtual transponder to be captured at each moment
Figure RE-GDA0002441726040000059
Azimuth angle
Figure RE-GDA00024417260400000510
Step S43, combining the boundary information of the terrain shielding area of the position area where the target virtual transponder is located, reducing the visible satellite data according to the elevation angle condition, and removing the satellite information which does not satisfy the formula (4):
Figure BDA00023614435300000511
wherein the content of the first and second substances,
Figure BDA00023614435300000512
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure BDA00023614435300000513
Or the lower bound and the upper bound of the satellite visual elevation under the condition of the most adjacent azimuth characteristic value;
step S44, using the reduced
Figure BDA0002361443530000061
The elevation angle and the azimuth angle information of the particle satellite,
Figure BDA0002361443530000062
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure BDA0002361443530000063
Reference value of spatial distribution of particle satellite
Figure BDA0002361443530000064
As a preferred embodiment of the present invention, the step S5 specifically includes the following steps:
step S51, at
Figure BDA0002361443530000065
At the moment, the satellite identification number [ lambda ] actually observed by the satellite positioning receivernObservable with the target virtual transponder to be captured
Figure BDA0002361443530000066
Satellite identification number
Figure BDA0002361443530000067
For comparison, when equation (5) is satisfied:
Figure BDA0002361443530000068
proceeding to step S52; if the condition of the formula (5) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
step S52, comparing the current time visual satellite space distribution characteristic value
Figure BDA0002361443530000069
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure BDA00023614435300000610
When formula (6) is satisfied:
Figure BDA00023614435300000611
proceeding to step S53; if the condition of the formula (6) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
wherein the content of the first and second substances,
Figure BDA00023614435300000612
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure BDA00023614435300000613
The correction value theta is a similarity threshold of satellite space distribution characteristic values;
step S53, calculating extreme values of deviation amounts between the elevation angle and the azimuth angle of n actual observation satellites at the current time σ and the prediction result of the target virtual transponder visible satellites, and when equations (7) and (8) are satisfied simultaneously:
Figure BDA00023614435300000614
Figure BDA00023614435300000615
proceeding to step S54; if the conditions of the formula (7) and the formula (8) cannot be met at the same time, the capturing judgment of the target virtual responder is not carried out at the current moment;
wherein L isφ、LωRespectively as satellite elevation angle and azimuth angle deviation thresholds;
step S54, comparing the extreme value of the deviation amount between the elevation angle and the azimuth angle of the actual observation satellite and the predicted result of the visible satellite of the target virtual transponder at the current time sigma and the subsequent α times n, when the formula (9) or (10) is satisfied:
Figure BDA0002361443530000071
Figure BDA0002361443530000072
proceeding to step S55; if the condition of the formula (9) or the formula (10) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
in step S55, it is determined that the current time σ is the number bjTarget virtual transponder of (1)cap＝σ。
As a preferred embodiment of the present invention, the step S6 specifically includes the following steps:
step S61, extracting the three-dimensional coordinate position (L) of the captured target virtual transponderj,Bj,Hj) Cheng stroke SjThe train position correction information is sent to a train position calculation module and provides position correction information at the current moment for a data fusion calculation processing process;
step S62, modifying the capture state Acq (b) of the target virtual transponder at the capture time of the target virtual transponderj,DN) Updating a virtual transponder state sequence in a virtual transponder base database for the captured;
step S63, along the actual running direction of the train, selecting the virtual transponder nearest to the front of the target virtual transponder as the target virtual transponder to be captured in the subsequent running process of the system, and updating the serial number b of the virtual transponder to be capturedj+1。
In a second aspect, an embodiment of the present invention further provides a virtual transponder acquisition system based on satellite spatial distribution inspection, where the virtual transponder acquisition system based on satellite spatial distribution inspection specifically includes: the system comprises a vehicle-mounted subsystem and a central subsystem, wherein data and information are transmitted between the vehicle-mounted subsystem and the central subsystem through wireless communication; wherein:
the vehicle-mounted subsystem is used for:
collecting data of a target track line to establish a virtual responder basic database;
acquiring the coordinate position of the current running of the train according to the satellite navigation information, calculating train running state information, extracting information related to the current running train in the virtual transponder basic database, and predicting a target virtual transponder to be captured and pre-capturing trigger time;
extracting the observation information of the navigation satellite in real time from the pre-capture trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
sending position correction information at the capturing moment of the target virtual responder to be captured, wherein the position correction information is used for correcting the current train position and updating a basic database of the virtual responder;
the central subsystem is used for storing, managing and maintaining the virtual transponder base database.
As a preferred embodiment of the present invention, the vehicle-mounted subsystem includes:
the positioning information acquisition module is used for receiving original observation information of the vehicle-mounted satellite positioning receiver and the auxiliary positioning sensor in real time, finishing the time-space alignment and format conversion of source data of different sensors and providing positioning observation data in a standard format for the train position calculation module;
the train position calculation module is used for performing fusion calculation by adopting the positioning observation data provided by the positioning information acquisition module, determining the three-dimensional coordinate position, the three-dimensional space position, the running direction, the line number and the running mileage of the train in running, and diagnosing the credibility of the fusion calculation result in real time;
the virtual transponder basic data storage module is used for receiving, storing, verifying and updating basic database information of the virtual transponder, and comprises track line space data, terrain environment data along the track, a virtual transponder state sequence and virtual transponder space data;
the virtual responder capturing module is used for extracting the calculation result of the train position calculation module and the data contained in the virtual responder basic data storage module, identifying a target virtual responder to be captured, judging the capturing state based on the navigation satellite space distribution test, determining the capturing moment of the target virtual responder, and feeding back update information to the train position calculation module, the virtual responder interface module and the virtual responder basic data storage module;
the virtual responder interface module is used for an interface between the virtual responder capturing module and the virtual responder message module and providing a message trigger signal and captured virtual responder information for the virtual responder message module at the capturing moment of the target virtual responder;
the wireless communication module is used for implementing information transmission with a central subsystem of the virtual responder capturing system to complete downloading, checking and updating of a basic database of the virtual responder;
the central subsystem comprises:
the virtual responder data storage server is used for storing various virtual responder data according to the on-site acquisition, updating and processing results of the relevant basic data of the virtual responder;
the virtual responder data management terminal is used for performing upper management, operation and maintenance on data contained in the virtual responder data storage server, updating the data contained in the virtual responder data storage server in time under the condition that basic data of a field virtual responder is changed and adjusted, and completing synchronization, check and update of a vehicle-mounted subsystem and a central subsystem virtual responder database at the train departure, vehicle-mounted subsystem restart and vehicle-mounted subsystem maintenance stages;
the virtual responder data monitoring and diagnosing terminal is used for monitoring the state of the virtual responder data storage server and the contained virtual responder data in real time in an operation stage and a maintenance stage, automatically diagnosing when software and hardware faults, data abnormity and the like of the server occur, and providing indication information for the virtual responder data management terminal;
and the wireless communication server is used for establishing stable wireless connection with the vehicle-mounted subsystem of the virtual transponder capturing system carried by each train to complete synchronization, check and update of the basic database of the virtual transponder.
According to the technical scheme provided by the embodiment of the invention, the original observation information of the positioning calculation result obtained by the satellite positioning receiver is fully utilized, the characteristic quantity based on the navigation satellite spatial distribution is constructed and is compared with the satellite observation characteristic which can be achieved by the virtual transponder in real time, so that the capturing time is determined by utilizing the correlation of the observation characteristic quantity, the limitation that the space judgment analysis is carried out only by a positioning domain in the conventional capturing scheme is changed, the time and space precision of capturing by the virtual transponder can be effectively improved, and the positioning calculation and transponder message triggering performance of the train control system vehicle-mounted equipment are effectively improved. The embodiment of the invention overcomes the limitation of carrying out capture space analysis starting from a positioning domain, improves the capture precision and real-time performance of the virtual transponder, and can effectively support the design, development and equipment manufacturing of a novel train control system.
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.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a virtual transponder acquisition method based on satellite spatial distribution inspection according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the range of the upper and lower visible elevation angles of a key point of a certain track in an embodiment of the invention under 8 equal divisions;
FIG. 3 is a schematic diagram illustrating the range of the upper and lower visible elevation angles of a critical point of a track in a target track line divided into 12 equal parts according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for predicting the pre-capture trigger time of a target virtual transponder to be captured according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating an elevation angle and an azimuth angle of an actual observation satellite at a preamble time of a pre-capture trigger time and a deviation amount of a predicted result of a visual satellite of a target virtual transponder according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an elevation angle and an azimuth angle of an actual observation satellite at a time subsequent to a pre-capture trigger time and a deviation amount of a predicted result of a target virtual transponder visual satellite according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a virtual transponder acquisition system architecture based on satellite spatial distribution verification in accordance with an embodiment of the present invention;
fig. 8 is a schematic diagram of a synchronization check process of the virtual transponder base database between the vehicle-mounted subsystem and the central subsystem of the capturing system in the 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 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
First embodiment
The embodiment provides a virtual transponder acquisition method based on satellite spatial distribution inspection, and fig. 1 is a schematic flow chart of the virtual transponder acquisition method. As shown in fig. 1, the virtual transponder acquisition method includes the steps of:
step S1, collecting data of the target track circuit to establish a virtual responder basic database;
step S2, acquiring the coordinate position of the current running train according to the satellite navigation information, calculating the running state information of the train, extracting the information related to the current running train in the virtual transponder basic database, and predicting the target virtual transponder to be captured and the pre-capturing trigger time;
step S3, extracting the observation information of the navigation satellite in real time from the pre-capturing trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the pre-measured value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
step S4, extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
step S5, judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
and step S6, sending position correction information at the capturing time of the target virtual transponder to be captured, correcting the current position of the train according to the position correction information, and updating the basic database of the virtual transponder.
Wherein, in step S1, the data in the virtual transponder base database at least comprises orbital route space data, along-the-line terrain environment data, virtual transponder state sequence, virtual transponder space data. Combining the actual situation of the target operation line, constructing a range covering the whole line of mileage (from the starting station A to the terminal station B, the mileage range is the central mileage S of the starting stationADistance S to terminal station centerB) The virtual transponder base database of (1).
The track line space data mainly describes the space data of the track line between the starting station A and the terminal station B, combines the actual positioning measurement, data processing and format conversion of a plurality of line key points on each track line in the interval and the station, organizes and forms a complete track line space database according to a specific data item format, mainly stores the space information and attribute information of all the line key points in the database, and has the serial number PindexThe main stored spatial data items comprise: route key point mileage S (P)index) And the three-dimensional coordinate position (L) of the key point of the lineindex,Bindex,Hindex) The attribute data items that are primarily stored include: line number N (P)index) Attribute of key point of line U (P)index) Running direction D (P)index). Wherein, subscript index represents the line key point index, the line key point mileage S (P)index) The mileage in the uplink direction is decreased progressively, and the mileage in the downlink direction is increased progressively. The spatial data precision of the key points of the track line directly determines the capturing performance of the virtual transponder, and the precision level of a track line spatial database needs to meet the requirement of approximate error of a line segment, namely for any two adjacent line key points, the serial numbers are P respectivelyα、Pα+1The following conditions are satisfied:
dis{Pα(Lα,Bα,Hα),Pα+1(Lα+1,Bα+1,Hα+1)}-|S(Pα)-S(Pα+1)|≤hS
wherein dis {. X } represents a linear distance solving function between two points based on three-dimensional space coordinates, hSIs tolerable for track space data error limits.
The topographic environment data along the line is combined with the spatial position and attribute information of each line key point to further describe the influence conditions of the peripheral topographic environment on signal visibility and observation quality in the process of observing the navigation satellite signal at the position of the train, and the number of the topographic environment data is PindexThe line key point of (2) is taken as the center to divide the visual direction in the two-dimensional space into
Figure BDA0002361443530000132
Equal parts, all having different azimuth angles
Figure BDA0002361443530000133
On this basis, the primarily stored items of the along-line terrain environment include: number PindexIs in a predetermined direction W (P)index) The boundary (A) of the terrain shielded areaU(Pindex),AD(Pindex))，W(Pindex) Is composed of
Figure BDA0002361443530000131
Dividing the key point P of the line under the condition of equal divisionindexCharacteristic azimuth of center, and W (P)index)∈[0°,360°]， AU(Pindex)、AD(Pindex) Respectively, an upper bound and a lower bound of the visual elevation angle.
Fig. 2 is a schematic diagram illustrating the range of the upper and lower bounds of the visual elevation angle of a key point of a certain line in the target track line under the partition of 8 equal parts in this embodiment, and fig. 3 is a schematic diagram illustrating the upper and lower bounds of the visual elevation angle of a key point of a certain line in the target track line under the partition of 12 equal parts in this embodimentAnd the lower range diagram. As shown in FIGS. 2 and 3, the finer the division of the equal parts, i.e., the
Figure BDA0002361443530000134
The larger the value, the larger the set of upper and lower bounds (A)U(Pindex),AD(Pindex) The more accurate the described shading characteristics of the terrain environment along the line, the more reflective the terrain characteristics around the real line and the more useful for determining the visibility of the satellite.
The virtual responder status sequence mainly describes all N contained in the interval from the starting station A to the terminal station BABThe captured state data of each virtual responder needs to adopt information such as a line index number, a default running direction and the like to mark the identity of the virtual responder under the conditions of a double-line track line, a plurality of station track coexistence areas and the like, and the state sequence of the virtual responder mainly comprises the identity data and the state data of the virtual responder, wherein: the virtual transponder identity data includes: target line index number N and direction flag bit DNVirtual responder number biAny virtual transponder identity can be uniquely determined based on this data; state data of virtual transponders the state Acq (i, D) is captured by the virtual transponderN) Is shown, in which: i denotes a virtual transponder number, i is 1,2, …, NAB，DNFor marking the actual direction of travel of the train during the current transponder acquisition, Acq (i, D)N) The value is 0, which indicates that the virtual responder is not captured; acq (i, D)N) A value of 1 indicates that the virtual responder has captured. In the initialization stage of the train before the operation of the target operation line, the capture states of all the virtual transponders need to be reset to zero.
The virtual transponder spatial data are generally acquired and processed synchronously in the measurement and processing stages of the track line spatial data, so that the uniqueness of the virtual transponder position is ensured, and the coordinate position of the virtual transponder complies with the spatial range constrained by the track line spatial data. Similar to the line key point spatial data, the virtual transponder spatial data item mainly includes: virtual transponder number biVirtual responder mileage SiVirtual transponder three-dimensional coordinate position (L)i,Bi,Hi)。
The step S2 specifically includes the following steps:
step S21, fusing the real-time observation information obtained by the satellite positioning receiver and the auxiliary positioning sensor at the current t moment, and calculating the current running state of the train, including the three-dimensional space position
Figure BDA0002361443530000142
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure BDA0002361443530000143
In the step, the three-dimensional space position of the train is acquired, a satellite positioning receiver is contained in a vehicle-mounted positioning information acquisition module, navigation satellite signals are acquired in real time, speed measurement positioning calculation is carried out, and meanwhile, in order to effectively enhance satellite positioning availability, combined positioning calculation is realized by using an auxiliary positioning sensor such as a wheel axle speed sensor and a Doppler radar and the satellite positioning receiver and is used for capturing and judging a virtual transponder. In the embodiment, the wheel axle speed sensor is adopted as an auxiliary positioning sensor to be fused with the satellite positioning receiver. At the time t, the vehicle-mounted positioning information acquisition module acquires the ephemeris of the current navigation satellite and the pseudo range { rho [ rho ] of n visible satellites from the satellite positioning receiver through signal acquisition and processing1(t),ρ2(t),…,ρn(t) and the like, and obtaining the current longitudinal running speed v of the track from a wheel axle speed sensorodo(t) information for constructing measurement vectors from observation information:
zt＝[ρ1(t),ρ2(t),…,ρn(t),vodo(t)]T
meanwhile, a state vector to be estimated is formed by three-dimensional positions { X (t), Y (t), Z (t) } and a clock difference delta t of train operation:
xt＝[X(t),Y(t),Z(t),Δt]T
three-dimensional seats incorporating individual satellites in viewTarget position { Xi(t),Yi(t),Zi(t) column write pseudo-range observation model, can use nonlinear Kalman filtering method to obtain estimation of state vector continuously and reliably
Figure BDA0002361443530000151
The specific process of filtering estimation comprises the following steps:
Figure BDA0002361443530000152
Figure BDA0002361443530000153
Figure BDA0002361443530000154
Figure BDA0002361443530000155
Pt＝(I-KtHt)Pt,t-1
wherein the content of the first and second substances,
Figure BDA0002361443530000156
Pt,t-1respectively a state vector predictor, a one-step prediction variance matrix, Ft,t-1Being a state transition matrix, KtIs an equivalent filter gain matrix, Qt、RtRespectively, the system error, the measurement error variance matrix, HtIs a linear equivalent measurement matrix obtained by converting observation models of pseudo-range and wheel axle speed sensors, PtEstimating a variance matrix for the state to obtain a train three-dimensional coordinate position estimation result
Figure BDA0002361443530000157
And step S22, extracting the track line space data in the basic database of the virtual transponder based on the train running state, and calculating the current running mileage S (t) of the train.
In the step, track line space data in a virtual responder database are extracted, the train position and train running state information are utilized to search in the track line space data according to the principle that fragments are most adjacent among key points, and the current position is determined
Figure BDA0002361443530000158
Associated inter-line key point segment consisting of two adjacent line key points PF、PEThe straight line segment formed is uniquely determined. On the basis of the above-mentioned information, by calculating current position
Figure BDA0002361443530000159
Segment between line key points
Figure BDA00023614435300001510
Inner projection position, using the route key point PFDistance S (P)F) And calculating the current running mileage S (t) of the train by using the offset in the segment of the projection position.
Step S23, estimating the longitudinal running speed of the current position track of the train by using the current running mileage S (t) of the train and the running mileage S (t-tau) of the last positioning calculation period
Figure BDA0002361443530000161
Predicting the running mileage of the train at the following m moments
Figure BDA0002361443530000162
Wherein τ is the calculation period time length of the virtual transponder acquisition module, k is 1,2, …, and m is the maximum detection step length.
Step S24, extracting the state sequence of the virtual transponder in the basic database of the virtual transponder, and determining the number b of the target virtual transponder to be captured in the current direction according to the running direction D (t) of the vehicle in the current directionj. Preferably, the step is performed after obtaining the running mileage prediction results of the current and subsequent 30 cycle times.
Step S25, extracting the basic database of the virtual transponderThe target virtual transponder mileage S is determined according to the virtual transponder space datajJudging the approaching state of the current train and the target virtual transponder according to the extreme value checking principle of the range difference, namely judging whether the following conditions are met
Figure BDA0002361443530000163
Wherein HcapThe radius is pre-captured in one dimension for the virtual transponder.
If the forward detection according to the maximum detection step length m at the time t meets the condition, the pre-capture trigger time of the target virtual responder to be captured at the time t can be determined
Figure BDA0002361443530000164
Namely, it is
Figure BDA0002361443530000165
Fig. 4 is a schematic diagram illustrating the principle of predicting the pre-capture trigger time of the target virtual transponder to be captured according to the present embodiment. As shown in fig. 4, the minimum mileage difference is obtained when k is 21, and the minimum mileage difference is smaller than the preset one-dimensional pre-capture radius H of the virtual transpondercapDetermining that the forward detection performed according to the maximum detection step length m of 30 at the time t meets the judgment condition, and determining that t is the pre-capture trigger time of the target virtual responder
Figure BDA0002361443530000166
Namely, it is
Figure BDA0002361443530000167
Virtual transponder one-dimensional pre-capture radius HcapThe value is comprehensively determined according to parameters such as the line speed limit grade, the calculation period duration of the virtual responder capturing module and the like.
The step S3 specifically includes the following steps:
step S31, starting from the next time period from the pre-capture trigger time, i.e. from
Figure BDA0002361443530000171
At the beginning of time, current navigation satellite observation data including the number n of visible satellites and the number lambda of satellite identification numbers are extracted from the satellite positioning receiver in real time in each periodnSatellite elevation angle phinSatellite azimuth angle omeganAnd navigation satellite ephemeris data.
Preferably, in this step, if the time t is determined as the pre-capture trigger time of the target virtual transponder according to equation (1)
Figure BDA0002361443530000172
Then from the next time period, i.e. from
Figure BDA0002361443530000173
At the beginning of time, current navigation satellite observation data including the number n of visible satellites and the satellite identification number lambda are extracted from the satellite positioning receiver in real time in each periodnSatellite elevation angle phinSatellite azimuth angle omeganAnd navigation satellite ephemeris data, wherein: satellite identification number lambdanThe distinction by satellite navigation system mode follows the following definition:
the value range of the GPS satellite number is as follows: PRN is 1-32;
GLONASS satellite number range: 65-88 PRN;
the value range of the Beidou satellite number is as follows: PRN is 161 ~ 197.
Step S32, calculating the current time visible satellite space distribution characteristic value by using the navigation satellite observation data, wherein the calculation method comprises the following steps:
Figure BDA0002361443530000174
wherein the subscript σ denotes time, FβIs the β th diagonal element of the visual satellite spatial feature matrix F, where F ═ MTM)-1And the M matrix is calculated by:
Figure BDA0002361443530000175
step S33, extracting track line space data, and using the predicted value of the travel distance operated at the following α (α is not more than m) moments
Figure BDA0002361443530000176
Calculating the predicted value of the three-dimensional space position of the train at the subsequent time
Figure BDA0002361443530000177
Step S34, calculating the satellite elevation angle predicted value of n navigation satellites at the following α moments by adopting the ephemeris data of the navigation satellites
Figure BDA0002361443530000181
Satellite azimuth prediction
Figure BDA0002361443530000182
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite by adopting the formula (2)
Figure BDA0002361443530000183
Preferably, in this step, after 10 subsequent time instants are selected, ephemeris data of the navigation satellites is extracted, and spatial positions of all n visible satellites at the 10 subsequent time instants are calculated
Figure BDA0002361443530000184
Figure BDA0002361443530000185
Using satellite spatial positions at subsequent 10 times
Figure BDA0002361443530000186
And the predicted value of the three-dimensional space position of the train at the subsequent 10 moments is
Figure BDA0002361443530000187
Figure BDA0002361443530000188
Calculating n derivatives at the subsequent 10 momentsSatellite elevation prediction value of aerosatellite
Figure BDA0002361443530000189
Satellite azimuth prediction
Figure BDA00023614435300001810
Calculating the predicted value of the visible satellite space distribution characteristic value at the subsequent 10 moments by adopting the formula (2)
Figure BDA00023614435300001811
The step S4 specifically includes the following steps:
step S41, at the next time period of the pre-capture trigger time, i.e., at
Figure BDA00023614435300001812
Extracting the three-dimensional spatial position of the target virtual transponder to be captured from the spatial data of the virtual transponder and the terrain environment data along the line
Figure BDA00023614435300001813
And its topographical mask area boundary information.
In the step, if the time t is determined as the pre-capture trigger time of the target virtual responder according to the formula (1)
Figure BDA00023614435300001814
Then in the next time period, i.e.
Figure BDA00023614435300001815
At the moment, extracting a virtual responder state sequence in the virtual responder space data, determining a sequence number j of a target virtual responder to be captured which is closest to the current train running process, and extracting the three-dimensional space position of the target virtual responder
Figure BDA00023614435300001816
And the boundary information of the terrain shielding area within the proximity area of the virtual transponder.
Step S42, combining the guideThe satellite ephemeris data is obtained by calculating the number of visible satellites with elevation angles larger than 0 of the nearest virtual transponder in front at the current moment sigma and α subsequent moments in real time in each period
Figure BDA00023614435300001817
Figure BDA00023614435300001818
And each moment of time
Figure BDA00023614435300001819
Satellite identification number of satellite
Figure BDA00023614435300001820
And a three-dimensional spatial position
Figure BDA00023614435300001821
The subscript u indicates the satellite serial number,
Figure BDA00023614435300001822
and further calculating the elevation angle of the visible satellite of the target virtual transponder at each moment
Figure BDA00023614435300001823
Azimuth angle
Figure BDA00023614435300001824
Step S43, combining the boundary information of the terrain shielding area of the position area where the target virtual transponder is located, reducing the visible satellite data according to the elevation angle condition, and eliminating the satellite information which does not meet the following conditions:
Figure BDA0002361443530000191
wherein the content of the first and second substances,
Figure BDA0002361443530000192
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure BDA0002361443530000193
Or the lower and upper bounds of the satellite's visible elevation under the condition of the closest azimuth eigenvalue.
Step S44, using the reduced
Figure BDA0002361443530000194
The elevation angle and the azimuth angle information of the particle satellite,
Figure BDA0002361443530000195
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure BDA0002361443530000196
Reference value of spatial distribution of particle satellite
Figure BDA0002361443530000197
The step S5 specifically includes the following steps:
step S51, at
Figure BDA0002361443530000198
At the moment, as the train moves to enter the approach area of the target virtual transponder, the vehicle-mounted satellite positioning receiver and the visible satellite of the target virtual transponder have certain common visibility, and the satellite identification number { lambda } actually observed by the satellite positioning receiver is usednObservable with the target virtual transponder
Figure BDA0002361443530000199
Satellite identification number
Figure BDA00023614435300001910
By comparison, the following conditions were confirmed to be satisfied:
Figure BDA00023614435300001911
and if the current time does not satisfy the condition of the formula (5), the capturing judgment of the target virtual responder is not carried out at the current time.
Step S52, if the current time satisfies the condition in the formula (5), confirming the visible satellite space distribution characteristic value at the current time
Figure BDA00023614435300001912
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure BDA00023614435300001913
The following conditions are satisfied:
Figure BDA00023614435300001914
wherein the content of the first and second substances,
Figure BDA00023614435300001915
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure BDA00023614435300001916
The correction quantity theta is a similarity threshold of satellite space distribution characteristic values.
In this step, if the current time does not satisfy the condition of the formula (6), the capturing determination of the target virtual responder is not performed at the current time; and if the current moment meets the condition shown in the formula (6), further judging the similarity between the satellite space distribution observed by the train vehicle-mounted satellite positioning receiver and the satellite space distribution observable by the target virtual transponder estimated by using ephemeris.
FIG. 5 is a diagram illustrating an elevation angle and an azimuth angle of an actual observation satellite at a preamble time of a pre-capture trigger time and a deviation amount of a target virtual transponder visual satellite prediction result according to the present embodiment; FIG. 6 is a diagram illustrating the deviation of the actual observed satellite elevation, azimuth and the predicted satellite view for the target virtual transponder at a time subsequent to the pre-acquisition trigger time. As shown in fig. 5 and 6, when the proximity between the running train and the target virtual transponder reaches a certain level, the distribution of each satellite actually observed by the satellite positioning receiver (determined by the information such as satellite elevation angle and azimuth angle) tends to be consistent with the spatial distribution of the satellite observable by the target virtual transponder, otherwise, there is a significant difference between the two.
Step S53, if the condition shown in formula (6) is satisfied, calculating the extreme value of deviation amount between the elevation angle and azimuth angle of n actual observation satellites at the current time sigma and the prediction result of the target virtual transponder visual satellite, and checking whether the conditions are satisfied at the same time:
Figure BDA0002361443530000201
Figure BDA0002361443530000202
wherein L isφ、LωRespectively satellite elevation angle and azimuth angle deviation thresholds.
And if the current time cannot satisfy the conditions of the equation (7) and the equation (8) at the same time, the capturing judgment of the target virtual transponder is not carried out at the current time.
Step S54, if the current time satisfies the conditions shown in equation (7) and equation (8), comparing the deviation amount extremum between the elevation angle and the azimuth angle of n actual observation satellites at the current time σ and α subsequent times and the prediction result of the target virtual transponder visual satellite, and checking whether one of the following conditions is satisfied at the same time:
Figure BDA0002361443530000203
Figure BDA0002361443530000204
and if the current time does not satisfy the condition of the formula (9) or the formula (10), the target virtual responder is not captured and judged at the current time.
Preferably, when 10 times are selected, α is taken as 10, and if the conditions shown in equation (7) and equation (8) are satisfied at the same time, this step indicates that the proximity between the train and the target virtual transponder has reached the capture determinationAnd (3) decision conditions, namely considering the time precision of capturing and judging the virtual transponder, comparing the current time sigma with the elevation angle and azimuth angle of all the n actual observation satellites at the next α times and the extreme value of the deviation amount of the prediction result of the visible satellite of the target virtual transponder, and respectively comparing
Figure BDA0002361443530000211
The relationship between the feature quantities corresponding to the subsequent 10 times is checked to see if one of the following conditions is satisfied simultaneously:
Figure BDA0002361443530000212
Figure BDA0002361443530000213
in step S55, when the current time satisfies the condition expressed by equation (9) or equation (10), it is determined that the current time σ is the number bjOf the target virtual transponder, i.e. Tcap＝σ。
The step S6 specifically includes the following steps:
step S61, extracting the three-dimensional coordinate position (L) of the captured target virtual transponderj,Bj,Hj) Cheng stroke SjAnd the train position correction information is sent to a train position calculation module and used for providing position correction information to the data fusion calculation processing process at the current moment.
Step S62, modifying the capture state Acq (b) of the target virtual transponder at the capture time of the target virtual transponderj,DN) Updating a virtual transponder state sequence in a virtual transponder base database for the captured;
step S63, along the actual running direction of the train, selecting the virtual transponder nearest to the front of the target virtual transponder as the target virtual transponder to be captured in the subsequent running process of the system, and updating the serial number b of the virtual transponder to be capturedj+1For a virtual transponder capture decision at a subsequent time.
According to the virtual transponder capturing method based on satellite space distribution, the limitation that space judgment analysis is simply implemented by a positioning domain in a conventional capturing scheme is changed in the capturing judgment process of a virtual transponder, the approach degree of a train running process towards a target virtual transponder is used as a trigger in a dynamic judgment process, effective utilization of observed satellite space distribution characteristic information is further introduced from a measurement domain, the time precision of capturing judgment of the virtual transponder is obviously superior to that of the conventional capturing method based on the determination of the radius of a capturing space, the calculated amount is not greatly increased, and the virtual transponder capturing method based on satellite space distribution can be suitable for conditions such as different types of virtual transponder arrangement forms and satellite positioning information acquisition periods. The method provided by the embodiment fully utilizes the information guarantee provided by the basic database of the virtual transponder, can lead the dependence of the capturing and judging process of the virtual transponder on satellite positioning to be moved from a resolving link to an observing link to a certain extent, and reduces the adverse effect of the satellite positioning resolving risk on capturing and calculating, thereby providing sufficient support for a train operation control system to be brought into a satellite positioning technology in the form of the virtual transponder, creating conditions for comprehensively utilizing positioning services provided by satellite navigation systems such as Beidou, GPS and the like to implement train operation safety control, and having important potential in a plurality of satellite positioning railway application directions such as train operation state dynamic monitoring, train tracking approach early warning, train integrity remote monitoring and the like. The embodiment of the invention overcomes the limitation of carrying out capture space analysis starting from a positioning domain, improves the capture precision and real-time performance of the virtual transponder, and can effectively support the design, development and equipment manufacturing of a novel train control system.
Second embodiment
The embodiment provides a virtual transponder acquisition system based on satellite spatial distribution inspection, and fig. 7 is a schematic diagram of the virtual transponder acquisition system. As shown in fig. 7, the virtual transponder acquisition system based on the satellite spatial distribution test specifically includes: the system comprises a vehicle-mounted subsystem 01 and a central subsystem 02, wherein data and information are transmitted between the vehicle-mounted subsystem 01 and the central subsystem 02 through wireless communication; wherein:
the on-board subsystem 01 is configured to:
collecting data of a target track line to establish a virtual responder basic database;
acquiring the coordinate position of the current running of the train according to the satellite navigation information, calculating train running state information, extracting information related to the current running train in the virtual transponder basic database, and predicting a target virtual transponder to be captured and pre-capturing trigger time;
extracting the observation information of the navigation satellite in real time from the pre-capture trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
and sending position correction information at the capturing moment of the target virtual responder to be captured, wherein the position correction information is used for correcting the current train position and updating a basic database of the virtual responder.
The central subsystem 02 is used to store, manage and maintain the virtual transponders and the virtual transponder base database. The central subsystem 02 manages and maintains the collected data of the target track line, establishes a basic database of the virtual transponder, and performs verification and data updating on the basic database of the virtual transponder with the vehicle-mounted subsystem under specific conditions.
Further, the vehicle-mounted subsystem 01 comprises:
the positioning information acquisition module 011: the system is used for receiving original observation information of a vehicle-mounted satellite positioning receiver and an auxiliary positioning sensor (comprising a wheel axle speed sensor, a speed measuring radar and an inertial sensor) in real time, finishing the time-space alignment and format conversion of source data of different sensors and providing positioning observation data in a standard format for a train position calculation module;
train position calculation module 012: the system comprises a positioning information acquisition module, a data processing module and a data processing module, wherein the positioning information acquisition module is used for acquiring positioning observation data of a train;
virtual transponder base data storage module 013: the system is used for receiving, storing, verifying and updating basic database information of the virtual transponder, and comprises track line space data, terrain environment data along the track, a virtual transponder state sequence and virtual transponder space data;
virtual transponder capture module 014: the system is used for extracting the calculation result of the train position calculation module and the data contained in the basic data storage module of the virtual transponder, identifying a target virtual transponder to be captured, judging the capturing state based on the space distribution inspection of the navigation satellite, determining the capturing moment of the target virtual transponder and feeding back updating information to the train position calculation module, the virtual transponder interface module and the basic data storage module of the virtual transponder;
virtual transponder interface module 015: an interface for the virtual transponder capture module and the virtual transponder message module, providing a message trigger number and captured virtual transponder information for the virtual transponder message module at the target virtual transponder capture time;
the wireless communication module 016: the system is used for implementing information transmission with a central subsystem of the virtual responder capturing system to complete downloading, checking and updating of a basic database of the virtual responder.
The central subsystem 02 comprises:
virtual transponder data storage server 021: the system comprises a data storage module, a data processing module and a data processing module, wherein the data storage module is used for storing various virtual responder data according to the on-site acquisition, updating and processing results of basic data of the virtual responder;
virtual transponder data management terminal 022: the system is used for carrying out upper management, operation and maintenance on data contained in the virtual responder data storage server, updating the data contained in the virtual responder data storage server in time under the condition that basic data of a field virtual responder is changed and adjusted, and completing synchronization, check and update of the data of the virtual responder of the vehicle-mounted subsystem and the central subsystem at the stages of departure of a train, restart of the vehicle-mounted subsystem and maintenance of the vehicle-mounted subsystem;
virtual transponder data monitoring diagnostic terminal 023: the virtual responder data storage server is used for monitoring the state of the virtual responder data storage server and the contained virtual responder data in real time in an operation stage and a maintenance stage, carrying out automatic diagnosis when the conditions of server software and hardware faults, data abnormity and the like occur, and providing indication information for the virtual responder data management terminal;
wireless communication server 024: the system is used for establishing stable wireless connection with the vehicle-mounted subsystem of the virtual transponder capturing system carried by each train to complete synchronization, check and update of the basic database of the virtual transponder.
Fig. 8 is a schematic diagram showing a synchronization check process of a virtual transponder basic database between a vehicle-mounted subsystem and a central subsystem, as shown in fig. 8, in the operation process of the system, virtual transponder basic data is an important basis for ensuring that a virtual transponder capture function is effectively realized, for this reason, in the train departure, restart of the vehicle-mounted subsystem and maintenance of the vehicle-mounted subsystem, a virtual transponder capture system vehicle-mounted subsystem based on satellite space distribution inspection periodically sends a virtual transponder basic database synchronization check request to the central subsystem, and the above is a vehicle-mounted information sending process to the ground, wherein the above is ①, if a virtual transponder data management terminal of the central subsystem confirms through check that a virtual transponder basic data version stored in a vehicle-mounted subsystem virtual transponder basic data storage module is inconsistent with a current version stored in a central subsystem virtual transponder data storage server, the virtual transponder data management terminal initiates data update to the vehicle-mounted subsystem to send correct version of the virtual transponder basic data to the vehicle-mounted subsystem, and the above is ②, and if the above is consistent, the above is a ground-mounted information feedback process to the vehicle-mounted subsystem.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the method according to the embodiments or some parts of the embodiments.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
The embodiments in the present description are described in a progressive manner, and similar parts between the embodiments are referred to each other, and each embodiment focuses on different points from other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, they are described in relative terms, as long as they are described in partial descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement the method without inventive effort.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A virtual transponder acquisition method based on satellite spatial distribution verification, the virtual transponder acquisition method comprising the steps of:
step S1, collecting data of the target track circuit to establish a virtual responder basic database;
step S2, acquiring the coordinate position of the current operation of the train according to the satellite navigation information, calculating the train operation state information, extracting the information related to the current operation train in the virtual transponder basic database, and predicting the target virtual transponder to be captured and the pre-capture trigger time;
step S3, extracting the observation information of the navigation satellite in real time from the pre-capturing trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
step S4, extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
step S5, judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
and step S6, sending position correction information at the capturing time of the target virtual transponder to be captured, correcting the current position of the train according to the position correction information, and updating the basic database of the virtual transponder.
2. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 1, wherein the data in the virtual transponder base database in the step S1 are orbital path spatial data, along-line terrain environment data, virtual transponder state sequence, virtual transponder spatial data; wherein the content of the first and second substances,
track lineThe track space data is used for storing the related information of a plurality of line key points and comprises line key point numbers PindexRoute key point mileage S (P)index) And the three-dimensional coordinate position (L) of the key point of the lineindex,Bindex,Hindex) Line number N (P) of the lineindex) Attribute of key point of line U (P)index) Running direction D (P)index) Wherein, subscript index represents a line key point label;
data of terrain environment along the line as key point of the line in a predetermined direction W (P)index) The boundary (A) of the terrain shielded areaU(Pindex),AD(Pindex) Wherein, W (P)index) Representing by a line key point PindexAzimuthal angle of center, and W (P)index)∈[0°,360°]，AU(Pindex)、AD(Pindex) Respectively an upper bound and a lower bound of the visual elevation angle;
the virtual responder state sequence comprises a target line index number N and a direction flag bit DNVirtual responder number biVirtual responder capture state Acq (i, D)N)；
The virtual transponder space data includes a virtual transponder number biVirtual responder mileage SiVirtual transponder three-dimensional coordinate position (L)i,Bi,Hi)。
3. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 2, wherein the step S2 specifically includes the following steps:
step S21, combining the real-time observation information obtained by the satellite positioning receiver and the auxiliary positioning sensor at the current t moment, calculating the three-dimensional space position of the train in current operation
Figure FDA0002361443520000021
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure FDA0002361443520000022
Step S22, extracting the track line space data in the virtual transponder basic database according to the current running data of the train, and calculating the current running mileage S (t) of the train;
step S23, estimating the longitudinal running speed of the train along the track by using the current running mileage S (t) of the train and the running mileage S (t-tau) of the last positioning calculation period
Figure FDA0002361443520000023
Predicting the running mileage of the train at the following m moments
Figure FDA0002361443520000024
Wherein τ is a preset calculation cycle duration, k is 1,2, …, m is a maximum detection step length;
step S24, according to the current train running direction D (t), extracting the virtual responder state sequence in the virtual responder basic database, and determining the number b of the target virtual responder to be captured in the directionj；
Step S25, according to the number b of the target virtual responder to be capturedjExtracting corresponding virtual responder space data and determining target virtual responder mileage SjWhen the forward detection at the maximum detection step length m at the time t satisfies the formula (1):
Figure FDA0002361443520000031
wherein HcapOne-dimensional pre-capture radius for the virtual transponder;
predicting the current time t as the pre-capture trigger time of the target virtual responder to be captured
Figure FDA0002361443520000032
4. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 3, wherein the step S3 specifically includes the following steps:
step S31, self-pre-capture trigger time
Figure FDA0002361443520000033
Next time period of
Figure FDA0002361443520000034
Initially, the number n of visible satellites observed by the current navigation satellite and the satellite identification number lambda are extracted from the satellite positioning receiver in real time in each periodnSatellite elevation angle phinSatellite azimuth angle omeganAnd navigation satellite ephemeris data;
step S32, according to the number n of the visible satellites observed by the current navigation satellite and the satellite identification number lambdanSatellite elevation angle phinSatellite azimuth angle omeganAnd the navigation satellite ephemeris data, and the current visual satellite spatial distribution characteristic value is calculated by the formula (2):
Figure FDA0002361443520000035
in formula (2), the subscript σ represents time, FβIs the β th diagonal element of the visual satellite spatial feature matrix F, where F is (M)TM)-1And the M matrix is calculated by equation (3):
Figure FDA0002361443520000036
step S33, extracting track line space data, and using the predicted value of the running mileage at the subsequent α (α is not more than m) moments
Figure FDA0002361443520000037
Calculating the predicted value of the three-dimensional space position of the train at the subsequent moment
Figure FDA0002361443520000038
Step S34, calculating the satellite elevation angle predicted value of n navigation satellites at the following α moments by adopting the ephemeris data of the navigation satellites
Figure FDA0002361443520000039
Satellite azimuth prediction
Figure FDA00023614435200000310
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment by adopting the formula (2)
Figure FDA0002361443520000041
5. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 4, wherein the step S4 specifically includes the following steps:
step S41, in the next time period of the pre-capture trigger time
Figure RE-FDA0002441726030000042
At the moment, extracting the three-dimensional space position of the target virtual transponder to be captured from the space data of the virtual transponder and the terrain environment data along the line
Figure RE-FDA0002441726030000043
And topographic shading area boundary information;
step S42, combining the ephemeris data of the navigation satellites, calculating the number of visible satellites with the elevation angle greater than 0 at the current time sigma and the subsequent α times of the nearest virtual transponder ahead in real time in each period
Figure RE-FDA0002441726030000044
Figure RE-FDA0002441726030000045
And each moment of time
Figure RE-FDA0002441726030000046
Satellite identification number of satellite
Figure RE-FDA0002441726030000047
And the position in three-dimensional space
Figure RE-FDA0002441726030000048
The subscript u indicates the satellite serial number,
Figure RE-FDA0002441726030000049
and further calculating the elevation angle of the visible satellite of the target virtual transponder to be captured at each moment
Figure RE-FDA00024417260300000410
Azimuth angle
Figure RE-FDA00024417260300000411
Step S43, combining the boundary information of the terrain shielding area of the position area where the target virtual transponder is located, reducing the visible satellite data according to the elevation angle condition, and removing the satellite information which does not satisfy the formula (4):
Figure RE-FDA00024417260300000412
wherein the content of the first and second substances,
Figure RE-FDA00024417260300000413
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure RE-FDA00024417260300000414
Or the lower bound and the upper bound of the satellite visual elevation under the condition of the most adjacent azimuth characteristic value;
step S44, using the reduced
Figure RE-FDA00024417260300000415
The elevation angle and the azimuth angle information of the particle satellite,
Figure RE-FDA00024417260300000416
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure RE-FDA00024417260300000417
Reference value of spatial distribution of particle satellite
Figure RE-FDA00024417260300000418
6. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 5, wherein the step S5 specifically includes the following steps:
step S51, at
Figure FDA00023614435200000419
At the moment, the satellite identification number [ lambda ] actually observed by the satellite positioning receivernObservable with the target virtual transponder to be captured
Figure FDA00023614435200000420
Satellite identification number
Figure FDA00023614435200000421
For comparison, when equation (5) is satisfied:
Figure FDA0002361443520000051
proceeding to step S52; if the condition of the formula (5) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
step S52, comparing the current time visual satellite space distribution characteristic value
Figure FDA0002361443520000052
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure FDA0002361443520000053
When formula (6) is satisfied:
Figure FDA0002361443520000054
proceeding to step S53; if the condition of the formula (6) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
wherein the content of the first and second substances,
Figure FDA0002361443520000055
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure FDA0002361443520000056
The correction value theta is a similarity threshold of satellite space distribution characteristic values;
step S53, calculating the extreme value of deviation values of the elevation angle and the azimuth angle of n actual observation satellites at the current time sigma and the prediction result of the target virtual transponder visible satellite, and when the formula (7) and the formula (8) are satisfied simultaneously:
Figure FDA0002361443520000057
Figure FDA0002361443520000058
proceeding to step S54; if the conditions of the formula (7) and the formula (8) cannot be met at the same time, the capturing judgment of the target virtual responder is not carried out at the current moment;
wherein L isφ、LωRespectively as satellite elevation angle and azimuth angle deviation thresholds;
step S54, comparing the extreme value of the deviation amount between the elevation angle and the azimuth angle of the actual observation satellite and the predicted result of the visible satellite of the target virtual transponder at the current time sigma and the subsequent α times n, when the formula (9) or (10) is satisfied:
Figure FDA0002361443520000059
Figure FDA00023614435200000510
proceeding to step S55; if the condition of the formula (9) or the formula (10) is not satisfied, the capturing judgment of the target virtual responder is not carried out at the current moment;
in step S55, it is determined that the current time σ is the number bjTarget virtual transponder of (1)cap＝σ。
7. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 6, wherein the step S6 specifically includes the following steps:
step S61, extracting the three-dimensional coordinate position (L) of the captured target virtual transponderj,Bj,Hj) Mileage SjThe train position correction information is sent to a train position calculation module and provides position correction information at the current moment for a data fusion calculation processing process;
step S62, modifying the capture state Acq (b) of the target virtual transponder at the time of capture of the target virtual transponderj,DN) Updating a virtual transponder state sequence in a virtual transponder base database for the captured;
step S63, along the actual running direction of the train, selecting the virtual transponder nearest to the front of the target virtual transponder as the target virtual transponder to be captured in the subsequent running process of the system, and updating the serial number b of the virtual transponder to be capturedj+1。
8. A virtual transponder acquisition system based on satellite spatial distribution test, characterized in that the virtual transponder acquisition system based on satellite spatial distribution test specifically includes: the system comprises a vehicle-mounted subsystem and a central subsystem, wherein data and information are transmitted between the vehicle-mounted subsystem and the central subsystem through wireless communication; wherein:
the vehicle-mounted subsystem is used for:
collecting data of a target track line to establish a virtual responder basic database;
acquiring the coordinate position of the current running of the train according to the satellite navigation information, calculating the running state information of the train, extracting information related to the current running train in the basic database of the virtual transponder, and predicting a target virtual transponder to be captured and the pre-capture trigger time;
extracting the observation information of the navigation satellite in real time from the pre-capture trigger moment, and calculating the spatial distribution characteristic value of the visible satellite at the current moment and the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment;
extracting information related to the target virtual transponder to be captured in the virtual transponder basic database, calculating and reducing visible satellite information of the target virtual transponder to be captured, and estimating a satellite spatial distribution reference value;
judging the capturing state of the target virtual transponder to be captured according to the satellite space distribution characteristic value, the characteristic value predicted value and the reference value, and determining the capturing time of the target virtual transponder to be captured;
sending position correction information at the capturing moment of the target virtual responder to be captured, wherein the position correction information is used for correcting the current train position and updating a basic database of the virtual responder;
the central subsystem is used for storing, managing and maintaining the virtual responder and a virtual responder basic database.
9. The virtual transponder acquisition system based on satellite spatial distribution verification according to claim 8,
the on-board subsystem includes:
the positioning information acquisition module is used for receiving original observation information of the vehicle-mounted satellite positioning receiver and the auxiliary positioning sensor in real time, finishing the time-space alignment and format conversion of source data of different sensors and providing positioning observation data in a standard format for the train position calculation module;
the train position calculation module is used for performing fusion calculation by adopting the positioning observation data provided by the positioning information acquisition module, determining the three-dimensional coordinate position, the three-dimensional space position, the running direction, the line number and the running mileage of the train in running, and diagnosing the credibility of the fusion calculation result in real time;
the virtual transponder basic data storage module is used for receiving, storing, verifying and updating basic database information of the virtual transponder, and comprises track line space data, terrain environment data along the track, a virtual transponder state sequence and virtual transponder space data;
the virtual transponder capturing module is used for extracting the calculation result of the train position calculation module and data contained in the virtual transponder basic data storage module, identifying a target virtual transponder to be captured, performing capturing state judgment based on navigation satellite spatial distribution inspection, determining the capturing moment of the target virtual transponder, and feeding back updating information to the train position calculation module, the virtual transponder interface module and the virtual transponder basic data storage module;
the virtual responder interface module is used for the interface between the virtual responder capturing module and the virtual responder message module and providing a message trigger signal and captured virtual responder information for the virtual responder message module at the capturing moment of the target virtual responder;
the wireless communication module is used for implementing information transmission with a central subsystem of the virtual responder capturing system to complete downloading, checking and updating of a basic database of the virtual responder;
the central subsystem comprises:
the virtual responder data storage server is used for storing various virtual responder data according to the field acquisition, updating and processing results of the basic data of the virtual responder;
the virtual responder data management terminal is used for carrying out upper management, operation and maintenance on data contained in the virtual responder data storage server, updating the data contained in the virtual responder data storage server in time under the condition that the basic data of the on-site virtual responder is changed and adjusted, and completing synchronization, check and update of the virtual responder data of the vehicle-mounted subsystem and the central subsystem at the train departure, vehicle-mounted subsystem restart and vehicle-mounted subsystem maintenance stages;
the virtual responder data monitoring and diagnosing terminal is used for monitoring the state of the virtual responder data storage server and the contained virtual responder data in real time in an operation stage and a maintenance stage, implementing automatic diagnosis when the conditions of software and hardware faults, data abnormity and the like of the server occur, and providing indication information for the virtual responder data management terminal;
and the wireless communication server is used for establishing stable wireless connection with the vehicle-mounted subsystem of the virtual transponder capturing system carried by each train to complete synchronization, check and update of the basic database of the virtual transponder.
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