CN111224710B - 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

Info

Publication number
CN111224710B
CN111224710B CN202010022929.XA CN202010022929A CN111224710B CN 111224710 B CN111224710 B CN 111224710B CN 202010022929 A CN202010022929 A CN 202010022929A CN 111224710 B CN111224710 B CN 111224710B
Authority
CN
China
Prior art keywords
satellite
virtual
virtual transponder
transponder
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010022929.XA
Other languages
Chinese (zh)
Other versions
CN111224710A (en
Inventor
刘江
蔡伯根
王剑
陆德彪
上官伟
姜维
柴琳果
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jiaotong University
Original Assignee
Beijing Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jiaotong University filed Critical Beijing Jiaotong University
Priority to CN202010022929.XA priority Critical patent/CN111224710B/en
Publication of CN111224710A publication Critical patent/CN111224710A/en
Application granted granted Critical
Publication of CN111224710B publication Critical patent/CN111224710B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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 vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle 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. GPS

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 train positioning precision, a large number of transponders need to be arranged along a 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 the compatibility between the train positioning and control mode and the 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 the 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 determination principle based on a fixed capturing radius or estimates a spatial proximity relation 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 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.
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) 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)。
As a preferred embodiment of the present invention, the step S2 specifically includes the following steps:
step S21, fusing the real time obtained by the satellite positioning receiver and the auxiliary positioning sensor at the current time tObserving information, calculating the three-dimensional space position of train
Figure GDA0002441726040000031
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure GDA0002441726040000032
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 GDA0002441726040000033
Predicting the running mileage of the train at the following m moments
Figure GDA0002441726040000041
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 GDA0002441726040000042
wherein HcapOne-dimensional pre-capture radius for the virtual transponder;
predicting the current time t as the target virtual responder to be capturedPre-capture trigger time of
Figure GDA0002441726040000043
As a preferred embodiment of the present invention, the step S3 specifically includes the following steps:
step S31, self-pre-capture trigger time
Figure GDA0002441726040000044
Next time period of
Figure GDA0002441726040000045
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 GDA0002441726040000046
in formula (2), the subscript σ represents time, FβIs the beta diagonal element of the visual satellite space characteristic matrix F, F ═ MTM)-1And the M matrix is calculated by equation (3):
Figure GDA0002441726040000051
step S33, extracting track line space data, and using the predicted value of the running mileage at the subsequent alpha (alpha is not more than m) moments
Figure GDA00024417260400000520
Calculating trainThree-dimensional spatial position prediction value at subsequent time
Figure GDA0002441726040000053
Step S34, calculating satellite elevation angle predicted values of n navigation satellites at subsequent alpha moments by using the ephemeris data of the navigation satellites
Figure GDA0002441726040000054
Satellite azimuth prediction
Figure GDA0002441726040000055
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment by adopting the formula (2)
Figure GDA0002441726040000056
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 GDA0002441726040000057
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 GDA0002441726040000058
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 moment sigma and the subsequent moment alpha of the nearest virtual transponder in front in real time in each period
Figure GDA00024417260400000513
Figure GDA00024417260400000514
And each moment of time
Figure GDA00024417260400000515
Satellite identification number of satellite
Figure GDA00024417260400000516
And the position in three-dimensional space
Figure GDA00024417260400000518
The subscript u indicates the satellite serial number,
Figure GDA00024417260400000517
and further calculating the elevation angle of the visible satellite of the target virtual transponder to be captured at each moment
Figure GDA0002441726040000059
Azimuth angle
Figure 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 GDA00024417260400000511
wherein the content of the first and second substances,
Figure GDA00024417260400000512
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure GDA00024417260400000519
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 GDA0002441726040000061
The elevation angle and the azimuth angle information of the particle satellite,
Figure GDA0002441726040000062
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure GDA0002441726040000063
Reference value of spatial distribution of particle satellite
Figure GDA0002441726040000064
As a preferred embodiment of the present invention, the step S5 specifically includes the following steps:
step S51, at
Figure GDA00024417260400000613
At the moment, the satellite identification number [ lambda ] actually observed by the satellite positioning receivernObservable with the target virtual transponder to be captured
Figure GDA0002441726040000065
Satellite identification number
Figure GDA00024417260400000614
For comparison, when equation (5) is satisfied:
Figure GDA0002441726040000066
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 GDA00024417260400000615
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure GDA0002441726040000067
When formula (6) is satisfied:
Figure GDA0002441726040000068
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 GDA0002441726040000069
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure GDA00024417260400000610
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 GDA00024417260400000611
Figure GDA00024417260400000612
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 at the current time σ and the n subsequent times α, and the predicted result of the visible satellite of the target virtual transponder, when equation (9) or (10) is satisfied:
Figure GDA0002441726040000071
Figure GDA0002441726040000072
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) 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。
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 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 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 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 relevant 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 a virtual responder database 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.
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 needed 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 labor.
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 illustrating a concept of predicting a 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 structural diagram of a virtual transponder acquisition system based on satellite spatial distribution verification according to 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 capture 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 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.
Wherein, in step S1, the data in the virtual transponder base database at least comprises track route space data, along-route terrain environment data, virtual transponder state sequence, virtual transponder space data. KnotConstructing a range covering the whole line 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 for the 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) ofindex) 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 spatial database of the track line needs to meet the requirement of segment approximation error, namely, for any two adjacent key points of the track line, the serial numbers are P respectivelyα、Pα1The 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 a tolerable track space data error limit.
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 trainIn the process of observing the navigation satellite signal at the position, the number P of the condition P is the influence of the surrounding terrain environment on the signal visibility and the observation qualityindexThe line key point takes the point as the center, divides the visual direction in the two-dimensional space into n equal parts, and the difference of the azimuth angles is 360/n degrees, on the basis, the main stored terrain environment items along the line comprise: number PindexIs in a predetermined direction W (P)index) The boundary (A) of the terrain shielded areaU(Pindex),AD(Pindex))，W(Pindex) Dividing n equal parts into key points PindexCharacteristic 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 view of the range of the upper and lower bounds of the visual elevation angle of a certain line key point in the target track line under the 8-equal division in the present embodiment, and fig. 3 is a schematic view of the range of the upper and lower bounds of the visual elevation angle of a certain line key point in the target track line under the 12-equal division in the present embodiment. As shown in FIGS. 2 and 3, the finer the division of the equal parts, i.e., the
Figure GDA0002441726040000131
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, virtualNumber of transponder 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 transponder 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 GDA0002441726040000141
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure GDA0002441726040000142
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 usability, a wheel axle speed sensor, a Doppler radar and the like are adoptedThe auxiliary positioning sensor and the satellite positioning receiver realize combined positioning calculation for capturing and judging the 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 other real-time observation information, and acquiring the longitudinal running speed v of the current leading edge track from the axle speed sensorodo(t) information, which is to combine the observation information to form a measurement vector:
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 coordinate positions { X) in combination with respective satellites in viewi(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 GDA0002441726040000151
The specific process of filtering estimation comprises the following steps:
Figure GDA0002441726040000152
Figure GDA0002441726040000153
Figure GDA0002441726040000154
Figure GDA0002441726040000155
Pt＝(I-KtHt)Pt,t-1
wherein the content of the first and second substances,
Figure GDA0002441726040000156
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 GDA0002441726040000157
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 GDA0002441726040000158
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 GDA0002441726040000159
Segment between line key points
Figure GDA00024417260400001510
Inner projection position, using the line 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 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 GDA0002441726040000161
Predicting the running mileage of the train at the following m moments
Figure GDA0002441726040000162
Wherein τ is the calculation cycle duration of the virtual transponder acquisition module, k is 1,2, …, and m is the maximum detection step.
Step S24, 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 current train running direction according to the D (t) of the current train running 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 virtual responder space data in the virtual responder basic database, and determining the target virtual responder mileage SjJudging 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 GDA0002441726040000163
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 GDA0002441726040000164
Namely, it is
Figure GDA0002441726040000165
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 GDA0002441726040000166
Namely, it is
Figure GDA0002441726040000167
One-dimensional pre-capture radius H of virtual transpondercapThe 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 GDA0002441726040000168
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 GDA0002441726040000171
Then from the next time period, i.e. from
Figure GDA0002441726040000172
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, 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 GDA0002441726040000173
wherein the subscript σ denotes time, FβIs the beta diagonal element of the visual satellite space characteristic matrix F, F ═ MTM)-1And the M matrix is calculated by:
Figure GDA0002441726040000174
step S33, extracting track line space data, and using the predicted value of the running mileage at the subsequent alpha (alpha is not more than m) moments
Figure GDA00024417260400001710
Calculating the predicted value of the three-dimensional space position of the train at the subsequent moment
Figure GDA0002441726040000176
Step S34, calculating satellite elevation angle predicted values of n navigation satellites at subsequent alpha moments by using the ephemeris data of the navigation satellites
Figure GDA0002441726040000177
Satellite azimuth prediction
Figure GDA0002441726040000178
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite by adopting the formula (2)
Figure GDA0002441726040000179
Preferably, in this step, after 10 subsequent time instants are selected, ephemeris data of the navigation satellite is extracted, and spatial positions of all n visible satellites at the 10 subsequent time instants are calculated
Figure GDA00024417260400001813
Figure GDA00024417260400001814
Using satellite spatial positions at subsequent 10 times
Figure GDA00024417260400001815
And the predicted value of the three-dimensional space position of the train at the subsequent 10 moments is
Figure GDA0002441726040000181
Figure GDA0002441726040000182
Calculating satellite elevation angle predicted values of n navigation satellites at subsequent 10 moments
Figure GDA0002441726040000183
Satellite azimuth prediction
Figure GDA0002441726040000184
Calculating the predicted value of the visible satellite space distribution characteristic value at the subsequent 10 moments by adopting the formula (2)
Figure GDA0002441726040000185
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 GDA0002441726040000186
From time to time, from virtualExtracting three-dimensional space position of target virtual transponder to be captured from transponder space data and terrain environment data along line
Figure GDA0002441726040000187
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 GDA0002441726040000188
Then in the next time period, i.e.
Figure GDA0002441726040000189
At the moment, extracting a virtual responder state sequence in the virtual responder space data, determining a serial 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 GDA00024417260400001810
And the boundary information of the terrain shielding area within the proximity area of the virtual transponder.
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 moment sigma and the subsequent alpha moments of the nearest virtual transponder in front in real time in each period
Figure GDA00024417260400001816
Figure GDA00024417260400001817
And each moment of time
Figure GDA00024417260400001821
Satellite identification number of satellite
Figure GDA00024417260400001820
And the position in three-dimensional space
Figure GDA00024417260400001818
The subscript u indicates the satellite serial number,
Figure GDA00024417260400001819
and further calculating the elevation angle of the visible satellite of the target virtual transponder at each moment
Figure GDA00024417260400001811
Azimuth angle
Figure GDA00024417260400001812
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 GDA0002441726040000191
wherein the content of the first and second substances,
Figure GDA0002441726040000192
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure GDA00024417260400001913
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 GDA0002441726040000193
The elevation angle and the azimuth angle information of the particle satellite,
Figure GDA0002441726040000194
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure GDA0002441726040000195
Reference value of spatial distribution of particle satellite
Figure GDA0002441726040000196
The step S5 specifically includes the following steps:
step S51, at
Figure GDA00024417260400001914
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 markednObservable with the target virtual transponder
Figure GDA0002441726040000197
Satellite identification number
Figure GDA00024417260400001915
By comparison, the following conditions were confirmed to be satisfied:
Figure GDA0002441726040000198
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 equation (5), confirming the visible satellite space distribution characteristic value at the current time
Figure GDA00024417260400001916
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure GDA0002441726040000199
The following conditions are satisfied:
Figure GDA00024417260400001910
wherein the content of the first and second substances,
Figure GDA00024417260400001911
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure GDA00024417260400001912
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 capture determination of the target virtual responder is not performed at the current time; and if the current time 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 predicted result of a visible satellite of a target virtual transponder 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 fig. 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 of satellite elevation angle, azimuth angle, etc.) 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 equation (6) is satisfied, calculating an extreme value of deviation amounts between the elevation angle and the azimuth angle of n actual observation satellites at the current time σ and the predicted result of the target virtual transponder, and checking whether the following conditions are satisfied at the same time:
Figure GDA0002441726040000201
Figure GDA0002441726040000202
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 current time σ and the elevation angle and the azimuth angle of n actual observation satellites at the subsequent α times and the predicted result of the visible satellites of the target virtual transponder, and checking whether one of the following conditions is satisfied at the same time:
Figure GDA0002441726040000203
Figure GDA0002441726040000204
and if the current time does not satisfy the condition of the formula (9) or the formula (10), the capturing judgment of the target virtual transponder is not carried out at the current time.
Preferably, when 10 times are selected, α is 10, in this step, if the conditions shown in equations (7) and (8) are satisfied at the same time, it is indicated that the proximity between the train and the target virtual transponder has reached the decision condition for the acquisition determination, in view of further improving the time accuracy of the acquisition determination of the virtual transponder, the deviation amount extreme values of the elevation angle and the azimuth angle of the actual observation satellite at the current time σ and all the n subsequent times α and the prediction result of the visible satellite at the target virtual transponder are compared, and the deviation amount extreme values are compared respectively
Figure GDA0002441726040000211
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 GDA0002441726040000212
Figure GDA0002441726040000213
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) Mileage 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 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+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 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;
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 acquired data of the target track line, establishes a basic database of the virtual transponder, and performs verification and data updating of 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 navigation satellite spatial distribution inspection, determining the capturing moment of the target virtual transponder, and feeding back update 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: the interface used for the virtual responder capturing module and the virtual responder message module provides 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 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 field 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 the basic data of the on-site 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 in 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 system is used for monitoring the state of a 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 server software and hardware faults, data abnormity and the like occur, and providing indication information for a 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 illustrating a synchronization check process of the virtual transponder base database between the vehicle-mounted subsystem and the central subsystem. As shown in fig. 8, in the operation process of the system, the virtual transponder basic data is an important basis for ensuring that the virtual transponder capturing function is effectively realized, and for this reason, in the train departure, the vehicle-mounted subsystem restart and the vehicle-mounted subsystem maintenance stage, the vehicle-mounted subsystem of the virtual transponder capturing system based on the satellite space distribution inspection periodically sends a virtual transponder basic database synchronization check request to the central subsystem, and the vehicle-mounted system labeled above is used for sending information to the ground. If the virtual responder data management terminal of the central subsystem confirms that the version of the basic data of the virtual responder stored in the basic data storage module of the virtual responder of the vehicle-mounted subsystem is inconsistent with the current version stored in the virtual responder data storage server of the central subsystem through checking, the virtual responder data management terminal initiates data updating to the vehicle-mounted subsystem and sends the basic data of the virtual responder with the correct version to the vehicle-mounted subsystem, and the process is a ground-to-vehicle information feedback process with the reference number of II in fig. 8; and if the versions are confirmed to be consistent through checking, sending consistent response information 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 solutions of the present invention may be embodied in the form of a software product, which may be 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, etc.) 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 specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the 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 shown 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 may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it 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 (8)

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;
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 a basic database of the virtual transponder;
the step S5 specifically includes the following steps:
step S51, at
Figure FDA0002986724240000011
At the moment, the satellite identification number [ lambda ] actually observed by the satellite positioning receivernObservable with the target virtual transponder to be captured
Figure FDA0002986724240000012
Satellite identification number
Figure FDA0002986724240000013
For comparison, when equation (5) is satisfied:
Figure FDA0002986724240000014
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 space of the visible satellite at the current timeInter-distribution eigenvalue
Figure FDA0002986724240000021
Reference value of spatial distribution of satellites observable with target virtual transponder
Figure FDA0002986724240000022
When formula (6) is satisfied:
Figure FDA0002986724240000023
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 FDA0002986724240000024
for using the identification numbers of n actual observation satellites as constraint pairs to spatially distribute reference values
Figure FDA0002986724240000025
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 FDA0002986724240000026
Figure FDA0002986724240000027
δφσ,urepresenting the deviation amount of the actual observation elevation angle of the u & ltth & gt satellite at the current time and the prediction result of the visible satellite of the target virtual transponder;
φσ,urepresenting the actual observation elevation angle of the u th satellite at the current time sigma;
Figure FDA0002986724240000028
representing the elevation angle predicted value of the u-th satellite in the current time sigma target virtual transponder visual satellite predicted result;
δωσ,urepresenting the deviation amount between the actual observation azimuth of the u & ltth & gt satellite at the current time and the prediction result of the visible satellite of the target virtual transponder;
ωσ,urepresenting the actual observation azimuth angle of the u th satellite at the current time sigma;
Figure FDA0002986724240000029
representing an azimuth angle predicted value of a corresponding u-th satellite in a current time sigma target virtual transponder visual satellite prediction result;
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 at the current time σ and the n subsequent times α, and the predicted result of the visible satellite of the target virtual transponder, when equation (9) or (10) is satisfied:
Figure FDA0002986724240000031
Figure FDA0002986724240000032
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。
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,
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) 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) And i denotes a virtual transponder serial number.
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 FDA0002986724240000041
Running direction D (t), line number N (t) and converting the three-dimensional space position into coordinate position
Figure FDA0002986724240000042
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 FDA0002986724240000043
Predicting the running mileage of the train at the following m moments
Figure FDA0002986724240000044
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 FDA0002986724240000045
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 FDA0002986724240000046
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 FDA0002986724240000047
Next time period of
Figure FDA0002986724240000048
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 FDA0002986724240000051
in formula (2), the subscript σ represents time, FβIs the beta diagonal element of the visual satellite space characteristic matrix F, F ═ MTM)-1And the M matrix is calculated by equation (3):
Figure FDA0002986724240000052
step S33, extracting track line space data, and using the predicted value of the running mileage at the subsequent alpha (alpha is not more than m) moments
Figure FDA0002986724240000053
Calculating the predicted value of the three-dimensional space position of the train at the subsequent moment
Figure FDA0002986724240000054
Step S34, calculating satellite elevation angle predicted values of n navigation satellites at subsequent alpha moments by using the ephemeris data of the navigation satellites
Figure FDA0002986724240000055
Satellite azimuth prediction
Figure FDA0002986724240000056
Calculating the predicted value of the spatial distribution characteristic value of the visible satellite at the subsequent moment by adopting the formula (2)
Figure FDA0002986724240000057
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 FDA0002986724240000058
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 FDA0002986724240000059
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 moment sigma and the subsequent moment alpha of the nearest virtual transponder in front in real time in each period
Figure FDA0002986724240000061
k is 0, …, α, and each time instant
Figure FDA0002986724240000062
Satellite identification number of satellite
Figure FDA0002986724240000063
And the position in three-dimensional space
Figure FDA0002986724240000064
The subscript u indicates the satellite serial number,
Figure FDA0002986724240000065
and further calculating the elevation angle of the visible satellite of the target virtual transponder to be captured at each moment
Figure FDA0002986724240000066
Azimuth angle
Figure FDA0002986724240000067
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 FDA0002986724240000068
wherein the content of the first and second substances,
Figure FDA0002986724240000069
respectively a virtual transponder b of a target to be capturedjAt azimuth angle
Figure FDA00029867242400000610
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 FDA00029867242400000611
The elevation angle and the azimuth angle information of the particle satellite,
Figure FDA00029867242400000612
calculating observability of the target virtual transponder at each instant in time according to equation (2)
Figure FDA00029867242400000613
Reference value of spatial distribution of particle satellite
Figure FDA00029867242400000614
6. The virtual transponder acquisition method based on the satellite spatial distribution inspection as claimed in claim 2, 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, selecting the virtual response closest to the front of the target virtual response device along the actual running direction of the trainThe device is used as a target virtual responder to be captured in the subsequent operation process of the system, and the serial number of the virtual responder to be captured is updated to be bj+1。
7. A virtual transponder acquisition system based on satellite spatial distribution test, characterized in that, when applied to the virtual transponder acquisition method based on satellite spatial distribution test of any one of claims 1 to 6, the virtual transponder acquisition system based on satellite spatial distribution test comprises: 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.
8. The virtual transponder acquisition system based on satellite spatial distribution inspection of claim 7,
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 software and hardware faults and data abnormality 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.
CN202010022929.XA 2020-01-09 2020-01-09 Virtual transponder capturing method and system based on satellite space distribution inspection Active CN111224710B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010022929.XA CN111224710B (en) 2020-01-09 2020-01-09 Virtual transponder capturing method and system based on satellite space distribution inspection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010022929.XA CN111224710B (en) 2020-01-09 2020-01-09 Virtual transponder capturing method and system based on satellite space distribution inspection

Publications (2)

Publication Number Publication Date
CN111224710A CN111224710A (en) 2020-06-02
CN111224710B true CN111224710B (en) 2021-05-04

Family

ID=70832402

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010022929.XA Active CN111224710B (en) 2020-01-09 2020-01-09 Virtual transponder capturing method and system based on satellite space distribution inspection

Country Status (1)

Country Link
CN (1) CN111224710B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111845847B (en) * 2020-06-28 2022-06-17 通号城市轨道交通技术有限公司 Transponder simulation method and system
CN112307981A (en) * 2020-10-29 2021-02-02 西北工业大学 Feature information transmission and cooperative tracking method in space rolling non-cooperative target observation process
CN112977548B (en) * 2021-01-05 2023-01-06 浙江众合科技股份有限公司 Train positioning system and method combining instant positioning and map construction
CN114312928B (en) * 2021-12-29 2024-03-12 卡斯柯信号有限公司 Virtual transponder triggering method
CN114348055B (en) * 2022-01-19 2023-08-18 江西理工大学 Magnetic suspension rail transit operation control method and control system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101817354A (en) * 2010-04-19 2010-09-01 北京交通大学 Implementing method of virtual transponder
CN105848210A (en) * 2016-03-03 2016-08-10 北京交通大学 Virtual and real mixed balise transmission system and balise transmission method based on the system
CN108773393A (en) * 2018-04-26 2018-11-09 北京交大思诺科技股份有限公司 The BTM of stored messages
CN109591849A (en) * 2018-12-28 2019-04-09 卡斯柯信号有限公司 A kind of inter-city passenger rail train control system based on satellite positioning tech
CN110329309A (en) * 2019-07-12 2019-10-15 卡斯柯信号有限公司 A method of realizing that wheel footpath is calibrated using satellite positioning

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11394458B2 (en) * 2017-03-06 2022-07-19 The Boeing Company Inband telemetry for a virtual transponder

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101817354A (en) * 2010-04-19 2010-09-01 北京交通大学 Implementing method of virtual transponder
CN105848210A (en) * 2016-03-03 2016-08-10 北京交通大学 Virtual and real mixed balise transmission system and balise transmission method based on the system
CN108773393A (en) * 2018-04-26 2018-11-09 北京交大思诺科技股份有限公司 The BTM of stored messages
CN109591849A (en) * 2018-12-28 2019-04-09 卡斯柯信号有限公司 A kind of inter-city passenger rail train control system based on satellite positioning tech
CN110329309A (en) * 2019-07-12 2019-10-15 卡斯柯信号有限公司 A method of realizing that wheel footpath is calibrated using satellite positioning

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
A GNSS/trackmap cooperative train positioning method for satellite-based train control;Jiang Liu,etc.;《17th International IEEE Conference on Intelligent Transportation Systems (ITSC)》;20141120;全篇 *
基于状态估计的虚拟应答器捕获方法研究;刘江，等;《铁道学报》;20181015;全篇 *

Also Published As

Publication number Publication date
CN111224710A (en) 2020-06-02

Similar Documents

Publication Publication Date Title
CN111224710B (en) Virtual transponder capturing method and system based on satellite space distribution inspection
CA2893352C (en) Track data determination system and method
CN111806520A (en) Method for the secure, autonomous determination of position information of a train on a track
CN104991266B (en) A kind of train satellite positioning method and system based on collaboration integrity monitoring
CN111742326A (en) Lane line detection method, electronic device, and storage medium
US20230273326A1 (en) Inferring vehicle location and movement using sensor data fusion
US11002553B2 (en) Method and device for executing at least one measure for increasing the safety of a vehicle
AU2022204351B2 (en) Systems and methods for locating objects
US20210341605A1 (en) Position coordinates estimation device, position coordinates estimation method, and program
US6285949B1 (en) Method and device for extensive traffic situation monitoring
CN110851545A (en) Map drawing method, device and equipment
CN113959457B (en) Positioning method and device for automatic driving vehicle, vehicle and medium
CN110203253A (en) A kind of free-standing virtual transponder implementation method
WO2018131546A1 (en) Information processing device, information processing system, information processing method, and information processing program
CN112113580A (en) Vehicle positioning method and device and automobile
CN115148031B (en) Multi-sensor high-precision positioning method for parking lot inspection vehicle
Liu et al. Integrity of GNSS-based train positioning: From GNSS to sensor integration
Le Marchand et al. Performance evaluation of fault detection algorithms as applied to automotive localisation
Roberts et al. Predictive intelligence for a rail traffic management system
CN109946718B (en) Pseudo satellite spatial layout method for railway station yard
CN115129796A (en) Positioning data analysis method, apparatus, device and medium
JP2018031627A (en) Information processing method, information processing program, information processing device and information processing system
Jiang et al. Electronic track map building for satellite-based high integrity railway train positioning
Liu et al. Generating an electronic track map for train collision early warning system
Xian et al. An advanced subway train localization system using a vision-based kilometer marker recognition-assisted multi-sensor fusion method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant