CN111505678A - Train tunnel positioning method based on Beidou system - Google Patents
Train tunnel positioning method based on Beidou system Download PDFInfo
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- CN111505678A CN111505678A CN202010334694.8A CN202010334694A CN111505678A CN 111505678 A CN111505678 A CN 111505678A CN 202010334694 A CN202010334694 A CN 202010334694A CN 111505678 A CN111505678 A CN 111505678A
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- tunnel
- base station
- beidou
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a train tunnel positioning method based on a Beidou system, which comprises a Beidou satellite base station at a tunnel entrance, a communication extension base station in a tunnel and vehicle-mounted equipment; the gateway Beidou base station receives satellite differential information, the information is coded and then transmitted to a communication expansion base station in a tunnel, the communication expansion base station comprises a data receiving module, a data decoding module and a signal amplifying module, the communication expansion base station converts the coded information into standard satellite signals and amplifies the satellite signals, the vehicle-mounted equipment comprises a data communication module, a signal processing module, an inertial positioning module, a geomagnetic positioning module, a Beidou positioning module, a data acquisition module and a data fusion module, and the vehicle-mounted equipment receives the position data of the communication expansion base station and acquires geomagnetic data, gyroscope data and accelerometer data; and the geomagnetic data, the gyroscope data and the accelerometer data correct the Beidou data to realize accurate positioning of the train in the tunnel. The invention solves the problem that the existing train can not be accurately positioned in the tunnel.
Description
Technical Field
The embodiment of the invention relates to the technical field of train satellite positioning, in particular to a train tunnel positioning method based on a Beidou system.
Background
The Beidou satellite navigation system (hereinafter referred to as Beidou system) is a satellite navigation system which is autonomously constructed and independently operated in view of the development requirements of national security and economic society, and is a national important space infrastructure for providing all-weather, all-time and high-precision positioning, navigation and time service for global users.
With the development of the construction and service capability of the Beidou system, related products are widely applied to the fields of transportation, marine fishery, hydrological monitoring, weather forecasting, geographic information mapping, forest fire prevention, communication time system, power scheduling, disaster relief and reduction, emergency search and rescue and the like, gradually permeate into the aspects of human social production and people life, and inject new vitality for global economy and social development.
Satellite navigation systems are global public resources, and multi-system compatibility and interoperability have become a development trend. The satellite navigation system and other satellite navigation systems jointly promote the development of the global satellite navigation business. Currently, Beidou No. three system construction is being implemented. According to the overall planning of system construction, in the end of 2018, 19 satellites are launched and networked, the basic system construction is completed, and service is provided for the whole world; and around 2020, 30 satellite launching networking is completed, and a Beidou third system is comprehensively built.
In some specific environments, the satellite signal receiving device cannot acquire data of multiple satellites due to environmental factors, so that the position information acquired by the satellite positioning technology has a large deviation or cannot acquire the position information, such as a tunnel, an environment with multiple covers, and the like.
Disclosure of Invention
Therefore, the invention provides a train tunnel positioning method based on a Beidou system, and aims to solve the problem that an existing train cannot be accurately positioned in a tunnel.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a train tunnel positioning method based on a Beidou system, which comprises a Beidou satellite base station at a tunnel entrance, a communication extension base station in a tunnel and vehicle-mounted equipment; the gateway Beidou base station receives satellite differential information, the information is coded and then transmitted to a communication expansion base station in a tunnel, the communication expansion base station comprises a data receiving module, a data decoding module and a signal amplifying module, the communication expansion base station converts the coded information into standard satellite signals and amplifies the satellite signals, the vehicle-mounted equipment comprises a data communication module, a signal processing module, an inertial positioning module, a geomagnetic positioning module, a Beidou positioning module, a data acquisition module and a data fusion module, and the vehicle-mounted equipment receives position data of the communication expansion base station and acquires geomagnetic data, gyroscope data and geomagnetic accelerometer data; and the geomagnetic data, the gyroscope data and the accelerometer data correct the Beidou data to realize accurate positioning of the train in the tunnel.
Furthermore, the communication extension base stations are arranged in the tunnel at equal intervals, the Beidou satellite base stations receive data and transmit the data to the communication extension base stations in a coded mode, and the communication extension base stations calculate position data according to self fixed coordinates and then convert the data into standard satellite signals.
Further, the inertial positioning module comprises a gyroscope and an accelerometer.
Further, the inertial positioning module acquires and constructs gyroscope data by using Shannon sampling theorem, and establishes an AR identification drift model, wherein the general expression of the model is as follows:
ai: an autoregressive coefficient; x (k): the output of the AR (p) model; ω (k): a noise sequence.
Further, the data fusion module fuses geomagnetic data, gyroscope data and accelerometer data by using an extended Kalman filtering algorithm.
The embodiment of the invention has the following advantages:
the invention discloses a train tunnel positioning method based on a Beidou system, which comprises the steps of receiving satellite differential data through a Beidou satellite base station at a tunnel entrance and exit, transmitting the data to a communication extension base station after encoding, decoding the data by the communication extension base station, calculating coordinate data according to fixed coordinates of the extension base station, converting the coordinate data into standard satellite signals, amplifying the satellite signals by a signal amplification module, comparing the acquired geomagnetic data with a reference database by a geomagnetic positioning module of vehicle-mounted equipment by adopting a TERCOM algorithm and an ICCP algorithm, and obtaining the best matching result according to corresponding criteria. The accurate positioning of the train position in the tunnel is realized. The train track can be conveniently and timely tracked, and an optimal train arrangement scheme is formed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic view of a Beidou satellite base station and an in-tunnel communication extension base station of a train tunnel positioning method based on a Beidou system, provided by an embodiment of the invention;
fig. 2 is a schematic positioning flow diagram of a train tunnel positioning method based on a beidou system according to an embodiment of the present invention;
fig. 3 is a schematic view of a vehicle-mounted device of a train tunnel positioning method based on a beidou system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an in-tunnel communication extension base station of the train tunnel positioning method based on the beidou system according to the embodiment of the invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The embodiment discloses a train tunnel positioning method based on a Beidou system, which comprises a tunnel entrance/exit Beidou satellite base station, a communication extension base station in a tunnel and vehicle-mounted equipment; the gateway Beidou base station receives satellite differential information, the information is coded and then transmitted to a communication expansion base station in a tunnel, the communication expansion base station comprises a data receiving module, a data decoding module and a signal amplifying module, the communication expansion base station converts the coded information into standard satellite signals and amplifies the satellite signals, the vehicle-mounted equipment comprises a data communication module, a signal processing module, an inertial positioning module, a geomagnetic positioning module, a Beidou positioning module, a data acquisition module and a data fusion module, and the vehicle-mounted equipment receives position data of the communication expansion base station and acquires geomagnetic data, gyroscope data and geomagnetic accelerometer data; and the geomagnetic data, the gyroscope data and the accelerometer data correct the Beidou data to realize accurate positioning of the train in the tunnel.
The communication extension base stations are installed in the tunnel at equal intervals, the Beidou satellite base stations receive data and transmit the data to the communication extension base stations in a coded mode, and the communication extension base stations calculate position data according to self fixed coordinates and then convert the data into standard satellite signals. The inertial positioning module comprises a gyroscope and an accelerometer.
The inertial positioning module collects and constructs gyroscope data by using Shannon sampling theorem and establishes an AR identification drift model, wherein the general expression of the model is as follows:
ai: an autoregressive coefficient; x (k): the output of the AR (p) model; ω (k): a noise sequence.
And the data fusion module fuses geomagnetic data, gyroscope data and accelerometer data by using an extended Kalman filtering algorithm.
The tunnel entrance and exit Beidou satellite base station receives satellite differential data, and transmits the data to the communication extension base station after coding;
after the communication extension base station receives the data, the data are decoded, coordinate data are calculated according to the fixed coordinates of the extension base station, the coordinate data are converted into standard satellite signals, and the standard satellite signals are amplified through a signal amplification module;
the geomagnetic positioning module of the vehicle-mounted equipment adopts a TERCOM algorithm and an ICCP algorithm, compares the collected geomagnetic data with a reference database, and obtains an optimal matching result according to a corresponding criterion. The accurate positioning of the train position in the tunnel is realized. The train track can be conveniently and timely tracked, and an optimal train arrangement scheme is formed.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. A train tunnel positioning method based on a Beidou system is characterized by comprising a Beidou satellite base station at a tunnel entrance, a communication extension base station in a tunnel and vehicle-mounted equipment; the gateway Beidou base station receives satellite differential information, the information is coded and then transmitted to a communication expansion base station in a tunnel, the communication expansion base station comprises a data receiving module, a data decoding module and a signal amplifying module, the communication expansion base station converts the coded information into standard satellite signals and amplifies the satellite signals, the vehicle-mounted equipment comprises a data communication module, a signal processing module, an inertial positioning module, a geomagnetic positioning module, a Beidou positioning module, a data acquisition module and a data fusion module, and the vehicle-mounted equipment receives position data of the communication expansion base station and acquires geomagnetic data, gyroscope data and geomagnetic accelerometer data; and the geomagnetic data, the gyroscope data and the accelerometer data correct the Beidou data to realize accurate positioning of the train in the tunnel.
2. The Beidou system-based train tunnel positioning method of claim 1, wherein the communication extension base stations are installed in the tunnel at equal intervals, the Beidou satellite base stations receive data and transmit the data to the communication extension base stations in a coded mode, and the communication extension base stations calculate position data according to self fixed coordinates and then convert the data into standard satellite signals.
3. The Beidou system-based train tunnel positioning method of claim 1, wherein the inertial positioning module comprises a gyroscope and an accelerometer.
4. The Beidou system-based train tunnel positioning method of claim 3, wherein the inertial positioning module collects and constructs gyroscope data by using Shannon sampling theorem, and establishes an AR identification drift model, wherein a general expression of the model is as follows:
ai: an autoregressive coefficient; x (k): the output of the AR (p) model; ω (k): a noise sequence.
5. The Beidou system-based train tunnel positioning method of claim 1, wherein the data fusion module fuses geomagnetic data, gyroscope data and accelerometer data by using an extended Kalman filter algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010334694.8A CN111505678A (en) | 2020-04-24 | 2020-04-24 | Train tunnel positioning method based on Beidou system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010334694.8A CN111505678A (en) | 2020-04-24 | 2020-04-24 | Train tunnel positioning method based on Beidou system |
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| CN111505678A true CN111505678A (en) | 2020-08-07 |
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| CN202010334694.8A Pending CN111505678A (en) | 2020-04-24 | 2020-04-24 | Train tunnel positioning method based on Beidou system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050141A (en) * | 2021-03-15 | 2021-06-29 | 江西北斗云智慧科技有限公司 | Vehicle positioning supervision method based on Beidou high-precision position service |
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
-
2020
- 2020-04-24 CN CN202010334694.8A patent/CN111505678A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050141A (en) * | 2021-03-15 | 2021-06-29 | 江西北斗云智慧科技有限公司 | Vehicle positioning supervision method based on Beidou high-precision position service |
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
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