CN111679310B - Locomotive high-precision fusion positioning method applied to iron and steel enterprises - Google Patents
Locomotive high-precision fusion positioning method applied to iron and steel enterprises Download PDFInfo
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- CN111679310B CN111679310B CN202010586376.0A CN202010586376A CN111679310B CN 111679310 B CN111679310 B CN 111679310B CN 202010586376 A CN202010586376 A CN 202010586376A CN 111679310 B CN111679310 B CN 111679310B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a locomotive high-precision fusion positioning method applied to steel enterprises, which comprises the following steps of: when the locomotive is far away from the target positioning point, the differential GNSS positioning is realized, and the high-precision positioning of the locomotive in the running process can be realized by calculating the differential solving coordinates through satellite signals received by a locomotive vehicle-mounted receiver and combining carrier phases acquired by a ground reference station; gray bus positioning, a grid Lei Muxian antenna box is arranged at the bottom of the locomotive, two ends of the Gray bus positioning are respectively provided with a magnetic scale for realizing hardware redundancy, the locomotive position is precisely positioned in an electromagnetic coupling mode between the antenna box and the ground magnetic scale, the positioning precision reaches 5mm, the ground magnetic scale is arranged at the position 80m in front of a working site, and a curve section of a track is covered. According to the invention, the locomotive is conveniently positioned in the running process by differential GNSS positioning, and when the locomotive is positioned in a curve, the locomotive is positioned by Gray bus positioning, so that the problem that the locomotive with large track curvature cannot be positioned by a laser range finder in the curve is solved.
Description
Technical Field
The invention relates to the technical field of locomotives of iron and steel enterprises, in particular to a locomotive high-precision fusion positioning scheme applied to iron and steel enterprises.
Background
Molten iron produced by iron works of iron and steel enterprises is transported to a steel mill through a locomotive traction torpedo tank car, an unmanned locomotive needs accurate and reliable position data when each station point is aligned, and due to the influence of specific complex working conditions of a factory, single positioning equipment cannot meet the high-precision positioning requirement of the unmanned locomotive, and the special conditions of the following points are mainly provided: 1. the curvature of the track in front of the working site is large, and the locomotive cannot be positioned on a curve through a laser range finder; 2. due to weather or building environment shielding, satellite signals drift and inaccurate locomotive positioning are caused; 3. the road junction exists in front of the working site, and the Gray bus ground magnetic ruler is not allowed to be installed.
Disclosure of Invention
Based on the technical problems in the background technology, the invention provides a locomotive high-precision fusion positioning scheme applied to iron and steel enterprises.
The invention provides a locomotive high-precision fusion positioning scheme applied to iron and steel enterprises, which comprises the following steps of:
s1: when the locomotive is far away from the target positioning point, the differential GNSS positioning is realized, and the high-precision positioning of the locomotive in the running process can be realized by calculating the differential solving coordinates through satellite signals received by a locomotive vehicle-mounted receiver and combining carrier phases acquired by a ground reference station;
s2: gray bus positioning, wherein a grid Lei Muxian antenna box is arranged at the bottom of a locomotive, two ends of the Gray bus positioning are respectively provided with a device for realizing hardware redundancy, the locomotive position is precisely positioned through an electromagnetic coupling mode between the antenna box and a ground magnetic ruler, the positioning precision reaches 5mm, the ground magnetic ruler is arranged at a position 80m in front of a working site and covers a curve section of a track, and when the locomotive passes through the section, the positioning mode is switched from differential GNSS to Gray bus positioning;
s3: and (3) data verification, namely installing a high-precision laser range finder on each locomotive and the torpedo tank car, taking the high-precision laser range finder as first data of the locomotive in the accurate positioning of the station point in the detection range or the set distance range, and simultaneously, mutually verifying the data with Gray bus positioning data and the detection position of the RFID tag.
Preferably, in the step S1, when the satellite positioning signal drifts, the position correction is performed through the RFID tag arranged on the track line, and meanwhile, the RFID tag is also used for accurately tracking the track line where the locomotive is located, the RFID controller and the reading head are mounted on the locomotive, and two reading heads are mounted at the bottom of each locomotive to ensure the reliability of tag detection.
Preferably, in the step S2, the ground magnetic ruler is arranged at a position 80m in front of the working site, covers a curve section of the track, and when the locomotive passes through the curve section, the positioning mode is switched from the differential GNSS to the gray bus positioning.
Preferably, in the step S2, the locomotive cannot be positioned through the gray bus when passing through the road junction section, the rotational speed signal detected by the locomotive transmission shaft encoder is adopted, the locomotive running displacement data is realized through the conversion of the mechanical transmission ratio and the high-speed integral operation of the locomotive controller, the data is fused with the gray bus detection data, the data correction of the starting point and the end point is performed, and a smooth and accurate displacement curve can be input for the locomotive positioning model.
Preferably, in the step S2, the accuracy of the integral positioning data of the encoder can be ensured by accurately detecting the data of the laser rangefinder at the station point to correct the integral positioning calibration parameters of the encoder according to the difference of mechanical parameters such as the wheel diameter of each locomotive and the like, which may cause the deviation of the integral displacement.
The beneficial effects of the invention are as follows:
1. the locomotive high-precision fusion positioning scheme applied to the iron and steel enterprises conveniently positions the locomotive in the running process through differential GNSS positioning, and positions the locomotive through Gray bus positioning when the locomotive is in a curve, so that the problem that a large track curvature locomotive cannot be positioned through a laser range finder on the curve is solved, and data collection and mutual verification are performed in the detection range where the locomotive is located through the high-precision laser range finder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments.
A locomotive high-precision fusion positioning scheme applied to iron and steel enterprises comprises the following steps:
s1: when the locomotive is far away from the target positioning point, the differential GNSS positioning is realized, and the high-precision positioning of the locomotive in the running process can be realized by calculating the differential solving coordinates through satellite signals received by a locomotive vehicle-mounted receiver and combining carrier phases acquired by a ground reference station;
s2: gray bus positioning, wherein a grid Lei Muxian antenna box is arranged at the bottom of a locomotive, two ends of the Gray bus positioning are respectively provided with a device for realizing hardware redundancy, the locomotive position is precisely positioned through an electromagnetic coupling mode between the antenna box and a ground magnetic ruler, the positioning precision reaches 5mm, the ground magnetic ruler is arranged at a position 80m in front of a working site and covers a curve section of a track, and when the locomotive passes through the section, the positioning mode is switched from differential GNSS to Gray bus positioning;
s3: and (3) data verification, namely installing a high-precision laser range finder on each locomotive and the torpedo tank car, taking the high-precision laser range finder as first data of the locomotive in the accurate positioning of the station point in the detection range or the set distance range, and simultaneously, mutually verifying the data with Gray bus positioning data and the detection position of the RFID tag.
In the invention, in S1, when satellite positioning signals drift, the position correction is carried out through RFID labels arranged on a track line, meanwhile, the RFID labels are also used for accurately tracking the track line where a locomotive is positioned, an RFID controller and a reading head are arranged on the locomotive, two reading heads are arranged at the bottom of each locomotive to ensure the reliability of label detection, in S2, a ground magnetic scale is arranged at the position 80m in front of a working position to cover a curve section of the track, when the locomotive passes through the section, the positioning mode is switched from a differential GNSS to Gray bus positioning, in S2, the locomotive cannot be positioned through Gray bus when passing through the section of the working position, the rotating speed signals detected by a locomotive transmission shaft encoder are adopted, the data are fused with Gray bus detection data through conversion of a mechanical transmission ratio, the data of a starting point and an end point are corrected, a smooth and accurate displacement curve can be input for a locomotive positioning model, in S2, the accurate integral displacement exists due to the fact that the mechanical parameters such as the wheel diameter of the locomotive are different, the integral displacement can be possibly caused, the integral displacement is positioned through the integral positioning data of a position detector of a station point laser distance meter to correct the locomotive, the integral positioning data can be corrected through the integral positioning calibration parameters and the accurate positioning data of the integral positioning data can be ensured through the integral positioning data of the integrator.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The locomotive high-precision fusion positioning method applied to the iron and steel enterprises is characterized by comprising the following steps of:
s1: differential GNSS positioning, namely when the locomotive is far away from a target positioning point, calculating coordinates by combining satellite signals received by a locomotive vehicle-mounted receiver and carrier phases acquired by a ground reference station, so as to realize high-precision positioning of the locomotive in the running process;
s2: gray bus positioning, wherein a Gray bus Lei Muxian antenna box is arranged at the bottom of a locomotive, two ends of the Gray bus antenna box are respectively provided with a device for realizing hardware redundancy, the position of the locomotive is precisely positioned in an electromagnetic coupling mode between the Gray bus antenna box and a ground magnetic ruler, the positioning precision reaches 5mm, the ground magnetic ruler is arranged at a position 80m in front of a working site and covers a curve section of a track, and when the locomotive passes through the section, the positioning mode is switched from differential GNSS to Gray bus positioning;
s3: data verification, namely installing a high-precision laser range finder on each locomotive and the torpedo tank car, taking the high-precision laser range finder as first data when the locomotive is precisely positioned at a station point in a detection range or a set distance range, correcting the position through an RFID (radio frequency identification) tag arranged on a track line, and checking the position with Gray bus positioning data and the detection position of the RFID tag;
s4: the locomotive can not be positioned through the Gray bus when passing through the road mouth section, the rotating speed signal detected by the locomotive transmission shaft encoder is adopted, the locomotive running displacement data is realized through the conversion of the mechanical transmission ratio and the high-speed integral operation of the locomotive controller, the data is fused with the Gray bus detection data, the data correction of the starting point and the end point is carried out, and a smooth and accurate displacement curve can be input for the locomotive positioning model.
2. The method for high-precision fusion positioning of locomotives applied to iron and steel enterprises according to claim 1, wherein in the step S1, when satellite positioning signals drift, RFID tags are used for accurately tracking track lines where locomotives are located, RFID controllers and reading heads are arranged on the locomotives, and two reading heads are arranged at the bottom of each locomotive to ensure reliability of tag detection.
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| CN202010586376.0A CN111679310B (en) | 2020-06-24 | 2020-06-24 | Locomotive high-precision fusion positioning method applied to iron and steel enterprises |
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| CN111679310B true CN111679310B (en) | 2023-09-22 |
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