CN111703474A - Rail vehicle dispatching system and method based on high-precision GNSS navigation system - Google Patents
Rail vehicle dispatching system and method based on high-precision GNSS navigation system Download PDFInfo
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- CN111703474A CN111703474A CN202010477424.2A CN202010477424A CN111703474A CN 111703474 A CN111703474 A CN 111703474A CN 202010477424 A CN202010477424 A CN 202010477424A CN 111703474 A CN111703474 A CN 111703474A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- 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]
Abstract
The invention provides a railway vehicle dispatching system based on a high-precision GNSS navigation system, which comprises a plurality of positioning electronic flat plates, a dispatching server and a differential data resolving module, wherein all vehicles to be dispatched are provided with the positioning electronic flat plates, the positioning electronic flat plates are connected with the dispatching server, and the differential data resolving module is connected with all the positioning electronic flat plates. According to the railway vehicle dispatching system based on the high-precision GNSS navigation system, all vehicles can be dynamically dispatched in real time through the dispatching server, the positioning electronic panel and the differential data resolving module, corresponding dispatching information containing driving operation instructions is made according to the high-precision position information of the vehicle to be dispatched, other auxiliary facilities do not need to be laid on the rail, and the purposes of traffic volume and rail utilization rate are achieved on the premise of ensuring safety while construction cost is saved.
Description
Technical Field
The invention relates to satellite positioning navigation, in particular to a system and a method for dispatching a railway vehicle based on a high-precision GNSS navigation system.
Background
Satellite positioning technology is a technology for accurately positioning an object using satellites, and can be used to guide airplanes, ships, vehicles, and individuals to safely and accurately reach a destination on time along a selected route. The tracking of using satellite positioning to carry out the vehicle is very general in the market at present, but because the main application scene carries out vehicle tracking and display in a large scale, does not have hard requirement to the precision of location, generally uses the GPS chip of USA to carry out the location of single-band, generally can satisfy within ten meters, and is not sensitive to position drift, the loss lock that appears under the satellite number is not enough or has the sheltering from.
At present, a plurality of methods for scheduling vehicles in various industries exist, but the general method is to use a GPS to display the position of the vehicle in real time, then a manual management mode is used in a monitoring center to manage and schedule the vehicle, the scheduling can only be used as a one-way mode, and no indication is made on the running mode of the vehicle in a system. In the application scene of a mining area, a train is needed to transport mineral products to a certain concentration point, in order to save construction cost, only one rail is constructed, two-way vehicles are shared back and forth, and intersection lines are set at a plurality of midway points to solve the problem of vehicle meeting. The existing intelligent dispatching of vehicles in a track running scene that a bidirectional vehicle makes a round trip to share a single track and overpasses are arranged at a plurality of midway points of the track is not realized.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a rail vehicle dispatching system based on a high-precision GNSS navigation system, which can solve the problem that the prior art does not implement intelligent dispatching for vehicles in a rail driving scene in which two-way vehicles back and forth share a single rail and overpasses are set at a plurality of intermediate points of the rail.
The invention also aims to provide a railway vehicle dispatching system based on a high-precision GNSS navigation system, which can solve the problem that the intelligent dispatching of the vehicles in the conventional track running scene that the back-and-forth bidirectional vehicles share a single track and interchange lines are arranged at a plurality of midway points of the track is not realized.
One of the purposes of the invention is realized by adopting the following technical scheme:
the rail vehicle dispatching system based on the high-precision GNSS navigation system is applied to a rail running scene that two-way vehicles back and forth share a single rail and a plurality of midway points of the rail are provided with interchange lines, and comprises a plurality of positioning electronic flat plates, a dispatching server and a differential data resolving module, wherein the positioning electronic flat plates are installed on all vehicles to be dispatched, the positioning electronic flat plates are connected with the dispatching server, and the differential data resolving module is connected with all the positioning electronic flat plates;
the system comprises a positioning electronic panel, a differential data calculation module, a scheduling server and a differential data calculation module, wherein the positioning electronic panel acquires positioning information corresponding to a vehicle to be scheduled sent by a GNSS navigation system in real time, the differential data calculation module acquires positioning signals of the GNSS navigation system in real time and calculates to obtain differential correction parameters, the differential data calculation module sends the differential correction parameters to all the positioning electronic panels respectively, each positioning electronic panel calculates to obtain high-precision position information corresponding to the vehicle to be scheduled according to the positioning information and the differential correction parameters, the positioning electronic panel sends the corresponding high-precision position information to the scheduling server, and the scheduling server generates scheduling information corresponding to the vehicle to be scheduled according to the high-precision position information corresponding to each vehicle to be scheduled and sends the scheduling information to the positioning electronic panels on the corresponding vehicle to be scheduled.
Further, the differential data resolving module is a GNSS reference station or a CORS continuous operation reference station.
The positioning electronic tablet further comprises a differential signal acquisition network, wherein the differential signal acquisition network provides a first communication channel, and the first communication channel is used for establishing communication between the positioning electronic tablet and the differential data resolving module.
The system further comprises a connection scheduling server communication network, wherein the connection scheduling server communication network provides a second communication channel, and the second communication channel is used for establishing communication between the positioning electronic tablet and the scheduling server.
The second purpose of the invention is realized by adopting the following technical scheme:
the rail vehicle dispatching method based on the high-precision GNSS navigation system is applied to the rail vehicle dispatching system based on the high-precision GNSS navigation system, and is characterized in that: the method comprises the following steps:
acquiring positioning information, and acquiring the positioning information corresponding to the vehicle to be dispatched, which is sent by a GNSS navigation system, by a positioning electronic panel in real time;
calculating a differential correction parameter, and acquiring a positioning signal of the GNSS in real time by a differential data resolving module and resolving to obtain the differential correction parameter;
calculating high-precision position information, and calculating by the positioning electronic flat plate according to the positioning information and the differential correction parameters to obtain the high-precision position information corresponding to the vehicle to be dispatched;
and generating scheduling information, generating the scheduling information corresponding to the vehicles to be scheduled by the scheduling server according to the high-precision position information corresponding to each vehicle to be scheduled and a preset scheduling strategy, and sending the scheduling information to the positioning electronic tablet on the corresponding vehicle to be scheduled.
And further, the method also comprises the step that a dispatching server acquires the running state information and the track position information of the vehicle to be dispatched, and the dispatching server corrects the flying spot position displayed on the positioning electronic flat plate according to the running state information and the track position information of the vehicle to be dispatched.
Further, the dispatching server corrects the flying spot position displayed on the positioning electronic plate through a map-match drift correction algorithm according to the running state information of the vehicle to be dispatched and the track position information.
Further, the preset scheduling strategy comprises an opposite main line locking strategy, an opposite main line first application first use strategy, a vehicle approach early warning strategy and a same-direction main line conflict elimination strategy.
Furthermore, the preset scheduling strategies further comprise a same-direction multi-vehicle priority traffic strategy, a terminal station conflict strategy, a link same-direction station and insufficient intersection calculation strategy, a designated-direction priority traffic strategy and a multi-branch convergence conflict calculation strategy.
Compared with the prior art, the invention has the beneficial effects that: the railway vehicle dispatching system based on the high-precision GNSS navigation system comprises a plurality of positioning electronic flat plates, a dispatching server and a differential data resolving module, wherein the positioning electronic flat plates are mounted on all vehicles to be dispatched, the positioning electronic flat plates are connected with the dispatching server, and the differential data resolving module is connected with all the positioning electronic flat plates; the method comprises the steps that a positioning electronic flat plate obtains positioning information corresponding to a vehicle to be dispatched, the positioning information is sent by a GNSS navigation system in real time, a differential data calculation module obtains positioning signals of the GNSS navigation system in real time and calculates to obtain differential correction parameters, the differential data calculation module sends the differential correction parameters to all the positioning electronic flat plates respectively, each positioning electronic flat plate obtains high-precision position information corresponding to the vehicle to be dispatched according to the positioning information and the differential correction parameters, the positioning electronic flat plates send the corresponding high-precision position information to a dispatching server, the dispatching server generates dispatching information corresponding to the vehicle to be dispatched according to the high-precision position information corresponding to the vehicle to be dispatched, and sends the dispatching information to the positioning electronic flat plate on the corresponding vehicle to be dispatched. All vehicles can be dynamically scheduled in real time through the scheduling server, the positioning electronic panel and the differential data resolving module, corresponding scheduling information containing driving operation instructions is made according to high-precision position information of each vehicle, other auxiliary facilities do not need to be laid on the track, and the purposes of transportation volume and highest track utilization rate can be achieved on the premise of ensuring safety while construction cost is saved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic flow chart of a method for scheduling a rail vehicle based on a high-precision GNSS navigation system according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The GNSS system in this embodiment is a global navigation satellite positioning system, and at present mainly includes four navigation systems of GPS, GLONASS, GALILEO, and BDS, where GPS is a global satellite positioning system developed on the basis of the american naval navigation satellite system, GLONASS is a second-generation military satellite navigation system independently developed and controlled by the former soviet union department of defense, the system is a second global satellite navigation system following GPS, GALILEO is also called GALILEO satellite navigation system (GALILEO) is a global satellite navigation positioning system developed and established by the european union, and BDS is a beidou satellite navigation system, which is an autonomously developed and independently operated global satellite navigation system in china.
The embodiment provides a rail vehicle dispatching system based on a high-precision GNSS navigation system, which is applied to a rail running scene that two-way vehicles back and forth share a single rail and a plurality of midway points of the rail are provided with interchange lines, and comprises a plurality of positioning electronic flat plates, a dispatching server and a differential data resolving module, wherein the positioning electronic flat plates are installed on all the vehicles to be dispatched, the positioning electronic flat plates are connected with the dispatching server, and the differential data resolving module is connected with all the positioning electronic flat plates; on the operation of location electronic flat board and the android platform in this embodiment, screen resolution is no less than 1280 800 pixels, enough is used for showing the electronic map in whole area, and has customized demonstration, sound system. The differential data resolving module is a GNSS reference station or a CORS continuous operation reference station. The positioning electronic flat board uploads high-precision position information through 2G/3G/4G/5G.
The system comprises a positioning electronic panel, a differential data calculation module, a scheduling server and a differential data calculation module, wherein the positioning electronic panel acquires positioning information corresponding to a vehicle to be scheduled sent by a GNSS navigation system in real time, the differential data calculation module acquires positioning signals of the GNSS navigation system in real time and calculates to obtain differential correction parameters, the differential data calculation module sends the differential correction parameters to all the positioning electronic panels respectively, each positioning electronic panel calculates to obtain high-precision position information corresponding to the vehicle to be scheduled according to the positioning information and the differential correction parameters, the positioning electronic panel sends the corresponding high-precision position information to the scheduling server, and the scheduling server generates scheduling information corresponding to the vehicle to be scheduled according to the high-precision position information corresponding to each vehicle to be scheduled and sends the scheduling information to the positioning electronic panels on the corresponding vehicle to be scheduled. The positioning electronic tablet further comprises a differential signal acquisition network, wherein the differential signal acquisition network provides a first communication channel, and the first communication channel is used for establishing communication between the positioning electronic tablet and the differential data resolving module. The system further comprises a connection scheduling server communication network, wherein the connection scheduling server communication network provides a second communication channel, and the second communication channel is used for establishing communication between the positioning electronic tablet and the scheduling server.
As shown in fig. 1, the method for dispatching rail vehicles based on a high-precision GNSS navigation system includes the following steps:
acquiring positioning information, and acquiring the positioning information corresponding to the vehicle to be dispatched, which is sent by a GNSS navigation system, by a positioning electronic panel in real time;
calculating a differential correction parameter, and acquiring a positioning signal of the GNSS in real time by a differential data resolving module and resolving to obtain the differential correction parameter;
calculating high-precision position information, and calculating by the positioning electronic flat plate according to the positioning information and the differential correction parameters to obtain the high-precision position information corresponding to the vehicle to be dispatched;
and generating scheduling information, generating the scheduling information corresponding to the vehicles to be scheduled by the scheduling server according to the high-precision position information corresponding to each vehicle to be scheduled and a preset scheduling strategy, and sending the scheduling information to the positioning electronic tablet on the corresponding vehicle to be scheduled. The method comprises the steps that a dispatching server obtains running state information and track position information of a vehicle to be dispatched, and the dispatching server corrects the flying spot position displayed on a positioning electronic panel according to the running state information and the track position information of the vehicle to be dispatched. And the dispatching server corrects the flying spot position displayed on the positioning electronic plate through a map-match drift correction algorithm according to the running state information of the vehicle to be dispatched and the track position information.
The preset scheduling strategy in this embodiment includes an opposite main line locking strategy, an opposite main line first application first use strategy, a vehicle approach early warning strategy, a same-direction main line conflict elimination strategy, a same-direction multi-vehicle priority traffic strategy, a terminal station conflict strategy, a link same-direction station and junction deficiency calculation strategy, a designated direction priority traffic strategy, and a multi-branch junction conflict calculation strategy. The above strategy is specifically: the strategy for locking the opposite main line needs to save construction cost, only one track is laid on the main line, so that opposite vehicles are not allowed to simultaneously drive into the main line to cause track collision and cause deadlock, and before the vehicles enter the main line, the dispatching system checks whether the vehicles are opposite on the main line or not, and if not, after the main line locking operation is carried out, the vehicles are allowed to carry out the main line. The strategy is firstly applied to the main line, the use right of the main line is generally obtained by queuing, and the first application and the first use are followed when the multiple vehicles have no weight. The vehicle approaches the early warning strategy, inspects the relative position of vehicle in real time, and when going together or the subtend is close to certain threshold, all can remind the driver to operate through issuing alarm information to the electronic flat board. In order to improve the traffic utilization rate of the track, a plurality of vehicles in the same line are allowed to enter simultaneously in a trailing mode on one section of main line when enough vehicle distance is guaranteed, and waiting is not needed. According to the same-direction multi-vehicle priority traffic strategy, if a plurality of vehicles are ready to enter a section of main line in the same direction, the traffic efficiency can be improved, and the main line is allowed to be used in the multi-vehicle direction firstly. The terminal station conflict strategy is generally set as a station at the end of a track for getting on and off passengers or loading and unloading goods, and under the condition that the stations are all stopped with vehicles, even if a main line close to the station can enter, the track conflict can be caused after the entry, so that deadlock is caused. According to the calculation strategy of the interlinked equidirectional stations and insufficient intersection, the intersection line and the platform in the same direction are full of the opposite vehicles, and even if the vehicle enters the main line, the track collision can still be caused, so that the deadlock is caused. And a direction priority traffic strategy is specified, in order to improve the operation amount, the dispatching server allows a certain operation direction to be set as a main direction, for example, the direction of driving to the unloading platform is the main direction, and under the condition of meeting the condition of no conflict, the dispatching server can preferentially instruct the vehicles to pass in the main direction. The multi-branch converging conflict calculation strategy has a herringbone-like orbit in some scheduling scenes, the scheduling server in the embodiment can perform hierarchical scheduling on each section, the scheduling of each branch still follows the scheduling strategy of each point, and uniform and safe scheduling is achieved through an avoidance strategy when the branch enters the main line.
The railway vehicle dispatching system based on the high-precision GNSS navigation system comprises a plurality of positioning electronic flat plates, a dispatching server and a differential data resolving module, wherein the positioning electronic flat plates are mounted on all vehicles to be dispatched, the positioning electronic flat plates are connected with the dispatching server, and the differential data resolving module is connected with all the positioning electronic flat plates; the method comprises the steps that a positioning electronic flat plate obtains positioning information corresponding to a vehicle to be dispatched, the positioning information is sent by a GNSS navigation system in real time, a differential data calculation module obtains positioning signals of the GNSS navigation system in real time and calculates to obtain differential correction parameters, the differential data calculation module sends the differential correction parameters to all the positioning electronic flat plates respectively, each positioning electronic flat plate obtains high-precision position information corresponding to the vehicle to be dispatched according to the positioning information and the differential correction parameters, the positioning electronic flat plates send the corresponding high-precision position information to a dispatching server, the dispatching server generates dispatching information corresponding to the vehicle to be dispatched according to the high-precision position information corresponding to the vehicle to be dispatched, and sends the dispatching information to the positioning electronic flat plate on the corresponding vehicle to be dispatched. All vehicles can be dynamically scheduled in real time through the scheduling server, the positioning electronic panel and the differential data resolving module, corresponding scheduling information containing driving operation instructions is made according to high-precision position information of each vehicle, other auxiliary facilities do not need to be laid on the track, and the purposes of transportation volume and highest track utilization rate can be achieved on the premise of ensuring safety while construction cost is saved.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (9)
1. The rail vehicle dispatching system based on the high-precision GNSS navigation system is applied to a rail running scene that two-way vehicles back and forth share a single rail and overpasses are arranged at a plurality of midway points of the rail, and is characterized in that: the system comprises a plurality of positioning electronic panels, a dispatching server and differential data resolving modules, wherein the positioning electronic panels are installed on all vehicles to be dispatched, the positioning electronic panels are connected with the dispatching server, and the differential data resolving modules are connected with all the positioning electronic panels;
the system comprises a positioning electronic panel, a differential data calculation module, a scheduling server and a differential data calculation module, wherein the positioning electronic panel acquires positioning information corresponding to a vehicle to be scheduled sent by a GNSS navigation system in real time, the differential data calculation module acquires positioning signals of the GNSS navigation system in real time and calculates to obtain differential correction parameters, the differential data calculation module sends the differential correction parameters to all the positioning electronic panels respectively, each positioning electronic panel calculates to obtain high-precision position information corresponding to the vehicle to be scheduled according to the positioning information and the differential correction parameters, the positioning electronic panel sends the corresponding high-precision position information to the scheduling server, and the scheduling server generates scheduling information corresponding to the vehicle to be scheduled according to the high-precision position information corresponding to each vehicle to be scheduled and sends the scheduling information to the positioning electronic panels on the corresponding vehicle to be scheduled.
2. The high accuracy GNSS navigation system based rail vehicle dispatch system of claim 1 wherein: the differential data resolving module is a GNSS reference station or a CORS continuous operation reference station.
3. The high accuracy GNSS navigation system based rail vehicle dispatch system of claim 1 wherein: the positioning electronic tablet further comprises a differential signal acquisition network, wherein the differential signal acquisition network provides a first communication channel, and the first communication channel is used for establishing communication between the positioning electronic tablet and the differential data resolving module.
4. The high accuracy GNSS navigation system based rail vehicle dispatch system of claim 1 wherein: the system further comprises a connection scheduling server communication network, wherein the connection scheduling server communication network provides a second communication channel, and the second communication channel is used for establishing communication between the positioning electronic tablet and the scheduling server.
5. The high-precision GNSS navigation system-based rail vehicle dispatching method which is applied to the rail vehicle dispatching system based on the high-precision GNSS navigation system of any one of claims 1 to 4 is characterized in that: the method comprises the following steps:
acquiring positioning information, and acquiring the positioning information corresponding to the vehicle to be dispatched, which is sent by a GNSS navigation system, by a positioning electronic panel in real time;
calculating a differential correction parameter, and acquiring a positioning signal of the GNSS in real time by a differential data resolving module and resolving to obtain the differential correction parameter;
calculating high-precision position information, and calculating by the positioning electronic flat plate according to the positioning information and the differential correction parameters to obtain the high-precision position information corresponding to the vehicle to be dispatched;
and generating scheduling information, generating the scheduling information corresponding to the vehicles to be scheduled by the scheduling server according to the high-precision position information corresponding to each vehicle to be scheduled and a preset scheduling strategy, and sending the scheduling information to the positioning electronic tablet on the corresponding vehicle to be scheduled.
6. The high-precision GNSS navigation system-based rail vehicle dispatching method of claim 5, wherein: the method comprises the steps that a dispatching server obtains running state information of a vehicle to be dispatched and track position information, and the dispatching server corrects the flying spot position displayed on a positioning electronic plate according to the running state information of the vehicle to be dispatched and the track position information.
7. The high-precision GNSS navigation system based rail vehicle dispatching method of claim 6, wherein: and the dispatching server corrects the flying spot position displayed on the positioning electronic plate through a map-match drift correction algorithm according to the running state information of the vehicle to be dispatched and the track position information.
8. The high-precision GNSS navigation system-based rail vehicle dispatching method of claim 5, wherein: the preset scheduling strategy comprises an opposite main line locking strategy, an opposite main line first application first use strategy, a vehicle approach early warning strategy and a same-direction main line conflict elimination strategy.
9. The high-accuracy GNSS navigation system-based rail vehicle scheduling method according to claim 8, wherein: the preset scheduling strategies further comprise a same-direction multi-vehicle priority traffic strategy, a terminal station conflict strategy, a interlinked same-direction station and insufficient intersection calculation strategy, a designated direction priority traffic strategy and a multi-branch convergence conflict calculation strategy.
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Application publication date: 20200925 |