CN111736192B - Satellite differential positioning system and method for train operation control - Google Patents
Satellite differential positioning system and method for train operation control Download PDFInfo
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- CN111736192B CN111736192B CN202010857015.5A CN202010857015A CN111736192B CN 111736192 B CN111736192 B CN 111736192B CN 202010857015 A CN202010857015 A CN 202010857015A CN 111736192 B CN111736192 B CN 111736192B
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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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
- 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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- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The system achieves the purpose of obtaining the accurate train position by a satellite real-time differential positioning method through mutual matching of a differential reference station module, a data processing module and a train vehicle-mounted terminal module, ensures the accuracy of the train position finally obtained by an LKJ system, and meets the high-accuracy requirement of the LKJ system on positioning. Meanwhile, at least one other differential unit exists in the signal receiving range of the differential unit in the differential reference station module, so that the situation that when one differential unit fails, the data processing module cannot receive the differential correction value of the differential unit, and further the data processing module cannot perform differential correction on the train-mounted terminal module of the train running near the differential unit is avoided; meanwhile, redundant equipment serving as standby exists in both the train-mounted terminal module and the data processing module, and the stability of the system is improved.
Description
Technical Field
The present disclosure relates to the field of railway vehicle technologies, and more particularly, to a satellite differential positioning system and method for train operation control.
Background
Along with the continuous improvement of railway to the train intelligent control demand, need train operation monitoring recording system (LKJ) to realize more accurate control to the train operation process, this just requires the LKJ system to have high accurate train locating information, can accurate discernment train circuit, station track, mile post of locating, satisfies interior shunting of storehouse, in-station fixed point stop and driving to mark, interval position correction etc. the precision needs to reach and be centimetre level.
Because the train positioning information relates to the driving control, once the LKJ system adopts inaccurate or even wrong train positioning information, serious railway traffic accidents can be caused, and serious casualties or national property loss can be caused. Or the LKJ cannot acquire any train positioning information, which also causes the train to be incapable of realizing automatic control, and is forced to adopt manual control or wait for rescue, which also affects the railway operation order.
Most of the existing train positioning methods have the problems of poor positioning accuracy, poor positioning reliability and the like, and the requirements of an LKJ system on high accuracy and high stability of the train positioning method are difficult to meet.
Disclosure of Invention
In order to solve the technical problem, the application provides a satellite differential positioning system and a satellite differential positioning method for train operation control, so as to achieve the purpose of improving the precision and stability of the positioning position of a train.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a satellite differential positioning system for train operation control, comprising: the system comprises a differential reference station module, a data processing module and a train-mounted terminal module; wherein the content of the first and second substances,
the differential reference station module comprises a plurality of differential units arranged along a train operation line, at least one other differential unit exists in a signal receiving range of the differential units, and the differential units are used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals and transmitting the differential correction value to the data processing module;
the train-mounted terminal module comprises a main terminal device and at least one redundant terminal device, and is used for receiving satellite signals of the preset satellite system, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to the data processing module; the system comprises a data processing module, an LKJ system and a control module, wherein the data processing module is used for processing the differential correction position of the data processing module;
the data processing module comprises a main processing device and at least one redundancy processing device, and is used for receiving the position information to be corrected and the differential correction value transmitted by the differential unit, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module.
Optionally, the differential unit includes a differential station, and the setting position of each differential station is located in a signal receiving range of another differential station adjacent to the differential station;
the differential station is used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals, and transmitting the differential correction value to the data processing module.
Optionally, the specific process that the data processing module calculates the differential correction position according to the to-be-corrected position information and the differential correction value matched with the to-be-corrected position information, and sends the differential correction position to the train-mounted terminal module includes:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module.
Optionally, the specific process of the data processing module, according to the to-be-corrected position information, taking the differential correction value sent by the differential station closest to the to-be-corrected position information as the differential correction value matched with the to-be-corrected position information includes:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
Optionally, the differential unit includes a differential station, each two differential stations form a group of differential combinations, and the two differential stations in each group of differential combinations are respectively used as a main differential station and a redundant differential station;
the main differential station is used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals and transmitting the differential correction value to the data processing module;
the redundant differential station is used for acquiring a satellite signal of a preset satellite system when the main differential station is abnormal, determining a differential correction value according to the received satellite signal, and transmitting the differential correction value to the data processing module.
Optionally, the master terminal device includes a first vehicle-mounted host and a first vehicle-mounted antenna;
the redundant terminal equipment comprises a second vehicle-mounted host and a second vehicle-mounted antenna, and the redundant terminal equipment is used as standby equipment of the main terminal equipment.
Optionally, the distance between the set positions of the first vehicle-mounted antenna and the second vehicle-mounted antenna keeps a preset distance value.
Optionally, the main terminal device includes a third vehicle-mounted host and a first branch of a third vehicle-mounted antenna;
the redundant terminal equipment comprises a fourth vehicle-mounted host and a second branch of the third vehicle-mounted antenna, and the redundant terminal equipment is used as standby equipment of the main terminal equipment.
Optionally, the main terminal device is further configured to monitor a state of the redundant terminal device, and send, when the state of the redundant terminal device is abnormal, alarm information including identification information of the redundant terminal device in the abnormal state to the data processing module;
the redundant terminal equipment is also used for monitoring the state of the main terminal equipment, and when the state of the main terminal equipment is abnormal, alarm information containing abnormal information of the main terminal equipment is sent to the data processing module.
Optionally, the master terminal device communicates with the differential reference station module and the data processing module through a mobile communication network;
the redundant terminal equipment is communicated with the differential reference station module and the data processing module through the mobile communication network.
Optionally, the mobile communication network includes at least two communication networks provided by mobile communication operators.
Optionally, the preset satellite system comprises a composite satellite system mainly composed of a Beidou satellite system and an auxiliary satellite system;
the auxiliary satellite system includes at least one of GPS, GLONASS, and Galileo.
Optionally, the preset satellite system includes: at least one of the Beidou satellite System, GPS, GLONASS, and Galileo.
A method for train operation control, which is implemented based on any one of the above satellite differential positioning systems for train operation control, and comprises the following steps:
receiving satellite signals of the preset satellite system by using a train-mounted terminal module, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to a data processing module;
acquiring satellite signals of a preset satellite system by using a differential unit of a differential reference station module, determining a differential correction value according to the received satellite signals, and transmitting the differential correction value to the data processing module;
receiving the position information to be corrected and the differential correction value transmitted by the differential unit by using the data processing module, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module;
and sending the differential correction position returned by the data processing module to an LKJ system by using the train vehicle-mounted terminal module so that the LKJ system rechecks the differential correction position.
Optionally, when the difference unit includes a difference station, and the setting position of each difference station is located in a signal receiving range of another difference station adjacent to the difference station, the calculating the difference correction position according to the information of the position to be corrected and the difference correction value matched with the information of the position to be corrected, and sending the difference correction position to the train-mounted terminal module includes:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module.
Optionally, the taking, according to the to-be-corrected position information, the differential correction value sent by the differential station closest to the to-be-corrected position information as the differential correction value matched with the to-be-corrected position information includes:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
According to the technical scheme, the satellite differential positioning system and the method for train operation control are provided, wherein the satellite differential positioning system for train operation control comprises a differential reference station module, a data processing module and a train vehicle-mounted terminal module, and the purpose of acquiring differential correction positions by a satellite real-time differential positioning method is achieved through the mutual cooperation of the differential reference station module, the data processing module and the train vehicle-mounted terminal module, so that the accuracy of the differential correction positions finally acquired by the LKJ system is ensured, and the high-accuracy requirement of the LKJ system on positioning is met. Meanwhile, at least one other differential unit exists in the signal receiving range of the differential unit in the differential reference station module, so that the situation that when one differential unit fails, the data processing module cannot receive the differential correction value of the differential unit, and further the data processing module cannot perform differential correction on the train-mounted terminal module of the train running near the differential unit is avoided; meanwhile, redundant equipment (namely redundant terminal equipment and redundant processing equipment) serving as standby exists in the train-mounted terminal module and the data processing module, so that the stability of the satellite differential positioning system for train operation control is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a real-time differential positioning method for satellites;
FIG. 2 is a schematic diagram of a real-time differential positioning method for satellites;
fig. 3 is a schematic structural diagram of a satellite differential positioning system for train operation control according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating a distribution manner of differential stations in a differential unit according to an embodiment of the present application;
fig. 5 is a flowchart illustrating a method for train operation control according to an embodiment of the present application.
Detailed Description
As described in the background art, most of train positioning methods in the prior art have the problems of poor positioning accuracy or poor positioning reliability, and the like, and the requirements of the LKJ system on the high accuracy and the high stability of the train positioning method are difficult to meet.
Specifically, a train positioning method in the prior art generally includes:
a) speed measuring and positioning method
The speed measurement positioning is to obtain the running distance of the train by continuously measuring the real-time running speed of the train and carrying out integral or summation operation on the real-time speed of the train. At present, all LKJ train operation monitoring devices adopt a speed measurement and positioning technology to carry out train safety control. In the case where the initial position is accurate, the positioning accuracy is about 10 m. The speed measurement positioning is essentially relative positioning, and the initial position of the locomotive must be obtained through other means. When the locomotive is driven, the LKJ system manually realizes the alignment of the locomotive and the outgoing annunciator (or sets a transponder to realize the alignment of the starting) by a driver, enters a real-time positioning state after the alignment, calculates the running distance according to the running speed of the locomotive, and calculates the distance between the locomotive and the front annunciator in real time by combining with vehicle-mounted prestored line data (including key equipment such as the position of the annunciator, the length of a track line and the like), thereby realizing the positioning of the locomotive.
The speed measurement positioning method realizes the continuous positioning of the locomotive, but has the following defects:
the positioning error of the speed measurement positioning method is accumulated along with time, so that the positioning accuracy is reduced and the method is not available.
Secondly, when the train wheel set is worn, idled, slid and the like, the positioning error can be greatly increased.
The speed measurement positioning method calculates the relative distance, and the relative distance must depend on vehicle-mounted prestored one-dimensional railway line data, otherwise absolute positioning cannot be realized, and the position of a train cannot be obtained due to the lack of line map assistance in a station section shunting state.
b) Transponder positioning method
The transponder is a point-type device which utilizes electromagnetic induction technology to realize the ground-based information transmission to the locomotive at a specific place. The matched vehicle-mounted equipment consists of a BTM (Balise Transmission Module) and a vehicle-mounted antenna, and the ground equipment is a passive transponder. When a train passes through the passive transponder, the transponder receives electromagnetic energy sent by the BTM vehicle-mounted antenna, converts the energy into a working power supply, starts an electronic circuit to work, and sends out prestored messages in a circulating mode until the electromagnetic energy disappears. A transponder device can be understood simply as a data memory and transmitter, which transmits a message when activated by a vehicle antenna.
The transponder positioning technology is essentially the alignment positioning of key points, and the precision can reach 30cm, but the transponder positioning technology has the following defects:
the locomotive can not be continuously positioned, and the requirement of real-time positioning of the locomotive can be met only by combining other positioning technologies.
Secondly, the system has high equipment cost and great difficulty in deployment and maintenance in the railway industry.
c) Satellite single point positioning method
The basic principle of satellite single-point positioning is to measure the distance between a satellite with a known position and a user receiver, and then calculate the specific coordinates of the user receiver by integrating the data of a plurality of satellites. If the user receiver has access to 4 satellites, the two-dimensional coordinates (x, y, z) of the user machine can be solved. The more the number of satellites participating in the calculation, the more accurate the positioning. The accuracy of satellite single-point positioning is generally about 10 m.
The satellite single-point positioning has the advantages of simple system construction, but has the following defects:
the positioning deviation is large, and the requirement of precise control of the railway train is not met.
Secondly, the positioning accuracy is influenced by the environment, for example, the change of the atmosphere can cause the increase of the positioning deviation.
If a GPS system is adopted, potential safety hazards exist, GPS satellite signals of China areas can be turned off in the United states during war, positioning is not available, and even interference can be artificially increased in the United states, so that positioning errors can occur.
d) Post-processing satellite differential positioning method
The satellite positioning is always affected by some inherent errors, resulting in a deviation of the positioning result. The satellite differential positioning technology eliminates inherent errors in positioning results by means of differential reference stations, thereby realizing high-precision positioning results. These errors include: satellite ephemeris error, satellite clock error, SA interference error, transmission path related errors (e.g., ionosphere, troposphere effects). According to timeliness, satellite differential positioning can be divided into post-differential and real-time differential.
After difference, namely post-processing difference, the user terminal equipment continuously and dynamically measures a time period in a single-point positioning mode, and then performs difference processing on static data of a difference station or ephemeris data published afterwards through difference post-processing software to eliminate fixed errors and obtain accurate coordinates.
The post-processing differential positioning has the advantages of high positioning precision and low requirement on user terminal equipment, but has the most prominent defect of poor real-time performance, cannot be used in the field of train operation control, and is mainly used in industries such as land resource surveying and the like.
e) Satellite real-time differential positioning method
The satellite real-time differential positioning technology is that a differential reference station is set on a known accurate three-dimensional coordinate to obtain pseudo-range correction quantity or position correction quantity, the correction quantity is sent to a user receiver of a mobile station, and measurement data of the user receiver is corrected, so that errors of the position data can be eliminated, and positioning accuracy is greatly improved. The real-time differential technology is mainly divided into RTD and RTK. The RTD is pseudo range difference, and the pseudo range observed value of the user receiver is corrected according to the pseudo range error calculation value. RTK, carrier phase differential, is a real-time dynamic positioning technique based on carrier phase observations. RTD positioning accuracy is generally in sub-meter level, and RTK positioning accuracy can reach centimeter level. The technical principle and the system composition are shown in fig. 1. When the distance between the differential station and the user terminal equipment is within a certain range, the satellites observed by the differential station and the user terminal equipment are basically the same, the refraction coefficients of an ionosphere and a troposphere are considered to be consistent on a path of electromagnetic waves transmitted to the ground by the satellites, namely the ionosphere and the troposphere have the same error factor, the differential station takes the factor as an unknown number to carry out equation solution, and then the user terminal equipment is informed through a communication transmission network, so that the terminal equipment eliminates the error. In fig. 1, a differential station and a user terminal device communicate wirelessly through a communication transmission network.
The choice of communication network determines the network framework of the differential positioning system. There are data transfer stations, public mobile communication networks and the like. The network structure of the data transmission radio station is relatively simple, but the coverage distance is generally about 10km, and on a railway line with the same length, compared with a 5G/4G/3G mobile public network, the data transmission radio station adopts a radio station scheme and needs to build a multiplied number of differential reference stations. The cellular communication network is a wide area network, data transmission is not limited by distance, but the data center needs to consider the distance between the mobile station and the differential reference station, and if the distance exceeds the range, the positioning accuracy is reduced, and even the differential positioning cannot be maintained. Therefore, for train operation control, it is practical to use a public mobile communication network, but a data center is required to be specially responsible for data communication.
The satellite differential positioning system is composed of 3 parts, namely a differential station, a data center, a mobile station and the like. 1) Differential reference station: the method is used for continuously tracking and observing satellite signals for a long time, obtaining a differential correction value and transmitting the correction value to a data center in real time through a communication network. 2) The data center comprises: the system is used for managing the operation of each reference station, receiving and processing the data of each reference station and realizing the warehousing and distribution of the data; and performing reference station matching and data distribution according to the user request and the current position of each mobile station. 3) A mobile station: and acquiring navigation messages from Beidou/GPS/GLONASS/Galileo and other satellite systems in real time, resolving the current position, sending the current position to a data center, acquiring a differential correction value from the data center, and correcting the position, thereby realizing a high-precision positioning result.
As shown in fig. 2, the design is to adopt a 5G/4G/3G public mobile communication network to implement differential data transmission, and in fig. 2, for example, a Beidou Satellite (GNSS) is taken as an example, the System is relatively suitable for a long-distance running scene such as a railway train. The scheme has the advantages of high positioning accuracy, good real-time performance and capability of meeting the requirement of LKJ train operation control, but does not meet the requirement of train control on the reliability and the availability of the system, and cannot stably obtain a high-accuracy positioning solution, and the method specifically comprises the following steps:
firstly, when any differential station along the railway fails, the differential positioning of the train in the planned coverage range of the differential station is unavailable (namely, the positioning precision deviation of the train in the planned coverage range of the differential station is increased, and the requirement of accurate train control is not met).
Secondly, the failure of the server and the network equipment of the data center causes the unavailable differential positioning of all trains (namely, the deviation of the positioning precision of the trains is increased, and the requirement of accurate train control is not met).
And thirdly, once the vehicle-mounted terminal fails, the differential positioning of the train is completely unavailable.
And fourthly, the problems of satellite system faults or signal interference, data communication error codes or accidental operation errors and the like can cause the output of wrong positioning results.
In view of this, in order to solve the problems of poor positioning accuracy or poor stability and the like existing in the positioning method in the prior art, an embodiment of the present application provides a satellite differential positioning system for train operation control, including: the system comprises a differential reference station module, a data processing module and a train-mounted terminal module; wherein the content of the first and second substances,
the differential reference station module comprises a plurality of differential units arranged along a train operation line, at least one other differential unit exists in a signal receiving range of the differential units, and the differential units are used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals and transmitting the differential correction value to the data processing module;
the train-mounted terminal module comprises a main terminal device and at least one redundant terminal device, and is used for receiving satellite signals of the preset satellite system, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to the data processing module; the system comprises a data processing module, an LKJ system and a control module, wherein the data processing module is used for processing the differential correction position of the data processing module;
the data processing module comprises a main processing device and at least one redundancy processing device, and is used for receiving the position information to be corrected and the differential correction value transmitted by the differential unit, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module.
The satellite differential positioning system for train operation control comprises a differential reference station module, a data processing module and a train vehicle-mounted terminal module, and the purpose of acquiring differential correction positions by a satellite real-time differential positioning method is achieved through the mutual matching of the differential reference station module, the data processing module and the train vehicle-mounted terminal module, so that the accuracy of the differential correction positions finally acquired by the LKJ system is ensured, and the high-precision requirement of the LKJ system on positioning is met. Meanwhile, at least one other differential unit exists in the signal receiving range of the differential unit in the differential reference station module, so that the situation that when one differential unit fails, the data processing module cannot receive the differential correction value of the differential unit, and further the data processing module cannot perform differential correction on the train-mounted terminal module of the train running near the differential unit is avoided; meanwhile, redundant equipment (namely redundant terminal equipment and redundant processing equipment) serving as standby exists in the train-mounted terminal module and the data processing module, so that the stability of the satellite differential positioning system for train operation control is improved.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
An embodiment of the present application provides a satellite differential positioning system for train operation control, as shown in fig. 3, including: the system comprises a differential reference station module 30, a data processing module 20 and a train-mounted terminal module 10; wherein the content of the first and second substances,
the differential reference station module 30 includes a plurality of differential units 31 arranged along a train operation line, at least one other differential unit 31 exists within a signal receiving range of the differential unit 31, and the differential unit 31 is configured to acquire a satellite signal of a preset satellite system, determine a differential correction value according to the received satellite signal, and transmit the differential correction value to the data processing module 20;
the train-mounted terminal module 10 comprises a main terminal device 11 and at least one redundant terminal device 12, and the train-mounted terminal module 10 is configured to receive a satellite signal of the preset satellite system, calculate position information to be corrected according to the received satellite signal, and send the position information to be corrected to the data processing module 20; the system is used for sending the differential correction position returned by the data processing module 20 to the LKJ system 40, so that the LKJ system 40 rechecks the differential correction position;
the data processing module 20 includes a main processing device 21 and at least one redundant processing device 22, and the data processing module 20 is configured to receive the to-be-corrected position information and the differential correction value transmitted by the differential unit 31, calculate the differential correction position according to the to-be-corrected position information and the differential correction value matched with the to-be-corrected position information, and send the differential correction position to the train-mounted terminal module 10.
In this embodiment, the satellite differential positioning system for train operation control includes a differential reference station module 30, a data processing module 20 and a train-mounted terminal module 10, and by the mutual cooperation of the differential reference station module 30, the data processing module 20 and the train-mounted terminal module 10, the purpose of acquiring a differential correction position by a "satellite real-time differential positioning method" is achieved, the accuracy of the differential correction position finally acquired by the LKJ system 40 is ensured, and the high-accuracy requirement of the LKJ system 40 on positioning is met. Meanwhile, at least one other differential unit 31 exists in the signal receiving range of the differential unit 31 in the differential reference station module 30, so as to avoid the situation that when one differential unit 31 fails, the data processing module 20 cannot receive the differential correction value of the differential unit 31, and further the data processing module 20 cannot perform differential correction on the train-mounted terminal module 10 of the train running near the differential unit 31; meanwhile, redundant equipment (namely the redundant terminal equipment 12 and the redundant processing equipment 22) serving as standby exists in the train-mounted terminal module 10 and the data processing module 20, so that the stability of the satellite differential positioning system for train operation control is improved.
In fig. 1, the main terminal device 11 and the redundant terminal device 12 of the train on-board terminal module 10 each include an on-board antenna and an on-board host, and the on-board antenna and the on-board host in the main terminal device 11 and the redundant terminal device 12 may be distinguished by adding a "first" and a "second" serial number. In other embodiments of the present application, the vehicle-mounted antennas in the main terminal device 11 and the redundant terminal device 12 may be shared, that is, share the same vehicle-mounted antenna, but the branches of the vehicle-mounted antennas used by the main terminal device 11 and the redundant terminal device 12 are different. The output connections of the main terminal device 11 and the redundant terminal device 12 are realized by an exchange, and the signal output to the LKJ system 40 is realized through the exchange.
In the data processing module 20, the main processing device 21 and the redundant processing device 22 each comprise a differential server and a router, which communicate with other modules via a communication network, which in fig. 3 is a 5G/4G/3G communication network.
In the differential reference station module 30, each differential unit 31 includes a differential station host and an antenna terminal, and the antenna terminal communicates with the differential station host in a Radio Frequency (RF) manner.
The following describes a possible specific structure of each module of the satellite differential positioning system for train operation control provided in the embodiment of the present application.
Referring to fig. 4, fig. 4 is a schematic diagram of an arrangement of a differential reference station module 30 according to an embodiment of the present application, in which the differential unit 31 includes one differential station, and a setting position of each differential station is located in a signal receiving range of another differential station adjacent to the differential station;
the differential station is configured to obtain a satellite signal of a preset satellite system, determine a differential correction value according to the received satellite signal, and transmit the differential correction value to the data processing module 20.
In this embodiment, the setting position of each differential station is located within the signal receiving range of another differential station adjacent to the differential station, specifically, referring to fig. 4, the setting position of the differential station is located at the edge of the signal receiving range of another differential station adjacent to the differential station, as long as it is realized that the train can be simultaneously covered by the signal receiving ranges of at least two differential stations during the operation process.
On this basis, the specific process that the data processing module 20 calculates the differential correction position according to the to-be-corrected position information and the differential correction value matched with the to-be-corrected position information, and sends the differential correction position to the train-mounted terminal module 10 includes:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module 10.
The position information to be corrected refers to position information of a rough train-mounted terminal module 10 calculated by the train-mounted terminal module 10 according to the satellite signal, that is, the position information to be corrected may roughly represent the position of the train on which the train-mounted terminal module 10 is mounted, and the data processing module 20 may determine the approximate position of the train-mounted terminal module 10 according to the position information to be corrected, so as to determine a difference correction value sent by the differential station closest to the position information to be corrected, and use the difference correction value as a difference correction value matched with the position information to be corrected.
When the state of the differential station closest to the information of the position to be corrected is abnormal, the data processing module 20 may further use the differential correction value of the differential station next closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected, that is, in an embodiment of the present application, a specific process of the data processing module 20 using the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected according to the information of the position to be corrected includes:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
On the basis of the above embodiment, in another embodiment of the present application, the differential unit 31 includes one differential station, each two differential stations form a group of differential combinations, and the two differential stations in each group of differential combinations are respectively used as a primary differential station and a redundant differential station;
the main differential station is configured to obtain a satellite signal of a preset satellite system, determine a differential correction value according to the received satellite signal, and transmit the differential correction value to the data processing module 20;
the redundant differential station is configured to, when the main differential station is abnormal, obtain a satellite signal of a preset satellite system, determine a differential correction value according to the received satellite signal, and transmit the differential correction value to the data processing module 20.
That is, in this embodiment, the differential stations are arranged in a manner of dual differential station redundancy, the two differential stations in one set of the differential combination can be located in close proximity, and when one differential station is abnormal, the other differential station can ensure that the differential combination is normal in function.
For the main terminal device 11 and the redundant terminal device 12, optionally, the main terminal device 11 includes a first vehicle-mounted host and a first vehicle-mounted antenna;
the redundant terminal device 12 includes a second vehicle-mounted host and a second vehicle-mounted antenna, and the redundant terminal device 12 is used as a standby device of the main terminal device 11.
And the distance between the set positions of the first vehicle-mounted antenna and the second vehicle-mounted antenna keeps a preset distance value. The preset distance value may be 1 meter, 1.5 meters, 2 meters, etc.
In addition, the specific arrangement of the main terminal device 11 and the redundant terminal device 12 may also be: the main terminal device 11 comprises a third vehicle-mounted host and a first branch of a third vehicle-mounted antenna;
the redundant terminal device 12 includes a fourth vehicle-mounted host and a second branch of the third vehicle-mounted antenna, and the redundant terminal device 12 is used as a standby device of the main terminal device 11.
Optionally, in an embodiment of the present application, the main terminal device 11 is further configured to monitor a state of the redundant terminal device 12, and when the state of the redundant terminal device 12 is abnormal, send alarm information including identification information of the redundant terminal device 12 with the abnormal state to the data processing module 20;
the redundant terminal device 12 is further configured to monitor a state of the main terminal device 11, and send alarm information including abnormal information of the main terminal device 11 to the data processing module 20 when the state of the main terminal device 11 is abnormal.
As for the communication mode among the train-mounted terminal module 10, the differential reference station module 30 and the data processing module 20, optionally, the master terminal device 11 communicates with the differential reference station module 30 and the data processing module 20 through a mobile communication network;
the redundant terminal equipment 12 communicates with the differential reference station module 30 and the data processing module 20 via the mobile communication network.
The mobile communication network includes, but is not limited to, 3G, 4G and 5G mobile communication networks. In order to ensure the signal stability of the mobile communication network and avoid the influence of signal blind areas or weak signal areas of communication networks provided by a certain mobile communication operator, the mobile communication network comprises at least two communication networks provided by the mobile communication operators.
Optionally, for the preset satellite system, the preset satellite system includes a composite satellite system mainly composed of a Beidou satellite system and an auxiliary satellite system as an auxiliary satellite system;
the auxiliary Satellite System includes at least one of a GPS (Global Positioning System), a GLONASS (Global Navigation Satellite System, or GLONASS) and a Galileo (Galileo Satellite Navigation System).
The auxiliary satellite system is a satellite system which is temporarily used when the state of the Beidou satellite system is abnormal.
Optionally, the preset satellite system may further include: at least one of the Beidou satellite System, GPS, GLONASS, and Galileo.
Correspondingly, an embodiment of the present application further provides a method for train operation control, which is implemented based on the satellite differential positioning system for train operation control described in any of the above embodiments, as shown in fig. 5, where the method for train operation control includes:
s101: receiving satellite signals of the preset satellite system by using a train-mounted terminal module, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to a data processing module;
s102: acquiring satellite signals of a preset satellite system by using a differential unit of a differential reference station module, determining a differential correction value according to the received satellite signals, and transmitting the differential correction value to the data processing module;
s103: receiving the position information to be corrected and the differential correction value transmitted by the differential unit by using the data processing module, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module;
s104: and sending the differential correction position returned by the data processing module to an LKJ system by using the train vehicle-mounted terminal module so that the LKJ system rechecks the differential correction position.
Optionally, when the difference unit includes a difference station, and the setting position of each difference station is located in a signal receiving range of another difference station adjacent to the difference station, the calculating the difference correction position according to the information of the position to be corrected and the difference correction value matched with the information of the position to be corrected, and sending the difference correction position to the train-mounted terminal module includes:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module.
Optionally, the taking, according to the to-be-corrected position information, the differential correction value sent by the differential station closest to the to-be-corrected position information as the differential correction value matched with the to-be-corrected position information includes:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
In summary, the embodiment of the application provides a satellite differential positioning system and a method for train operation control, wherein the satellite differential positioning system for train operation control comprises a differential reference station module, a data processing module and a train vehicle-mounted terminal module, and through the mutual cooperation of the differential reference station module, the data processing module and the train vehicle-mounted terminal module, the purpose of acquiring a differential correction position by a satellite real-time differential positioning method is achieved, the accuracy of the differential correction position finally acquired by an LKJ system is ensured, and the high-accuracy requirement of the LKJ system on positioning is met. Meanwhile, at least one other differential unit exists in the signal receiving range of the differential unit in the differential reference station module, so that the situation that when one differential unit fails, the data processing module cannot receive the differential correction value of the differential unit, and further the data processing module cannot perform differential correction on the train-mounted terminal module of the train running near the differential unit is avoided; meanwhile, redundant equipment (namely redundant terminal equipment and redundant processing equipment) serving as standby exists in the train-mounted terminal module and the data processing module, so that the stability of the satellite differential positioning system for train operation control is improved.
Features described in the embodiments in the present specification may be replaced with or combined with each other, each embodiment is described with a focus on differences from other embodiments, and the same and similar portions among the embodiments may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
1. A satellite differential positioning system for train operation control, comprising: the system comprises a differential reference station module, a data processing module and a train-mounted terminal module; wherein the content of the first and second substances,
the differential reference station module comprises a plurality of differential units arranged along a train operation line, at least one other differential unit exists in a signal receiving range of the differential units, and the differential units are used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals and transmitting the differential correction value to the data processing module;
the train-mounted terminal module comprises a main terminal device and at least one redundant terminal device, and is used for receiving satellite signals of the preset satellite system, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to the data processing module; the system comprises a data processing module, an LKJ system and a control module, wherein the data processing module is used for processing the differential correction position of the data processing module;
the data processing module comprises a main processing device and at least one redundancy processing device, and is used for receiving the position information to be corrected and the differential correction value transmitted by the differential unit, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module;
the differential unit comprises a differential station, and the setting position of each differential station is positioned in the signal receiving range of another differential station adjacent to the differential station;
the differential station is used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals, and transmitting the differential correction value to the data processing module.
2. The system according to claim 1, wherein the specific process of calculating the differential correction position by the data processing module according to the position information to be corrected and the differential correction value matched with the position information to be corrected and sending the differential correction position to the train-mounted terminal module comprises:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module.
3. The system according to claim 2, wherein the specific process of the data processing module, according to the position information to be corrected, using the differential correction value sent by the differential station closest to the position information to be corrected as the differential correction value matching the position information to be corrected comprises:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
4. The system of claim 1, wherein each two of the differential stations form a set of differential combinations, and wherein the two differential stations in each set of differential combinations are respectively a primary differential station and a redundant differential station;
the main differential station is used for acquiring satellite signals of a preset satellite system, determining a differential correction value according to the received satellite signals and transmitting the differential correction value to the data processing module;
the redundant differential station is used for acquiring a satellite signal of a preset satellite system when the main differential station is abnormal, determining a differential correction value according to the received satellite signal, and transmitting the differential correction value to the data processing module.
5. The system of claim 1, wherein the master end device comprises a first on-board host and a first on-board antenna;
the redundant terminal equipment comprises a second vehicle-mounted host and a second vehicle-mounted antenna, and the redundant terminal equipment is used as standby equipment of the main terminal equipment.
6. The system of claim 5, wherein the distance between the positions of the first and second vehicle-mounted antennas maintains a preset distance value.
7. The system of claim 1, wherein the master terminal device comprises a third onboard host and a first branch of a third onboard antenna;
the redundant terminal equipment comprises a fourth vehicle-mounted host and a second branch of the third vehicle-mounted antenna, and the redundant terminal equipment is used as standby equipment of the main terminal equipment.
8. The system according to claim 1, wherein the main terminal device is further configured to monitor the status of the redundant terminal device, and when the status of the redundant terminal device is abnormal, send alarm information including identification information of the redundant terminal device with abnormal status to the data processing module;
the redundant terminal equipment is also used for monitoring the state of the main terminal equipment, and when the state of the main terminal equipment is abnormal, alarm information containing abnormal information of the main terminal equipment is sent to the data processing module.
9. The system of claim 1, wherein the master terminal device communicates with the differential reference station module and the data processing module via a mobile communications network;
the redundant terminal equipment is communicated with the differential reference station module and the data processing module through the mobile communication network.
10. The system of claim 9, wherein the mobile communication network comprises at least two mobile communication operator-provided communication networks.
11. The system of claim 1, wherein the predetermined satellite system comprises a composite satellite system mainly composed of a Beidou satellite system and an auxiliary satellite system;
the auxiliary satellite system includes at least one of GPS, GLONASS, and Galileo.
12. The system of claim 1, wherein the predetermined satellite system comprises: at least one of the Beidou satellite System, GPS, GLONASS, and Galileo.
13. A method for train operation control, which is implemented based on the satellite differential positioning system for train operation control according to any one of claims 1 to 12, and which comprises:
receiving satellite signals of the preset satellite system by using a train-mounted terminal module, calculating position information to be corrected according to the received satellite signals, and sending the position information to be corrected to a data processing module;
acquiring satellite signals of a preset satellite system by using a differential unit of a differential reference station module, determining a differential correction value according to the received satellite signals, and transmitting the differential correction value to the data processing module;
receiving the position information to be corrected and the differential correction value transmitted by the differential unit by using the data processing module, calculating the differential correction position according to the position information to be corrected and the differential correction value matched with the position information to be corrected, and sending the differential correction position to the train-mounted terminal module;
the train vehicle-mounted terminal module is used for sending the differential correction position returned by the data processing module to an LKJ system, so that the LKJ system rechecks the differential correction position;
when the difference unit includes one difference station and the setting position of each difference station is located in the signal receiving range of another difference station adjacent to the difference station, the calculating the difference correction position according to the information of the position to be corrected and the difference correction value matched with the information of the position to be corrected, and sending the difference correction position to the train-mounted terminal module includes:
according to the position information to be corrected, taking a differential correction value sent by the differential station closest to the position information to be corrected as a differential correction value matched with the position information to be corrected;
calculating the differential correction position according to the position information to be corrected and a differential correction value matched with the position information to be corrected;
and sending the differential correction position to the train-mounted terminal module.
14. The method according to claim 13, wherein the taking, as the differential correction value matching the position information to be corrected, the differential correction value transmitted by the differential station closest to the position information to be corrected according to the position information to be corrected comprises:
judging whether the state of the differential station closest to the information of the position to be corrected is normal or not, if so, taking the differential correction value sent by the differential station closest to the information of the position to be corrected as the differential correction value matched with the information of the position to be corrected; and if not, taking the differential correction value sent by the differential station next to the position information to be corrected as the differential correction value matched with the position information to be corrected.
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| CN112799112B (en) * | 2021-04-06 | 2021-07-09 | 湖南中车时代通信信号有限公司 | Differential positioning system and method based on satellite |
| CN114460607A (en) * | 2021-06-16 | 2022-05-10 | 北京大成国测科技有限公司 | GNSS railway control network system based on CORS reference station |
| CN115524728A (en) * | 2022-09-20 | 2022-12-27 | 福建鼎旸信息科技股份有限公司 | Communication navigation system and method based on satellite signal difference |
| CN115480280B (en) * | 2022-11-14 | 2023-02-24 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Vehicle pseudo base station based cooperative positioning method and storage medium |
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