CN112977548A - Train positioning system and method combining instant positioning and map construction - Google Patents
Train positioning system and method combining instant positioning and map construction Download PDFInfo
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- 230000008447 perception Effects 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 4
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- 239000000284 extract Substances 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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Abstract
The invention discloses a train positioning system combining instant positioning and map construction, which comprises a beacon database, a vehicle-mounted controller and a positioning correction module, wherein the beacon database comprises the following components: beacon data are stored in the beacon database; the vehicle-mounted controller is provided with a beacon identification module and a speed acquisition module, and sends train mileage data, train section positioning information and real-time train speed to a positioning correction module; the positioning correction module comprises an environment sensing sensor and a vehicle-mounted data processor, the vehicle-mounted data processor acquires the position of the train by utilizing an SLAM technology according to environment information, and the positioning correction is realized by combining data provided by a vehicle-mounted controller. The invention also provides a train positioning method, which adopts the train positioning system to position. The invention not only realizes the improvement of the positioning precision of the train, but also does not depend on satellite signals for positioning, has wider applicable scene, does not need to newly add beacons and trackside equipment, and has lower maintenance cost.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a train positioning technology.
Background
In the technical field of rail transit, positioning data of trains are needed. The conventional train positioning technology obtains the current position information of the train through a beacon installed on a track or a combination of a GPS and an inertial sensor, and the current mainstream method is train positioning through a passive or active beacon.
For the existing rail transit line positioned by using beacons, the number of beacons needs to be increased and even the beacons need to be laid again when the positioning accuracy is further improved, the transformation cost is high, and the construction and maintenance difficulty is high; although the positioning mode of the combination of the GPS and the inertial sensor does not need to increase a huge amount of construction, the positioning mode has certain limitations, for example, the GPS is difficult to provide accurate positioning in a tunnel environment, the positioning accuracy is not high due to accumulated errors caused by the characteristics of the inertial sensor, and the positioning error may be within plus or minus 5 meters or even lower, which means that the positioning reliability of the beacon is not as high as that of the GPS and the inertial sensor.
Disclosure of Invention
The invention aims to solve the technical problem of providing a train positioning system combining instant positioning and map construction, which does not need to increase the installation number of beacons on the basis of the existing beacon positioning and improves the train positioning precision.
In order to solve the technical problems, the invention adopts the following technical scheme: a train positioning system that combines instant positioning with mapping, comprising:
a beacon database: beacon data are stored in the beacon database and comprise a beacon serial number, the position of the beacon and mileage data corresponding to each beacon serial number;
the vehicle-mounted controller: the vehicle-mounted controller is provided with a beacon identification module which can identify a beacon installed on a track and acquire a serial number of the current beacon, and a speed acquisition module which can acquire the real-time speed of the current train, acquires the mileage and train section positioning corresponding to the beacon by accessing a beacon database, and sends train mileage data, train section positioning information and the real-time speed of the train to a positioning correction module;
a positioning correction module: the positioning correction module comprises an environment sensing sensor and a vehicle-mounted data processor, wherein the environment sensing sensor is arranged at the head of the train and used for acquiring environment information in the running direction of the train, and the vehicle-mounted data processor acquires the position of the train by utilizing an SLAM technology according to the environment information and realizes positioning correction by combining data provided by a vehicle-mounted controller.
Preferably, the environmental perception sensor comprises a lidar and/or a high speed camera.
Preferably, the environment information includes a rail surface, a tunnel wall and a trackside device.
The invention also provides a train positioning method, which adopts the train positioning system to position and comprises the following steps:
s1, starting train positioning from the first beacon identified by the beacon identification module, and continuously acquiring the current speed of the train by the speed acquisition module and sending the current speed to the positioning correction module;
s2: when a beacon is identified, acquiring a serial number corresponding to the beacon, acquiring the mileage and section positioning of the current train by inquiring a beacon database, and sending the mileage data and section positioning information of the train to a positioning correction module;
s3, the positioning correction module takes the position of the current beacon as the original point of the current local feature map, continuously acquires the three-dimensional space environment information in front of the train head through the environment perception sensor, extracts the features with discrimination and constructs the initial local feature map;
s4: updating a local feature map by utilizing an SLAM according to the acquired latest frame feature;
s5: according to the space position of the latest frame of features on the local feature map, local positioning of the train on the local feature map is obtained;
s6: the set of the positions of the train on the local feature map represents a running path, and the mileage of the train starting to run from the last beacon is calculated according to the original point position and the running path;
s7, calculating the average speed of the train according to the results of two SLAM positioning and the adjacent time interval, comparing the average speed with the train speed sent by the vehicle-mounted controller, and calculating the speed error; if the speed error exceeds the set threshold value for a plurality of times continuously, the SLAM positioning is considered to be invalid; when no SLAM positioning result exists in a plurality of continuous time periods, the SLAM positioning is considered to be invalid;
s8: when SLAM positioning fails, calculating the mileage of train operation according to the product of the train speed and the time interval of the acquired speed, and calculating the positioning position of a train section according to the mileage data acquired when the previous beacon passes and the mileage of train operation, wherein the section positioning is used as a correction positioning result output by a positioning correction module;
s9, when the SLAM is not invalid, calculating the location position of the train section according to the mileage acquired in the step S6 and the mileage data acquired when the train passes through the previous beacon, wherein the section location is used as a correction location result output by a location correction module;
s10: when the beacon identification module identifies a new beacon, the train mileage and section positioning data acquired by beacon positioning are used as new positioning initial values to be transmitted to the positioning correction module; the positioning correction module reconstructs a new local feature map and outputs a corrected positioning result, so that continuous positioning output between two adjacent beacons identified by the beacon identification module is realized.
The technical scheme adopted by the invention combines the instant positioning and map building (SLAM for short) technology to position the train on the basis of the existing beacon positioning technology, and has the following beneficial effects:
for the rail transit line using beacon positioning, the beacon and the trackside equipment do not need to be newly added, so that the positioning precision of the train is improved, the upgrading cost is greatly reduced compared with the method for re-distributing the beacon, and the subsequent maintenance cost is lower; meanwhile, the technical scheme does not depend on satellite signals for positioning, is wide in applicable scene, and can effectively improve positioning accuracy for lines with more tunnels.
The method combines the traditional beacon positioning technology and the SLAM technology, improves the positioning accuracy by using the SLAM as an auxiliary, has practical significance for upgrading and transforming the old line, adopts a brand new system without abandoning the original equipment, and simultaneously utilizes the advantage of high maturity and reliability of the traditional beacon positioning technology.
The following detailed description of the present invention will be provided in conjunction with the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is a system schematic of the train positioning system of the present invention;
fig. 2 is a process flow chart of the train positioning method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1, a train positioning system includes:
a beacon database: and storing mileage data corresponding to all beacon serial numbers, and accessing a beacon database to obtain mileage and train section positioning positions corresponding to beacons.
The vehicle-mounted controller: the train speed acquisition system comprises a beacon identification module and a speed acquisition module, wherein the beacon identification module can identify beacons installed on a track and acquire the serial number of the current beacon, and the speed acquisition module can acquire the real-time speed of the current train.
A positioning correction module: the system comprises an environment perception sensor and a vehicle-mounted data processor which are arranged on the head of a train. The environment perception sensor can acquire environment information in the running direction of the train, and the environment information comprises characteristic reference objects such as a rail surface in front of a train head, a tunnel wall, trackside equipment and the like; and the vehicle-mounted data processor acquires the position of the train by utilizing an SLAM technology according to the data provided by the environment perception sensor, and realizes positioning correction by combining the data provided by the vehicle-mounted controller.
The beacon database and the onboard controllers described above may also be referred to in particular in the prior art.
In this embodiment, the environmental perception sensor is a multi-line lidar. Of course, a high-speed camera with a frame rate of 100 frames/second or more may be used, or a combination of a laser radar and a camera or other sensors may be used.
Example two
As shown in fig. 2, a train positioning method is specifically implemented by the following steps:
s201: a speed acquisition module of the vehicle-mounted controller continuously acquires the current speed of the train and sends the current speed to a positioning correction module; an environment sensing sensor in the positioning correction module acquires surrounding environment information in front of a train, wherein the acquired surrounding environment information is laser point cloud in front of a train head; the location is started by identifying the first beacon.
S202: when the beacon identification module of the vehicle-mounted controller identifies a beacon, the beacon database is inquired according to the identified beacon serial number to obtain the mileage and the section positioning of the current train (the section positioning is the result obtained according to the beacon positioning), and the data is sent to the positioning correction module.
S203: a data processor of the positioning correction module records the acquired train mileage and section positioning information, and takes the position of the current beacon as the origin of the current local feature map; the method comprises the following steps that an environment perception sensor continuously obtains three-dimensional space environment information in front of a train head, and a data processor extracts characteristic values with discrimination, such as planes, angular points and straight lines; and constructing an initial local feature map according to the feature value of the first frame.
S204: and matching the feature value of the latest frame with the local feature map, and updating the local feature map. Further, in the present embodiment, the matching rule is based on an Iterative Closest Point (ICP) algorithm. Of course, the matching algorithm may also be a Normal Distribution Transform (NDT) algorithm, or other existing matching algorithms.
S205: and acquiring the local positioning of the train on the local feature map according to the space position of the latest frame of feature on the local feature map (the local positioning is the SLAM positioning result).
S206: and the set of the positions of the train on the local feature map represents a running path, and the mileage of the train starting to run from the last beacon is calculated according to the origin position and the running path of the local feature map.
S207: calculating the average speed of the train according to the spatial positions of the characteristics of the front frame and the rear frame on the local characteristic map and the time interval of the two adjacent frames, comparing the average speed with the speed of the train sent by the vehicle-mounted controller, and calculating a speed error; and if the speed error exceeds a set threshold value for a plurality of times continuously, or no new characteristic is added to the local characteristic map in a plurality of time periods continuously when the train is not static, the SLAM positioning is considered to be invalid.
S208: when SLAM positioning fails, calculating the mileage of train operation according to the product of the train speed and the time interval of the acquired speed, and calculating the positioning position of a train section according to the mileage data acquired when the previous beacon passes and the mileage of train operation, wherein the section positioning is a correction positioning result output by a positioning correction module; and clearing the local feature map and the path of the train on the local feature map, and initializing SLAM positioning.
S209: when the SLAM is not disabled, the train section location position is calculated based on the mileage acquired in step S206 and the mileage data acquired when the previous beacon passes, and the section location is a corrected location result output by the location correction module.
S210: when the beacon identification module identifies a new beacon, the train mileage and section positioning data acquired by beacon positioning are used as new positioning initial values to be transmitted to the positioning correction module; and the positioning correction module reconstructs a new local feature map according to the steps S203-S209 and outputs a positioning correction result. Continuous positioning output between two adjacent beacons is realized when the beacon identification module identifies.
The invention combines the instant positioning and map building (SLAM for short) technology to position the train on the basis of the existing beacon positioning technology, does not need to newly add beacons and trackside equipment for the rail transit line using the beacon positioning, not only realizes the improvement of the positioning precision of the train, but also greatly reduces the upgrade cost relative to the re-arrangement of the beacons, and has lower subsequent maintenance cost; meanwhile, the technical scheme does not depend on satellite signals for positioning, is wide in applicable scene, and can effectively improve positioning accuracy for lines with more tunnels.
Because the traditional beacon positioning and SLAM technology is combined, the SLAM is used as an auxiliary to improve the positioning accuracy, the method has practical significance for upgrading and reconstructing the old line, a brand new system is adopted without abandoning the original equipment, and the advantages of maturity and high reliability of the traditional beacon positioning technology are utilized.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (4)
1. A train positioning system that combines instant positioning with mapping, comprising:
a beacon database: beacon data are stored in the beacon database and comprise a beacon serial number, the position of the beacon and mileage data corresponding to each beacon serial number;
the vehicle-mounted controller: the vehicle-mounted controller is provided with a beacon identification module which can identify a beacon installed on a track and acquire a serial number of the current beacon, and a speed acquisition module which can acquire the real-time speed of the current train, acquires the mileage and train section positioning corresponding to the beacon by accessing a beacon database, and sends train mileage data, train section positioning information and the real-time speed of the train to a positioning correction module;
a positioning correction module: the positioning correction module comprises an environment sensing sensor and a vehicle-mounted data processor, wherein the environment sensing sensor is arranged at the head of the train and used for acquiring environment information in the running direction of the train, and the vehicle-mounted data processor acquires the position of the train by utilizing an SLAM technology according to the environment information and realizes positioning correction by combining data provided by a vehicle-mounted controller.
2. The train positioning system combining instant positioning and mapping as claimed in claim 1, wherein: the environmental perception sensor includes a lidar and/or a high speed camera.
3. The train positioning system combining instant positioning and mapping as claimed in claim 2, wherein: the environment information includes a rail face, a tunnel wall, and trackside equipment.
4. A train positioning method using the train positioning system of any one of claims 1 to 3 for positioning, comprising the steps of:
s1, starting train positioning from the first beacon identified by the beacon identification module, and continuously acquiring the current speed of the train by the speed acquisition module and sending the current speed to the positioning correction module;
s2: when a beacon is identified, acquiring a serial number corresponding to the beacon, acquiring the mileage and section positioning of the current train by inquiring a beacon database, and sending the mileage data and section positioning information of the train to a positioning correction module;
s3, the positioning correction module takes the position of the current beacon as the original point of the current local feature map, continuously acquires the three-dimensional space environment information in front of the train head through the environment perception sensor, extracts the features with discrimination and constructs the initial local feature map;
s4: updating a local feature map by utilizing an SLAM according to the acquired latest frame feature;
s5: according to the space position of the latest frame of features on the local feature map, local positioning of the train on the local feature map is obtained;
s6: the set of the positions of the train on the local feature map represents a running path, and the mileage of the train starting to run from the last beacon is calculated according to the original point position and the running path;
s7, calculating the average speed of the train according to the results of two SLAM positioning and the adjacent time interval, comparing the average speed with the train speed sent by the vehicle-mounted controller, and calculating the speed error; if the speed error exceeds the set threshold value for a plurality of times continuously, the SLAM positioning is considered to be invalid; when no SLAM positioning result exists in a plurality of continuous time periods, the SLAM positioning is considered to be invalid;
s8: when SLAM positioning fails, calculating the mileage of train operation according to the product of the train speed and the time interval of the acquired speed, and calculating the positioning position of a train section according to the mileage data acquired when the previous beacon passes and the mileage of train operation, wherein the section positioning is used as a correction positioning result output by a positioning correction module;
s9, when the SLAM is not invalid, calculating the location position of the train section according to the mileage acquired in the step S6 and the mileage data acquired when the train passes through the previous beacon, wherein the section location is used as a correction location result output by a location correction module;
s10: when the beacon identification module identifies a new beacon, the train mileage and section positioning data acquired by beacon positioning are used as new positioning initial values to be transmitted to the positioning correction module; and the positioning correction module reconstructs a new local feature map and outputs a corrected positioning result.
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