CN113682350A

CN113682350A - Double-end ATP speed measurement system and method for guaranteeing speed measurement availability

Info

Publication number: CN113682350A
Application number: CN202110918770.4A
Authority: CN
Inventors: 宋晓悦; 范莹; 马建中
Original assignee: Traffic Control Technology TCT Co Ltd
Current assignee: Traffic Control Technology TCT Co Ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2021-11-23

Abstract

The invention provides a double-end ATP speed measuring system for ensuring speed measuring availability, which comprises a hardware framework that ATP at each end of the head end and the tail end is provided with 2 speed sensors and 2 accelerometers, the head end and the tail end of a train are provided with 4 accelerometers and 4 speed sensors in total, at most two effective acceleration values and two effective speed values are obtained at an SDU speed measuring module at each end, communication interaction between a first SDU speed measuring module and a second SDU speed measuring module between the two ends is superposed, the SDU speed measuring module at each end can obtain 4 acceleration effective values and 4 speed effective values at most, and finally the effective acceleration and the effective speed values on the SDU speed measuring module at each end are processed based on preset rules to obtain the final output speed of the end. The system provided by the invention improves the reliability and usability of system speed measurement on the premise of ensuring the accuracy of speed measurement, and reduces the influence of speed measurement failure on operation.

Description

Double-end ATP speed measurement system and method for guaranteeing speed measurement availability

Technical Field

The invention relates to the technical field of train-mounted equipment, in particular to a double-end ATP speed measuring system and a speed measuring method for ensuring speed measuring availability.

Background

The speed measurement positioning module is one of the key functions of an Automatic Train Protection (ATP) system, combines the advantages of different sensors and makes up the respective defects by a multi-sensor (pulse speed sensor, Doppler radar, accelerometer and the like) information fusion technology, and provides reliable and accurate Train speed and position information by redundancy complementation. The speed measurement positioning module detects the speed of the train in real time during running, high-precision train position calculation is carried out, the measured data is used for calculating train movement authorization, and the accuracy and the reliability of speed measurement positioning directly influence the driving safety and the efficiency.

The multiple sensors of the velocity measurement module are generally equipped with 2 velocity sensors (hereinafter referred to as "velocity transmission") and 1 radar for each ATP subsystem, or a combination mode of 2 velocity sensors and 2 or 3 accelerometers for each end. For a system for monitoring speed measurement by using a radar speed sensor, the problem of speed measurement failure caused by abnormal speed measurement of the radar is greatly influenced to operation, and the reason is that the radar is influenced by external environments such as rain, snow and the like, so that the speed measurement of the radar is seriously higher or lower. In the speed measurement algorithm, radar speed measurement is the only scale for judging idle running and sliding of the speed sensor, and once the radar is abnormal in speed measurement, the idle running and sliding of the vehicle-mounted ATP can be judged mistakenly, so that the speed measurement fails. And the accelerometer replaces a radar speed measuring system, is arranged in the cab, can not be influenced by external weather, and improves the usability of the speed measuring system.

Therefore, how to avoid the problems that the existing vehicle-mounted speed measuring system is low in speed measuring reliability and low in usability due to improper selection of the used sensors and improper voting scheme in the hardware structure, and the speed measuring failure often occurs still is a problem to be solved by the technical staff in the field.

Disclosure of Invention

The invention provides a double-end ATP speed measuring system and a double-end ATP speed measuring method for ensuring speed measuring availability, which are used for solving the problems that the existing vehicle-mounted speed measuring system is low in speed measuring reliability and availability and often fails in speed measurement due to improper selection of used sensors and improper voting scheme in a hardware structure.

The invention provides a double-end ATP speed measuring system for ensuring speed measuring availability, which comprises: a first Speed sensor, a second Speed sensor, a first accelerometer, a second accelerometer, a first ATP platform and a first SDU (Speed Distance Unit) Speed measuring module at the end, a third Speed sensor, a fourth Speed sensor, a third accelerometer, a fourth accelerometer, a second ATP platform and a second SDU Speed measuring module at the opposite end,

the first ATP platform is used for receiving the local first speed acquired by the first speed sensor, the local second speed acquired by the second speed sensor, the local first acceleration acquired by the first accelerometer and the local second acceleration acquired by the second accelerometer, and sending effective values of the local second acceleration to the first SDU speed measurement module;

the second ATP platform is used for receiving a third speed of an opposite end acquired by the third speed sensor, a fourth speed of the opposite end acquired by the fourth speed sensor, a third acceleration of the opposite end acquired by the third accelerometer and a fourth acceleration of the opposite end acquired by the fourth accelerometer, and sending effective values to the second SDU speed measurement module;

first SDU module of testing the speed be used for with second SDU module interaction of testing the speed receives the opposite terminal acceleration valid value and the terminal speed valid value that the second SDU module of testing the speed sent to send this terminal acceleration valid value and this terminal speed valid value, and based on this terminal acceleration valid value this terminal speed valid value opposite terminal acceleration valid value with this terminal speed valid value is in order to predetermine the rule and confirm this terminal output speed.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the present invention, the determining the output speed of the local end based on the local end acceleration effective value, the local end speed effective value, the opposite end acceleration effective value and the opposite end speed effective value according to the preset rule specifically includes:

if the number of the speed effective values comprises two or more, 2 is taken as 4 to process the speed effective values in a redundant mode to obtain the output speed of the local end, wherein the speed effective values comprise the speed effective value of the local end and the speed effective value of the opposite end;

if the number of the speed effective values is only one, 1 is taken as 4 to redundantly process the acceleration effective values to obtain a local end estimated speed value, and the local end output speed is determined based on the local end estimated speed value and the speed effective values, wherein the acceleration effective values comprise the local end acceleration effective value and the opposite end acceleration effective value;

and if the number of the speed effective values is zero, taking 2 from 4 to redundantly process the acceleration effective values to obtain the home terminal estimated acceleration, and determining the home terminal output speed based on the home terminal estimated acceleration.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the invention, the redundant processing of the speed effective value by taking 2 from 4 to obtain the local-end output speed specifically comprises the following steps:

if the speed effective value comprises the local end first speed and the local end second speed, then the consistency between the local end first speed and the local end second speed is checked, if the consistency passes the check, the local end first speed and the average value of the local end second speed are determined to be the local end output speed, and if the consistency fails to pass the check, the average value of any two effective speeds which can pass the consistency check in the speed effective value is determined to be the local end output speed.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the invention, the determination of the average value of any two effective speeds which can pass consistency check in the speed effective values as the output speed of the local end specifically comprises the following steps:

carrying out speed compensation on the opposite-end speed effective value in the speed effective values, and then updating the speed effective value to obtain a compensated speed effective value;

and if any two effective speeds which can pass consistency check exist in the compensated speed effective values, determining the average value of the any two effective speeds as the output speed of the local end.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the invention, the redundancy processing acceleration effective value of 1 is taken as 4 to obtain the local end estimated speed value, and the local end output speed is determined based on the local end estimated speed value and the speed effective value, and the method specifically comprises the following steps:

if the effective acceleration values comprise the local first acceleration and the local second acceleration, consistency between the local first acceleration and the local second acceleration is checked, if the local first acceleration and the local second acceleration pass the check, an average value of the local first acceleration integral value and the local second acceleration integral value is determined to be a local output speed, and if the local first acceleration integral value and the local second acceleration integral value do not pass the check, an average value of any two effective speeds which can pass the consistency check in the speed estimation value and the speed effective value is determined to be a local output speed, wherein the speed estimation value is determined based on the acceleration effective value.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the present invention, the average value of any two effective speeds that can pass consistency check in the determined speed estimation value and the speed effective value is a local-end output speed, wherein the speed estimation value is determined based on the acceleration effective value, and specifically includes:

carrying out acceleration integral compensation on the opposite-end acceleration effective value in the acceleration effective values, and then updating the acceleration effective value to obtain a compensated speed estimation value;

and if any two speeds which can pass the consistency test exist in the compensated speed estimation value and the speed effective value, determining the average value of the any two speeds as the output speed of the local end.

According to the double-end ATP speed measurement system for ensuring speed measurement availability provided by the invention, the acceleration effective value is processed in a redundant mode of 2 out of 4 to obtain the home terminal estimated acceleration, and the home terminal output speed is determined based on the home terminal estimated acceleration, specifically comprising:

if the effective acceleration value comprises the local first acceleration and the local second acceleration, checking consistency between the local first acceleration and the local second acceleration, if the check is passed, determining that the average value of the local first acceleration integral value and the local second acceleration integral value is the local output speed, and if the check is not passed, determining that the average value of any two speed estimation values which can pass the consistency check in the speed estimation values after the acceleration integration is the local output speed.

According to the double-end ATP speed measuring system for ensuring speed measuring availability, the first SDU speed measuring module is further used for calculating a first instant impact rate based on the first speed of the local end, judging whether the first speed sensor generates idle slip based on the first instant impact rate, calculating a second instant impact rate based on the second speed of the local end, and judging whether the second speed sensor generates idle slip based on the second instant impact rate;

correspondingly, the second SDU speed measurement module is further configured to calculate a third instantaneous impact rate based on the third speed of the home terminal, determine whether the third speed sensor generates idle slip based on the third instantaneous impact rate, calculate a fourth instantaneous impact rate based on the fourth speed of the home terminal, and determine whether the fourth speed sensor generates idle slip based on the fourth instantaneous impact rate.

According to the double-end ATP speed measurement system for ensuring speed measurement availability, the first SDU speed measurement module is further used for determining whether the local-end speed sensor idles or not based on the local-end acceleration value when the local-end speed sensor idles;

correspondingly, the second SDU speed measurement module is further used for determining whether the opposite-end speed sensor idles or not based on the opposite-end acceleration value when the opposite-end speed sensor idles.

The invention also provides a speed measuring method of the double-end ATP speed measuring system based on the above-mentioned method for ensuring speed measuring availability, which comprises the following steps:

the first ATP platform receives first target data acquired by acquisition equipment at the local end, extracts effective values in the first target data and forwards the effective values to the first SDU speed measurement module;

the second ATP platform receives second target data acquired by acquisition equipment of an opposite end, extracts an effective value in the second target data, and forwards the effective value to the second SDU speed measurement module, so that the second SDU speed measurement module receives an effective value in the first target data of the local end after interacting with the first SDU speed measurement module, determines an output speed of the opposite end according to a preset rule based on the effective value in the first target data and the effective value in the second target data, and receives an effective value in the second target data of the opposite end after interacting with the second SDU speed measurement module and determines an output speed of the local end according to the preset rule based on the effective value in the second target data and the effective value in the first target data;

wherein, the collection equipment of this end includes first speedtransmitter second speedtransmitter first accelerometer with the second accelerometer, first target data include this end first speed, this end second speed, this end first acceleration and this end second acceleration, the collection equipment of opposite end includes third speedtransmitter fourth speedtransmitter third accelerometer with the fourth accelerometer, second target data include opposite end third speed, opposite end fourth speed, opposite end third acceleration and opposite end fourth acceleration.

The invention provides a double-end ATP speed measuring system for ensuring speed measuring availability, which provides a hardware framework that ATP at each end of the head and tail ends is provided with 2 speed sensors and 2 accelerometers, the head and tail ends of a train have 4 accelerometers and 4 speed sensors in total, at most two effective acceleration values and two effective speed values are obtained at an SDU speed measuring module at each end, then communication interaction between a first SDU speed measuring module and a second SDU speed measuring module between the two ends is superposed, the SDU speed measuring module at each end can obtain 4 effective acceleration values and 4 effective speed values at most, and finally the effective acceleration and the effective speed values on the SDU speed measuring module at each end are processed based on preset rules to obtain the final output speed at the end. The data redundancy processing is realized by acquiring two accelerations of two speeds at the ATP, the data reliability is increased primarily, the two accelerations of two speeds acquired at the opposite end are received again to perform the data redundancy processing between the two ends, the data reliability is increased secondarily, the accelerations can also be used as a data source for speed estimation when the speed information acquisition fails, the multilayer redundancy remediation is realized, and the speed measurement availability and reliability of the system are ensured. Therefore, the system provided by the invention improves the reliability and usability of system speed measurement on the premise of ensuring the accuracy of speed measurement, and reduces the influence of speed measurement failure on operation.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a double-end ATP speed measurement system for ensuring speed measurement availability according to the present invention;

fig. 2 is a schematic flow chart of a speed measurement method based on a double-end ATP speed measurement system for ensuring speed measurement availability according to the present invention;

fig. 3 is a schematic diagram of a hardware architecture and a connection relationship of a dual-end ATP speed measurement system according to the present invention;

fig. 4 is a schematic diagram of a software structure of an SDU velocity measurement module provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.

The existing vehicle-mounted speed measuring system generally has the problems of low speed measuring reliability and low availability caused by improper selection of used sensors and improper voting scheme in a hardware structure, and frequent speed measuring failure. A double-ended ATP speed measurement system for ensuring speed measurement availability according to the present invention is described below with reference to fig. 1 to 4. Fig. 1 is a schematic structural diagram of a double-end ATP speed measurement system for ensuring speed measurement availability according to the present invention, as shown in fig. 1, the system includes a first speed sensor 101, a second speed sensor 102, a first accelerometer 103, a second accelerometer 104, a first ATP platform 105, and a first SDU speed measurement module 106 of a local terminal TC1, a third speed sensor 107, a fourth speed sensor 108, a third accelerometer 109, a fourth accelerometer 110, a second ATP platform 111, and a second SDU speed measurement module 112 of an opposite terminal TC2, wherein,

the first ATP platform 105 is configured to receive a local first velocity acquired by the first velocity sensor 101, a local second velocity acquired by the second velocity sensor 102, a local first acceleration acquired by the first accelerometer 103, and a local second acceleration acquired by the second accelerometer 104, and send a valid value thereof to the first SDU speed measurement module 106;

the second ATP platform 111 is configured to receive a third speed of the opposite end acquired by the third speed sensor 107, a fourth speed of the opposite end acquired by the fourth speed sensor 108, a third acceleration of the opposite end acquired by the third accelerometer 109, and a fourth acceleration of the opposite end acquired by the fourth accelerometer 110, and send an effective value thereof to the second SDU velocity measurement module 112;

first SDU speed test module 106 be used for with second SDU speed test module 112 is mutual, receives opposite end acceleration effective value and opposite end speed effective value that second SDU speed test module sent to send this end acceleration effective value and this end speed effective value, and based on this end acceleration effective value this end speed effective value opposite end acceleration effective value with this end speed effective value is in order to predetermine the rule and confirm this end output speed.

Optionally, the present invention provides a dual-end ATP speed measurement system constructed by a hardware architecture in which each end ATP is equipped with 2 speed sensors and 2 accelerometers, because each end needs to output only one speed information, there are two speed information of the two speed sensors acquired by each end ATP, two acceleration sensors are additionally provided, and two speed information and two acceleration information of the opposite end can be obtained by interacting with the second SDU speed measurement module 112 of the opposite end at most, and a total of 4 speed information and 4 acceleration information can form a very large data redundancy, and a large-scale data redundancy can provide a very strong data reliability. For example, in the hardware architecture platform provided by the present invention, if the speed sensor of the local end fails or the collected data is not available due to a problem, the speed information transmitted from the opposite end can be used, the speed information transmitted by the opposite terminal can still obtain a speed estimation value through speed compensation in the propagation time to be used as the speed information of the local terminal for outputting, if the speed sensor of the opposite terminal is also failed or the collected data is also failed and unavailable, the speed information can be obtained by integral operation by using the acceleration information collected by the local terminal, if the accelerometer of the local terminal is also failed or the collected acceleration information is not available due to problems, then, the acceleration information of the opposite terminal transmitted by the opposite terminal can be used, and the velocity compensation in the propagation time after the acceleration information of the opposite terminal is integrated can be used, or the velocity estimation value can be obtained and output as the velocity information of the local terminal.

Here, a method of integrating and calculating velocity information based on acceleration information will be briefly described: ATP calculates the integrated velocity of the accelerometer every period, and the velocity of the accelerometer can be obtained by the following formula:

V_a＝V₀+∑a_r×t

wherein t is the VOBC operation period. If the output fusion result of the speed measuring system in the past 5 periods is continuously in the non-fault state, V₀The fusion speed 5 cycles before is taken. And (3) carrying out experimental verification according to the calculation mode, wherein the experimental result takes complete interval operation data as a calculation basis: and in a complete interval, integrating the accelerometer from any moment, wherein the time parameter of the integration is 15 seconds, and the conclusion is that the distance measurement error of the speed higher than 25km/h does not exceed 1%, and the distance measurement error of the speed lower than 25km/h mostly does not exceed 2%. Finally, the conclusion is drawn: the time threshold of speed output by using the accelerometer under the scene that the speed sensors are all in idle sliding is 15 seconds, when the speed is higher than 25km/h, the speed measurement and distance measurement error is 3%, and when the speed is lower than 25km/h, the speed measurement and distance measurement error is properly reduced.

Therefore, each end SDU speed measurement module can preferentially and directly adopt the speed information based on the effective speed and the effective acceleration sent by the local end ATP platform and the opposite end speed effective value and the opposite end acceleration effective value sent by the opposite end SDU speed measurement module, and under the condition that the speed information is totally invalid, the speed estimation value is indirectly calculated by adopting the acceleration information to serve as the local end output speed. The prioritized speed information determining method adopts a speed measurement scheme that 2 redundancy is adopted by 4 speed sensors 4 at two ends and 1 redundancy is adopted by 4 accelerometers 4, 2 selection of the speed sensors 4 means that at least two speed sensors meet the speed and direction consistency condition and the working state of the speed sensors is normal, 1 selection of the accelerometer 4 means that at least 1 input of the 4 accelerometers is legal and the measurement result is effective.

It should be noted here that, the ATP platform at each end needs to determine the reliability of two pieces of speed information and two pieces of acceleration information collected by the ATP platform at its own end, and send the collected effective speed information and effective acceleration information to the SDU speed measurement module at its own end, where the reliability determination may be that a 2-out-of-3 voting platform or a 3-out-of-4 voting platform is adopted, that is, three ATP daughter boards are arranged in the ATP platform, any one of the three ATP daughter boards is connected to all speed sensors and all accelerometers at its own end, when at least two of three collected values of the first speed sensor at its own end collected by the three ATP daughter boards are identical, any one of the identical values is output to the first SDU speed measurement module as an effective first speed, and other effective values are determined on the same principle, which is exemplified as the 2-out-of-3 voting platform, similarly, in the voting platform of point 4 and point 3, the data of the same sensor which is acquired only by judging that at least three values of four values obtained by acquiring the data of the same sensor by setting four ATP daughter boards in the ATP platform are consistent is valid data, and the valid data can be output to a corresponding SDU speed measurement module. Therefore, the verification of the data validity of the ATP platforms at the respective ends can be realized, invalid data (abnormal data or null data) in the data collected by the accelerometer and the speed sensor are removed by the ATP platforms, then the valid data are sent to the SDU speed measuring modules at the respective ends, so that when the SDU speed measuring modules at the two subsequent ends carry out double-end communication interaction and mutual data transmission, the opposite-end acceleration valid value and the opposite-end speed valid value which are sent by the opposite-end SDU speed measuring module are received by each end, namely, the data source used when the SDU speed measuring module at each end determines the output speed is ensured to be effective and reliable.

The system provided by the invention provides a hardware framework that ATP at each end of the head and tail ends is provided with 2 speed sensors and 2 accelerometers, the total number of the head and tail ends of the train is 4 accelerometers and 4 speed sensors, at most, two effective acceleration values and two effective speed values are obtained by an SDU speed measurement module at each end, then communication interaction between a first SDU speed measurement module and a second SDU speed measurement module between the two ends is superposed, at most, 4 acceleration effective values and 4 speed effective values can be obtained by the SDU speed measurement module at each end, and finally, the effective acceleration and the effective speed values on the SDU speed measurement module at each end are processed based on a preset rule to obtain the final output speed of the end. The data redundancy processing is realized by acquiring two accelerations of two speeds at the ATP, the data reliability is increased primarily, the two accelerations of two speeds acquired at the opposite end are received again to perform the data redundancy processing between the two ends, the data reliability is increased secondarily, the accelerations can also be used as a data source for speed estimation when the speed information acquisition fails, the multilayer redundancy remediation is realized, and the speed measurement availability and reliability of the system are ensured. Therefore, the system provided by the invention improves the reliability and usability of system speed measurement on the premise of ensuring the accuracy of speed measurement, and reduces the influence of speed measurement failure on operation.

Based on the foregoing embodiment, in the system, determining the local end output speed based on the local end acceleration effective value, the local end speed effective value, the opposite end acceleration effective value, and the opposite end speed effective value according to a preset rule includes:

Specifically, logic condition judgment and processing priority in redundant processing with a preset rule are further defined, and a simpler output logic flow is provided. And (3) outputting a system speed measurement state and a fusion speed measurement result according to the working state of each end of speed sensor and the validity of the integral speed of the double-end accelerometer: when the number of the effective speed values comprises two or more than two (namely at least two speed sensors in four speed sensors at two ends have normal working states and meet the requirements of speed and direction consistency, 2 out of 4 can be used for redundantly processing the effective speed values to obtain the output speed of the local end), and when only one effective speed value is provided (namely only one speed sensor in the four speed sensors has normal working state and meets the requirements of speed and direction consistency, 1 out of 4 can be used for redundantly processing the effective acceleration values to obtain the output speed of the local end), the speed measuring state of the double-end ATP speed measuring system for ensuring the speed measuring availability provided by the invention is normal. When the four speed sensors at the two ends are in idle slip but the integral speed of the accelerometer is effective, the integral speed of the accelerometer is used as system output within an allowable time, the system speed measurement state is idle slip, but a speed estimation value can be calculated based on the acceleration information of the accelerometer and used as local-end speed output; if only one speed sensor is normal but the integral speed of the accelerometer is invalid, or the four speed sensors are disconnected, the system fails to measure the speed. Table 1 is a specific state combination output result provided by the present invention, and table 1 is as follows:

table 1 specific state combination output results

Based on the above embodiment, in the system, the obtaining of the local output speed by taking 2 from 4 and processing the speed effective value specifically includes:

Specifically, the method for obtaining the local output speed by processing the speed effective value in a manner of taking 2 out of 4 redundancy under the condition that the number of the speed effective values comprises two or more is further limited, and the method comprises a priority judgment condition and processing logic for processing. 4, taking 2 to redundantly process the speed effective value to obtain a local end output speed, preferably detecting whether the speed effective value comprises the local end first speed and the local end second speed, if yes, directly checking consistency between the local first speed and the local second speed, if the consistency passes the checking, determining an average value of the local first speed and the local second speed as a local output speed, and generally, the consistency is detected on the basis that a difference value between the local first speed and the local second speed does not exceed a preset threshold value, namely, if the error between the local first speed and the local second speed is smaller than the preset threshold value, and judging that the local first speed and the local second speed pass consistency check, and outputting the average value of the local first speed and the local second speed as the final speed acquired by the local. If the speed effective value only includes the local first speed, or only includes the local second speed, or neither the local first speed nor the local second speed, or the local first speed and the local second speed pass the consistency check, the third speed of the opposite terminal and/or the fourth speed of the opposite terminal sent by the SDU speed measurement module of the opposite terminal need to be acquired. If the speed effective value comprises an opposite end third speed and an opposite end fourth speed, whether the opposite end third speed and the opposite end fourth speed pass consistency check is checked firstly, if the speed effective value passes the consistency check, the speed obtained after the speed compensation in the propagation time is carried out on the average value of the opposite end third speed and the opposite end fourth speed is directly used as the final speed collected by the local end to be output, if the speed effective value does not pass the consistency check, the compensation speed obtained after the compensation in the propagation time is carried out on the local end speed effective value collected by the local end and the effective speed transmitted by the opposite end to be output, and if the speed effective value passes the check, the local end speed effective value and the average value of the compensation speed are used as the final speed collected by the local end to be output.

Based on the above embodiment, in the system, the determining an average value of any two effective speeds that pass the consistency check in the speed effective values as a local-end output speed specifically includes:

Specifically, considering the influence of double-end communication delay, the local end needs to perform communication delay compensation on the effective speed acquired by the speed sensor sent by the local end, so that the compensated speed of the opposite end better meets the reference requirement of the local end, and the method is more suitable for being used as the local end speed to output or participating in the calculation of the local end output speed. The communication delay compensation algorithm proposed by the embodiment of the present invention is introduced here:

in the head-tail speed frame, T1 is "opposite-end time when the opposite end receives the speed of the local end", T2 is "transmission time of the speed of the local end", T3 is "local time for receiving the speed of the opposite end", T4 is "transmission time of the speed of the opposite end", and the head-tail communication delay time T of the speed information can be obtained:

T＝((T3-T4)+(T1-T2))/2

calculating the acceleration A by using the unit speed of the end speed sensor in the past 2 to 7 periods (the period is the period of ATP) (wherein V [ i ] is the effective value of the acquisition speed of the end speed sensor in the ith period):

A＝(V[N-1]+V[N-2]+V[N-3]-V[N-4]-V[N-5]-V[N-6])/9×T_ATPCycle；

the impact rate I over the past 1 to 7 cycles is calculated for the cell speed of the end speed sensor:

I＝(V[N-1]+V[N-2]+V[N-3]-2×V[N-4]-V[N-5]+V[N-6])+V[N-7])/12×T_ATPCycle×T_ATPCycle；

calculating the speed V of the opposite-end speed sensor after the current period compensation according to the acceleration and the impact rate:

V＝V0+A×T+I×T×T，

where V0 is the initial velocity.

After the speed compensation within the propagation time is carried out on the opposite-end speed effective value in the speed effective values, the obtained compensation speed effective value updates the opposite-end speed effective value in the speed effective values, and after the updating is finished, the speed effective values in the compensated speed effective values are speed values taking the local end as a reference, so that the consistency detection can be directly carried out. And if any two effective speeds which can pass consistency check exist in the compensated speed effective values, determining the average value of the any two effective speeds as the output speed of the local end.

Based on the above embodiment, in the system, the taking 1 out of 4 redundancy processing acceleration effective values to obtain a home terminal estimated speed value, and determining a home terminal output speed based on the home terminal estimated speed value and the speed effective value specifically includes:

Specifically, the method for obtaining the local output speed by performing redundant processing on the speed effective value by taking 1 as 4 under the condition that the number of the speed effective values is only one is further limited, and the method comprises a priority judgment condition and processing logic for processing. The method for taking 1 by the accelerometer 4 is as follows: preferentially taking a measurement result of a local accelerometer; if the 2 acceleration values at the end are effective, the average acceleration value is calculated, and then the integral speed is calculated; if the acceleration effective value only comprises an acceleration value of one accelerometer acquired by the home terminal, calculating the home terminal acceleration integral speed according to the acceleration value; and the opposite end processing method is the same, the opposite end finally sends the integral velocity of the average result of the two accelerometers or the integral velocity of the single accelerometer to the local end, when the integral velocity of the local end accelerometer unit can pass consistency detection, the integral velocity of the local end accelerometer unit is output after average calculation, and when the integral velocity of the local end accelerometer unit is invalid but the integral velocity of the opposite end accelerometer unit can pass consistency detection, the integral velocity of the opposite end accelerometer unit is output after average calculation. If the acceleration effective value only comprises the first acceleration of the local terminal, or only comprises the second acceleration of the local terminal, or does not comprise the acceleration of the local terminal, or the two accelerations of the local terminal in the acceleration effective values do not pass consistency detection, or the two accelerations of the opposite terminal in the acceleration effective values do not pass consistency detection, calculating the integral velocity of the acceleration effective value of the opposite terminal received by the first SDU speed measurement module of the local terminal, obtaining the velocity compensation in the propagation time of the integral velocity, obtaining the compensated integral velocity based on the local terminal, carrying out consistency check by using the compensated integral velocity, the compensation velocity of the local terminal and the effective velocity collected by the local terminal, and if one pair of two target velocity values which pass consistency detection exists, taking the average value of the two target velocity values as the output velocity of the local terminal.

Based on the above embodiment, in the system, the determining an average value of any two effective speeds that can pass a consistency check in the speed estimation value and the speed effective value is a local-end output speed, where the speed estimation value is determined based on the acceleration effective value specifically includes:

Specifically, considering the influence of double-end communication delay, the local end needs to perform communication delay compensation on the accelerometer integral velocity sent by the opposite end, so that the compensated accelerometer integral velocity of the opposite end better meets the reference requirement of the local end, and the method is more suitable for serving as the local end velocity to output or participating in the calculation of the local end output velocity. The embodiment of the invention adopts the following compensation algorithm to compensate the integral velocity of the accelerometer at the opposite end:

the calculation method of the head-to-tail communication delay time T is consistent with the head-to-tail communication delay time T for acquiring the effective speed by the speed sensor, which is expressed by the following formula:

T＝((T3-T4)+(T1-T2))/2

in the head-tail speed frame, T1 is "opposite-end time when the opposite end receives the local end speed", T2 is "local-end speed transmission time", T3 is "local time for receiving the opposite-end speed", and T4 is "opposite-end speed transmission time";

taking weighted average measurement values of opposite-end accelerometers in the head-tail velocity frame, and solving average acceleration A1 in the last 3 periods;

calculating the accelerometer integral velocity compensated for the current period according to the acceleration A1: v — V0+ a1 × T, where V0 is the initial speed.

Because the speed sensors at the head and the tail ends and the accelerometer integral speed are transmitted in a communication mode to carry out mutual transmission, frame loss is possible in communication, and in order to improve the system availability, the speed measurement module needs to tolerate the frame loss of the speed information frames at the ends and continuously lose 2 frames at most; and the tolerance period adopts the delay time of the last period, estimates the acceleration and the impact rate, and compensates the speed sensor and the accelerometer.

Based on the above embodiment, in the system, the redundant processing of the acceleration effective value by 2 out of 4 to obtain the home terminal estimated acceleration, and determining the home terminal output speed based on the home terminal estimated acceleration specifically includes:

And further limiting the number of the speed effective values to be zero, obtaining 2 from 4 to redundantly process the acceleration effective values to obtain the local estimated acceleration, and determining the local output speed based on the local estimated acceleration. If all the four sensors at the two ends fail, that is, any effective speed information cannot be acquired, the output of the speed information completely depends on the acceleration acquired by the accelerometers at the two ends, further, 2 is taken as 4 to redundantly process the effective acceleration value to obtain the estimated acceleration at the home terminal, the output speed at the home terminal is determined based on the estimated acceleration at the home terminal, and the measurement result of the accelerometer at the home terminal is preferably taken; if the 2 acceleration values at the local end are effective and pass consistency detection, the average acceleration value is calculated, and then the integral velocity is calculated and used as the velocity information of the local end to be output; if only one effective acceleration value exists, calculating the acceleration integral speed of the local end according to the acceleration value; and if the two acceleration values are effective and pass consistency detection, the average acceleration value is obtained, the integral velocity is calculated, compensation in propagation time is carried out, the obtained value is used as the velocity information of the local terminal to be output, if only one effective acceleration value exists at the opposite terminal, the obtained value is sent to the local terminal, the compensation in propagation time is carried out after the integral velocity calculation, the compensated integral velocity taking the local terminal as the reference is obtained, consistency check is carried out on the obtained value and the calculated integral velocity of the local terminal, and if the obtained value passes the comparison, the average value of the obtained value and the calculated integral velocity of the local terminal is used as the final velocity information of the local terminal to be output.

In summary, that is, when the integral velocities of the two accelerometer units at the local end are valid and pass the consistency check, the integral velocities of the accelerometer units at the local end are used for performing average calculation and then are output as final velocity information at the local end; when the integral velocity of the accelerometer unit at the home terminal is invalid but the integral velocities of the two accelerometer units are valid and pass consistency check, the integral velocity of the accelerometer units at the opposite terminals is compensated and averaged and then is used as final velocity information of the home terminal to be output, otherwise, the integral velocity is calculated and output based on one acceleration information of the home terminal and one acceleration information of the opposite terminals, if the integral velocity of the accelerometer units at the home terminal and the acceleration information of the opposite terminals cannot pass consistency check, the fact that the speed measurement of the system is invalid at the moment is indicated, and valid velocity information cannot be output.

Based on the above embodiment, in the method, the determining an average value of any two speed estimation values that can pass a consistency check among the speed estimation values after acceleration integration as a local-end output speed includes:

and if any two speed estimation values which can pass consistency check exist in the compensated speed estimation values, determining the average value of the any two speed estimation values as the local end output speed.

Specifically, considering the influence of the two-end communication delay, the method for the local end to perform communication delay compensation on the accelerometer integral velocity sent by the opposite end is consistent with the compensation method described above, so that the compensated accelerometer integral velocity of the opposite end better meets the reference requirement of the local end, and is more suitable for serving as the local end velocity to output or participating in the calculation of the local end output velocity, and the formula is as follows:

calculating head-to-tail communication delay time T:

T＝((T3-T4)+(T1-T2))/2

Based on the above embodiment, in the method, the first SDU speed measurement module is further configured to calculate a first instantaneous impact rate based on the local first speed, determine whether the first speed sensor generates the idle slip based on the first instantaneous impact rate, calculate a second instantaneous impact rate based on the local second speed, and determine whether the second speed sensor generates the idle slip based on the second instantaneous impact rate;

Specifically, the working states of the speed sensor are respectively normal, idle slipping and broken line faults, and the number of the working states is 3. The normal state of the speed sensor is a state that the speed sensor can really reflect the actual speed of the train; the idle-sliding state actually comprises idle running and sliding, the embodiment of the invention does not distinguish idle running and sliding, the idle-sliding of the speed sensor refers to the phenomenon that the speed of a wheel axle is less than or greater than the speed of a train, and the disconnection fault refers to the speed measurement failure state of a single speed sensor. The embodiment of the invention focuses on a monitoring method for the idle sliding state.

The idle-slip determination conditions are as follows:

when the absolute value of the instantaneous impact rate calculated by the speed sensor in the normal state is smaller than a configurable speed sensor idle-slip impact rate threshold (5m/sss), the state of the speed sensor is kept unchanged; when the absolute value of the instantaneous impact rate calculated by the speed sensor in the normal state is greater than or equal to a configurable speed sensor idle-slip impact rate threshold, determining that the speed sensor has idle slip. The impact rate Jn is calculated by the following method:

jn ═ (An-1)/0.2 units: m/sss

Wherein, An is (Vn-Vn-1)/0.2/100; unit: m/ss

An is the current periodic real-time acceleration of the speed sensor, and An-1 is the last periodic real-time acceleration; vn and Vn-1 are the real-time speeds of the current period and the last period of the speed sensor respectively;

and when the fusion speed of the last period is less than the configurable speed sensor impact rate detection speed threshold (3kmph), the speed sensor in the normal state is not judged to slip.

The idle-slip recovery conditions were as follows:

when a normal speed sensor which is not in sliding and is not broken is available, the speed sensor in the idle sliding state is supervised and recovered by the speed of the normal speed sensor, and the state of the speed sensor is recovered when the following conditions are met simultaneously:

the absolute value of the instantaneous impact rate of the idle-slip speed sensor is less than the idle-slip state recovery impact rate threshold (2.5m/sss) of the speed sensor, and the duration reaches the idle-slip state recovery time threshold (2s) of the speed sensor;

the speed is consistent with the speed of a normal speed sensor or the integral speed of the accelerometer, the duration reaches the speed sensor idle-slip state recovery time threshold (2s),

when the speed sensors are all in the idle-slip state, the speed sensors in the idle-slip state are supervised and recovered by the accelerometer integral speed within the maximum allowable use time of the accelerometer integral speed, and the following conditions are met at the same time:

the absolute value of the instantaneous impact rate is less than a configurable 'idle-slip state recovery impact rate threshold (2.5 m/sss)' and the duration reaches a configurable 'speed sensor idle-slip state recovery time threshold (2 s)';

the speed is consistent with the integral speed of the accelerometer, and the duration reaches the speed sensor idle-slip state recovery time threshold (2 s).

Based on the above embodiment, in the system, the first SDU speed measurement module is further configured to determine whether the local end speed sensor idles based on the local end acceleration value when the local end speed sensor idles;

Specifically, in order to reduce the problem of misjudgment of the idle sliding caused by large impact rate of the speed sensor when the working condition is suddenly switched (accelerated and then decelerated or decelerated and then accelerated), the idle sliding judgment result is checked by using a method for comparing the acceleration value of the speed sensor with the acceleration value of the accelerometer:

when the speed sensor is judged to have idle slip through the self impact rate of the speed sensor, if the instantaneous accelerations of the speed sensor in the current period and the last period are not of the same sign, checking: and if the absolute value of the comparison result of the instantaneous acceleration of the speed sensor and the measured acceleration of the accelerometer is greater than the idle-slip entering acceleration threshold value, the speed sensor is considered to be idle.

The system provided by the embodiment of the invention can obtain the state information of whether the speed sensor idles or not by the additional supervision of the accelerometer on the basis that the speed sensor performs self supervision on the speed sensor to obtain whether the speed sensor idles or not. Based on the above embodiment, the system provided by the present invention adopts a speed measurement scheme in which 1 redundancy is adopted for 4 accelerometers at two ends and 2 redundancy is adopted for 4 speed sensors, 2 is adopted for 4 speed sensors, that is, at least two of the 4 speed sensors satisfy the consistency condition of speed and direction and the working state of the speed sensors is normal, and 1 is adopted for 4 accelerometers, that is, at least 1 input of the 4 accelerometers is legal and the measurement result is valid, and provides an estimation method of speed information based on acceleration information, a compensation algorithm of accelerometer integral speed under head-to-tail communication delay, and a finally provided monitoring method of the working state of the speed sensors based on accelerometers: the speed sensor is idle-slip self-monitored in combination with accelerometer monitoring.

Based on the above embodiments, the following describes, with reference to fig. 2, a speed measurement method of a two-terminal ATP speed measurement system for ensuring speed measurement availability according to any of the above embodiments. Fig. 2 is a schematic flow chart of a speed measurement method based on a double-end ATP speed measurement system for ensuring speed measurement availability, as shown in fig. 2, the method includes:

step 210, the first ATP platform receives first target data acquired by an acquisition device at a local end, extracts an effective value in the first target data, and forwards the effective value to the first SDU velocity measurement module;

step 220, the second ATP platform receives second target data acquired by an acquisition device of an opposite end, extracts an effective value in the second target data, and forwards the effective value to the second SDU speed measurement module, so that the second SDU speed measurement module receives the effective value in the first target data of the local end after interacting with the first SDU speed measurement module, determines an opposite end output speed according to a preset rule based on the effective value in the first target data and the effective value in the second target data, and receives the effective value in the second target data of the opposite end after interacting with the second SDU speed measurement module, and determines the local end output speed according to the preset rule based on the effective value in the second target data and the effective value in the first target data;

Specifically, on the basis of the double-end ATP speed measurement system for ensuring speed measurement availability provided in any of the above embodiments, a method for measuring speed using the system is provided, including:

collecting target data collected by collecting equipment at a corresponding end through ATP platforms at respective ends, wherein a first ATP platform at a local end collects a first speed at the local end collected by the first speed sensor, a second speed at the local end collected by the second speed sensor, a first acceleration at the local end collected by the first accelerometer and a second acceleration at the local end collected by the second accelerometer, extracts effective data in the effective data and forwards the effective data to a first SDU speed measuring module at the local end; a second ATP platform of the opposite terminal collects the local terminal third speed acquired by the third speed sensor, the local terminal fourth speed acquired by the fourth speed sensor, the local terminal third acceleration acquired by the third accelerometer and the local terminal fourth acceleration acquired by the fourth accelerometer of the local terminal, extracts effective data in the local terminal third speed, and forwards the effective data to a second SDU speed measurement module of the opposite terminal;

the first SDU speed measurement module and the second SDU speed measurement module send respective effective data to each other, so that each end SDU speed measurement module comprises local end effective data and opposite end effective data, and finally each end SDU speed measurement module processes the local end effective data and the opposite end effective data based on preset rules to obtain output speed information of each end.

The method provided by the invention provides a hardware framework that ATP at each end of the head and tail ends is provided with 2 speed sensors and 2 accelerometers, the total number of the head and tail ends of the train is 4 accelerometers and 4 speed sensors, at most two effective acceleration values and two effective speed values are obtained by an SDU speed measurement module at each end, then communication interaction between a first SDU speed measurement module and a second SDU speed measurement module between the two ends is superposed, at most 4 effective acceleration values and 4 effective speed values can be obtained by the SDU speed measurement module at each end, and finally the effective acceleration and the effective speed values on the SDU speed measurement module at each end are processed based on a preset rule to obtain the final output speed of the end. The data redundancy processing is realized by acquiring two accelerations of two speeds at the ATP, the data reliability is increased primarily, the two accelerations of two speeds acquired at the opposite end are received again to perform the data redundancy processing between the two ends, the data reliability is increased secondarily, the accelerations can also be used as a data source for speed estimation when the speed information acquisition fails, the multilayer redundancy remediation is realized, and the speed measurement availability and reliability of the system are ensured. Therefore, the method provided by the invention improves the reliability and usability of system speed measurement on the premise of ensuring the accuracy of speed measurement, and reduces the influence of speed measurement failure on operation.

Based on the above embodiment, the embodiment of the present invention further provides a method for improving speed measurement availability, which relies on a speed measurement scheme that under a hardware architecture that each end ATP is equipped with 2 speed sensors +2 accelerometers, 4 accelerometers 4 at the head and tail ends of a train take 1 redundancy, 4 speed sensors 4 take 2 redundancy, and when a speed sensor fails, the integral speed of an accelerometer is used as output speed information.

The speed measurement scheme is realized by using 1 redundancy for 4 accelerometers at the head end and the tail end of the train and 2 redundancy for 4 speed sensors, and is described in the following four aspects:

in the aspect, a double-end 4 accelerometer 4 is 1, and a double-end 4 speed sensor 4 is 2, so that the speed measurement system is integrated and output.

For a velocimetry system employing accelerometer sensors, 1 or more accelerometers may be installed at each end of the vehicle ATP. The method provides a hardware architecture with 2 speed sensors and 2 accelerometers equipped at each end of ATP, wherein the speed sensors use photoelectric DF16-1.200BADK type speed sensors of Shanghai Deida company, and the acceleration sensors use a DXA-100 series of servo acceleration sensors, but are not limited to the types.

Fig. 3 is a schematic diagram of a hardware architecture and a connection relationship of the dual-end ATP speed measurement system provided by the present invention, as shown in fig. 3, each motherboard of each ATP end acquires 4-way pulse signals of two DF16 at the local end through a speed board, and calculates the current period speed of each speed sensor by combining the diameter of a wheel where the speed sensor is located; the accelerometer is connected with a local-end accelerometer through a serial port, after an accelerometer message is obtained, an accelerometer value is verified according to an interface protocol, and a vector average value is taken as a measured value of the accelerometer acceleration in the current period through the verified accelerometer value; the speed measurement information of the local terminal speed sensor and the accelerometer is voted by the ATP platform, input to the SDU speed measurement module of the local terminal, and the module receives the speed measurement information of the local terminal voted by the opposite terminal and sends the speed measurement information of the local terminal voted and the accelerometer to the opposite terminal.

Fig. 4 is a schematic diagram of a software structure of an SDU velocity measurement module according to the present invention, as shown in fig. 4, the velocity information of 4 velocity sensors and 2 accelerometers obtained by an SDU velocity measurement module at each end, specifically, the software structure of the SDU velocity measurement module is shown in fig. 4, and from the bottom layer to the top, the processing contents of each layer are:

due to the influence of communication delay, the velocity of the velocity sensor at the opposite end and the integral velocity of the accelerometer need to be compensated and calculated, and the bottom layer compensates the velocity information voted by the opposite end according to a compensation algorithm.

And secondly, a fusion inspection layer is used for calculating the integral velocity of the local-end accelerometer and judging the working state of the velocity sensor. Accelerometer measurement validity checking, accelerometer calibration, measurement validity are not claimed herein and are not described in detail. Taking 1 for the accelerometer 4 as described herein means that at least 1 input for 4 accelerometers is valid and the measurement is valid, and the acceleration value can be used to calculate the acceleration integral velocity.

The method for taking 1 by the accelerometer 4 is as follows:

preferentially taking a measurement result of a local accelerometer; if the 2 acceleration values at the end are effective, the average acceleration value is calculated, and then the integral speed is calculated; if only one acceleration value is used, calculating the acceleration integral speed of the local end according to the acceleration value; the opposite end has the same processing method, and finally sends the integral velocity of the average result of the two accelerometers or the integral velocity of the single accelerometer to the local end; when the integral velocity of the local-end accelerometer unit is effective, carrying out fusion calculation by using the integral velocity of the local-end accelerometer; and when the integral velocity of the local-end accelerometer unit is invalid but the opposite end is valid, performing fusion calculation by using the integral velocity of the opposite-end accelerometer.

And (3) outputting a system speed measurement state and a fusion speed measurement result according to the working state of the speed sensor obtained by the fusion inspection layer and the integrated speed effectiveness of the double-end accelerometer: at least two speed sensors in the 4 speed sensors at the two ends are in normal working state and meet the requirement of speed and direction consistency, or only 1 speed sensor is in normal working state and meets the requirement of speed consistency with the integral speed of the accelerometer, the speed measurement state of the system is normal; when the 4 speed sensors are in idle slip but the integral speed of the accelerometer is effective, the integral speed of the accelerometer is used as system output within an allowable time, and the speed measurement state of the system is idle slip; if only one speed sensor is normal but the integral speed of the accelerometer is invalid, or if 4 speed sensors are disconnected, the system fails to measure the speed. The specific state combination output results are shown in table 1.

And the second aspect is a compensation method for integrating the speed of the opposite-end accelerometer and the speed of the opposite-end speed sensor.

Considering the influence of double-end communication delay, the local end needs to compensate the communication delay of the speed sensor speed and the accelerometer integral speed sent by the opposite end.

T＝((T3-T4)+(T1-T2))/2

A＝(V[N-1]+V[N-2]+V[N-3]-V[N-4]-V[N-5]-V[N-6])/9×T_ATPCycle

I＝(V[N-1]+V[N-2]+V[N-3]-2×V[N-4]-V[N-5]+V[N-6])+V[N-7])/12×T_ATPCycle×T_ATPCycle

V＝V0+A×T+I×T×T，

where V0 is the initial velocity.

The method adopts the following compensation algorithm to compensate the integral velocity of the accelerometer at the opposite end:

the calculation method of the head-to-tail communication delay time T is the same as the above;

calculating the integral speed of the accelerometer after the compensation of the current period according to the average acceleration A1: V-V0 + a1 × T.

Because the speed sensors at the head and the tail and the integral speed of the accelerometer are transmitted in a communication mode to carry out mutual transmission, frame loss possibility exists in communication, and in order to improve the availability of a system, the speed measurement module needs to tolerate the frame loss condition of the speed information frames at the ends and continuously lose 2 frames at most. And the tolerance period adopts the delay time of the last period, estimates the acceleration and the impact rate, and compensates the speed sensor and the accelerometer.

Third, limiting calculation method for calculating integral velocity based on acceleration

ATP calculates the integrated velocity of the accelerometer every period, and the velocity of the accelerometer can be obtained by the following formula:

V_a＝V₀+∑a_r×t

wherein t is the VOBC operation period, which is consistent with the ATP operation period mentioned above, and refers to the VOBC software operation period time, which is usually 200 ms/period, a_rIs the r weekThe calculation target of accumulating signs is to sum the acceleration in a plurality of periods and the product of the periods, and V0 is the initial speed.

For example, if the output of the past 5-cycle velocimetry system is continuously in a non-fault state, the calculation goal of the accumulated sign in the above formula is to sum the acceleration and the cycle product in five cycles, i.e. V₀The fusion speed 5 cycles before is taken.

And (3) carrying out experimental verification according to the calculation mode, wherein the experimental result takes complete interval operation data as a calculation basis: and in a complete interval, integrating the accelerometer from any moment, wherein the time parameter of the integration is 15 seconds, and the conclusion is that the distance measurement error of the speed higher than 25km/h does not exceed 1%, and the distance measurement error of the speed lower than 25km/h mostly does not exceed 2%. Finally, the conclusion is drawn: the time threshold of speed output by using the accelerometer under the scene that the speed sensors are all in idle sliding is 15 seconds, when the speed is higher than 25km/h, the speed measurement and distance measurement error is 3%, and when the speed is lower than 25km/h, the speed measurement and distance measurement error is properly reduced.

Method for monitoring working state of speed sensor

The working states of the speed sensor are respectively normal, idle slipping and broken line faults, and the number of the working states is 3. The normal state of the speed sensor is a state that the speed sensor can really reflect the actual speed of the train; the idle running and the sliding are not distinguished in the scheme, the idle running and the sliding of the speed sensor mean that the speed of a wheel shaft is smaller than or larger than the speed of a train, and the line breakage fault means a speed measurement failure state of a single speed sensor. The method focuses on a monitoring method of the idle sliding state.

Self-supervision of speed sensor idle-slip. The idle-slip determination conditions are as follows:

jn ═ (An-1)/0.2 units: m/sss

Wherein, An is (Vn-Vn-1)/0.2/100; unit: m/ss

The idle-slip recovery conditions were as follows:

An accelerometer supervision mode:

in order to reduce the problem of misjudgment of the idle sliding caused by large impact rate of a speed sensor when the working condition is suddenly switched (firstly accelerated and then decelerated or firstly decelerated and then accelerated), the idle sliding judgment result is checked by using a method for comparing the acceleration value of the speed sensor with the acceleration value of an accelerometer:

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the system according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a guarantee bi-polar ATP system of testing speed usability which characterized in that includes: a first speed sensor, a second speed sensor, a first accelerometer, a second accelerometer, a first ATP platform and a first SDU speed measuring module at the end, a third speed sensor, a fourth speed sensor, a third accelerometer, a fourth accelerometer, a second ATP platform and a second SDU speed measuring module at the opposite end, wherein,

2. The double-ended ATP speed measurement system for guaranteeing speed measurement availability according to claim 1, wherein the determining the local end output speed according to the local end acceleration effective value, the local end speed effective value, the opposite end acceleration effective value, and the opposite end speed effective value according to a preset rule includes:

3. The double-ended ATP speed measurement system for ensuring speed measurement availability according to claim 2, wherein the redundant processing of the speed valid value by 2 out of 4 to obtain the local output speed comprises:

if the speed effective value comprises the local first speed and the local second speed,

and checking the consistency between the local first speed and the local second speed, if the consistency passes the checking, determining that the average value of the local first speed and the local second speed is the local output speed, and if the consistency does not pass the checking, determining that the average value of any two effective speeds which can pass the consistency checking in the speed effective value is the local output speed.

4. The system for guaranteeing speed measurement availability on the two ends of the ATP system according to claim 3, wherein the determining an average value of any two valid speeds that can pass the consistency check in the speed valid values is a local output speed includes:

5. The double-ended ATP speed measurement system capable of guaranteeing speed measurement availability according to claim 2, wherein the taking 1 of 4 redundancy processing acceleration effective value to obtain a local-end estimated speed value, and determining the local-end output speed based on the local-end estimated speed value and the speed effective value includes:

if the effective acceleration value comprises the first local acceleration and the second local acceleration,

and checking the consistency between the local first acceleration and the local second acceleration, if the consistency is checked, determining the average value of the local first acceleration integral value and the local second acceleration integral value as a local output speed, and if the consistency is not checked, determining the average value of any two effective speeds which can be checked according to the consistency between the speed estimation value and the speed effective value as the local output speed, wherein the speed estimation value is determined based on the acceleration effective value.

6. The double-ended ATP speed measurement system for ensuring speed measurement availability according to claim 5, wherein the determining the average value of any two valid speeds that can pass consistency check in the speed estimation value and the speed valid value is a local output speed, wherein the speed estimation value is determined based on the acceleration valid value, and comprises:

7. The double-ended ATP speed measurement system for ensuring speed measurement availability according to claim 2, wherein the redundant processing of the effective acceleration value by 2 out of 4 to obtain the local-end estimated acceleration, and determining the local-end output speed based on the local-end estimated acceleration comprises:

and checking the consistency between the local first acceleration and the local second acceleration, if the consistency is checked, determining the average value of the local first acceleration integral value and the local second acceleration integral value as the local output speed, and if the consistency is not checked, determining the average value of any two speed estimation values which can pass the consistency check in the speed estimation values after the acceleration integration as the local output speed.

8. The two-terminal ATP speed measurement system for guaranteeing speed measurement availability according to any of claims 1-7, wherein the first SDU speed measurement module is further configured to calculate a first instantaneous impact rate based on the local first speed, determine whether the first speed sensor is in idle-slip based on the first instantaneous impact rate, calculate a second instantaneous impact rate based on the local second speed, and determine whether the second speed sensor is in idle-slip based on the second instantaneous impact rate;

9. The double-ended ATP speed measurement system for ensuring speed measurement availability according to claim 8, wherein the first SDU speed measurement module is further configured to determine whether the local speed sensor idles based on the local acceleration value when the local speed sensor idles;

10. A speed measurement method of a double-end ATP speed measurement system for guaranteeing speed measurement availability according to any one of claims 1-9, comprising:

the second ATP platform receives second target data acquired by acquisition equipment of an opposite end, extracts an effective value in the second target data, and forwards the effective value to the second SDU speed measurement module, so that the second SDU speed measurement module receives an effective value in the first target data of the local end after interacting with the first SDU speed measurement module, determines an output speed of the opposite end according to a preset rule based on the effective value in the first target data and the effective value in the second target data, and receives an effective value in the second target data of the opposite end after interacting with the second SDU speed measurement module and determines an output speed of the local end according to the preset rule based on the effective value in the second target data and the effective value in the first target data; wherein, the collection equipment of this end includes first speedtransmitter second speedtransmitter first accelerometer with the second accelerometer, first target data include this end first speed, this end second speed, this end first acceleration and this end second acceleration, the collection equipment of opposite end includes third speedtransmitter fourth speedtransmitter third accelerometer with the fourth accelerometer, second target data include opposite end third speed, opposite end fourth speed, opposite end third acceleration and opposite end fourth acceleration.