CN114932928B - Train running direction calculation method based on Beidou satellite positioning - Google Patents

Train running direction calculation method based on Beidou satellite positioning Download PDF

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Publication number
CN114932928B
CN114932928B CN202210573044.8A CN202210573044A CN114932928B CN 114932928 B CN114932928 B CN 114932928B CN 202210573044 A CN202210573044 A CN 202210573044A CN 114932928 B CN114932928 B CN 114932928B
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train
beidou
vehicle
position information
beidou navigation
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CN114932928A (en
Inventor
徐先良
安鸿飞
张亚忠
杨奉伟
杨文�
李紫薇
曹德宁
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Casco Signal Ltd
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Casco Signal Ltd
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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
    • B61L25/023—Determination of driving direction of vehicle or train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • 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
    • 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
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/40—Handling position reports or trackside vehicle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/70—Details of trackside communication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a train running direction calculation method based on Beidou satellite positioning, which comprises the following steps: the ground equipment sends Beidou differential information and electronic map data to a vehicle-mounted main control unit; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver to generate first original position information and second original position information corresponding to the two Beidou navigation antennas, and the first original position information and the second original position information are sent to a vehicle-mounted main control unit; the vehicle-mounted main control unit obtains one-dimensional position information of the two Beidou navigation antennas based on the track after matching the first original position information, the second original position information and the electronic map data; and the vehicle-mounted main control unit acquires train activation end information, and performs position comparison by combining the one-dimensional position information to obtain the running direction of the train. The invention has the advantages of cost saving and capability of realizing the calculation of the running direction of the train without adding additional equipment.

Description

Train running direction calculation method based on Beidou satellite positioning
Technical Field
The invention relates to the technical field of rail transit, in particular to a train running direction calculation method based on Beidou satellite positioning.
Background
The direction of travel of the train is currently generally determined by the order in which the train passes through the transponder group, but this approach requires that the train must move first and pass through a valid group of transponders. Before passing through the transponder group, the train must travel in visual mode, limiting the operating efficiency of the train.
In recent years, the domestic satellite navigation technology is rapidly developed, and the networking of the Beidou No. three satellite in 2020 is successful, so that the Beidou satellite positioning technology is widely applied in various fields, and the condition of introducing the Beidou satellite positioning technology by a train control system is mature. Satellite positioning has the advantages of absolute position and speed measurement and real-time updating. Meanwhile, the precision of Beidou satellite positioning is further improved through the development of differential positioning technology. The train running direction can be judged under the train static condition by calculating the train running direction in real time based on Beidou satellite positioning, so that the vehicle-mounted equipment can enter a full mode for running after being electrified, and the train running efficiency is effectively improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a train running direction calculation method based on Beidou satellite positioning, which is implemented based on a train positioning system, wherein the train positioning system comprises ground equipment and vehicle-mounted equipment; the vehicle-mounted equipment comprises a vehicle-mounted main control unit, two Beidou navigation receivers and two Beidou navigation antennas; the vehicle-mounted main control unit is in communication connection with the Beidou navigation receiver; the two Beidou navigation antennas are arranged at the tops of the two ends of the train and are respectively in communication connection with the two Beidou navigation receivers and are used for receiving Beidou satellite signals; it comprises the following steps: the ground equipment sends Beidou differential information and electronic map data to a vehicle-mounted main control unit; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver to generate first original position information and second original position information corresponding to the two Beidou navigation antennas, and the first original position information and the second original position information are sent to a vehicle-mounted main control unit; the vehicle-mounted main control unit obtains one-dimensional position information of the two Beidou navigation antennas based on the track after matching the first original position information, the second original position information and the electronic map data; and the vehicle-mounted main control unit acquires train activation end information, and performs position comparison by combining the one-dimensional position information to obtain the running direction of the train.
Preferably, the two Beidou navigation antennas are a first Beidou navigation antenna and a second Beidou navigation antenna respectively, and the vehicle-mounted main control unit performs position comparison according to train activation end information and one-dimensional position information, and comprises the following steps: step S1, receiving the first original position information and the second original position information; s2, judging whether the electronic map data are valid or not; if the electronic map data are valid, entering step S3; step S3, combining the first original position information and the second original position information with electronic map data, and respectively calculating first one-dimensional position information and second one-dimensional position information of the first Beidou navigation antenna and the second Beidou navigation antenna based on the track according to a map matching algorithm; s4, calculating whether the absolute value of the difference value between the first one-dimensional position information and the second one-dimensional position information is larger than a length threshold delta L or not; if the absolute value of the difference value is greater than the length threshold DeltaL, the step S5 is entered; s5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; if the speed is greater than the preset speed, the train is considered to be descending in the period; if the current period is smaller than the preset period, the train is considered to be ascending; step S6: judging whether the train running directions judged by the period and the upper period are the same or not; if the running directions of the trains in the period and the upper period are the same, entering a step S7; step S7, the numerical value n of the counter corresponding to the train running direction is calculated Lower part(s) Or n Upper part Adding 1; s8, judging whether the counter value is larger than or equal to a counting threshold value N; if the counter value n Lower part(s) Or n Upper part And if the number is greater than or equal to the counting threshold value N, determining the train running direction in the period as the train running direction judged in the step S6.
Preferably, the length threshold Δl=l/2 in step S4, where L is the installation distance between the first beidou navigation antenna and the second beidou navigation antenna.
Preferably, the electronic map data is stored with a data check code, and if the data check code is matched with a standard check code stored in the vehicle-mounted main control unit, the electronic map data is considered to be valid.
Preferably, if the last cycle of train operation direction information does not exist in the present cycle in step S6, step S7 is directly performed without performing step S6.
Preferably, if the electronic map data in step S2 is invalid, step SE is performed.
Preferably, if the absolute value of the difference between the first one-dimensional position information and the second one-dimensional position information in step S4 is less than or equal to the length threshold, step SE is performed.
Preferably, if the train running directions determined in the two adjacent periods in step S6 are not identical, step SE is executed.
Preferably, if the counter value is smaller than the count threshold N in step S8, step SE is performed.
Preferably, the step SE includes: will counter n Lower part(s) And n Upper part And (3) resetting, namely returning to the step S1 to restart calculation.
Preferably, the ground equipment comprises a differential server and a TSRS which are in communication connection, and the Beidou differential information is generated by the differential server and sent to the TSRS; and the Beidou differential information and the electronic map data are sent to the vehicle-mounted equipment through the TSRS via a vehicle-ground communication network.
Preferably, the in-vehicle apparatus further includes: a vehicle-ground communication unit and a vehicle-ground communication antenna; the vehicle-mounted main control unit, the train-ground communication unit and the Beidou navigation receiver are integrated in a vehicle-mounted cabinet inside the train. The train-ground communication antenna is arranged at the top of the train.
Preferably, the Beidou differential information and the electronic map data sent by the TSRS are transmitted to the vehicle-mounted main control unit through the vehicle-to-ground communication antenna and the vehicle-to-ground communication unit through the vehicle-to-ground communication network.
Preferably, the two driving ends of the train are provided with relays for collecting information of the activating end of the train; if the relay state of a certain driving end is high level, the driving end is an active end, otherwise, the driving end is an inactive end.
Preferably, the first Beidou navigation antenna and the second Beidou navigation antenna are respectively correspondingly connected with a first Beidou navigation receiver and a second Beidou navigation receiver in a communication manner and are used for receiving Beidou satellite signals.
Preferably, the count thresholdWherein sigma 1 For the positioning precision sigma of the first Beidou navigation receiver 2 And the positioning precision of the second Beidou navigation receiver is obtained.
In summary, compared with the prior art, the train running direction calculating method based on Beidou satellite positioning provided by the invention has the following beneficial effects: 1. the function is realized on the basis of the existing equipment of the novel train control system, and no additional equipment is added; 2. the judgment of the running direction of the train can be realized under the condition of train rest, and the running efficiency of the train can be improved; 3. the track circuit and the transponder equipment are not relied on, so that the equipment cost and the maintenance cost are saved, and the control autonomy of the train is improved.
Drawings
FIG. 1 is a system configuration diagram of a train running direction calculation method based on Beidou satellite positioning;
FIG. 2 is a process flow diagram of a method for calculating a train travel direction based on Beidou satellite positioning;
FIG. 3 is a schematic diagram of the installed position of the Beidou navigation antenna;
FIG. 4 is a flow chart of train operation direction calculation when the train A end is activated in the embodiment;
fig. 5 is a flow chart of train operation direction calculation when the train B end is activated in the embodiment.
Detailed Description
The technical scheme, constructional features, achieved objects and effects of the embodiments of the present invention will be described in detail below with reference to fig. 1 to 5 in the embodiments of the present invention.
It is noted that in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a train running direction calculating method based on Beidou satellite positioning, which is implemented based on a train positioning system shown in fig. 1. The train positioning system comprises ground equipment 1 and vehicle-mounted equipment 2; the vehicle-mounted equipment 2 is respectively in communication connection with the ground equipment 1 and the Beidou satellite 3; the vehicle-mounted equipment 2 comprises a vehicle-mounted main control unit 21, two Beidou navigation receivers 23 and two Beidou navigation antennas 25; the vehicle-mounted main control unit 21 is in communication connection with the Beidou navigation receiver 23; as shown in fig. 3, two Beidou navigation antennas 25 are installed at the top of two ends of the train and are respectively in communication connection with two Beidou navigation receivers 23 for receiving Beidou satellite signals.
Specifically, as shown in fig. 2, the method for calculating the running direction of the train based on the Beidou satellite positioning comprises the following steps: the ground equipment 1 sends Beidou differential information and electronic map data to the vehicle-mounted main control unit 21; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver 23 to generate first original position information and second original position information which respectively correspond to the two Beidou navigation antennas 25, and the generated two original position information is sent to the vehicle-mounted main control unit 21; the vehicle-mounted main control unit 21 respectively matches the first original position information and the second original position information with electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas 25 based on the track; the vehicle-mounted main control unit 21 collects information of the train activation end, and performs position comparison by combining the one-dimensional position information to obtain the train running direction.
Wherein, as shown in fig. 1, the ground equipment 1 comprises a differential server 11 and a TSRS (temporary speed limiting server) 12 which are in communication connection; the Beidou differential information is generated by a differential server 11 and sent to the TSRS12; the TSRS12 transmits the Beidou differential information and the electronic map data stored by itself to the vehicle-mounted device 2 through the vehicle-ground communication network.
Further, as shown in fig. 1, the in-vehicle apparatus 2 further includes: a vehicle-ground communication unit 22 and a vehicle-ground communication antenna 24; the vehicle-mounted main control unit 21, the train-ground communication unit 22 and the Beidou navigation receiver 23 are integrated in a vehicle-mounted cabinet inside the train; the train-ground communication antenna 24 is arranged at the top of the train; the Beidou differential information and the electronic map data sent by the TSRS12 are sequentially transmitted to the vehicle-mounted main control unit 21 through the vehicle-to-ground communication antenna 24 and the vehicle-to-ground communication unit 22 through the vehicle-to-ground communication network.
In this embodiment, as shown in fig. 2, the train positioning system is provided with two Beidou navigation receivers 23, namely a first Beidou navigation receiver 231 and a second Beidou navigation receiver 232, so as to improve positioning accuracy. The two Beidou navigation antennas 25 are respectively a first Beidou navigation antenna 251 and a second Beidou navigation antenna 252, and are respectively arranged at the tops of two ends of the train, as shown in fig. 3, and are used for being in communication connection with the Beidou satellite 3.
Further, the first Beidou navigation receiver 231 is in communication connection with a first Beidou navigation antenna 251, and the second Beidou navigation receiver 232 is in communication connection with a second Beidou navigation antenna 252 and is used for receiving corresponding Beidou satellite signals sent by the Beidou satellite 3. The first Beidou navigation receiver 231 and the Beidou navigation receiver 232 respectively receive Beidou differential information sent by the vehicle-mounted main control unit 21, and perform differential correction by combining corresponding Beidou satellite signals to respectively obtain first original position information and second original position information corresponding to the first Beidou navigation antenna 251 and the second Beidou navigation antenna 252.
The first original position information and the second original position information are longitude and latitude information of the positions of the first beidou navigation antenna 251 and the second beidou navigation antenna 252 respectively, and the relative position relationship is shown in fig. 3.
Further, as shown in fig. 2, the vehicle-mounted main control unit 21 performs map matching processing on the first original position information and the second original position information and the received electronic map data, so as to obtain one-dimensional position information of the first beidou navigation antenna 251 and the second beidou navigation antenna 252 based on the track, which are respectively recorded as a track position a and a track position B.
Still further, two driving ends of the train are provided with relays (not shown in the figure) for collecting information of the activating end of the train; if the relay state of a certain driving end is high level, the driving end is an active end, otherwise, the driving end is an inactive end. And according to the information of the activation end, carrying out position comparison by combining the position relation of the track position A and the track position B to obtain the running direction of the train.
Specifically, in an embodiment, the relay state of the train a end is at a high level, so the train a end is an active end, and according to the information of the active end of the train a end, the vehicle-mounted main control unit 21 performs position comparison to determine the running direction of the train, as shown in fig. 4, and includes the following steps:
step S1, the vehicle-mounted main control unit 21 receives the effective first original position information and the second original position information, and marks the first original position information and the second original position information as GNSS1 and GNSS2 respectively;
s2, judging whether the electronic map data are valid or not; if the electronic map data are valid, entering step S3; wherein, the electronic map data is stored with a data check code, and if the data check code is matched with a standard check code stored in the vehicle-mounted main control unit 21, the electronic map data is considered to be valid;
step S3, calculating one-dimensional position information of the first Beidou navigation antenna 251 and the second Beidou navigation antenna 252 based on tracks according to a map matching algorithm by combining GNSS1 and GNSS2 information with electronic map data, and respectively marking the information as MTL1 and MTL2;
s4, calculating whether the absolute value of the difference value between the MTL1 and the MTL2 is larger than a length threshold value, namely judging whether the absolute value of the difference value between the MTL1 and the MTL2 is equal to or smaller than delta L; if |MTL1-MTL2| > DeltaL is true, then step S5 is entered; wherein the length threshold Δl=l/2, L is the installation distance between the first beidou navigation antenna 251 and the second beidou navigation antenna 252;
s5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; in this embodiment, when the train a end is activated, the first beidou navigation antenna 251 is a beidou navigation antenna close to the a end, and the second beidou navigation antenna 252 is a beidou navigation antenna far away from the a end, that is, whether the MTL1 is greater than the MTL2 is determined; if the MTL1 is larger than the MTL2, the train is considered to be descending in the period; if the MTL1 is smaller than the MTL2, the train is considered to be ascending in the period;
step S6: judging whether the train running directions judged by the period and the upper period are the same or not; if the running directions of the trains in the period and the upper period are the same, entering a step S7;
step S7, adding 1 to a counter corresponding to the running direction of the train; if the train running direction is downlink, a downlink counter n Lower part(s) ＝n Lower' +1; if the train running direction is up, up counter n Upper part ＝n Go up' +1; wherein n is Lower' And n Go up' A value representing a counter corresponding to the upper period;
step S8, judging n Lower part(s) Or n Upper part Whether the counting threshold value N is larger than or equal to the counting threshold value N; if the counter value is greater than or equal to the count threshold N, the train running direction in the present period can be determined as the train running direction determined in step S6.
Wherein the count thresholdσ 1 For the positioning accuracy, σ, of the first Beidou navigation receiver 231 2 The positioning accuracy of the second Beidou navigation receiver 232 is provided by an equipment manufacturer.
If the present period described in step S6 is the first period, that is, there is no train running direction information of the previous period, step S6 is not required to be executed, and step S7 is directly executed. Meanwhile, if the electronic map data in the step S2 is invalid, or the absolute value of the difference value between the MTL1 and the MTL2 in the step S4 is smaller than or equal to the length threshold, or the running directions of the trains judged in the adjacent two periods in the step S6 are inconsistent, or the counter value n in the step S8 Lower part(s) Or n Upper part Less than the count threshold N, step SE is performed.
Step SE, counter n Lower part(s) And n Upper part At the same time clear, i.e. n Lower part(s) =0 and n Upper part =0, and returns to step S1 to restart the calculation.
In another embodiment, the relay state of the train B terminal is at a high level, so the train B terminal is an active terminal, and the vehicle-mounted main control unit 21 performs position comparison to determine the running direction of the train according to the active terminal information of the train B terminal, as shown in fig. 5, and includes the following steps:
step S1, the vehicle-mounted main control unit 21 receives the effective first original position information and the second original position information, and marks the first original position information and the second original position information as GNSS3 and GNSS4 respectively;
s2, judging whether the electronic map data are valid or not; if the electronic map data are valid, entering step S3;
step S3, calculating one-dimensional position information of the first Beidou navigation antenna 251 and the second Beidou navigation antenna 252 based on tracks according to a map matching algorithm by combining GNSS3 and GNSS4 information with electronic map data, and respectively marking the information as MTL3 and MTL4;
s4, calculating whether the absolute value of the difference value between the MTL3 and the MTL4 is larger than a length threshold value, namely judging whether the absolute value of the difference value between the MTL3 and the MTL4 is equal to or smaller than delta L; if |MTL3-MTL4| > DeltaL is true, then step S5 is entered; wherein the length threshold Δl=l/2, L is the installation distance between the first beidou navigation antenna 251 and the second beidou navigation antenna 252;
s5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; in this embodiment, when the B end of the train is activated, the first beidou navigation antenna 252 is a beidou navigation antenna close to the B end, and the second beidou navigation antenna 251 is a beidou navigation antenna far away from the B end, that is, whether MTL4 is greater than MTL3 is determined; if the MTL4 is larger than the MTL3, the train is considered to be descending in the period; if the MTL4 is smaller than the MTL3, the train is considered to be ascending in the period;
step S6: judging whether the train running directions judged by the period and the upper period are the same or not; if the running directions of the trains in the period and the upper period are the same, entering a step S7;
step S7, adding 1 to a counter corresponding to the running direction of the train; if the train running direction is downlink, a downlink counter n Lower part(s) ＝n Lower' +1; if the train running direction is up, up counter n Upper part ＝n Go up' +1; wherein n is Lower' And n Go up' A value representing a counter corresponding to the upper period;
step S8, judging n Lower part(s) Or n Upper part Whether the counting threshold value N is larger than or equal to the counting threshold value N; if the counter value is greater than or equal to the count threshold N, the train running direction in the present period can be determined as the train running direction determined in step S6.
Wherein the count thresholdσ 1 For the positioning accuracy, σ, of the first Beidou navigation receiver 231 2 The positioning accuracy of the second Beidou navigation receiver 232 is provided by an equipment manufacturer.
Similarly, if the present period described in step S6 is the first period, that is, there is no train running direction information of the previous period, step S6 is not required to be executed, and step S7 is directly executed. Meanwhile, if the electronic map data in the step S2 is invalid, or the absolute value of the difference between the MTL3 and the MTL4 in the step S4 is smaller than or equal to the length threshold, or two adjacent periods in the step S6 are judgedIs inconsistent in the train running direction, or the counter value n in step S8 Lower part(s) Or n Upper part Less than the count threshold N, step SE is performed.
Step SE, counter n Lower part(s) And n Upper part At the same time clear, i.e. n Lower part(s) =0 and n Upper part =0, and returns to step S1 to restart the calculation.
In summary, compared with the prior art, the Beidou satellite positioning-based train running direction calculation method provided by the invention has the advantages that the universality is strong, the running direction can be judged even if the train is stationary, the calculation can be realized without adding additional equipment, and the like.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.

Claims (12)

1. The calculation method of the running direction of the train based on Beidou satellite positioning is implemented based on a train positioning system, and the train positioning system comprises ground equipment (1) and vehicle-mounted equipment (2); the vehicle-mounted equipment (2) comprises a vehicle-mounted main control unit (21), two Beidou navigation receivers (23) and two Beidou navigation antennas (25); the vehicle-mounted main control unit (21) is in communication connection with the Beidou navigation receiver (23); the two Beidou navigation antennas (25) are arranged at the tops of the two ends of the train and are respectively in communication connection with the two Beidou navigation receivers (23) for receiving Beidou satellite signals; characterized by comprising the following steps:
the ground equipment (1) sends Beidou differential information and electronic map data to the vehicle-mounted main control unit (21);
the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver (23) to generate first original position information and second original position information corresponding to the two Beidou navigation antennas (25), and the first original position information and the second original position information are sent to a vehicle-mounted main control unit (21);
the vehicle-mounted main control unit (21) matches the first original position information, the second original position information and the electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas (25) based on the track;
the vehicle-mounted main control unit (21) collects information of a train activation end, and performs position comparison by combining one-dimensional position information to obtain a train running direction;
the two Beidou navigation antennas (25) are a first Beidou navigation antenna (251) and a second Beidou navigation antenna (252) respectively, and the first Beidou navigation antenna (251) and the second Beidou navigation antenna (252) are correspondingly connected with a first Beidou navigation receiver (231) and a second Beidou navigation receiver (232) in a communication manner respectively and are used for receiving Beidou satellite signals; the vehicle-mounted main control unit (21) performs position comparison according to train activation end information and one-dimensional position information, and comprises the following steps:
step S1, receiving the first original position information and the second original position information;
s2, judging whether the electronic map data are valid or not; if the electronic map data are valid, entering step S3;
step S3, combining the first original position information and the second original position information with electronic map data, and respectively calculating first one-dimensional position information and second one-dimensional position information of a first Beidou navigation antenna (251) and a second Beidou navigation antenna (252) based on the track according to a map matching algorithm;
s4, calculating whether the absolute value of the difference value between the first one-dimensional position information and the second one-dimensional position information is larger than a length threshold delta L or not; if the absolute value of the difference value is greater than the length threshold DeltaL, the step S5 is entered; the length threshold Δl=l/2, where L is the installation distance between the first beidou navigation antenna (251) and the second beidou navigation antenna (252);
s5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; if the speed is greater than the preset speed, the train is considered to be descending in the period; if the current period is smaller than the preset period, the train is considered to be ascending;
step S6: judging whether the train running directions judged by the period and the upper period are the same or not; if the running directions of the trains in the period and the upper period are the same, entering a step S7;
step S7, the numerical value n of the counter corresponding to the train running direction is calculated Lower part(s) Or n Upper part Adding 1;
s8, judging whether the counter value is larger than or equal to a counting threshold value N; if the counter value n Lower part(s) Or n Upper part If the train running direction is greater than or equal to the counting threshold value N, determining that the train running direction in the period is the train running direction judged in the step S6;
the counting threshold valueWherein sigma 1 For the positioning accuracy, sigma, of the first Beidou navigation receiver (231) 2 And (3) positioning accuracy of the second Beidou navigation receiver (232).
2. The method for calculating the running direction of the train based on Beidou satellite positioning according to claim 1, wherein the electronic map data is stored with a data check code, and if the data check code is matched with a standard check code stored in the vehicle-mounted main control unit (21), the electronic map data is considered to be valid.
3. The method for calculating the traveling direction of a train based on Beidou satellite positioning according to claim 1, wherein if no upward-periodic train traveling direction information exists in the present period in the step S6, the step S7 is directly executed without executing the step S6.
4. The method for calculating a train traveling direction based on Beidou satellite positioning according to claim 1, wherein if the electronic map data in the step S2 is invalid, the step SE is executed.
5. The method for calculating a direction of travel of a train based on Beidou satellite positioning according to claim 1, wherein if the absolute value of the difference between the first one-dimensional position information and the second one-dimensional position information in the step S4 is equal to or smaller than a length threshold, step SE is executed.
6. The method for calculating the traveling direction of a train based on Beidou satellite positioning according to claim 1, wherein if the traveling directions of the trains judged in the adjacent two periods in the step S6 are inconsistent, the step SE is executed.
7. The method for calculating a direction of travel of a train based on Beidou satellite positioning according to claim 1, wherein if the counter value in the step S8 is smaller than the counting threshold value N, the step SE is executed.
8. The method for calculating a train running direction based on the positioning of Beidou satellite according to any one of claims 4 to 7, wherein said step SE includes: will counter n Lower part(s) And n Upper part And (3) resetting, namely returning to the step S1 to restart calculation.
9. The method for calculating a train running direction based on Beidou satellite positioning according to claim 1, wherein the ground equipment (1) comprises a differential server (11) and a TSRS (12) which are in communication connection, and the Beidou differential information is generated by the differential server (11) and is sent to the TSRS (12); the Beidou differential information and the electronic map data are transmitted to the vehicle-mounted equipment (2) through the TSRS (12) via a vehicle-ground communication network.
10. The Beidou satellite positioning-based train running direction calculation method according to claim 1, wherein the vehicle-mounted equipment (2) further comprises: a vehicle-ground communication unit (22) and a vehicle-ground communication antenna (24); the vehicle-mounted main control unit (21), the vehicle-ground communication unit (22) and the Beidou navigation receiver (23) are integrated in a vehicle-mounted cabinet inside a train, and the vehicle-ground communication antenna (24) is arranged at the top of the train.
11. The method for calculating the train running direction based on the Beidou satellite positioning according to claim 9, wherein the Beidou differential information and the electronic map data sent by the TSRS (12) are transmitted to the vehicle-mounted main control unit (21) through the vehicle-to-ground communication network through the vehicle-to-ground communication antenna (24) and the vehicle-to-ground communication unit (22).
12. The method for calculating the running direction of the train based on Beidou satellite positioning according to claim 1, wherein two driving ends of the train are provided with relays for acquiring information of an activating end of the train; if the relay state of a certain driving end is high level, the driving end is an active end, otherwise, the driving end is an inactive end.
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