CN115453588A - Differential positioning system - Google Patents
Differential positioning system Download PDFInfo
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- CN115453588A CN115453588A CN202210922889.3A CN202210922889A CN115453588A CN 115453588 A CN115453588 A CN 115453588A CN 202210922889 A CN202210922889 A CN 202210922889A CN 115453588 A CN115453588 A CN 115453588A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application provides a differential positioning system, includes: a differential station subsystem and a vehicle-mounted device; the differential station subsystem comprises a plurality of differential station base stations; the plurality of differential station base stations are arranged on the railway at intervals and used for receiving satellite positioning information to determine differential data and forwarding the differential data to vehicle-mounted equipment in real time; and the vehicle-mounted equipment is used for correcting the actually measured positioning information of the vehicle-mounted equipment according to the difference data so as to obtain corrected positioning information. According to the method and the device, the plurality of differential station base stations are arranged on the railway at intervals to receive the satellite positioning information and determine the differential data, and the differential data are forwarded to the vehicle-mounted equipment in real time, so that the vehicle-mounted equipment determines and corrects the positioning information, and the accuracy of train positioning is improved. The system can be used for the precise positioning of the railway locomotive, and the precision of train positioning is greatly improved.
Description
Technical Field
The present application relates to the field of differential information forwarding technologies, and in particular, to a differential positioning system.
Background
The CBTC train of the heavy-duty railway realizes accurate positioning through a multi-sensor fusion technology, and one important technology is Beidou satellite positioning. The distance measurement error can be reduced to be within 10m by using Beidou satellite positioning, but the train positioning accuracy is not high enough.
Disclosure of Invention
To the above-mentioned problem, this application provides a differential positioning system to further improve the accuracy of train location.
The present application provides a differential positioning system, the system comprising: a differential station subsystem and a vehicle-mounted device; the differential station subsystem comprises a plurality of differential station base stations; the plurality of differential station base stations are arranged on the railway at intervals and used for receiving satellite positioning information to determine differential data and forwarding the differential data to vehicle-mounted equipment in real time; and the vehicle-mounted equipment is used for correcting the actually measured positioning information of the vehicle-mounted equipment according to the difference data so as to obtain corrected positioning information.
In some embodiments, the differential station base station includes a satellite positioning information receiving module, a differential station signal processing module, and a differential station motherboard; the satellite positioning information receiving module is used for receiving satellite positioning information, calculating the geographic position of the current differential station base station according to the satellite positioning information, converting the geographic position into positioning data and sending the positioning data to the differential station signal processing module; the differential station signal processing module is used for forwarding the positioning data to a differential station mainboard; the differential station mainboard is used for determining differential data according to the standard geographic position of the differential station base station and the positioning data.
In some embodiments, the satellite positioning information receiving module comprises a first satellite positioning information receiving module and a second satellite positioning information receiving module; the differential station signal processing module comprises a first differential station signal plate and a second differential station signal plate; the satellite positioning information comprises first satellite positioning information and second satellite positioning information; the first satellite positioning information receiving module is used for receiving first satellite positioning information, calculating a first geographical position of a current differential station base station according to the first satellite positioning information, converting the first geographical position into first positioning data and sending the first positioning data to a first differential station signal board; the first differential station signal board is used for forwarding the first positioning data to the differential station mainboard; the second satellite positioning information receiving module is used for receiving second satellite positioning information, calculating a second geographic position of the current differential station base station according to the second satellite positioning information, converting the second geographic position into second positioning data and sending the second positioning data to a second differential station signal board; the second differential station signal board is used for forwarding the second positioning data to the differential station mainboard; the differential station mainboard is used for determining first differential data according to the standard geographic position of the differential station base station and the first positioning data, and determining second differential data according to the standard geographic position of the differential station base station and the second positioning data.
In some embodiments, the on-board device includes an on-board ATP motherboard; the difference station mainboard is further used for sending the first difference data and the second difference data to the vehicle-mounted ATP mainboard under the condition that a difference data acquisition request sent by the vehicle-mounted ATP mainboard is received.
In some embodiments of the application, the vehicle-mounted device further comprises a vehicle-mounted signal processing module and a vehicle-mounted Beidou receiving module; the vehicle-mounted ATP mainboard is used for sending the first differential data and the second differential data to a vehicle-mounted signal processing module; the vehicle-mounted signal processing module is used for receiving the first differential data and the second differential data and forwarding the first differential data and the second differential data to the vehicle-mounted Beidou receiving module; the vehicle-mounted Beidou receiving module is used for determining correction positioning information based on actual measurement positioning information of the current vehicle-mounted equipment and the first differential data and the second differential data.
In some embodiments, the on-board signal processing module includes a first on-board signal board and a second on-board signal board; the vehicle-mounted Beidou receiving module comprises a first vehicle-mounted Beidou receiving module and a second vehicle-mounted Beidou receiving module; the actual measurement positioning information of the current vehicle-mounted equipment comprises first actual measurement positioning information and second actual measurement positioning information; the vehicle-mounted ATP mainboard is used for sending the first differential data to the first vehicle-mounted signal board; the first vehicle-mounted signal board is used for receiving the first differential data and forwarding the first differential data to the first vehicle-mounted Beidou receiving module; the first vehicle-mounted Beidou receiving module is used for receiving the first differential data and first measured positioning information and determining first correction positioning information according to the first differential data and the first measured positioning information; the vehicle-mounted ATP mainboard is further used for sending second differential data to a second vehicle-mounted signal board; the second vehicle-mounted signal plate is used for receiving the second differential data and forwarding the second differential data to the second vehicle-mounted Beidou receiving module; the second vehicle-mounted Beidou receiving module is used for receiving the second differential data and second measured positioning information, and determining second corrected positioning information according to the second differential data and the second measured positioning information.
In some embodiments, the vehicle-mounted device further comprises a positioning information determining module; the positioning information determination is to determine modified positioning information based on the first modified positioning information and the second modified positioning information.
In some embodiments, the system further comprises a communication controller module; the communication controller module is used for controlling information interaction between the differential station subsystem and the vehicle-mounted equipment.
In some embodiments, the system further comprises: and the data recording module is in communication connection with the differential station subsystem and the vehicle-mounted equipment and is used for recording data in the differential station subsystem and the vehicle-mounted equipment.
In some embodiments, the base station further comprises a power module; the power supply module is used for supplying power to the satellite positioning information receiving module, the differential station signal processing module and the differential station host board.
Compared with the prior art, one or more embodiments in the scheme can have the following advantages or beneficial effects:
according to the differential positioning system, the plurality of differential station base stations are arranged on the railway at intervals to receive satellite positioning information and determine differential data, the differential data are forwarded to the vehicle-mounted equipment in real time, the vehicle-mounted equipment corrects the real-time positioning information of the vehicle-mounted equipment according to the differential data, corrected positioning information is obtained, and the accuracy of train positioning is improved. The system can be used for the precise positioning of the railway locomotive, and the precision of train positioning is greatly improved.
Drawings
The present application will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings:
fig. 1 is a block diagram of a differential positioning system provided in an embodiment of the present application;
fig. 2 is an overall flowchart of differential positioning according to an embodiment of the present disclosure.
Detailed Description
In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
To facilitate an understanding of the embodiments of the present invention, the following briefly introduces differential positioning: the basic principle of differential positioning is as follows: a GPS receiver is placed at the reference station for observation. And calculating the distance correction number from the reference station to the satellite according to the known precise coordinates of the reference station, and transmitting the correction data in real time by the reference station. The user receiver receives the correction number sent by the reference station while carrying out GPS observation, and corrects the positioning result, thereby improving the positioning precision.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
The following description will be added if a similar description of "first \ second \ third" appears in the application file, and in the following description, the terms "first \ second \ third" merely distinguish similar objects and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may be interchanged under certain circumstances in a specific order or sequence, so that the embodiments of the application described herein can be implemented in an order other than that shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Example one
The distance measurement error can be reduced to be within 10m by using Beidou satellite positioning, the differential station is important calibration equipment in a Beidou positioning system, the Beidou positioning error equipped with the differential station is further reduced, and the effective signal coverage diameter of the differential station is 70km, so that the operating standard of a train in a long section is met.
The differential Beidou satellite positioning system is widely applied to multiple fields at the present stage, but a data receiving and forwarding framework of a differential station is not suitable for a CBTC system framework of the existing heavy haul railway, a differential station hardware framework and a two-channel information interaction platform suitable for train positioning are provided for the first time, and a differential station subsystem hardware structure which meets the requirement of safety level SIL4 and can perform data interaction with vehicle-mounted ATP is designed.
Fig. 1 is a block diagram of a differential positioning system according to an embodiment of the present application, and please refer to fig. 1, where the differential positioning system is applied to accurately position a train. The system comprises: a differential station subsystem 101 and an in-vehicle device 102; the differential station subsystem 101 comprises a plurality of differential station base stations; the plurality of differential station base stations are arranged on the railway at intervals and used for receiving satellite positioning information to determine differential data and forwarding the differential data to the vehicle-mounted equipment 102 in real time; the vehicle-mounted device 102 is configured to correct the measured positioning information of the vehicle-mounted device 102 according to the difference data, so as to obtain corrected positioning information.
In this embodiment, the difference station subsystem 101 is a ground device of a satellite positioning system, and includes a plurality of difference station base stations, which may be spaced apart on a railway, for receiving satellite positioning data to determine difference data. The vehicle-mounted device 102 includes a vehicle-mounted ATP, and the vehicle-mounted device is used as a vehicle-mounted mobile station, and may be multiple, in this embodiment, a vehicle-mounted device is taken as an example, when a train passes through multiple differential station base stations, a differential station base station closest to the train is automatically selected, a link establishment request is initiated to the closest differential station base station through the vehicle-mounted ATP, the differential station base station forwards differential data to the vehicle-mounted device in real time under the condition that the differential data acquisition request sent by the vehicle-mounted ATP is received, and the vehicle-mounted device is used as a mobile station to receive the differential station data, and calculates more accurate positioning (i.e., corrected positioning information) by combining position information (i.e., real-time positioning information) of a vehicle-mounted beidou receiving module.
In some embodiments, the differential station base station includes a satellite positioning information receiving module, a differential station signal processing module, and a differential station motherboard; the satellite positioning information receiving module is used for receiving satellite positioning information, calculating the geographic position of the current differential station base station according to the satellite positioning information, converting the geographic position into positioning data and sending the positioning data to the differential station signal processing module; the differential station signal processing module is used for forwarding the positioning data to a differential station mainboard; the differential station mainboard is used for determining differential data according to the standard geographic position of the differential station base station and the positioning data.
In some embodiments, the satellite positioning information receiving module comprises a first satellite positioning information receiving module and a second satellite positioning information receiving module; the differential station signal processing module comprises a first differential station signal plate and a second differential station signal plate; the satellite positioning information comprises first satellite positioning information and second satellite positioning information; the first satellite positioning information receiving module is used for receiving first satellite positioning information, calculating a first geographical position of a current differential station base station according to the first satellite positioning information, converting the first geographical position into first positioning data and sending the first positioning data to a first differential station signal board; the first differential station signal board is used for forwarding the first positioning data to the differential station mainboard; the second satellite positioning information receiving module is used for receiving second satellite positioning information, calculating a second geographic position of the current differential station base station according to the second satellite positioning information, converting the second geographic position into second positioning data and sending the second positioning data to a second differential station signal board; the second differential station signal board is used for forwarding the second positioning data to the differential station mainboard; the differential station mainboard is used for determining first differential data according to the standard geographic position of the differential station base station and the first positioning data, and determining second differential data according to the standard geographic position of the differential station base station and the second positioning data.
In this embodiment, in consideration of the common cause failure of the equipment, the ground differential station base station and the vehicle-mounted mobile station are both configured with two Beidou board cards of different manufacturers for satellite information reception. The Beidou board cards of two different manufacturers, namely a first differential station signal board and a second differential station signal board, wherein two CPUs which independently run are arranged on the first differential station signal board and the second differential station signal board for periodic output comparison, and if the outputs are not consistent, the signal board is shut down immediately. The differential station system realizes the receiving of the Beidou data through the interface of the signal board and the Beidou satellite positioning module. The satellite positioning information receiving module internally comprises information receiving modules of two different manufacturers, namely a first satellite positioning information receiving module and a second satellite positioning information receiving module which are independent from each other and are responsible for receiving positioning information sent by a satellite, calculating the geographic position of the current equipment according to the information, converting the position information into a positioning information message with a fixed format and sending the positioning information message to the signal board, and the signal board forwards the information to the differential station main boards. This embodiment adopts two satellite positioning information receiving module and two differential station signal boards, can also effectively promote the stability of obtaining the difference data.
In some embodiments, the on-board device includes an on-board ATP motherboard; the difference station mainboard is further used for sending the first difference data and the second difference data to the vehicle-mounted ATP mainboard under the condition that a difference data acquisition request sent by the vehicle-mounted ATP mainboard is received.
In this embodiment, the first differential data and the second differential data are from different satellite information receiving modules and belong to heterogeneous differential information, the vehicle-mounted ATP host board receives the heterogeneous differential information and sends the heterogeneous differential information to the vehicle-mounted ATP host board through the vehicle-mounted signal processing module, and the vehicle-mounted ATP host board sends the first differential data and the second differential data to the first vehicle-mounted Beidou receiving module and the second vehicle-mounted Beidou receiving module through the first vehicle-mounted signal board and the second vehicle-mounted signal board respectively so as to determine the corrected positioning information. The first differential station signal board and the second differential station signal board of the differential station base station are in a main-standby relationship with each other, and when one system is down, the other system can be immediately upgraded to be a main system to continue to operate. And two CPUs which run independently are arranged on the first differential station signal board and the second differential station signal board for periodic output comparison, and if the outputs are not consistent, the system is shut down immediately.
In some embodiments, the vehicle-mounted device further comprises a vehicle-mounted signal processing module and a vehicle-mounted Beidou receiving module; the vehicle-mounted ATP mainboard is used for sending the first differential data and the second differential data to a vehicle-mounted signal processing module; the vehicle-mounted signal processing module is used for receiving the first differential data and the second differential data and forwarding the first differential data and the second differential data to the vehicle-mounted Beidou receiving module; the vehicle-mounted Beidou receiving module is used for determining correction positioning information based on actual measurement positioning information of the current vehicle-mounted equipment and the first differential data and the second differential data.
In some embodiments, the on-board signal processing module includes a first on-board signal board and a second on-board signal board; the vehicle-mounted Beidou receiving module comprises a first vehicle-mounted Beidou receiving module and a second vehicle-mounted Beidou receiving module; the actual measurement positioning information of the current vehicle-mounted equipment comprises first actual measurement positioning information and second actual measurement positioning information; the vehicle-mounted ATP mainboard is used for sending the first differential data to the first vehicle-mounted signal board; the first vehicle-mounted signal board is used for receiving the first differential data and forwarding the first differential data to the first vehicle-mounted Beidou receiving module; the first vehicle-mounted Beidou receiving module is used for receiving the first differential data and first measured positioning information and determining first correction positioning information according to the first differential data and the first measured positioning information; the vehicle-mounted ATP mainboard is further used for sending second differential data to a second vehicle-mounted signal board; the second vehicle-mounted signal plate is used for receiving the second differential data and forwarding the second differential data to the second vehicle-mounted Beidou receiving module; the second vehicle-mounted Beidou receiving module is used for receiving the second differential data and second measured positioning information, and determining second corrected positioning information according to the second differential data and the second measured positioning information.
In some embodiments, the vehicle-mounted device further comprises a positioning information determining module; the positioning information determination is to determine modified positioning information based on the first modified positioning information and the second modified positioning information.
In this embodiment, the first corrected positioning information and the second corrected positioning information are from different vehicle-mounted Beidou receiving modules of the vehicle-mounted equipment, and the difference between the first corrected positioning information and the second corrected positioning information is calculated based on the first corrected positioning information and the second corrected positioning information to determine the final corrected positioning information, so that the probability of satellite information positioning drift is reduced to a certain extent.
In some embodiments, the system further comprises a communication controller module; the communication controller module is used for controlling information interaction between the differential station subsystem and the vehicle-mounted equipment.
In the embodiment, the communication controller module is responsible for information interaction between the differential station subsystem and the vehicle-mounted equipment.
In some embodiments, the system further comprises: and the data recording module is in communication connection with the differential station subsystem and the vehicle-mounted equipment and is used for recording data in the differential station subsystem and the vehicle-mounted equipment.
In this embodiment, the data recording module is configured to record data in the differential station subsystem and the vehicle-mounted device, including recording a satellite data forwarding process and abnormal situations.
In some embodiments, the base station further comprises a power module; and the power supply module is used for supplying power to the satellite positioning information receiving module, the differential station signal processing module and the differential station host board.
Example two
On the basis of the first embodiment, the present embodiment explains the method described in the first embodiment by a specific implementation case. The differential station subsystem 101 includes a plurality of differential station base stations. Fig. 2 is an overall flowchart of differential positioning according to an embodiment of the present application, please refer to fig. 2, in which each differential station base station includes a first satellite positioning information receiving module, a second satellite positioning information receiving module, a first differential station signal board, a second differential station signal board, and a differential station host board; and the power supply module, the communication controller module and the data recording module. Considering the common cause failure of the equipment, the ground differential station base station and the vehicle-mounted mobile station are both provided with two Beidou board cards of different manufacturers for satellite information receiving, namely a first satellite positioning information receiving module and a second satellite positioning information receiving module. The signal processing module consists of two signal processing boards and is responsible for acquiring a positioning information message sent by the satellite positioning information receiving module and forwarding the positioning information message to the host module; the host module consists of two host board cards, is used as a hardware carrier of a ground differential station application program and is responsible for executing the logic operation of the internal information of the differential station information; the communication controller module is responsible for information interaction with external equipment; the recording module is responsible for recording the satellite data forwarding process and abnormal conditions.
The two-by-two platform is adopted by the running platform of the application software of the host module, the two board cards are in a main-standby relationship with each other, and when one system is down, the other system can be immediately upgraded to the main system to continue running. Meanwhile, two CPUs running independently on one board card carry out periodic output comparison, and if the output comparison is inconsistent, the system is shut down immediately.
When the satellite positioning subsystem continuously works, a satellite information receiving module of the ground differential station equipment transmits satellite information to a signal board through an internal network, the signal board is communicated with a mainboard, and the satellite information is packaged to the mainboard of the differential station. When the vehicle-mounted ATP and the differential station complete information chain establishment through a communication control board of the differential station and send a data request frame, the differential station replies a message response frame to the requested vehicle-mounted ATP. After receiving the satellite information of the differential station, the vehicle-mounted ATP is sent to the satellite receiving module of the vehicle-mounted Beidou board card by the vehicle-mounted signal board. Particularly, in order to distinguish the sources of satellite data, a first differential station signal plate is used for receiving satellite information of a first satellite positioning information receiving module, a second differential station signal plate is used for receiving satellite information of a second satellite positioning information receiving module, and two pieces of data are packaged through a differential station mainboard and sent to a vehicle-mounted ATP host. When the vehicle-mounted ATP analyzes the data, the data from the first differential station signal board and the data from the second differential station signal board are correspondingly analyzed respectively, and the data are sent to a first vehicle-mounted Beidou receiving module and a second vehicle-mounted Beidou receiving module of the vehicle-mounted ATP respectively. When ATP internal logic operation is carried out, two pieces of data are processed independently. The two satellite information receiving modules of the differential station and the two satellite information receiving modules of the vehicle-mounted mobile station are in unique corresponding relation. Based on the framework, the vehicle-mounted ATP receives heterogeneous differential information, and the difference between the heterogeneous differential information and the ATP is obtained through internal calculation, so that the probability of satellite information positioning drift is reduced to a certain extent.
In this embodiment, the differential station subsystem realizes the receipt of big dipper data through the interface of signal board and big dipper satellite positioning module. The satellite positioning information receiving module internally comprises two information receiving modules of different manufacturers, namely a first satellite positioning information receiving module and a second satellite positioning information receiving module. The first satellite positioning information receiving module and the second satellite positioning information receiving module are mutually independent and are responsible for receiving positioning information sent by a satellite, the geographic position of the current equipment is calculated according to the positioning information, then the positioning information is converted into positioning information messages with fixed formats and sent to the first differential station signal board and the second differential station signal board respectively, and the first differential station signal board and the second differential station signal board forward two paths of data from different satellite positioning information receiving modules to the differential station main boards.
And the ground differential station respectively stores the stored data of the first satellite positioning information receiving module and the second satellite positioning information receiving module in a queue, and if the length of the queue is more than 125 bytes, unpacking the queue to make the longest length of the application message information in a single information packet be 125 bytes. And sending the data to the communication controller module according to the packet format of the extranet data. The differential station subsystem is used as a passive party, and when a vehicle-mounted ATP actively initiates a chain building request, a corresponding chain is built, and a response frame is replied after an information query frame of the ATP is received. One differential station subsystem may be linked with on-board ATP in multiple jurisdictions.
In summary, according to the differential positioning system provided by the application, the plurality of differential station base stations are arranged on the railway at intervals to receive the satellite positioning information and determine the differential data, and the differential data are forwarded to the vehicle-mounted equipment in real time, so that the vehicle-mounted equipment corrects the real-time positioning information of the vehicle-mounted equipment according to the differential data, the corrected positioning information is obtained, and the accuracy of train positioning is improved. The system enables the railway CBTC train to receive more accurate satellite positioning information, and the satellite positioning information is used for participating in a train positioning algorithm of multi-sensor fusion, so that the accuracy of train positioning can be greatly improved.
In the embodiments provided in the present application, it should be understood that the disclosed method may be implemented in other ways. The above-described method embodiments are merely illustrative.
It should be noted that, in this document, 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. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Although the embodiments disclosed in the present application are described above, the descriptions are only for the convenience of understanding the present application, and are not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.
Claims (10)
1. A differential positioning system, comprising: a differential station subsystem and a vehicle-mounted device;
the differential station subsystem comprises a plurality of differential station base stations;
the plurality of differential station base stations are arranged on the railway at intervals and used for receiving satellite positioning information to determine differential data and forwarding the differential data to vehicle-mounted equipment in real time;
and the vehicle-mounted equipment is used for correcting the actually measured positioning information of the vehicle-mounted equipment according to the differential data to obtain corrected positioning information.
2. The differential positioning system of claim 1, wherein the differential station base station comprises a satellite positioning information receiving module, a differential station signal processing module and a differential station motherboard;
the satellite positioning information receiving module is used for receiving satellite positioning information, calculating the geographic position of the current differential station base station according to the satellite positioning information, converting the geographic position into positioning data and sending the positioning data to the differential station signal processing module;
the differential station signal processing module is used for forwarding the positioning data to a differential station mainboard;
the differential station mainboard is used for determining differential data according to the standard geographic position of the differential station base station and the positioning data.
3. The differential positioning system of claim 2,
the satellite positioning information receiving module comprises a first satellite positioning information receiving module and a second satellite positioning information receiving module;
the differential station signal processing module comprises a first differential station signal plate and a second differential station signal plate;
the satellite positioning information comprises first satellite positioning information and second satellite positioning information;
the first satellite positioning information receiving module is used for receiving first satellite positioning information, calculating a first geographical position of a current differential station base station according to the first satellite positioning information, converting the first geographical position into first positioning data and sending the first positioning data to a first differential station signal board; the first differential station signal board is used for forwarding the first positioning data to the differential station mainboard;
the second satellite positioning information receiving module is used for receiving second satellite positioning information, calculating a second geographical position of the current differential station base station according to the second satellite positioning information, converting the second geographical position into second positioning data and sending the second positioning data to a second differential station signal board; the second differential station signal board is used for forwarding the second positioning data to the differential station mainboard;
the differential station mainboard is used for determining first differential data according to the standard geographic position of the differential station base station and the first positioning data, and determining second differential data according to the standard geographic position of the differential station base station and the second positioning data.
4. The differential positioning system of claim 3, wherein the onboard equipment comprises an onboard ATP motherboard;
the difference station mainboard is further used for sending the first difference data and the second difference data to the vehicle-mounted ATP mainboard under the condition that a difference data acquisition request sent by the vehicle-mounted ATP mainboard is received.
5. The differential positioning system of claim 4, wherein the vehicle-mounted device further comprises a vehicle-mounted signal processing module and a vehicle-mounted Beidou receiving module;
the vehicle-mounted ATP mainboard is used for sending the first differential data and the second differential data to a vehicle-mounted signal processing module;
the vehicle-mounted signal processing module is used for receiving the first differential data and the second differential data and forwarding the first differential data and the second differential data to the vehicle-mounted Beidou receiving module;
the vehicle-mounted Beidou receiving module is used for determining correction positioning information based on actual measurement positioning information of the current vehicle-mounted equipment and the first differential data and the second differential data.
6. The differential positioning system of claim 5,
the vehicle-mounted signal processing module comprises a first vehicle-mounted signal plate and a second vehicle-mounted signal plate;
the vehicle-mounted Beidou receiving module comprises a first vehicle-mounted Beidou receiving module and a second vehicle-mounted Beidou receiving module;
the actual measurement positioning information of the current vehicle-mounted equipment comprises first actual measurement positioning information and second actual measurement positioning information;
the vehicle-mounted ATP mainboard is used for sending the first differential data to the first vehicle-mounted signal board; the first vehicle-mounted signal board is used for receiving the first differential data and forwarding the first differential data to the first vehicle-mounted Beidou receiving module; the first vehicle-mounted Beidou receiving module is used for receiving the first differential data and first measured positioning information and determining first correction positioning information according to the first differential data and the first measured positioning information;
the vehicle-mounted ATP mainboard is further used for sending second differential data to a second vehicle-mounted signal board; the second vehicle-mounted signal plate is used for receiving the second differential data and forwarding the second differential data to the second vehicle-mounted Beidou receiving module; the second vehicle-mounted Beidou receiving module is used for receiving the second differential data and second measured positioning information, and determining second corrected positioning information according to the second differential data and the second measured positioning information.
7. The differential positioning system of claim 6, wherein the vehicle-mounted device further comprises a positioning information determination module; the positioning information determination is to determine modified positioning information based on the first modified positioning information and the second modified positioning information.
8. The differential positioning system of claim 1, further comprising a communication controller module;
the communication controller module is used for controlling information interaction between the differential station subsystem and the vehicle-mounted equipment.
9. The differential positioning system of claim 1, further comprising: and the data recording module is in communication connection with the differential station subsystem and the vehicle-mounted equipment and is used for recording data in the differential station subsystem and the vehicle-mounted equipment.
10. The differential positioning system of claim 2, wherein the differential station base station further comprises a power module; the power supply module is used for supplying power to the satellite positioning information receiving module, the differential station signal processing module and the differential station host board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210922889.3A CN115453588A (en) | 2022-08-02 | 2022-08-02 | Differential positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116208933A (en) * | 2022-12-16 | 2023-06-02 | 中国铁建电气化局集团有限公司 | Differential information transmission, apparatus, device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116208933A (en) * | 2022-12-16 | 2023-06-02 | 中国铁建电气化局集团有限公司 | Differential information transmission, apparatus, device and storage medium |
| CN116208933B (en) * | 2022-12-16 | 2024-03-19 | 中国铁建电气化局集团有限公司 | Differential information transmission, apparatus, device and storage medium |
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