CN115782976A - Method for capturing virtual responder group by train control signal system - Google Patents

Abstract

The invention relates to a method for capturing a virtual responder group by a train control signal system, which comprises the following steps: the train periodically receives satellite signals through a satellite receiver to obtain positioning position information and direction of the train; when the satellite signal fails, determining the direction of the train by using a speed sensor and calculating the position information of the train; searching a route signal point in front of the train to form a signal linked list according to the determined position and direction of the train; and capturing a virtual responder group expected to be captured by the route in front of the train according to the signal linked list. The invention solves the problem that the virtual responder group can not capture the train position information because the train position information can not be determined after the satellite signal fails in the prior art; the capture time and the capture missing rate of the virtual responder group are effectively reduced; the confidence interval of the train can be accurately calculated, and the accuracy and the real-time performance of the position of the train in high-speed operation are ensured.

Description

Method for capturing virtual responder group by train control signal system

Technical Field

The invention relates to the field of rail transit, in particular to a method for capturing a virtual responder group by a train control signal system.

Background

The novel train control signal system realizes autonomous train positioning based on multi-source fusion of a satellite, a responder group, a speed sensor and the like, autonomously completes train integrity check, realizes train-ground bidirectional transmission based on IP communication, and automatically controls train operation by adopting a target distance continuous speed control mode curve. The transponder group type of the novel train control system is divided into an entity transponder group and a virtual transponder group, the entity transponder group is arranged in a station, and only a virtual interval transponder group is arranged in an interval in principle. Under the condition of ensuring accurate train positioning, virtual transponder groups are arranged in intervals, so that the laying density of ground entity transponder groups on railway lines can be reduced, and the railway line maintenance cost in severe environments such as high altitude, desert and the like can be reduced.

In the current method for capturing the virtual transponder group, generally, positioning points of trains are determined by means of GNSS (global navigation satellite system) satellite positioning, then a circular area which takes the arrangement position of the virtual transponder group as a circle center and takes a certain distance as a radius is taken as a capturing area of the virtual transponder group, and when the positioning points of the trains are in the capturing area of the virtual transponder group, the transponder group is considered to be captured. However, such designs have some disadvantages: (1) When the satellite signal of the train is shielded by special terrains such as mountains and tunnels, the train cannot receive the satellite signal, and therefore the train cannot normally capture the virtual transponder group. (2) When the train runs at a high speed, the current positioning point of the train easily crosses the circular capture area, so that the capture leakage rate of the virtual transponder group is greatly increased, and the message in the virtual transponder group cannot be transmitted to the vehicle-mounted signal system in time. Can not meet the requirements of high-speed railways.

Disclosure of Invention

In order to solve the problems, the invention provides a method for capturing a virtual responder group based on a train route signal linked list, which aims at realizing train positioning based on multi-source fusion of a satellite, the responder group, a speed sensor and the like in a novel train control signal system. The invention aims to reduce the missed triggering rate of the virtual transponder group, ensure that the virtual transponder group can be normally captured after the satellite signal of the train fails, and timely transmit the message information in the transponder group to a vehicle-mounted signal system, thereby improving the positioning accuracy when the train runs.

The invention provides a method for capturing a virtual responder group by a train control signal system, which comprises the following steps:

s1, a train is electrified to obtain a vehicle-mounted electronic map, a satellite receiver periodically receives satellite signals, and positioning position information and the direction of the train are obtained;

s2, when the satellite signal fails, determining the direction of the train by using a speed sensor and calculating the position information of the train;

s3, selecting one of the positioning position information of the satellite and the position information calculated by the speed sensor as the position of the train, and searching a route signal point in front of the train according to the determined position and direction of the train to form a signal linked list;

and S4, acquiring a virtual responder group expected to be captured by the route in front of the train according to the signal linked list, and capturing the virtual responder group when the train passes over the virtual responder group.

Preferably, said S2 comprises the following:

s21, after the train passes through the entity transponder group, acquiring the position, the station number and the track number of the entity transponder group in the electronic map, and determining the starting position, the station number and the track number of the speed sensor according to the position, the station number and the track number;

s22, periodically calculating the position of the speed sensor;

and S23, using the position calculated by the speed sensor as the position information of the train.

Preferably, said S4 comprises the following:

s41, judging whether the train meets the condition of searching the forward access signal point, and searching the access signal point if the train direction handle is forward and the map state is effective;

s42, judging whether the station number and the track number of the access signal point in front of the train are consistent with the station number and the track number of the current position of the train or not according to the position and the running direction of the train; if the forward access signal points are consistent with the forward access signal points, storing the forward access signal points into a signal linked list;

and S43, if the serial number of the virtual responder group passed by the train is consistent with the serial number of the expected virtual responder group, capturing the virtual responder group.

Preferably, in S1, the initial position, direction, station number, and track number of the speed sensor are initialized according to the satellite positioning position information, direction, station number, and track number;

or initializing the initial position, direction, station number and track number of the speed sensor according to the position, direction, station number and track number of the entity transponder group when the train passes through the entity transponder group.

Preferably, the speed sensor periodically calculates the walking distance of the train, and calculates an accumulated value of the walking distance according to the running direction of the train to determine the position information of the train.

Preferably, when the train passes through the turnout, if the turnout state is known, the running track number of the train is changed according to the turnout state, and the train shape-moving distance is continuously accumulated; and if the turnout state is unknown, clearing the position information of the speed sensor of the train.

Preferably, when the train passes through the station boundary, the running track number and the station number of the train are changed, and the train tracking distance is continuously accumulated.

Preferably, the method further includes S5, compensating the captured center position of the desired virtual transponder group according to the position information and the direction of the train determined by fusing the satellite and the speed sensor, and calculating the confidence interval of the train.

Preferably, calculating the confidence interval of the train comprises the steps of:

initializing the center position information of the virtual responder group, and acquiring the current shape-moving distance and the running direction of the train;

calculating the center distance of the virtual transponder group;

analyzing message information of the virtual responder group;

after the train captures the virtual transponder group, if the virtual transponder group is triggered by the train position determined by the satellite signal, the confidence interval of the train is a satellite positioning error; if the virtual transponder group is triggered by the train position as determined by the speed sensor, no correction is made to the confidence interval of the train.

Compared with the prior art, the technical scheme comprises the following innovation points and beneficial effects:

1. in the scheme, the satellite determines the positioning information of the train and the position information determined by the speed sensor to run simultaneously, and the satellite position information or the speed sensor position information is determined and selected according to the precision of the satellite signals. The method overcomes the defect that the virtual responder group cannot capture the train position information because the train position information cannot be determined after the satellite signal fails in the prior art;

2. the scheme searches signal points of the route in front of the train according to the position information of the train, and the route signal points form a linear linked list, so that the capturing time and the capturing missing rate of the virtual responder group are effectively reduced;

3. the scheme combines the position information of the speed sensor, compensates and captures the central position error of the virtual responder group, accurately calculates the confidence interval of the train and ensures the position accuracy and the real-time performance of the train when the train runs at a high speed.

Drawings

FIG. 1 is a schematic flow chart of a process for calculating location information of a train when satellite signals are available;

FIG. 2 is a schematic view of a process for calculating location information of a train when a satellite signal is invalid;

FIG. 3 is a schematic flow chart of a train capturing a virtual responder group according to position information;

fig. 4 is a flow chart illustrating a process of calculating a confidence interval of a train according to the positions of the virtual transponder groups.

Detailed Description

The method for capturing a virtual transponder group by a train control signal system according to the present invention is further described in detail with reference to the accompanying drawings and the following detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention more comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.

The invention provides a method for a train control signal system to capture a virtual responder group, which comprises the following steps:

s1, electrifying a train to obtain a vehicle-mounted electronic map, and periodically receiving satellite signals through a satellite receiver when the satellite signals are effective to obtain the positioning position and direction of the train;

s2, when the satellite signal fails, the train calculates the positioning position of the train by using a speed sensor according to the information of the passing entity transponder group in the map file;

s3, according to the precision of satellite signals, selecting one of the positioning positions received by the satellite receiver and the positioning position calculated by the speed sensor as the current position of the train, and searching a signal chain table consisting of access signal points in front of the train according to the determined position and direction of the train, wherein the signal points comprise a virtual responder group, an entity responder group, a station boundary, a turnout and the like; when the satellite signal precision is enough, the position positioned by the satellite is selected as the current position of the train, and when the satellite signal precision is not enough, the positioning position calculated by the speed sensor is selected as the current position of the train.

S4, acquiring a virtual responder group expected to be captured by a route in front of the train according to the signal linked list, and capturing the virtual responder group when the train passes over the virtual responder group;

and S5, determining the direction and the position of the position information of the train according to the fusion of the satellite and the speed sensor, compensating the center position of the captured expected virtual transponder group, and accurately calculating the confidence interval of the train. The fusion is that the position information of the train is determined by selecting one of the satellite positioning position and the positioning position calculated by the speed sensor through the satellite signal precision, and the train position is required to exceed the position of the virtual transponder group for capturing by the capturing of the virtual transponder group, so that the position error exists, the compensation is required, and the position precision of the train capturing transponder group can be improved by compensating and capturing the central position of the virtual transponder group; the confidence interval refers to the envelope (safe distance) of the train, and aims to improve the position precision of the trigger responder group and ensure that the train position is more accurate.

The step S2 specifically comprises the following steps:

s21, after the train passes through a certain entity transponder group, acquiring the position, the station number and the track number of the entity transponder group in an electronic map, and determining the starting position, the station number and the track number of the speed sensor according to the position, the station number and the track number;

s22, periodically calculating the position of the speed sensor according to the distance information and the running direction sent to the train by the speed sensor; specifically, the train calculates the travel distance of the train in one period through a speed sensor, and distance accumulation is performed according to the starting point position, the station number and the track number determined in the step S21, so that distance information of the train is finally obtained;

and S23, when the satellite positioning is invalid, using the position calculated by the speed sensor as the position information of the train.

The step S4 specifically comprises the following steps:

s41, judging whether the train meets a front access signal point searching condition or not, and if the train direction handle is forward and the map state is effective, searching the front access signal point; each virtual transponder is a signal point, and the virtual transponder number is the attribute of the signal point;

s42, judging whether the station number and the track number of the access signal point in front of the train are consistent with the station number and the track number of the current position of the train or not according to the position and the running direction of the train; if the forward access signal points are consistent with the forward access signal points, storing the forward access signal points into a signal linked list;

and S43, if the serial number of the virtual responder group passed by the train is consistent with the serial number of the expected virtual responder group, capturing the virtual responder group.

Fig. 1 shows that when the train satellite signal is valid, the position information of the train is calculated, and the specific process includes the following steps:

step 100, after the train is electrified and self-checking is finished, downloading and storing a vehicle-mounted electronic map;

step 101, a train periodically acquires position information of the train through latitude and longitude information received by a GNSS receiver;

step 102, initializing a track starting position, a direction, a station number and a track number of a train speed Sensor (SDMU) by using a train position, a direction, a station number and a track number determined by a satellite if the train does not pass through an entity response group;

103, calculating the walking distance of the train in each period by the speed sensor, calculating the accumulated value of the running distance of the train according to the running directions of the train going up and down, and determining the position information of the train;

and step 104, the train uses the satellite to determine the position, the direction, the station number and the track number of the train to carry out route searching in front of the train and capture the virtual transponder group.

Fig. 2 is a flowchart of determining location information of a train based on a track starting point according to a travel distance of a speed sensor when a GNSS receiver of the train cannot receive a satellite signal, and the specific process includes the following steps:

step 200, initializing position information of a train speed sensor, and acquiring the state of a train passing through a responder group;

step 201, after a train passes through an entity responder group, acquiring the position, station number and track number of the entity responder group in an electronic map, and judging the running direction of the train according to the direction of the train passing through the responder group;

if the train runs in the downlink direction:

the SDMU initial position = | train shape-moving distance-absolute position of 1# transponder group in transponder group | + transponder group position in map + distance from transponder group antenna to vehicle head-distance from satellite antenna to vehicle head;

if the train runs in the uplink direction:

the SDMU initial position = the position of the transponder group in the map- | train form-running distance- | absolute position of 1# transponder group in the transponder group | -the distance from the transponder group antenna to the locomotive + the distance from the satellite antenna to the locomotive;

step 202, calculating the shape running distance of each period of the train according to the distance information sent to the train by the speed sensor, wherein if the train runs in the downlink direction, the SDMU position of the train is the initial position of the train plus the shape running distance of each period of the train; if the train runs in the uplink direction, the position of the SDMU of the train is the initial position of the train-the running distance of each period of the train;

step 203, when the train passes through the turnout, if the turnout state is known, changing the running track number of the train according to the turnout state, repeating the step 202, continuing to accumulate the train shape-running distance, and if the turnout state is unknown, emptying the SDMU distance information of the train;

step 204, when the train passes through the station boundary, changing the running track number and the station number of the train, repeating the step 202, and continuously accumulating the train shape-moving position;

step 205, the train uses a speed sensor to determine the position, direction, station number and track number of the train to search the route in front of the train and capture a virtual responder group;

fig. 3 depicts searching for the signal points (transponder group, station boundary, switch points) of the approach ahead of the train according to the position information of the train, and establishing a signal chain table. Capturing a virtual responder group in a route signal linked list in front of a train, wherein the specific process comprises the following steps:

step 300, initializing a route searching signal chain table in front of a train and a searching state;

step 301, judging whether the train meets the condition of route search, if the train direction handle is forward and the state of the electronic map file is valid, performing route search, and establishing a signal linked list; otherwise, searching a route signal linked list in front of the train is not carried out;

step 302, when the train runs in the downlink direction, traversing signal points of a route in front of the train according to the direction of increasing the current position of the train, and if the station number and the track number of the signal point are consistent with the current station number and the track number of the train, adding the signal to a route signal linked list in front of the train; when the train runs in the upward direction, traversing the signal point of the route in front of the train according to the direction of decreasing the current position of the train, and if the station number and the track number of the signal point are consistent with the current station number and the track number of the train, adding the signal to a route signal linked list in front of the train;

step 303, when the signal point at the front side is a station boundary signal point, acquiring the position, the track number and the station number of the station boundary, and repeating the step 302 to search the next access signal point with the same track number;

step 304, when the front is a turnout signal point, if the turnout state that the train passes through is known, the train continues to search the signal point of the front route; if the turnout state that the train passes through is unknown, stopping searching the front route signal point by the train, and emptying the existing front route signal linked list;

305, after the establishment of the route signal linked list in front of the train is finished, according to the position of the train, traversing signal points on the route signal linked list, and judging the number of a virtual responder group expected to be triggered in front of the train;

and step 306, capturing the virtual transponder group if the serial number of the virtual transponder group passed by the train is consistent with the serial number of the expected virtual transponder group, and the serial number of the virtual transponder group is different from the serial number of the currently and newly captured transponder group.

Fig. 4 illustrates the compensation of the center distance of the virtual transponder group according to the distance information of the speed sensor, and the calculation of the train confidence interval after the virtual transponder group is triggered, wherein the specific process comprises the following steps:

step 400, initializing center position information of a virtual responder group, and acquiring the current form distance and the running direction of a train;

step 401, calculating the center distance of the virtual transponder group according to the current shape-moving distance and the running direction of the train. If the train runs in the forward direction in the speed transmission direction when running, the center position of the virtual transponder group = the train running distance + the distance from the transponder group antenna to the train head + | the train position-the position of the virtual transponder group in the electronic map | + the position of the transponder group in the map-the distance from the satellite antenna to the train head; if the train runs in a reverse direction when the speed is transmitted, the center position of the virtual transponder group = the running distance of the train-the distance from the transponder group antenna to the train head + | the train position-the position of the virtual transponder group in the electronic map | + the position of the transponder group in the map + the distance from the satellite antenna to the train head;

step 402, if the running direction of the train is consistent with the direction of the virtual responder group described by the electronic map file, capturing the virtual responder group according to the forward direction of the train, and analyzing the message information of the virtual responder group; otherwise, capturing the virtual responder group according to the train reverse direction, and analyzing the message information of the virtual responder group;

step 403, after the train captures the virtual transponder group, if the virtual transponder group is triggered by the train position determined by the satellite signal, the confidence interval of the train is the satellite positioning error, and when the train runs, the confidence intervals are continuously accumulated; if the virtual transponder group is triggered by the train position determined by the speed sensor, the confidence interval of the train is not corrected;

and step 404, ending the process of capturing the virtual transponder group according to the fusion position of the satellite and the speed sensor.

Compared with the prior art, the technical scheme comprises the following innovation points and beneficial effects:

1. in the scheme, the satellite determines the positioning information of the train and the position information determined by the speed sensor to run simultaneously, and the satellite position information or the speed sensor position information is determined and selected according to the precision of the satellite signals. The method overcomes the defect that the virtual transponder group cannot be captured because the train position information cannot be determined after the satellite signal fails in the prior art;

2. the scheme searches signal points of a route in front of the train according to the train position information, and forms the route signal points into a linear linked list, thereby effectively reducing the capture time and the capture missing rate of the virtual responder group;

3. the scheme combines the position information of the speed sensor, compensates and captures the central position error of the virtual transponder group, accurately calculates the confidence interval of the train and ensures the accuracy and the real-time performance of the position of the train when the train runs at high speed.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (9)

1. A method for a train control signal system to acquire a virtual transponder group, comprising the steps of:

s1, electrifying a train to obtain a vehicle-mounted electronic map, periodically receiving satellite signals through a satellite receiver, and obtaining positioning position information and direction of the train;

s2, when the satellite signal fails, determining the direction of the train by using a speed sensor and calculating the position information of the train;

s3, selecting one of the positioning position information of the satellite and the position information calculated by the speed sensor as the position of the train, and searching a route signal point in front of the train according to the determined position and direction of the train to form a signal linked list;

and S4, acquiring a virtual responder group expected to be captured by the route in front of the train according to the signal linked list, and capturing the virtual responder group when the train passes over the virtual responder group.

2. A method of capturing a set of virtual transponders according to claim 1, wherein S2 comprises the following:

s21, after the train passes through the entity transponder group, acquiring the position, the station number and the track number of the entity transponder group in the electronic map, and determining the starting position, the station number and the track number of the speed sensor according to the position, the station number and the track number;

s22, periodically calculating the position of the speed sensor;

and S23, using the position calculated by the speed sensor as the position information of the train.

3. A method of capturing a set of virtual transponders as claimed in claim 1, wherein said S4 comprises the following:

s41, judging whether the train meets the condition of searching the forward access signal point, and searching the access signal point if the train direction handle is forward and the map state is effective;

s42, judging whether the station number and the track number of the access signal point in front of the train are consistent with the station number and the track number of the current position of the train or not according to the position and the running direction of the train; if the forward access signal points are consistent with the forward access signal points, storing the forward access signal points into a signal linked list;

and S43, if the serial number of the virtual responder group passed by the train is consistent with the serial number of the expected virtual responder group, capturing the virtual responder group.

4. The method of capturing a set of virtual transponders according to claim 1,

in the S1, initializing the initial position, direction, station number and track number of the speed sensor according to the satellite positioning position information, direction, station number and track number;

or initializing the initial position, direction, station number and track number of the speed sensor according to the position, direction, station number and track number of the entity transponder group when the train passes through the entity transponder group.

5. The method of capturing a set of virtual transponders of claim 4,

the speed sensor periodically calculates the walking distance of the train, and calculates the accumulated value of the walking distance according to the running direction of the train so as to determine the position information of the train.

6. The method of capturing a set of virtual transponders according to claim 5,

when a train passes through a turnout, if the turnout state is known, changing the running track number of the train according to the turnout state, and continuously accumulating the train running distance; and if the turnout state is unknown, clearing the position information of the speed sensor of the train.

7. The method of capturing a set of virtual transponders according to claim 5,

when the train passes through the station boundary, the running track number and the station number of the train are changed, and the train running distance is continuously accumulated.

8. A method of capturing a set of virtual transponders as set forth in claim 1, further comprising S5, calculating a confidence interval of the train by compensating for a center position of the captured desired set of virtual transponders based on position information and direction of the train determined by fusing a satellite and a speed sensor.

9. A method of capturing a set of virtual transponders as set forth in claim 8, wherein calculating a confidence interval for the train comprises the steps of:

initializing the center position information of the virtual responder group, and acquiring the current shape-moving distance and the running direction of the train;

calculating the center distance of the virtual transponder group;

analyzing message information of the virtual responder group;

after the train captures the virtual transponder group, if the virtual transponder group is triggered by the train position determined by the satellite signal, the confidence interval of the train is a satellite positioning error; if the virtual transponder group is triggered by the train position as determined by the speed sensor, no correction is made to the confidence interval of the train.

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