CN116430427B - Automatic acquisition method, system and storage medium for coordinates of railway interval signal equipment - Google Patents
Automatic acquisition method, system and storage medium for coordinates of railway interval signal equipment Download PDFInfo
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Classifications
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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
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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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 vehicle trains or setting of track apparatus
- B61L25/06—Indicating or recording the setting of track apparatus, e.g. of points, of signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Abstract
The invention discloses a method, a system and a medium for automatically acquiring coordinates of railway interval signal equipment, wherein the method comprises the following steps: acquiring running data of the same type of train in a target time period recorded in the uplink and downlink running processes of a section to be tested, wherein the running data comprises information of each signal device, a machine passing correction error and positioning data of corresponding time; extracting data with the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data; according to the information of each signal device in the preprocessed data and the positioning data at the corresponding moment, calculating the statistic value of the positioning signals of each signal device respectively to obtain the initial position coordinates of each signal device; and carrying out compensation calculation on the initial position coordinates of each signal device to obtain final position coordinates of each signal device projected to the line center line. The method has the advantages of simple realization method, low cost, high coordinate acquisition efficiency and precision, no dependence on skylight operation and the like.
Description
Technical Field
The invention relates to the technical field of railway equipment positioning, in particular to a method, a system and a storage medium for automatically acquiring coordinates of railway interval signal equipment.
Background
In order to realize automatic driving of a railway train, mapping is needed to be carried out on all stations, interval data and interval key points along the railway so as to accurately position specific coordinates of all stations, interval equipment and the like. The section signaling device (section signaling machine) is a signaling device for guiding the train to safely run in the section. In the prior art, the positioning of the signal equipment in each section along the railway is realized, usually in a skylight operation mode, and the position coordinates of the signal equipment in each section are determined by using GPS positioning. However, the above positioning method has the following problems:
1. the operation of the sunroof needs to be relied on, and the railway line is generally long in line, the measurement is time-consuming, and the sunroof needs to be long, so that the operation is difficult to be practically performed. Meanwhile, as the railway line can be changed, the position of the signal equipment can be changed, and the skylight operation mode is adopted for positioning and measuring the signal equipment, once the position of the signal equipment is changed, the measurement needs to be carried out again, so that a large amount of repeated measurement work is required, the measurement is long in time consumption, and the measurement efficiency is low.
2. The GPS positioning technology is directly used for positioning, so that a certain error exists in practice, the positioning precision often cannot meet the requirement of high precision, and quick and accurate positioning of interval signal equipment is difficult to realize.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the automatic acquisition method, system and storage medium for the coordinates of the railway interval signal equipment, which have the advantages of simple implementation method, low cost and high coordinate acquisition efficiency and precision and do not depend on skylight operation.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the automatic acquisition method for the coordinates of the railway interval signal equipment comprises the following steps:
acquiring running data of the same type of train in a target time period recorded in the ascending and descending running processes of a section to be tested, wherein the running data comprises information of each passing signal device, an on-machine correction error and positioning data at a corresponding moment, and the on-machine correction error is a correction error when the train carries out section on-machine correction;
extracting data with the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data;
according to the information of each signal device in the preprocessed data and the positioning data at the corresponding moment, calculating the statistic value of the positioning signals of each signal device respectively to obtain the initial position coordinates of each signal device;
according to the distance between the antenna of the current type train and the locomotivesDirection angle of up-down runningAnd carrying out coordinate conversion on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system, and carrying out compensation calculation on longitude and latitude results to obtain the coordinates of the projection of each signal device to the central line of the line.
Further, in the process of the up and down running of the train in the interval to be tested, the current distance from the train to the front signal equipment is continuously obtained through the train running monitoring deviceKilometer signKTrain speed->And the information of the insulated section track circuit equipment where the signal equipment is located.
Further, when the section machine passing correction is carried out, the train operation monitoring device records the distance information of the distance signal equipment and the signal correction time when the section machine passing and the machine passing correction are carried out, and the machine passing correction error is obtained.
Further, the machine-passing correction error is based onAnd->The difference between them is calculated, wherein ∈>Correcting the distance difference between the two time points and the front signal for the interval passing and the passing>Correction time for signal +.>Is the train running speed.
Further, the positioning data is longitude and latitude position information when the train is fixed in RTK integer ambiguity is obtained through calculation by acquiring GNSS data.
Further, when the GNSS data is acquired, the method further includes grouping the acquired GNSS data with the train ODO positioning data.
Further, the preprocessing comprises removing abnormal data according to the mean value and standard deviation of the data with the over-machine correction error within a preset range.
Further, the statistical value is any one of a mean value, a mode value, a median value, a variance and a standard deviation.
Further, when the compensation calculation is performed on the initial position coordinates of each signal device, the distance between the antenna of the current type train and the locomotive is calculated according to the distance between the antenna of the current type train and the locomotiveDirection angle of uplink and downlink operation>And carrying out coordinate conversion on the initial coordinate position of each signal device to obtain the final position coordinate of the projection of each signal device to the line center line.
Further, the distance between the antenna and the locomotive according to the current type of trainDirection angle of up-down runningThe step of performing coordinate conversion on the initial coordinate position of each signal device by adopting a coordinate conversion method of an ellipsoidal reference coordinate system comprises the following steps:
determining ellipsoid parameters of an ellipsoid reference coordinate system;
according to the ellipsoid parameters, the radian representation of the initial position coordinates and the distance between the antenna of the train and the locomotiveDirection angle of uplink and downlink operation>Circularly and iteratively calculating the latitude angle parameter until the target latitude angle parameter meeting the preset requirement is obtained;
using the target latitude angle parameter and the direction angle of uplink and downlink operationAnd calculating the corrected longitude and latitude, converting the radian into longitude and latitude representation, and obtaining final converted coordinates.
An automatic acquisition system for coordinates of railway section signal equipment, comprising:
the system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring running data of the same type of train in a target time period recorded in the uplink and downlink running processes of a section to be tested, the running data comprise information of each signal device passing through, an over-the-air correction error and positioning data at corresponding time, and the over-the-air correction error is a correction error when the train carries out section over-the-air correction;
the preprocessing module is used for extracting the data of the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data;
the initial position calculation module is used for calculating the statistic value of the positioning signals of the signal devices according to the information of the signal devices in the preprocessed data and the positioning data at the corresponding moment respectively to obtain the initial position coordinates of the signal devices;
the compensation calculation module is used for calculating the distance between the antenna of the train of the current type and the train head according to the distance between the antenna of the train of the current type and the train headsDirection angle of up-down runningAnd carrying out coordinate conversion on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system, and carrying out compensation calculation on longitude and latitude results to obtain the coordinates of the projection of each signal device to the central line of the line.
Further, the data acquisition module is in communication connection with the train operation monitoring device for acquiring the current distance from the front signal equipment of the train through the train operation monitoring deviceTrain speed->And the insulation section track circuit equipment information of each signal equipment, and the distance information of the distance signal equipment and the signal correction time when the section machine passing and machine passing correction are recorded by the train operation monitoring device are obtained when the section machine passing correction is carried out, so as to obtain the machine passing correction error.
Further, the data acquisition module is in communication connection with the GNSS positioning apparatus for acquiring GNSS positioning data.
A computer system comprising a processor and a memory for storing a computer program, the processor being for executing the computer program to perform a method as described above.
A computer readable storage medium storing a computer program which when executed performs a method as described above.
Compared with the prior art, the invention has the advantages that: according to the invention, the running data recorded in the running process of the train in the uplink and downlink of the interval to be detected are acquired, the data are screened out for processing based on the machine-passing correction error, the initial position coordinates of the signal equipment are obtained by utilizing the statistical value of the positioning signals of the signal equipment, then the initial position coordinates of the signal equipment are compensated and calculated, the final position coordinates of the projection of the signal equipment to the central line of the line are obtained, skylight operation is not needed, the automatic acquisition of the coordinates of the signal equipment can be realized by fully utilizing the running data of the train, the reliability and the accuracy of positioning can be greatly improved, the mapping accuracy of the signal equipment and the positioning data is higher, and the automatic acquisition of the longitude and latitude information of the high confidence of the interval signal equipment is realized.
Drawings
Fig. 1 is a method for automatically acquiring coordinates of railway section signal equipment according to the present embodiment.
Fig. 2 is a schematic diagram of a structure for implementing automatic acquisition of coordinates of railway section signal equipment according to the embodiment.
Fig. 3 is a detailed flowchart of the method for automatically acquiring the coordinates of the railway section signal equipment in the embodiment of the invention.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
As shown in fig. 1, the method for automatically acquiring coordinates of railway section signal equipment according to the embodiment includes the following steps:
s01, data acquisition: and acquiring running data of the same type of train in a target time period recorded in the uplink and downlink running processes of the section to be tested, wherein the running data comprises information of each passing signal device, an on-machine correction error and positioning data at a corresponding moment, and the on-machine correction error is a correction error when the train performs on-machine correction of the section.
In this embodiment, during the running process of the train in the up and down running process of the section to be tested, the distance between the current train and the front signal device is continuously obtained by the train running monitoring deviceTrain speed->Information such as the insulated section track circuit equipment where the signal equipment is located,further can also obtain kilometer postKEtc. required data. When the section machine passing correction is carried out, the train operation monitoring device also records the distance information of the distance signal equipment and the signal correction time during the section machine passing and machine passing correction, and further obtains the machine passing correction error. The various data can be directly obtained from the operation data recorded by the train operation monitoring device without independent skylight operation, so that the accurate positioning of the interval signal equipment can be conveniently realized depending on the train operation data.
When a train passes through the section signal device to acquire positioning data, the time when the train just passes through the section signal device may not be the time when the train just passes through the section signal device, and a certain error may exist, so that the train needs to be corrected in a machine passing mode to ensure that the positioning data is acquired as soon as possible when the train just passes through the section signal device. The over-train correction error is the correction error when the train performs the interval over-train correction. In a specific application embodiment, the over-machine correction error may be selected to be 0 or a specified value close to 0, so that data points with a correction distance equal to 0 meters or close to 0 meters may be subsequently screened out according to the over-machine correction error.
In the present embodiment, the over-machine correction errorIn particular according to->And->Calculated as the difference between them, whereinCorrecting the distance difference between the two time points and the front signal for the interval passing and the passing>Correction time for signal +.>Is the train running speed. In specific application implementationIn the example, the error of the over-machine correction is->Can be according to +.>And (5) calculating to obtain the product.
In this embodiment, the positioning data is longitude and latitude position information when the train is in the fixed RTK integer ambiguity is obtained by obtaining GNSS data (e.g., beidou differential data), so that accurate positioning data can be obtained. The automatic coordinate acquisition of the dynamic and non-stop interval signal equipment can be realized by combining the Beidou high-precision differential positioning with the operation data of the train operation monitoring device (LKJ-15C) to acquire positioning data.
In a specific application embodiment, as shown in fig. 2, in which (a) is a schematic diagram of an arrangement principle of a vehicle-mounted device and a ground device, and (b) is a schematic diagram of a principle of achieving coordinate acquisition of a signal device, the vehicle-mounted device is in communication connection with the ground device to form a test system, the vehicle-mounted device is mainly a train operation monitoring and recording device (LKJ 15C), and the ground device is mainly a beidou foundation enhancement system and the like. The train operation monitoring and recording device (LKJ 15C) comprises a main control unit, a speed measuring and distance measuring unit, a data acquisition unit and a train-ground communication unit, and meanwhile, a satellite positioning unit is further arranged to increase satellite navigation on the basis of GPS satellite navigation, and precise longitude and latitude positions of railway section signals are obtained by adopting modes of multi-constellation mixing, foundation enhancement and the like. The data acquisition unit, the satellite positioning unit and the like can also be realized by adopting an external train operation control device.
Firstly, in the process of running the train in an interval, the host unit of the train running monitoring device can continuously read the current distance from the front signal machine of the trainKilometer sign->Speed->The information of equipment such as an insulated section track circuit where the signal machine is positioned is also received; the satellite positioning unit establishes a reliable conversation mechanism through the train-ground communication unit and the foundation enhancement system, obtains Beidou differential data, and obtains real-time high-precision longitude and latitude position information when the train is fixed in RTK integer ambiguity through calculation; when the train operation monitoring device performs interval machine-passing correction, the distance difference between the interval machine-passing correction and the distance between the two time points of machine-passing correction and the signal machine in front is recorded>At the same time, correcting time according to the signal of the track circuit where the signal receiver is located>Obtaining error correction of the deformation distance of the speed and distance measuring sensor in the current section>。
According to the method, the system and the equipment, the data recorded by the train operation monitoring and recording device are adopted for processing, so that the coordinate acquisition of the interval signal equipment can be automatically and seamlessly completed in the dynamic and non-stop process, an application operation skylight is not needed, meanwhile, the implementation cost is low, and the coordinate data of all-path scene interval signal equipment can be conveniently and rapidly acquired by utilizing a big data processing mode.
In a specific embodiment, the real-time operation data of the current host unit is synchronously recorded by the data acquisition unit, including but not limited to the current information machine number and kilometer postCorrection error of up-down and machine-passing>Beidou positioning data of the wireless positioning unit at corresponding time, vehicle model/number, AB section and the like, wherein the Beidou positioning data comprises but is not limited to longitude when a fixed solution is obtained>Latitude->True heading angle->(with the north direction as the reference) and the like.
In a specific application embodiment, after train operation data of different vehicle types/numbers and AB sections are obtained according to the steps, the same vehicle type, number and AB section are matched on the same line to use different train numbersThe same signal number and the over-machine correction error during interval operation>And longitude ++of fixed solution obtained by Beidou positioning of wireless positioning unit at corresponding moment>Latitude->True heading angle->The running data recorded in the uplink and downlink running processes of the train of the same type in the interval to be tested are obtained for subsequent processing, and the specific obtained data type can be configured according to actual requirements.
Further, when the GNSS data is acquired, the method further includes grouping the acquired GNSS data with the train ODO positioning data, so as to reduce a distance error caused by a data transmission grouping delay when the train runs at a high speed in an interval. Because the GNSS data and the ODO positioning data belong to high-frequency data, when the train runs at a high speed in an interval, the GNSS data and the ODO positioning data are easy to generate time delay in the transmission process, so that a distance error exists between the GNSS data and the ODO positioning data, namely the GNSS data and the ODO positioning data are not corresponding. According to the method, the GNSS data and the train ODO positioning data are packaged and then sent in a package packaging mode, so that the GNSS data and the train ODO positioning data can be effectively guaranteed to be corresponding, distance errors caused by transmission delay are avoided, and positioning accuracy is further improved.
And S02, extracting data with the machine-run correction error within a preset range from the acquired operation data, and preprocessing the data to obtain preprocessed data.
In order to determine the position coordinates of the section signal equipment, only positioning data points when a train just passes through the section signal equipment (when the over-machine correction error is 0) are actually needed to be acquired for processing. In this embodiment, the difficulty of implementing the over-machine correction error of 0 is greater, and the data with the over-machine correction error smaller than the preset threshold value can be extracted for processing, so that the positioning data with the smaller over-machine correction error can be taken as far as possible, and a certain margin can be maintained.
During the running of the train, data fields may be generated due to idle running and skidding. In this embodiment, abnormal data is removed according to the mean value and standard deviation of the data with the error of the machine-passing correction within the preset range during preprocessing, and the data wild value possibly caused by train idling and skidding is removed, so that unnecessary subsequent data processing is avoided, error sources are reduced, and therefore mapping precision of interval signal equipment and positioning data is higher, and positioning precision is further improved.
In a specific application embodiment, the step of preprocessing the extracted data includes:
calculating the mean value of dataAnd standard deviation->；
Determining a threshold of rejection: by means of dataStandard of + -2 timesDifference (S)>As a culling threshold;
and eliminating abnormal data in the extracted data according to the determined elimination threshold value.
And S03, respectively calculating the statistic value of the positioning signals of the signal devices according to the information of the signal devices in the preprocessed data and the positioning data at the corresponding moment to obtain the initial position coordinates of the signal devices.
In this embodiment, the statistical value may be specifically any one of a mean value, a mode value, a median value, a variance value, and a standard deviation, that is, by calculating any one of a mean value, a mode value, a median value, a variance value, and a standard deviation of a positioning signal of each signal device, an initial position coordinate of each signal device is determined, where the initial position coordinate is an accurate coordinate of an antenna, that is, a position coordinate of a sketch of the signal device. Taking the mean value as an example of the statistical value, calculating the longitude when the corresponding GNSS of the uplink and downlink interval signal equipment obtains the fixed solutionLatitude->True heading angle->Is +.>、/>、/>And obtaining the approximate longitude and latitude corresponding to the interval signal equipment.
S04, according to the distance S between the antenna of the current type train and the locomotive, the direction angle of the up-and-down running is determinedAnd carrying out coordinate conversion on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system, and carrying out compensation calculation on longitude and latitude results to obtain the coordinates of the projection of each signal device to the central line of the line.
Since the positioning coordinates at the time of positioning the train depend on the mounting position of the antenna, the initial position coordinates obtained in step S03 are coordinates not considering the mounting position of the antenna, and thus the coordinates of the section signal device obtained by actual positioning are not accurate, but are only approximate position coordinates in practice. In order to obtain accurate positioning coordinates, compensation calculation is needed to be carried out on the initial position coordinates of each signal device, and the compensation calculation is carried out according to the distance between the antenna of the current type train and the locomotiveDirection angle of uplink and downlink operation>The initial coordinate position of each signal device is subjected to coordinate conversion so as to calibrate the position of the mounting antenna to the insulation point, so that the final position coordinate of each signal device projected to the line center line is obtained, the reliability and the accuracy of positioning can be greatly improved, the mapping accuracy of the interval signal device and positioning data is higher, and the automatic acquisition of the longitude and latitude information of the interval signal device with high confidence is realized. And repeatedly executing the steps to obtain the high-confidence longitude and latitude information of the signal equipment in other intervals on the railway line interval. As shown in fig. 2, the final obtained longitude and latitude coordinates of the traffic signal are the precise longitude and latitude coordinates projected to the track center line.
In the present embodiment, the distance from the head of the train according to the antenna of the current type of trainDirection angle of up-down runningAnd carrying out coordinate conversion on the initial coordinate positions of the signal devices by adopting a coordinate conversion method of an ellipsoidal reference coordinate system. In conventional coordinate transformation methods, in generalThe earth is regarded as a sphere, coordinate conversion is realized based on a sphere coordinate system, and compensation calculation of the coordinate position of the signal equipment is realized by utilizing the sphere-based coordinate conversion method, so that certain conversion errors exist, and a certain error distance exists between the finally compensated coordinate and the actual coordinate. According to the embodiment, the earth is regarded as an ellipsoid, and the coordinate conversion method of the ellipsoid reference coordinate system is adopted to realize compensation calculation of the coordinate position of the signal equipment, so that the compensation precision can be ensured, and the precision of acquiring the coordinate of the signal equipment is further improved.
In this embodiment, the specific step of performing coordinate transformation on the initial coordinate position of each signal device by using the coordinate transformation method of the ellipsoidal reference coordinate system includes:
determining ellipsoidal parameters of an ellipsoidal reference frame, e.g. earth's major-minor axesa(equatorial radius), minor half axis (polar radius) b, etc.;
according to the ellipsoid parameters, the initial position coordinates and the distance between the antenna of the train and the locomotive headDirection angle of uplink and downlink operation>Circularly and iteratively calculating the latitude angle parameter until the target latitude angle parameter meeting the preset requirement is obtained;
using target latitude angle parameter, direction angle of up-down runningAnd calculating the corrected longitude and latitude to obtain the final transformed coordinates.
In a specific application embodiment, the method for performing coordinate transformation on the initial coordinate position of each signal device includes the following detailed steps:
s401 regarding the earth as an ellipsoid, whereinA long half shaft and a short half shaft respectively, +.>Latitude and longitude of the initial position coordinates obtained in step S03, respectively, +.>Distance between antenna and locomotive of train, +.>The direction angle of the upward and downward running (0 DEG for positive north, positive clockwise and negative anticlockwise).
S402, settingParameters normalized for the long and short axes, +.>Indicating the flatness of ellipsoids, +.>Is the difference in longitude between two points, according to the ellipsoid parameter +.>Initial position coordinates->Distance of antenna of train from locomotive +.>Direction angle of uplink and downlink operation>Calculating latitude angle parameter by loop iteration>Until the target latitude angle parameter meeting the preset requirement is obtained.
Firstly, calculating each parameter required by latitude angle distance parameter iteration according to the following formulas (1) - (5):
(1)
(2)
(3)
(4)
(5)
setting latitude angleThe initial value is +.>Performing an iteration according to formulas (6) - (8) to iterate through the latitude angle parameters in a loop until +.>Can be ignored, i.e. +.>The variation of (2) is smaller than a preset threshold to obtain a stable +.>。
(6)
(7)
(8)
S403. Set upFor the latitude and longitude of the transformed location point, stability according to iterative calculation>Calculating the latitude of the position point after conversion (namely, the corrected latitude):
(9)
and calculating the longitude of the converted position point (i.e., corrected longitude) as follows:
(10)
(11)
(12)
(13)
in a specific application embodiment, as shown in fig. 3, the detailed steps for implementing the automatic acquisition of the coordinates of the railway section signal equipment by adopting the method disclosed by the invention are as follows:
1) The host unit of the train monitoring system calculates and obtains the running distance according to the speed and distance measurement ODO, and combines LKJ basic data and interval correction to obtain the serial numbers of all the signalers and the over-train correction errors in the running process of the train;
2) The satellite positioning unit acquires satellite signals and differential data, and calculates and outputs RTK high-precision positioning data;
3) The data acquisition unit packs the received high-frequency GNSS data (such as 20 Hz) and ODO positioning data (such as 50ms is 1 period) so as to reduce the distance error caused by data transmission packing time delay when the train runs at a high speed in an interval;
4) Extracting mass data acquired by the data acquisition unit, as in the step S01;
5) Performing data screening and removing wild values based on the over-machine correction errors, wherein in the step S02, the data expectation of the longitude and latitude corresponding to the current interval signal equipment is further solved, and the initial position coordinates of the current interval signal equipment are obtained, and in the step S03;
6) And (3) carrying out compensation calculation on the longitude and latitude results according to the distance between the antenna and the head and the uplink and downlink running directions, and finally obtaining the longitude and latitude value with high reliability of the target signal projector projected to the line, wherein the step (S04) is carried out.
The signal equipment coordinates acquired based on the method can facilitate the subsequent train operation control by adopting the virtual interval blocking, can effectively improve the train operation efficiency, reduce ground equipment and reduce maintenance cost, thereby being convenient for realizing intelligent application of the train equipment, automatic interval correction and automatic passing equality.
The automatic acquisition system for the coordinates of the railway section signal equipment in the embodiment comprises the following components:
the data acquisition module is used for acquiring running data of the same type of train in a target time period recorded in the uplink and downlink running processes of the section to be tested, wherein the running data comprises information of each signal device passing by, an on-machine correction error and positioning data at a corresponding moment, and the on-machine correction error is a correction error when the train carries out on-machine correction of the section;
the preprocessing module is used for extracting data with the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data;
the initial position calculation module is used for calculating the statistic value of the positioning signals of the signal devices according to the information of the signal devices in the preprocessed data and the positioning data at the corresponding moment to obtain the initial position coordinates of the signal devices;
and the compensation calculation module is used for carrying out compensation calculation on the initial position coordinates of each signal device to obtain the final position coordinates of each signal device projected to the line center line.
In this embodiment, the data acquisition module is communicatively connected to the train operation monitoring apparatus for acquiring, by the train operation monitoring apparatus, a current distance of the train from the front signal deviceTrain speed->And the insulation section track circuit equipment information of each signal equipment, and the distance information of the distance signal equipment and the signal correction time when the section machine passing and machine passing correction are recorded by the train operation monitoring device are obtained when the section machine passing correction is carried out, so as to obtain the machine passing correction error.
In this embodiment, the data acquisition module is communicatively connected to the GNSS positioning apparatus for acquiring GNSS positioning data.
The automatic acquisition system for the coordinates of the railway section signal equipment in this embodiment corresponds to the automatic acquisition method for the coordinates of the railway section signal equipment in a one-to-one manner, and will not be described in detail here.
The present embodiment also provides a computer system comprising a processor and a memory, the memory being for storing a computer program, the processor being for executing the computer program to perform a method as described above.
The present embodiment also provides a computer-readable storage medium storing a computer program which, when executed, implements a method as described above.
The invention can realize the coordinate acquisition of the interval signal equipment and can also be applied to the acquisition of other line data coordinates such as insulation joints.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (14)
1. The automatic acquisition method for the coordinates of the railway interval signal equipment is characterized by comprising the following steps:
acquiring running data of the same type of train in a target time period recorded in the ascending and descending running processes of a section to be tested, wherein the running data comprises information of each passing signal device, an on-machine correction error and positioning data at a corresponding moment, and the on-machine correction error is a correction error when the train carries out section on-machine correction;
extracting data with the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data;
according to the information of each signal device in the preprocessed data and the positioning data at the corresponding moment, calculating the statistic value of the positioning signals of each signal device respectively to obtain the initial position coordinates of each signal device;
according to the distance between the antenna of the current type train and the locomotivesDirection angle of up-down runningAnd carrying out coordinate conversion on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system, and carrying out compensation calculation on the initial coordinate position to obtain the coordinates of the projection of each signal device to the central line of the line.
2. The method for automatically acquiring coordinates of railway section signaling equipment according to claim 1,the method is characterized in that the distance between the current train and the front signal equipment is continuously acquired through the train operation monitoring device in the process of the up and down running of the train in the interval to be detectedKilometer signKTrain speed->And the information of the insulated section track circuit equipment where the signal equipment is located.
3. The method for automatically acquiring coordinates of railway section signal equipment according to claim 1, wherein the over-train correction error is acquired by recording distance information of the distance signal equipment and signal correction time during the over-train and over-train corrections by a train operation monitoring device during the over-train and over-train corrections.
4. The method for automatically acquiring coordinates of railway section signal equipment according to claim 3, wherein the over-the-air correction error is based on the followingAnd->The difference between them is calculated, wherein ∈>Correcting the distance difference between the two time points and the front signal for the interval passing and the passing>Correction time for signal +.>Is the train running speed.
5. The method for automatically acquiring coordinates of a railway section signal device according to claim 1, wherein the positioning data is longitude and latitude position information when the train is fixed in RTK integer ambiguity is obtained by calculating GNSS data.
6. The method of claim 5, further comprising packaging the acquired GNSS data with the train ODO positioning data when the GNSS data is acquired.
7. The method for automatically acquiring coordinates of a railway section signal device according to any one of claims 1 to 6, wherein the preprocessing includes removing abnormal data according to a mean value and a standard deviation of data of which the over-machine correction error is within a preset range.
8. The method for automatically acquiring coordinates of a railway section signal device according to any one of claims 1 to 6, wherein the statistical value is any one of a mean, a mode, a median, a variance, and a standard deviation.
9. The method for automatically acquiring coordinates of railway section signal equipment according to any one of claims 1 to 6, wherein the distance from the head of the antenna according to the current type of trainsDirection angle of up-down runningThe step of performing coordinate conversion on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system and performing compensation calculation on longitude and latitude results to obtain the coordinates of the projection of each signal device to the line center line comprises the following steps:
determining ellipsoid parameters of an ellipsoid reference coordinate system;
according to the ellipsoid parameters, the radian representation of the initial position coordinates and the distance between the antenna of the train and the locomotiveDirection angle of uplink and downlink operation>Circularly and iteratively calculating the latitude angle parameter until the target latitude angle parameter meeting the preset requirement is obtained;
using the target latitude angle parameter and the direction angle of uplink and downlink operationAnd calculating the corrected longitude and latitude, converting the radian into longitude and latitude representation, and obtaining final converted coordinates.
10. An automatic acquisition system for coordinates of railway section signal equipment, comprising:
the system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring running data of the same type of train in a target time period recorded in the uplink and downlink running processes of a section to be tested, the running data comprise information of each signal device passing through, an over-the-air correction error and positioning data at corresponding time, and the over-the-air correction error is a correction error when the train carries out section over-the-air correction;
the preprocessing module is used for extracting the data of the machine-passing correction error within a preset range from the acquired operation data and preprocessing the data to obtain preprocessed data;
the initial position calculation module is used for calculating the statistic value of the positioning signals of the signal devices according to the information of the signal devices in the preprocessed data and the positioning data at the corresponding moment respectively to obtain the initial position coordinates of the signal devices;
the compensation calculation module is used for calculating the distance between the antenna of the train of the current type and the train head according to the distance between the antenna of the train of the current type and the train headsDirection angle of up-down runningCoordinate conversion is carried out on the initial coordinate position of each signal device by using an ellipsoidal reference coordinate system, and the initial coordinate position is obtainedAnd performing compensation calculation to obtain the coordinates of the projection of each signal device to the central line of the line.
11. The system for automatically acquiring coordinates of a signaling device in a railway section according to claim 10, wherein the data acquisition module is communicatively connected to a train operation monitoring apparatus for acquiring a current distance of a train from the signaling device in front through the train operation monitoring apparatusTrain speed->And the insulation section track circuit equipment information of each signal equipment, and the distance information of the distance signal equipment and the signal correction time when the section machine passing and machine passing correction are recorded by the train operation monitoring device are obtained when the section machine passing correction is carried out, so as to obtain the machine passing correction error.
12. The system according to claim 10 or 11, wherein the data acquisition module is communicatively connected to a GNSS positioning apparatus for acquiring GNSS positioning data.
13. A computer system comprising a processor and a memory for storing a computer program, wherein the processor is configured to execute the computer program to perform the method of any of claims 1-9.
14. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed, implements the method according to any one of claims 1-9.
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