CN116968785A - Rail vehicle speed measurement method, device, equipment and readable storage medium - Google Patents
Rail vehicle speed measurement method, device, equipment and readable storage medium Download PDFInfo
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- CN116968785A CN116968785A CN202311082791.2A CN202311082791A CN116968785A CN 116968785 A CN116968785 A CN 116968785A CN 202311082791 A CN202311082791 A CN 202311082791A CN 116968785 A CN116968785 A CN 116968785A
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- 230000001133 acceleration Effects 0.000 claims abstract description 85
- 238000000034 method Methods 0.000 claims abstract description 78
- 241001669679 Eleotris Species 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 6
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Classifications
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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
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
Abstract
The application discloses a method, a device and equipment for measuring speed of a railway vehicle and a readable storage medium, belonging to the field of railway vehicles and being used for measuring the speed of the railway vehicle. In consideration of the fact that the speed accuracy measured by a counting sleeper method is low when the railway vehicle runs at a low speed, the real-time speed measured by the counting sleeper method can be directly used as the current speed of the railway vehicle when the real-time speed of the railway vehicle is not smaller than a preset threshold value, the real-time speed is compensated by a vehicle real-time acceleration value when the real-time speed of the railway vehicle is smaller than the preset threshold value, and in consideration of the fact that the acceleration value measured by an accelerometer can be influenced by a slope angle of a position of the vehicle, the real-time acceleration value of the railway vehicle acquired by the accelerometer can be corrected through the real-time slope angle of the position of the railway vehicle, so that the accurate real-time acceleration value is obtained, the speed measurement accuracy of the railway vehicle in a low-speed state is improved, and calculation resources are consumed less.
Description
Technical Field
The application relates to the field of railway vehicles, in particular to a railway vehicle speed measuring method, and also relates to a railway vehicle speed measuring method, a device, equipment and a computer readable storage medium.
Background
The rail vehicle needs accurate speed measurement in the running process so as to better realize running control of the rail vehicle by utilizing real-time speed, however, a mature method for measuring the speed of the rail vehicle is lacked in the prior art, so that the measured speed of the rail vehicle is poor in precision, and stability and safety of the vehicle in control based on the speed are reduced.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The application aims to provide a speed measuring method for a railway vehicle, which improves the speed measuring precision of the railway vehicle in a low speed state, is beneficial to improving the running stability of the railway vehicle, does not need redundant calculation in a high speed state, and saves calculation resources; another object of the present application is to provide a method, apparatus, device and computer readable storage medium for measuring speed of a rail vehicle, which improves the speed measurement accuracy of the rail vehicle in a low speed state, is beneficial to improving the running stability of the rail vehicle, and does not need redundant calculation in a high speed state, thereby saving calculation resources.
In order to solve the technical problems, the application provides a speed measuring method of a railway vehicle, which comprises the following steps:
judging whether the real-time speed of the railway vehicle measured based on the counting sleeper method is smaller than a preset threshold value or not;
if the real-time acceleration value is smaller than the real-time acceleration value, correcting the real-time acceleration value of the railway vehicle acquired by an accelerometer through the real-time slope angle of the position of the railway vehicle;
compensating the real-time speed through the corrected real-time acceleration value, and taking the compensated real-time speed as the current speed of the railway vehicle;
and if the speed is not smaller than the current speed of the railway vehicle, taking the real-time speed measured based on a counting sleeper method as the current speed of the railway vehicle.
Preferably, the correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer through the real-time slope angle of the position of the railway vehicle specifically includes:
acquiring the current position information of the railway vehicle in a line according to the transponder along the railway vehicle and the speed sequence of the railway vehicle;
acquiring a route map containing route slope angle information of a route where the railway vehicle is located;
determining a real-time slope angle corresponding to the position information from the line map;
and correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer according to the real-time slope angle.
Preferably, the obtaining the current position information of the railway vehicle in the route according to the transponder along the railway vehicle and the speed sequence of the railway vehicle specifically includes:
determining the absolute position which is acquired latest from the along-the-way transponders;
determining a speed increment from the latest absolute position to the current moment according to the speed sequence of the railway vehicle in a speed integration mode;
and taking the sum of the absolute position and the speed increment as the position information of the railway vehicle in the current line.
Preferably, the correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer according to the real-time slope angle specifically includes:
wherein alpha is a real-time acceleration value of the railway vehicle acquired by an accelerometer, alpha 1 And theta is the real-time slope angle for the corrected real-time acceleration value.
Preferably, the real-time speed is compensated by the corrected real-time acceleration value, and the compensated real-time speed is taken as the current speed of the railway vehicle, which is specifically:
V＝v+α 1 ·Δt；
wherein V is the compensated real-time speed, V is the real-time speed of the railway vehicle measured based on the counting sleeper method, and Deltat is the duration of continuous running of the railway vehicle under the current gradient.
Preferably, after determining the real-time slope angle corresponding to the position information from the route map, the method for measuring speed of the railway vehicle further includes:
judging whether the real-time slope angle is larger than a preset angle or not;
if the error is larger than the preset value, reporting the error;
and if the real-time acceleration value is not greater than the real-time acceleration value, executing the step of correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer according to the real-time slope angle.
Preferably, if the real-time acceleration value is smaller than the real-time acceleration value, the real-time acceleration value of the railway vehicle collected by the accelerometer is corrected by the real-time slope angle of the position of the railway vehicle, specifically:
if the real-time acceleration value is smaller than the real-time acceleration value, judging whether the new real-time acceleration value of the railway vehicle is acquired by the accelerometer;
if so, correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer through the real-time slope angle of the position of the railway vehicle;
and if not, executing the step of taking the real-time speed measured based on the counting sleeper method as the current speed of the railway vehicle.
In order to solve the technical problem, the application also provides a speed measuring device of the railway vehicle, which comprises:
the judging module is used for judging whether the real-time speed of the railway vehicle measured based on the counting sleeper method is smaller than a preset threshold value, if so, triggering the correction module, and if not, triggering the processing module;
the correction module is used for correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer through the real-time slope angle of the position of the railway vehicle;
the compensation module is used for compensating the real-time speed through the corrected real-time acceleration value, and taking the compensated real-time speed as the current speed of the railway vehicle;
the processing module is used for taking the real-time speed measured based on a counting sleeper method as the current speed of the railway vehicle.
In order to solve the technical problem, the application also provides a speed measuring device for a railway vehicle, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the railway vehicle speed measuring method when executing the computer program.
To solve the above technical problem, the present application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the steps of the rail vehicle speed measuring method as described above.
The application provides a speed measuring method of a railway vehicle, which takes into consideration that the speed precision measured by a counting sleeper method is lower when the railway vehicle runs at a lower speed, so that the speed measuring method can directly take the real-time speed measured by the counting sleeper method as the current speed of the railway vehicle when the real-time speed of the railway vehicle is not less than a preset threshold value, and compensates the real-time speed by a vehicle real-time acceleration value when the real-time speed of the railway vehicle is less than the preset threshold value, and takes into consideration that the acceleration value measured by an accelerometer can be influenced by the slope angle of the position of the vehicle.
The application also provides a railway vehicle speed measuring device, equipment and a computer readable storage medium, which have the same beneficial effects as the railway vehicle speed measuring method.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for measuring speed of a railway vehicle;
fig. 2 is a schematic structural diagram of a speed measurement system for a railway vehicle according to the present application;
FIG. 3 is a schematic diagram of a speed measuring device for a railway vehicle according to the present application;
fig. 4 is a schematic structural diagram of a speed measuring device for a railway vehicle.
Detailed Description
The core of the application is to provide a speed measuring method of the railway vehicle, which improves the speed measuring precision of the railway vehicle in a low speed state, is beneficial to improving the running stability of the railway vehicle, does not need redundant calculation in a high speed state, and saves calculation resources; the application further provides a speed measuring method, a speed measuring device, speed measuring equipment and a computer readable storage medium for the railway vehicle, which are beneficial to improving the running stability of the railway vehicle under a low speed state, do not need redundant calculation under a high speed state, and save calculation resources.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for measuring speed of a railway vehicle, which includes:
s101: judging whether the real-time speed of the railway vehicle measured based on the counting sleeper method is smaller than a preset threshold value or not;
specifically, considering the technical problems in the background art, in combination with the fact that the speed accuracy measured by the counting sleeper method is low when the railway vehicle runs at a low speed, and considering that the acceleration value measured by the accelerometer 200 is influenced by the slope angle of the position where the vehicle is located, the method is intended to firstly judge whether the real-time speed of the railway vehicle measured by the counting sleeper method is smaller than the preset threshold value, and can compensate the real-time speed measured by the counting sleeper method by the real-time slope of the line where the railway vehicle is located under the condition that the real-time speed is smaller than the preset threshold value, and can directly adopt the real-time speed of the railway vehicle measured by the counting sleeper method as the current speed of the railway vehicle under the condition that the real-time speed is not smaller than the current speed of the railway vehicle, so that the speed measuring accuracy of the railway vehicle is improved, and the stability of train control is facilitated to be improved.
The preset threshold may be set autonomously, for example, may be 20KM/h, which is not limited in this embodiment of the present application.
For better explaining the embodiment of the present application, please refer to fig. 2, fig. 2 is a schematic structural diagram of a speed measurement system for a railway vehicle provided by the present application, wherein "measuring a real-time speed of a railway vehicle based on a counting sleeper method" can be implemented by a plurality of eddy current sensors 100, and the embodiment of the present application is not described herein.
Specifically, the method for measuring the speed of the rail vehicle in the embodiment of the application can be applied to the speed measuring host 300 in fig. 2.
In addition, it should be noted that the rail vehicle in the embodiment of the present application may be of various types, for example, may be a maglev train, and the embodiment of the present application is not limited herein.
S102: if the acceleration value is smaller than the real-time acceleration value, correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 through the real-time slope angle of the position of the railway vehicle;
specifically, the fact that the speed of the vehicle is smaller is indicated in the condition that the speed of the vehicle is smaller, and the method for compensating the real-time speed is that the real-time speed is compensated through the acceleration value, and the acceleration value can be collected through the accelerometer 200, however, the accelerometer 200 can only collect the acceleration value in the horizontal direction, so that the accuracy of the finally obtained speed value of the rail vehicle can be improved by correcting the real-time acceleration value of the rail vehicle collected through the accelerometer 200 through the real-time slope angle of the position of the rail vehicle.
S103: compensating the real-time speed through the corrected real-time acceleration value, and taking the compensated real-time speed as the current speed of the railway vehicle;
specifically, after the corrected real-time acceleration value is obtained, the real-time speed can be compensated, and the compensated real-time speed is used as the current speed of the railway vehicle, so that the speed measurement precision of the railway vehicle in a low-speed state is improved.
S104: and if the speed is not smaller than the current speed of the railway vehicle, taking the real-time speed measured based on the counting sleeper method as the current speed of the railway vehicle.
Specifically, under the condition that the speed is smaller than the current speed of the railway vehicle, the current speed of the railway vehicle is higher, and the speed compensation quantity which can be generated through the acceleration value is negligible, so that the compensation process can be skipped under the condition that the speed is not smaller than the current speed of the railway vehicle, the real-time speed measured based on the counting sleeper method is directly used as the current speed of the railway vehicle, and the calculation resource is saved.
Wherein the determined current speed may be sent to traction system 400, traction system 400 preferably uses the compensated current speed for vehicle control.
The application provides a speed measuring method of a railway vehicle, which takes into consideration that the speed precision measured by a counting sleeper method is lower when the railway vehicle runs at a lower speed, so that the speed measuring method can directly take the real-time speed measured by the counting sleeper method as the current speed of the railway vehicle when the real-time speed of the railway vehicle is not less than a preset threshold value, and compensates the real-time speed by a vehicle real-time acceleration value when the real-time speed of the railway vehicle is less than the preset threshold value, and takes into consideration that the acceleration value measured by an accelerometer can be influenced by the slope angle of the position of the vehicle.
Based on the above embodiments:
as a preferred embodiment, the correction of the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 by the real-time slope angle of the location of the railway vehicle is specifically:
acquiring the current position information of the railway vehicle in the line according to the transponder 500 along the railway vehicle and the speed sequence of the railway vehicle;
acquiring a route map containing route slope angle information of a route where a railway vehicle is located;
determining a real-time slope angle corresponding to the position information from the line map;
the real-time acceleration values of the rail vehicle acquired by the accelerometer 200 are corrected according to the real-time slope angle.
Specifically, the transponders 500 are devices arranged along the track of the track vehicle, each transponder 500 can provide the signal system 600 of the track vehicle passing through the transponder 500 with the absolute position of the transponder 500 in the line and the information such as interval speed limit, the absolute position is utilized, and the fact that more than one gradient line is possibly included between two transponders 500 is considered, so that in the embodiment of the application, in order to improve the precision of the position information, the position information of the track vehicle in the line can be acquired according to the speed sequence of the transponder 500 and the track vehicle along the track vehicle, the vehicle network control system 700 can receive the absolute position acquired by the signal system 600 from the transponder 500, and the vehicle network control system 700 is provided with a line map containing the line slope angle information, so that the vehicle network control system 700 can jointly transmit the line map and the absolute position information to the speed measurement host 300, and the speed measurement host 300 can determine the real-time slope angle corresponding to the position information from the line map; and corrects the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 according to the real-time slope angle.
The signal system 600 and the vehicle network control system 700 are all devices on the railway vehicle, the signal system 600 can be connected with devices or systems such as vehicles, lines, switches and the like through technologies such as computer control, communication, information processing and the like, and is in communication with the vehicle network control system 700, and the vehicle network control system 700 can be responsible for interaction and transmission of vehicle device network information.
As a preferred embodiment, according to the transponder 500 along the track of the rail vehicle and the speed sequence of the rail vehicle, the obtaining of the current position information of the rail vehicle in the route is specifically:
determining the absolute position most recently acquired from the transponders 500 along the way;
determining a speed increment from the latest absolute position to the current moment according to a speed sequence of the railway vehicle in a speed integration mode;
the sum of the absolute position and the speed increment is taken as the position information of the railway vehicle in the current line.
Specifically, firstly, the absolute position which is acquired latest from the along-road transponder 500 can be determined, so that calculation is performed on the basis of the position information, and in order to determine the real-time position of the railway vehicle after passing through the absolute position, in the embodiment of the application, the speed increment from the latest absolute position to the current moment can be determined quickly and accurately by a speed integration mode, and then the sum of the absolute position and the speed increment is taken as the position information of the railway vehicle in the current line.
Of course, other forms of obtaining the current location information of the rail vehicle in the route according to the transponder 500 along the rail vehicle and the speed sequence of the rail vehicle may be used in addition to the method, and the embodiments of the present application are not limited herein.
As a preferred embodiment, the correction of the real-time acceleration value of the rail vehicle acquired by the accelerometer 200 according to the real-time slope angle is specifically:
where α is the real-time acceleration value of the rail vehicle acquired by accelerometer 200, α 1 And theta is the real-time slope angle for the corrected real-time acceleration value.
Specifically, the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 can be corrected rapidly and accurately according to the real-time slope angle through the above formula.
Of course, besides this specific manner, the correction of the real-time acceleration value of the rail vehicle acquired by the accelerometer 200 according to the real-time slope angle may also be other forms, and the embodiment of the present application is not limited herein.
As a preferred embodiment, the real-time speed is compensated by the corrected real-time acceleration value, and the compensated real-time speed is taken as the current speed of the railway vehicle, specifically:
V＝v+α 1 ·Δt；
wherein V is the compensated real-time speed, V is the real-time speed of the railway vehicle measured based on the counting sleeper method, and Deltat is the duration of continuous running of the railway vehicle under the current gradient.
Specifically, the real-time speed can be rapidly and accurately compensated by the corrected real-time acceleration value through the formula.
Of course, the real-time velocity may be compensated by the corrected real-time acceleration value in other forms besides the specific form described above, and the embodiment of the present application is not limited herein.
As a preferred embodiment, after determining the real-time slope angle corresponding to the position information from the route map, the method for measuring speed of the railway vehicle further includes:
judging whether the real-time slope angle is larger than a preset angle or not;
if the error is larger than the preset value, reporting the error;
if not, a step of correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 according to the real-time slope angle is performed.
Specifically, considering that the maximum slope angle of the line where the railway vehicle is located is limited under normal conditions, however, due to some abnormal reasons, the real-time slope angle calculated finally may be larger than the limit, so in the embodiment of the application, whether the real-time slope angle is larger than the preset angle or not can be judged, if so, the real-time slope angle is unreliable, and accordingly, fault reporting can be performed so as to rapidly carry out maintenance, and if not, the real-time slope angle is reliable, and the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 can be corrected according to the real-time slope angle, so that the running stability of the train is further improved.
As a preferred embodiment, if the real-time acceleration value is smaller than the real-time slope angle of the position of the railway vehicle, the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 is specifically corrected by:
if the real-time acceleration value is smaller than the real-time acceleration value, judging whether the accelerometer 200 acquires the new real-time acceleration value of the railway vehicle or not;
if so, correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 through the real-time slope angle of the position of the railway vehicle;
if not, a step of taking the real-time speed measured based on the counting sleeper method as the current speed of the railway vehicle is performed.
Specifically, considering that the real-time acceleration value acquired by the accelerometer 200 may not be received by the speed measurement host 300 due to some abnormal reasons, in this case, in order to ensure the normal output of the speed information of the railway vehicle, the real-time speed measured based on the counting sleeper method may be used as the current speed of the railway vehicle, and may be selected to give an alarm, and in the case of acquisition, the real-time acceleration value of the railway vehicle acquired by the accelerometer 200 may be corrected by the real-time slope angle of the position of the railway vehicle.
In addition, it should be noted that the speed measuring systems including the eddy current sensor 100, the accelerometer 200, the speed measuring host 300, the signal system 600 and the vehicle network control system 700 in fig. 2 may be respectively provided with one set of speed measuring systems at the head and tail of the railway vehicle, each set of speed measuring systems has the same structure and function, can independently operate, and can realize information interaction through the communication bus, thereby realizing cooperative work and switching the head and tail systems to perform train control, and may adopt another set to perform speed measurement under the condition of one set of faults.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a speed measuring device for a railway vehicle, provided by the application, the speed measuring device for a railway vehicle includes:
the judging module 31 is configured to judge whether the real-time speed of the railway vehicle measured based on the counting sleeper method is less than a preset threshold, if so, trigger the correction module, and if not, trigger the processing module;
the correction module 32 is configured to correct the real-time acceleration value of the rail vehicle acquired by the accelerometer 200 through the real-time slope angle of the position of the rail vehicle;
the compensation module 33 is configured to compensate the real-time speed by using the corrected real-time acceleration value, and take the compensated real-time speed as the current speed of the rail vehicle;
a processing module 34 for taking the real-time speed measured based on the counting sleeper method as the current speed of the rail vehicle.
For the description of the speed measuring device for a railway vehicle provided by the embodiment of the present application, reference is made to the foregoing embodiment of the speed measuring method for a railway vehicle, and the embodiment of the present application is not repeated herein.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a speed measuring device for a railway vehicle, provided by the application, the speed measuring device for a railway vehicle includes:
a memory 41 for storing a computer program;
a processor 42 for carrying out the steps of the rail vehicle speed measuring method of the previous embodiment when executing a computer program.
For the description of the speed measurement device for a railway vehicle provided by the embodiment of the present application, reference is made to the foregoing embodiment of the speed measurement method for a railway vehicle, and the embodiment of the present application is not repeated herein.
The application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the rail vehicle speed measurement method of the previous embodiment.
For the description of the speed measuring device for a railway vehicle provided by the embodiment of the present application, reference is made to the foregoing embodiment of the speed measuring method for a railway vehicle, and the embodiment of the present application is not repeated herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should also be noted that in this specification 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of measuring speed of a rail vehicle, comprising:
judging whether the real-time speed of the railway vehicle measured based on the counting sleeper method is smaller than a preset threshold value or not;
if the real-time acceleration value is smaller than the real-time acceleration value, correcting the real-time acceleration value of the railway vehicle acquired by an accelerometer through the real-time slope angle of the position of the railway vehicle;
compensating the real-time speed through the corrected real-time acceleration value, and taking the compensated real-time speed as the current speed of the railway vehicle;
and if the speed is not smaller than the current speed of the railway vehicle, taking the real-time speed measured based on a counting sleeper method as the current speed of the railway vehicle.
2. The method for measuring speed of a railway vehicle according to claim 1, wherein the correcting the real-time acceleration value of the railway vehicle acquired by an accelerometer is specifically:
acquiring the current position information of the railway vehicle in a line according to the transponder along the railway vehicle and the speed sequence of the railway vehicle;
acquiring a route map containing route slope angle information of a route where the railway vehicle is located;
determining a real-time slope angle corresponding to the position information from the line map;
and correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer according to the real-time slope angle.
3. The method for measuring speed of a railway vehicle according to claim 2, wherein the step of obtaining the current position information of the railway vehicle in the line according to the transponder along the railway vehicle and the speed sequence of the railway vehicle is specifically as follows:
determining the absolute position which is acquired latest from the along-the-way transponders;
determining a speed increment from the latest absolute position to the current moment according to the speed sequence of the railway vehicle in a speed integration mode;
and taking the sum of the absolute position and the speed increment as the position information of the railway vehicle in the current line.
4. The method for measuring speed of a railway vehicle according to claim 3, wherein the correcting the real-time acceleration value of the railway vehicle acquired by an accelerometer according to the real-time slope angle specifically comprises:
wherein alpha is a real-time acceleration value of the railway vehicle acquired by an accelerometer, alpha 1 And theta is the real-time slope angle for the corrected real-time acceleration value.
5. The method for measuring the speed of the railway vehicle according to claim 1, wherein the real-time speed is compensated by the corrected real-time acceleration value, and the compensated real-time speed is taken as the current speed of the railway vehicle, specifically:
V＝v+α 1 ·Δt；
wherein V is the compensated real-time speed, V is the real-time speed of the railway vehicle measured based on the counting sleeper method, and Deltat is the duration of continuous running of the railway vehicle under the current gradient.
6. The method for measuring speed of a railway vehicle according to claim 2, wherein after determining the real-time slope angle corresponding to the position information from the route map, the method for measuring speed of a railway vehicle further comprises:
judging whether the real-time slope angle is larger than a preset angle or not;
if the error is larger than the preset value, reporting the error;
and if the real-time acceleration value is not greater than the real-time acceleration value, executing the step of correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer according to the real-time slope angle.
7. The method for measuring speed of a railway vehicle according to any one of claims 1 to 6, wherein if the real-time acceleration value is smaller than the real-time slope angle of the location of the railway vehicle, the real-time acceleration value of the railway vehicle collected by an accelerometer is specifically corrected by:
if the real-time acceleration value is smaller than the real-time acceleration value, judging whether the new real-time acceleration value of the railway vehicle is acquired by the accelerometer;
if so, correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer through the real-time slope angle of the position of the railway vehicle;
and if not, executing the step of taking the real-time speed measured based on the counting sleeper method as the current speed of the railway vehicle.
8. A railway vehicle speed measuring device, comprising:
the judging module is used for judging whether the real-time speed of the railway vehicle measured based on the counting sleeper method is smaller than a preset threshold value, if so, triggering the correction module, and if not, triggering the processing module;
the correction module is used for correcting the real-time acceleration value of the railway vehicle acquired by the accelerometer through the real-time slope angle of the position of the railway vehicle;
the compensation module is used for compensating the real-time speed through the corrected real-time acceleration value, and taking the compensated real-time speed as the current speed of the railway vehicle;
the processing module is used for taking the real-time speed measured based on a counting sleeper method as the current speed of the railway vehicle.
9. A railway vehicle speed measurement apparatus, comprising:
a memory for storing a computer program;
processor for carrying out the steps of the rail vehicle speed measuring method according to any one of claims 1 to 7 when executing said computer program.
10. A computer readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the rail vehicle speed measuring method according to any one of claims 1 to 7.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310006205.XA CN115973229A (en) | 2023-01-03 | 2023-01-03 | Rail vehicle speed measurement method, device and equipment and readable storage medium |
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