CN117022388A - Train positioning method based on vehicle-mounted sensing system and transponder system - Google Patents
Train positioning method based on vehicle-mounted sensing system and transponder system Download PDFInfo
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- CN117022388A CN117022388A CN202311289354.8A CN202311289354A CN117022388A CN 117022388 A CN117022388 A CN 117022388A CN 202311289354 A CN202311289354 A CN 202311289354A CN 117022388 A CN117022388 A CN 117022388A
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- vehicle
- train
- positioning
- transponder
- sensing system
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Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004927 fusion Effects 0.000 claims abstract description 5
- ZKHQWZAMYRWXGA-KQYNXXCUSA-J ATP(4-) Chemical compound C1=NC=2C(N)=NC=NC=2N1[C@@H]1O[C@H](COP([O-])(=O)OP([O-])(=O)OP([O-])([O-])=O)[C@@H](O)[C@H]1O ZKHQWZAMYRWXGA-KQYNXXCUSA-J 0.000 claims description 40
- ZKHQWZAMYRWXGA-UHFFFAOYSA-N Adenosine triphosphate Natural products C1=NC=2C(N)=NC=NC=2N1C1OC(COP(O)(=O)OP(O)(=O)OP(O)(O)=O)C(O)C1O ZKHQWZAMYRWXGA-UHFFFAOYSA-N 0.000 claims description 40
- TTWYZDPBDWHJOR-IDIVVRGQSA-L adenosine triphosphate disodium Chemical compound [Na+].[Na+].C1=NC=2C(N)=NC=NC=2N1[C@@H]1O[C@H](COP(O)(=O)OP(O)(=O)OP([O-])([O-])=O)[C@@H](O)[C@H]1O TTWYZDPBDWHJOR-IDIVVRGQSA-L 0.000 claims description 3
- 230000008447 perception Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Classifications
-
- 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
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
Abstract
The application discloses a train positioning method based on a vehicle-mounted sensing system and a transponder system, and relates to the field of train positioning; the train positioning method comprises the following steps: firstly, initially positioning a train through a vehicle-mounted sensing system or a transponder system; continuously positioning the train through the vehicle-mounted sensing system and the transponder system to obtain the position of the vehicle-mounted sensing system and the position of the transponder system, and transmitting the positions to the vehicle-mounted ATP; finally, the vehicle-mounted ATP fuses the vehicle-mounted sensing system position and the transponder system position according to a preset fusion rule to obtain the accurate position of the train; according to the application, the vehicle-mounted sensing system and the transponder system are fused, so that the positioning accuracy of the train is improved.
Description
Technical Field
The application relates to the field of train positioning, in particular to a train positioning method based on a vehicle-mounted sensing system and a transponder system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
In rail transit signal systems, transponder Systems (BTMs) are often employed as train positioning systems; but may affect the accuracy of train positioning due to factors such as transponder placement distance, BTM equipment failure, etc.
Disclosure of Invention
The application aims at: aiming at the problems in the prior art, the train positioning method based on the vehicle-mounted sensing system and the transponder system is provided, and the vehicle-mounted sensing system and the transponder system are fused to improve the accuracy of train positioning, so that the problems are solved.
The technical scheme of the application is as follows:
a train positioning method based on a vehicle-mounted perception system and a transponder system, comprising:
step S1: the train is initially positioned through a vehicle-mounted sensing system or a transponder system;
step S2: continuously positioning the train through the vehicle-mounted sensing system and the transponder system to obtain the position of the vehicle-mounted sensing system and the position of the transponder system, and transmitting the positions to the vehicle-mounted ATP;
step S3: and the vehicle-mounted ATP fuses the vehicle-mounted sensing system position and the transponder system position according to a preset fusion rule to obtain the accurate position of the train.
Further, the train is initially positioned by the vehicle-mounted sensing system, which comprises:
the vehicle-mounted sensing system obtains self-position information through identifying the trackside auxiliary positioning equipment and sends the self-position information to the vehicle-mounted ATP; and after receiving the vehicle-mounted ATP, the vehicle-mounted ATP can obtain the local positioning, so that the initial positioning of the train is completed.
Further, the initial positioning of the train by the transponder system includes:
the initial positioning of the train can be finished by passing the single end of the train through two continuous transponders, or the initial positioning of the train can be finished by passing the two ends of the train through one transponder.
Further, the train is continuously positioned through the vehicle-mounted sensing system, which comprises the following steps:
based on initial positioning, the vehicle-mounted sensing system acquires a real-time point cloud image through a sensor and compares the real-time point cloud image with a point cloud map to realize real-time positioning of the train and obtain the position of the vehicle-mounted sensing system.
Further, the continuous positioning of the train by the transponder system comprises:
based on initial positioning, the transponder system reads the transponder data passed by the train, and realizes real-time positioning of the train after calculation of the vehicle-mounted ATP, so as to obtain the position of the transponder system.
Further, the vehicle-mounted ATP calculates accumulated running errors and ITE positioning errors of the transponder system in real time.
Further, the fusing rule includes:
the vehicle-mounted ATP continuously compares the accumulated running error and the ITE positioning error, and the system position with smaller vehicle-mounted ATP letter collecting error is used as a train positioning basis.
Further, the step S3 includes:
step S31: taking the transponder read by the transponder system as an origin, and taking the position of the vehicle-mounted ATP (adenosine triphosphate) information acquisition transponder system as a train positioning basis;
step S32: when the accumulated running error is larger than the ITE positioning error, the position of the vehicle-mounted ATP acquisition vehicle-mounted sensing system is used as a train positioning basis;
the ITE positioning error is based on the number of return points of the point cloud map of each period; if the ITE positioning error of the period is larger than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the sum of the ITE positioning error of the previous period and the running error generated in the period as a train positioning basis;
if the ITE positioning error of the period is smaller than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the ITE positioning error of the period as a train positioning basis;
step S33: repeating the step S32 according to the ITE positioning error change to continuously obtain the accurate position of the train; until the transponder system reads a new transponder, step S31 is re-entered.
Compared with the prior art, the application has the beneficial effects that:
the train positioning method based on the vehicle-mounted sensing system and the transponder system comprises the steps of firstly, initially positioning a train through the vehicle-mounted sensing system or the transponder system; continuously positioning the train through the vehicle-mounted sensing system and the transponder system to obtain the position of the vehicle-mounted sensing system and the position of the transponder system, and transmitting the positions to the vehicle-mounted ATP; finally, the vehicle-mounted ATP fuses the vehicle-mounted sensing system position and the transponder system position according to a preset fusion rule to obtain the accurate position of the train; the vehicle-mounted sensing system and the transponder system are fused, so that the positioning accuracy of the train is improved.
Drawings
FIG. 1 is a flow chart of a train positioning method based on a vehicle-mounted perception system and a transponder system.
Detailed Description
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. 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 features and capabilities of the present application are described in further detail below in connection with examples.
Example 1
Referring to fig. 1, a train positioning method based on a vehicle-mounted sensing system and a transponder system specifically includes:
step S1: the train is initially positioned through a vehicle-mounted sensing system or a transponder system;
step S2: continuously positioning the train through the vehicle-mounted sensing system and the transponder system to obtain the position of the vehicle-mounted sensing system and the position of the transponder system, and transmitting the positions to the vehicle-mounted ATP;
step S3: the vehicle-mounted ATP fuses the vehicle-mounted sensing system position and the transponder system position according to a preset fusion rule to obtain the accurate position of the train; after the initial positioning of the train is finished, the position of the train can be corrected by utilizing a transponder on a line or according to the position information sent by the vehicle-mounted sensing system, so that the accurate positioning of the train is realized.
In this embodiment, specifically, the initial positioning of the train by the vehicle-mounted sensing system includes:
the vehicle-mounted sensing system obtains self-position information through identifying the trackside auxiliary positioning equipment and sends the self-position information to the vehicle-mounted ATP; and after receiving the vehicle-mounted ATP, the vehicle-mounted ATP can obtain the local positioning, so that the initial positioning of the train is completed.
In this embodiment, specifically, the initial positioning of the train by the transponder system includes:
the initial positioning of the train can be completed by passing two continuous transponders through a single end of the train (wherein the method also comprises determining the travelling direction of the train), or the initial positioning of the train can be completed by passing one transponder through two ends of the train;
the train equipped with the vehicle-mounted ATP operates in RM mode, and the running position and direction of the train can be determined after the head end or the tail end passes through two continuous transponders on the ground, so that the initial positioning of the train is completed;
meanwhile, when the head end and the tail end of the train respectively pass through one transponder and the two transponders are not the same transponder, the initial positioning of the train can be completed.
In this embodiment, specifically, the continuous positioning of the train through the vehicle-mounted sensing system includes:
based on initial positioning, the vehicle-mounted sensing system acquires a real-time point cloud image through a sensor and compares the real-time point cloud image with a point cloud map to realize real-time positioning of the train and obtain the position of the vehicle-mounted sensing system.
In this embodiment, specifically, the continuous positioning of the train by the transponder system includes:
based on initial positioning, the transponder system reads the transponder data passing by the train, and realizes real-time positioning of the train after calculation of the vehicle-mounted ATP, so as to obtain the position of the transponder system; it should be noted that, the transponder system can ensure that the positioning error of the train meets the requirement on the control precision of the train through transponders arranged on the line at intervals; the loss of a single passive transponder does not affect the normal operation of the system, and when the head end and the tail end of the system continuously lose two transponders, the positioning information of the transponders is invalid; meanwhile, the vehicle-mounted ATP calculates periodic accumulated running errors according to factors such as train speed, train slip state and the like; the re-determination is made after each pass by a new transponder.
In this embodiment, specifically, the vehicle-mounted ATP calculates the accumulated running error and ITE positioning error of the transponder system in real time; preferably, the train will lose position when the errors are both outside of the specified range.
In this embodiment, specifically, the fusing rule includes:
the vehicle-mounted ATP continuously compares the accumulated running error and the ITE positioning error, and the system position with smaller vehicle-mounted ATP letter collecting error is used as a train positioning basis.
In this embodiment, specifically, the step S3 includes:
step S31: taking the transponder read by the transponder system as an origin, and taking the position of the vehicle-mounted ATP (adenosine triphosphate) information acquisition transponder system as a train positioning basis;
step S32: when the accumulated running error is larger than the ITE positioning error, the position of the vehicle-mounted ATP acquisition vehicle-mounted sensing system is used as a train positioning basis;
the ITE positioning error is based on the number of return points of the point cloud map of each period; if the ITE positioning error of the period is larger than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the sum of the ITE positioning error of the previous period and the running error generated in the period as a train positioning basis;
if the ITE positioning error of the period is smaller than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the ITE positioning error of the period as a train positioning basis;
step S33: repeating the step S32 according to the ITE positioning error change to continuously obtain the accurate position of the train; until the transponder system reads a new transponder, step S31 is re-entered.
The above examples merely illustrate specific embodiments of the application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it is possible for a person skilled in the art to make several variants and modifications without departing from the technical idea of the application, which fall within the scope of protection of the application.
This background section is provided to generally present the context of the present application and the work of the presently named inventors, to the extent it is described in this background section, as well as the description of the present section as not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present application.
Claims (8)
1. A train positioning method based on a vehicle-mounted sensing system and a transponder system, comprising:
step S1: the train is initially positioned through a vehicle-mounted sensing system or a transponder system;
step S2: continuously positioning the train through the vehicle-mounted sensing system and the transponder system to obtain the position of the vehicle-mounted sensing system and the position of the transponder system, and transmitting the positions to the vehicle-mounted ATP;
step S3: and the vehicle-mounted ATP fuses the vehicle-mounted sensing system position and the transponder system position according to a preset fusion rule to obtain the accurate position of the train.
2. The train positioning method based on the vehicle-mounted sensing system and the transponder system according to claim 1, wherein the train is initially positioned by the vehicle-mounted sensing system, comprising:
the vehicle-mounted sensing system obtains self-position information through identifying the trackside auxiliary positioning equipment and sends the self-position information to the vehicle-mounted ATP; and after receiving the vehicle-mounted ATP, the vehicle-mounted ATP can obtain the local positioning, so that the initial positioning of the train is completed.
3. A train positioning method based on a vehicle-mounted sensing system and a transponder system according to claim 1, wherein the initial positioning of the train by the transponder system comprises:
the initial positioning of the train can be finished by passing the single end of the train through two continuous transponders, or the initial positioning of the train can be finished by passing the two ends of the train through one transponder.
4. The train positioning method based on the vehicle-mounted sensing system and the transponder system according to claim 1, wherein the train is continuously positioned by the vehicle-mounted sensing system, comprising:
based on initial positioning, the vehicle-mounted sensing system acquires a real-time point cloud image through a sensor and compares the real-time point cloud image with a point cloud map to realize real-time positioning of the train and obtain the position of the vehicle-mounted sensing system.
5. The method for locating a train based on a vehicle-mounted sensing system and a transponder system according to claim 4, wherein the continuous locating of the train by the transponder system comprises:
based on initial positioning, the transponder system reads the transponder data passed by the train, and realizes real-time positioning of the train after calculation of the vehicle-mounted ATP, so as to obtain the position of the transponder system.
6. The train positioning method based on the vehicle-mounted sensing system and the transponder system according to claim 5, wherein the vehicle-mounted ATP calculates the accumulated running error and ITE positioning error of the transponder system in real time.
7. The train positioning method based on the vehicle-mounted sensing system and the transponder system according to claim 6, wherein the fusing rules comprise:
the vehicle-mounted ATP continuously compares the accumulated running error and the ITE positioning error, and the system position with smaller vehicle-mounted ATP letter collecting error is used as a train positioning basis.
8. The method for locating a train based on a vehicle-mounted sensing system and a transponder system according to claim 7, wherein said step S3 comprises:
step S31: taking the transponder read by the transponder system as an origin, and taking the position of the vehicle-mounted ATP (adenosine triphosphate) information acquisition transponder system as a train positioning basis;
step S32: when the accumulated running error is larger than the ITE positioning error, the position of the vehicle-mounted ATP acquisition vehicle-mounted sensing system is used as a train positioning basis;
the ITE positioning error is based on the number of return points of the point cloud map of each period; if the ITE positioning error of the period is larger than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the sum of the ITE positioning error of the previous period and the running error generated in the period as a train positioning basis;
if the ITE positioning error of the period is smaller than the sum of the ITE positioning error of the previous period and the running error generated in the period, the vehicle-mounted ATP adopts the ITE positioning error of the period as a train positioning basis;
step S33: repeating the step S32 according to the ITE positioning error change to continuously obtain the accurate position of the train; until the transponder system reads a new transponder, step S31 is re-entered.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311289354.8A CN117022388B (en) | 2023-10-08 | 2023-10-08 | Train positioning method based on vehicle-mounted sensing system and transponder system |
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| CN202311289354.8A CN117022388B (en) | 2023-10-08 | 2023-10-08 | Train positioning method based on vehicle-mounted sensing system and transponder system |
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