CN117508264A - Train wheel diameter correction method and device, electronic equipment and medium - Google Patents
Train wheel diameter correction method and device, electronic equipment and medium Download PDFInfo
- Publication number
- CN117508264A CN117508264A CN202311589275.9A CN202311589275A CN117508264A CN 117508264 A CN117508264 A CN 117508264A CN 202311589275 A CN202311589275 A CN 202311589275A CN 117508264 A CN117508264 A CN 117508264A
- Authority
- CN
- China
- Prior art keywords
- train
- speed
- wheel diameter
- acceleration
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012937 correction Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000001133 acceleration Effects 0.000 claims abstract description 107
- 238000009434 installation Methods 0.000 claims abstract description 55
- 238000005259 measurement Methods 0.000 claims description 38
- 230000004927 fusion Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 12
- 230000008901 benefit Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- IAZDPXIOMUYVGZ-UHFFFAOYSA-N Dimethylsulphoxide Chemical compound CS(C)=O IAZDPXIOMUYVGZ-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/12—Measuring or surveying wheel-rims
Abstract
The invention provides a train wheel diameter correction method, a train wheel diameter correction device, electronic equipment and a medium. The method comprises the following steps: determining a first train speed based on the resolution of the speed sensor, a preset wheel diameter value and the number of pulses output in unit time; determining a second train speed based on an included angle error between the installation position of the radar speed measuring sensor and the horizontal plane, an included angle error between the installation position and the longitudinal axis plane of the train, and an included angle between the direction of transmitting electromagnetic waves and the horizontal plane; determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the longitudinal projection of the installation position and the acceleration direction of the train, the inherent error and the measured noise; determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration; the preset wheel diameter value is corrected based on the target wheel diameter value. The train wheel diameter correction method provided by the invention can ensure that the train wheel diameter correction result is more accurate.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train wheel diameter correction method, a train wheel diameter correction device, electronic equipment and a medium.
Background
In the running process of the train, the wheels are worn due to friction between the wheels and the rails, so that the wheel diameter value is reduced, and then an automatic train protection (Automatic Train Control, ATC) system can generate errors based on the speed and distance measurement result of the wheel shafts. In order to minimize the error and ensure the driving safety, the wheel diameter value stored in the ATP subsystem needs to be corrected regularly so as to further improve the accuracy of the ATP system in speed measurement and distance measurement and ensure the accuracy of the speed and the position of the train. At present, schemes such as manual periodic wheel diameter correction and automatic wheel diameter correction exist. Although manual periodic maintenance of wheel diameter can correct the wheel diameter value, this method is too primitive and wastes human resources. The wheel diameter automatic correction scheme is gradually the mainstream mode, but still relies on obtaining information from the transponder, cannot carry out wheel diameter automatic correction under the condition that the train does not pass through the transponder, and installation of a plurality of transponders can increase construction cost and is unfavorable for economic benefits. Meanwhile, the installation error of the transponder and the time error of receiving the transponder information by the train are not negligible, the influence on the wheel diameter correction result is large, and the calculation result cannot reflect the actual wheel diameter condition. In addition, most wheel diameter correction schemes only depend on information sources provided by transponders, and single information sources are low in reliability and poor in anti-interference performance, so that the wheel diameter correction results have great uncertainty. Experimental data show that the wheel diameter value calculated by using a transponder as an information source is larger in error, so that the safety of a train control system is affected, the occurrence of train operation accidents can be caused, and the result of difficult prediction is brought.
Disclosure of Invention
The invention provides a train wheel diameter correction method, a device, electronic equipment and a medium, which are used for solving the problem that in the prior art, the wheel diameter value calculated by singly relying on a transponder as an information source has larger error.
The invention provides a train wheel diameter correction method, which comprises the following steps:
determining a first train speed based on a resolution of a speed sensor, a preset wheel diameter value and a pulse number output by the speed sensor in unit time;
determining a second train speed based on an included angle error between a mounting position of a radar speed measuring sensor and a horizontal plane, an included angle error between the mounting position of the radar speed measuring sensor and a longitudinal axis plane of a train, an included angle between a direction of transmitting electromagnetic waves by the radar speed measuring sensor and the horizontal plane, and a transmitting frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measurement noise;
determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and correcting the preset wheel diameter value based on the target wheel diameter value.
In some embodiments, the determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration comprises:
determining a train travel distance within the target period based on the first train speed, the second train speed, and the train acceleration;
and determining the target wheel diameter value based on the train running distance, the total number of output pulses of the speed sensor in a target period and the total number of turns of the wheel corresponding to the speed sensor in the target period.
In some embodiments, the determining the train travel distance within the target period based on the first train speed, the second train speed, and the train acceleration comprises:
adopting a distributed Kalman fusion structure, and adopting filtering processing to the first train speed, the second train speed and the train acceleration to obtain a first state estimation value, a second state estimation value and a third state estimation value;
information fusion is carried out on the first state estimation value, the second state estimation value and the third state estimation value, and an optimal state estimation value is obtained;
and determining the train running distance based on the optimal state estimation value.
In some embodiments, the first train speed is expressed as:
wherein P is the resolution of the speed sensor, D is the preset wheel diameter value, and delta n is the number of pulses output by the speed sensor in unit time.
In some embodiments, the second train speed is expressed as:
wherein alpha is the error of an included angle between the installation position of the radar speed measuring sensor and the horizontal plane, beta is the error of an included angle between the installation position of the radar speed measuring sensor and the longitudinal axis plane of the train, and a 0 An included angle f between the direction of transmitting electromagnetic waves to the radar speed measuring sensor and the horizontal plane s For the emission of the radar speed sensorFrequency f d And c is the light speed for the Doppler frequency of the radar speed measuring sensor.
In some embodiments, the train acceleration is expressed as:
a ACC ＝a t *cosθ+g*sinβ+δ ACC +N ACC ；
wherein a is t For the acceleration measurement value of the train, θ is the angle error of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, β is the angle error of the longitudinal projection of the installation position of the accelerometer and the acceleration direction of the train, δ ACC N is the inherent error of the accelerometer ACC G is the gravitational acceleration, which is the measurement noise of the accelerometer.
The invention also provides a train wheel diameter correction device, which comprises:
the first determining module is used for determining a first train speed based on the resolution of the speed sensor, a preset wheel diameter value and the number of pulses output by the speed sensor in unit time;
the second determining module is used for determining a second train speed based on an included angle error between the installation position of the radar speed measuring sensor and the horizontal plane, an included angle error between the installation position and the longitudinal axis plane of the train, an included angle between the direction of the electromagnetic wave emitted by the radar speed measuring sensor and the horizontal plane, and the emitting frequency of the radar speed measuring sensor and the Doppler frequency of the radar speed measuring sensor;
the third determining module is used for determining the acceleration of the train based on the actual acceleration of the train, the error of the included angle of the horizontal projection of the accelerometer and the acceleration direction of the train, the error of the included angle of the longitudinal projection of the accelerometer and the acceleration direction of the train, the inherent error of the radar speed measuring sensor and the measuring noise;
a fourth determining module configured to determine a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and the correction module is used for correcting the preset wheel diameter value based on the target wheel diameter value.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the train wheel diameter correction method as described above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a train wheel diameter correction method as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of correcting a train wheel diameter as described in any one of the above.
According to the train wheel diameter correction method, device, electronic equipment and medium, the advantages and disadvantages of the sensors are complemented by considering that a plurality of sensors are selected as the information sources for wheel diameter correction for combined use, different schemes are adopted for processing different sensor information, and then the target wheel diameter value is calculated in real time after data information fusion, so that a better wheel diameter correction effect can be obtained, and the safety of train operation can be ensured.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a train wheel diameter correction method provided by the invention;
FIG. 2 is a schematic diagram of the installation of equipment for the method for correcting the wheel diameter of a train provided by the invention;
FIG. 3 is a schematic diagram of the overall framework of the train wheel diameter correction method provided by the invention;
fig. 4 is a schematic structural view of the train wheel diameter correction device provided by the invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The train wheel diameter correction method, apparatus, electronic device and medium of the present invention are described below with reference to fig. 1 to 5.
Fig. 1 is a schematic flow chart of a train wheel diameter correction method provided by the invention. Referring to fig. 1, the train wheel diameter correction method provided by the invention includes:
step 110, determining a first train speed based on the resolution of the speed sensor, a preset wheel diameter value and the number of pulses output by the speed sensor in unit time;
step 120, determining a second train speed based on an included angle error between the installation position of the radar speed measuring sensor and the horizontal plane, an included angle error between the installation position of the radar speed measuring sensor and the longitudinal axis plane of the train, an included angle between the direction of the electromagnetic wave emitted by the radar speed measuring sensor and the horizontal plane, and an emitted frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
step 130, determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measured noise;
step 140, determining a target wheel diameter value based on the first train speed, the second train speed and the train acceleration;
and 150, correcting the preset wheel diameter value based on the target wheel diameter value.
The main body of execution of the train wheel diameter correction method provided by the invention can be electronic equipment, a component, an integrated circuit or a chip in the electronic equipment. The electronic device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., without limitation of the present invention.
The technical scheme of the invention is described in detail below by taking a computer to execute the train wheel diameter correction method provided by the invention as an example.
In step 110, wheel set motion information during train operation is collected using a speed sensor as a primary first information source. The speed sensors are typically mounted at the axle ends to provide wheel speed information to the train control system, wherein the pulse information output by the speed sensors may calculate the number of wheel revolutions over a period of time.
In actual implementation, two speed sensors are installed on different wheels at two sides of the train in opposite phases, and the running direction of the train can be judged through pulse value change. The signals output by the speed sensor are discrete pulse signals, the pulse signals are preprocessed, and the pulse square wave signals can be obtained through isolation shaping modulation processing.
The speed sensor can be used as information source to obtain speed, train running distance and total output pulse number. Meanwhile, an error correction model is added to obtain more accurate total pulse number and train running distance.
In order to ensure the accuracy and reliability of the data acquired by the speed sensor, the data of the wheel set idling or sliding possibly existing in the data acquired by the speed sensor is detected before the related measured data calculation and speed calculation are carried out by utilizing the data, and the speed error of the detection result is correspondingly compensated and calibrated based on an error correction model, so that the speed measurement error is reduced.
Filtering should be used for the measurement noise information. The phenomenon of idle running or sliding of the wheels in the running process cannot be completely avoided due to the limitation of the dynamic property of the train, but a specific wheel set in the actual running process cannot be idle running and sliding at the same time, so that three conditions in the moving process of the wheels are analyzed, wherein the wheels are in an idle running state, the wheels are in a sliding state, and the wheels are in a normal state.
From the integral operation perspective, the total speed measurement error of the speed sensor is derived from the fact that the failure phenomenon of the train is considered to exist after the system detects the idle running, the speed measurement error is compensated by adopting a compensation algorithm, and the error between the compensation algorithm and the actual speed value is delta 1 ；
δ 1 ＝a 1 ×t+0.5a 2 ×t 2 ；
Wherein the absolute value of the speed compensation error is a 1 Absolute value of acceleration compensation error a 2 T is the total time for which the freewheeling continues. When no idle or coasting condition is detected, the sum of errors affected by the intrinsic measurement error of the speed sensor itself and other factors is delta 2 ，δ 2 Including but not limited to the following: mounting errors and counting errors of the speed sensor, wheel diameter value errors, wheel set creep errors and undetected idle slip errors.
The final speed measurement error is delta 1 +δ 2 . The tachometer error may be used to correct the train speed as determined from the speed sensor.
Thus, first of all, the wheel rotation speed can be usedAnd a preset wheel diameter value D pre-stored in an automatic train protection system (Automatic Train Protection System, ATP) device, determining a first train speed v.
And then the first train speed v is further represented according to the number of pulses output by the speed sensor in one turn, namely the resolution of the speed sensor is P and the number of pulses delta n output by the speed sensor in unit time.
In some embodiments, the first train speed is expressed as:
wherein P is the resolution of the speed sensor, D is a preset wheel diameter value, and Deltan is the number of pulses output by the speed sensor in unit time.
In actual execution, the train travel distance is:
wherein T is a target period set in advance. S is S 1 For the train running distance calculated by only depending on the data of the speed sensor, if the speed sensor has a fault, S is calculated 1 Is inaccurate.
The total number of pulses N output by the speed sensor during the target period T can be expressed as:
in step 120, a radar speed sensor is used as a second information source, and a doppler radar speed sensor is generally used to correct the wheel diameter value by using the radar distance information. However, the radar speed sensor has relatively high requirements on environment during operation, and when the actual installation angle of the radar deviates from the preset installation angle, the electromagnetic wave emission direction deviates from the preset direction, so that the measured speed has errors. Among multiple error factors of the radar, the high-frequency small-amplitude vibration of the train in the longitudinal direction and the error of the antenna installation angle have larger influence on the speed measurement precision. After the radar speed measurement data is corrected by the related error correction model, the relatively accurate radar speed can be obtained.
The radar speed measuring sensor has relatively high requirements on environment when running, and the speed measuring accuracy of the radar can be reduced when the conditions of larger deviation of the antenna installation angle, snow and frost accumulation on a track plane, vibration of a train body, electromagnetic wave diffraction refraction, inherent measurement errors of the radar, and the like occur. Among multiple error factors of the radar, the longitudinal high-frequency small-amplitude vibration of the train and the error of the antenna installation angle have great influence on the speed measurement precision, and the error belongs to an error which can be processed and measured. When the actual installation angle of the radar speed measuring sensor deviates from the preset installation angle, the electromagnetic wave emission direction deviates from the preset direction, so that the measured speed has errors.
Under normal conditions, the included angle between the direction of the electromagnetic wave emitted by the radar speed measuring sensor and the horizontal plane is a 0 And is located on the longitudinal axis surface of the train in the forward direction, the speed measured by the radar speed sensor should be:
when the angle error exists in the installation position of the radar speed measuring sensor, the angle error between the radar speed measuring sensor and the horizontal plane is set as alpha, the angle error between the radar speed measuring sensor and the horizontal plane is set as beta, the real speed of the train can be determined, the real speed of the train is the second train speed, and c is the light speed.
In some embodiments, the second train speed is expressed as:
wherein alpha is the error of an included angle between the installation position of the radar speed measuring sensor and the horizontal plane, beta is the error of an included angle between the installation position of the radar speed measuring sensor and the longitudinal axis plane of the train, and a 0 Transmitting for radar speed measuring sensorIncluded angle between direction of electromagnetic wave and horizontal plane, f s For the transmitting frequency f of the radar speed measuring sensor d The Doppler frequency of the radar speed measuring sensor is represented by c, and the light speed is represented by c.
In summary, the speed measurement error caused by the installation error of the radar speed measurement sensor is as follows:
in step 130, the third information source is counted by an accelerometer, and the accelerometer mainly comprises a moment motor, a cantilever mass block, a non-contact displacement sensor and the like, and is a sensor capable of directly measuring the acceleration of the train. The signal mainframe cabinet is arranged at the bottom of the signal mainframe cabinet in the train, and when the train accelerates or decelerates, the accelerometer can detect the change of the acceleration of the train and output voltage signals to the signal mainframe. On uphill and downhill, the train acceleration is the sum of the accelerometer measurements and the vector of the components of the gravitational acceleration along the ramp.
The measurement equation of the accelerometer is set as follows, including the following parameters: real acceleration a of train ACC Train acceleration measurement a t Gravity acceleration g, mounting error of accelerometer, intrinsic error delta of accelerometer ACC Measurement noise N of accelerometer ACC 。
The installation error can comprise an included angle error theta of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train and an included angle error beta of the longitudinal projection of the installation position and the acceleration direction of the train. The actual acceleration of the train is the acceleration of the train in the direction of travel.
It should be noted that, when the train goes up and down a slope, the component of the gravitational acceleration along the direction of the slope will also be measured by the accelerometer, so when going up and down the slope, the real acceleration of the train is the sum of the measured value of the accelerometer and the vector of the component of the gravitational acceleration along the direction of the slope, that is, the real acceleration is the acceleration of the train in the running direction.
In some embodiments, the train acceleration is expressed as:
a ACC ＝a t *cosθ+g*sinβ+δ ACC +N ACC ；
wherein a is ACC The real acceleration of the train, namely the train acceleration in the embodiment; a, a t For the acceleration measurement value of the train, θ is the angle error of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, β is the angle error of the longitudinal projection of the installation position of the accelerometer and the acceleration direction of the train, δ ACC N is the inherent error of the accelerometer ACC G is the gravitational acceleration, which is the measurement noise of the accelerometer.
The three information sources are used as the basis of wheel diameter correction, and the equipment scheme is shown in fig. 2. The speed sensor and the radar have different speed measuring principles and different error sources, are not related to each other, so that the advantages can be complemented, the speed component of the train is measured, the accelerometer is different from the above, the acceleration component of the train is measured, the random error is mainly caused by inherent measuring errors and train vibration and is not influenced by idle rotation or sliding of the wheel, and the speed and distance measuring precision can be further improved by adopting a mode of combining the three.
According to the train wheel diameter correction method provided by the invention, the advantages and disadvantages of the sensors are complemented by considering that a plurality of sensors are selected as the information sources for wheel diameter correction for combined use, different schemes are adopted for processing different sensor information, and then the target wheel diameter value is calculated in real time after the data information is fused, so that a better wheel diameter correction effect can be obtained, and the running safety of a train can be ensured.
In some embodiments, step 140 comprises:
determining a train travel distance within a target period based on the first train speed, the second train speed, and the train acceleration;
and determining a target wheel diameter value based on the train running distance, the total number of output pulses of the speed sensor in the target period and the total number of turns of the wheel corresponding to the speed sensor in the target period.
In actual implementation, the accelerometer, the speed sensor and the radar speed measurement are required to be preprocessed respectively in the train speed measurement and distance measurement system, the accelerometer, the speed sensor and the radar speed measurement are used for obtaining acceleration values, namely train acceleration, and the second two obtain speed values, namely a first train speed and a second train speed, and the running state of the whole train, comprising the train running distance L, is obtained in the data fusion center by the information.
The target wheel diameter value is calculated by combining the credible data with the pulse number of the speed sensor, so that the accurate target wheel diameter value can be obtained in real time, and the credibility of a calculation result is increased.
L is the train running distance calculated by three information source fusion algorithms, and problematic numerical values are filtered in the fusion calculation process, so that the more accurate and reliable train running distance L is obtained. The wheel diameter value calculated by L is higher than that calculated by S in the above-mentioned embodiment 1 The calculated target wheel diameter value is more reliable.
The grating disk of the speed sensor rotates along with the axle of the train, and can output electric pulse signals in direct proportion to the rotation speed of wheels, wherein the number of pulses output per rotation is 200, so that the number of rotation turns of the tail wheel is N/200, and the target wheel diameter value D can be calculated as follows:
D＝200L/[N*π]；
it will be appreciated that the number of pulses output per revolution is merely used as an example and is not specifically limited herein.
In some embodiments, determining the train travel distance within the target period based on the first train speed, the second train speed, and the train acceleration comprises:
adopting a distributed Kalman fusion structure, and adopting filtering processing to the first train speed, the second train speed and the train acceleration to obtain a first state estimation value, a second state estimation value and a third state estimation value;
information fusion is carried out on the first state estimation value, the second state estimation value and the third state estimation value, and an optimal state estimation value is obtained;
and determining the train running distance based on the optimal state estimation value.
In actual implementation, as shown in fig. 3, a distributed kalman fusion structure is adopted, and respective filtering processing is performed on three sensor information sources (a first train speed, a second train speed and a train acceleration) first, so as to obtain three state estimated values respectively, namely a first state estimated value, a second state estimated value and a third state estimated value.
The three state estimation values are used as input values of a main filter, and information fusion and optimal estimation can be carried out in the main filter, so that a final state estimation value is obtained, and the train running distance L is obtained. The distributed structure reduces the calculation complexity of the whole system, and data processing is performed before fusion, so that the filtering efficiency is effectively improved.
The distributed Kalman filter is a distributed structure, has a two-stage distributed filtering algorithm, and consists of a main filter and other sub-filters, wherein the sub-filters can independently perform the filtering process of standard Kalman filtering.
The main filter can take the output of the sub-filter as input quantity to realize the optimal estimation and time update of the sub-filter result. Dividing a plurality of information sources of the system, respectively calculating and correcting error compensation for three information sources, respectively taking charge of data processing of one information source by three sub-filters, and filtering information including a first train speed, a second train speed and train acceleration. And obtaining optimal state estimation of the sub-filter in the time updating and measurement updating processes, and obtaining estimation values of three states.
And processing all results of the sub-filters, namely estimation values of three states, in the main filter, performing Kalman filtering by the main filter, and simultaneously distributing the duty ratio coefficient of each sub-filter information, wherein the information distribution is in accordance with the principle of information conservation, and the final state estimation and distribution are used as feedback quantities.
The principle of information distribution is that the characteristics and the accuracy of the information sources complement each sensor as much as possible, so that the advantages are maximized, and the influence of faults and damages of individual information sources on the final result is reduced. Let the distribution coefficient of the speed sensor be beta 1 The distribution coefficient of the radar speed measuring sensor is beta 2 The distribution coefficient of the accelerometer is beta 3 The sum of the three distribution coefficients is1。
When the train speed is less than 5km/h, the distribution coefficient of the radar speed measuring sensor is 0.1; when the train speed is between 5km/h and 20km/h, the distribution coefficient of the radar speed measuring sensor is 0.2; when the train speed is between 20km/h and 50km/h, the distribution coefficient of the radar speed measuring sensor is 0.4; when the train speed is between 50 and 100km/h, the distribution coefficient of the radar speed measuring sensor is 0.5; when the train speed is greater than 80km/h, the distribution coefficient of the radar speed measuring sensor is 0.7.
Setting the distribution coefficient of the accelerometer to 0.1 according to the attribute of the accelerometer; and the distribution coefficient of the speed sensor is 1-beta 2 -β 3 . The normal use of the information distribution coefficient is premised on that each sensor can function properly. And finally, calculating to obtain the optimal estimation L of the train running distance of the whole system through a main filter, and calculating the target wheel diameter value of the train again by using the calculation result.
According to the train wheel diameter correction method provided by the invention, more accurate train speed and train running distance are obtained through multi-information fusion, and the train running distance is obtained without relying on a single transponder information source.
The technical key points of the invention are as follows:
1. in the wheel diameter correction function, a traditional transponder is not used as a single information source, but three different sensors are used as the information sources;
2. designing a distributed information fusion structure for three information sources, preprocessing data before fusion, improving filtering efficiency, reducing system complexity and obtaining more accurate train running distance;
3. and calculating an accurate wheel diameter value according to pulse data of the train running distance and speed sensor.
The train wheel diameter correction device provided by the invention is described below, and the train wheel diameter correction device described below and the train wheel diameter correction method described above can be referred to correspondingly.
Fig. 4 is a schematic diagram of the train wheel diameter correction device provided by the invention. Referring to fig. 4, the train wheel diameter correction device provided by the present invention includes:
a first determining module 410, configured to determine a first train speed based on a resolution of a speed sensor, a preset wheel diameter value, and a pulse number output by the speed sensor in a unit time;
a second determining module 420, configured to determine a second train speed based on an angle error between an installation position of the radar speed sensor and a horizontal plane, an angle error between the installation position and a longitudinal axis plane along which the train advances, an angle between a direction in which the radar speed sensor emits electromagnetic waves and the horizontal plane, and a frequency of emission of the radar speed sensor and a doppler frequency of the radar speed sensor;
a third determining module 430, configured to determine a train acceleration based on a real acceleration of the train, an angle error of a horizontal projection of the accelerometer and a train acceleration direction, an angle error of a longitudinal projection of the accelerometer and the train acceleration direction, an inherent error of the radar speed sensor, and measurement noise;
a fourth determination module 440 for determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and the correction module 450 is used for correcting the preset wheel diameter value based on the target wheel diameter value.
According to the train wheel diameter correction device provided by the invention, the advantages and disadvantages of the sensors are complemented by considering that a plurality of sensors are selected as the information sources for wheel diameter correction, different schemes are adopted for processing different sensor information, and then the target wheel diameter value is calculated in real time after the data information is fused, so that a better wheel diameter correction effect can be obtained, and the running safety of a train can be ensured.
In some embodiments, the fourth determining module 440 is specifically configured to:
determining a train travel distance within the target period based on the first train speed, the second train speed, and the train acceleration;
and determining the target wheel diameter value based on the train running distance, the total number of output pulses of the speed sensor in a target period and the total number of turns of the wheel corresponding to the speed sensor in the target period.
In some embodiments, the fourth determining module 440 is specifically configured to:
adopting a distributed Kalman fusion structure, and adopting filtering processing to the first train speed, the second train speed and the train acceleration to obtain a first state estimation value, a second state estimation value and a third state estimation value;
information fusion is carried out on the first state estimation value, the second state estimation value and the third state estimation value, and an optimal state estimation value is obtained;
and determining the train running distance based on the optimal state estimation value.
In some embodiments, the first train speed is expressed as:
wherein P is the resolution of the speed sensor, D is the preset wheel diameter value, and delta n is the number of pulses output by the speed sensor in unit time.
In some embodiments, the second train speed is expressed as:
wherein alpha is the error of an included angle between the installation position of the radar speed measuring sensor and the horizontal plane, beta is the error of an included angle between the installation position of the radar speed measuring sensor and the longitudinal axis plane of the train, and a 0 An included angle f between the direction of transmitting electromagnetic waves to the radar speed measuring sensor and the horizontal plane s For the transmitting frequency f of the radar speed measuring sensor d And c is the light speed for the Doppler frequency of the radar speed measuring sensor.
In some embodiments, the train acceleration is expressed as:
a ACC ＝a t *cosθ+g*sinβ+δ ACC +N ACC ；
wherein a is t For the acceleration measurement value of the train, θ is the angle error of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, β is the angle error of the longitudinal projection of the installation position of the accelerometer and the acceleration direction of the train, δ ACC N is the inherent error of the accelerometer ACC G is the gravitational acceleration, which is the measurement noise of the accelerometer.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a train wheel diameter correction method comprising:
determining a first train speed based on a resolution of a speed sensor, a preset wheel diameter value and a pulse number output by the speed sensor in unit time;
determining a second train speed based on an included angle error between a mounting position of a radar speed measuring sensor and a horizontal plane, an included angle error between the mounting position of the radar speed measuring sensor and a longitudinal axis plane of a train, an included angle between a direction of transmitting electromagnetic waves by the radar speed measuring sensor and the horizontal plane, and a transmitting frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measurement noise;
determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and correcting the preset wheel diameter value based on the target wheel diameter value.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the train wheel diameter correction method provided by the above methods, the method comprising:
determining a first train speed based on a resolution of a speed sensor, a preset wheel diameter value and a pulse number output by the speed sensor in unit time;
determining a second train speed based on an included angle error between a mounting position of a radar speed measuring sensor and a horizontal plane, an included angle error between the mounting position of the radar speed measuring sensor and a longitudinal axis plane of a train, an included angle between a direction of transmitting electromagnetic waves by the radar speed measuring sensor and the horizontal plane, and a transmitting frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measurement noise;
determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and correcting the preset wheel diameter value based on the target wheel diameter value.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of train wheel diameter correction provided by the above methods, the method comprising:
determining a first train speed based on a resolution of a speed sensor, a preset wheel diameter value and a pulse number output by the speed sensor in unit time;
determining a second train speed based on an included angle error between a mounting position of a radar speed measuring sensor and a horizontal plane, an included angle error between the mounting position of the radar speed measuring sensor and a longitudinal axis plane of a train, an included angle between a direction of transmitting electromagnetic waves by the radar speed measuring sensor and the horizontal plane, and a transmitting frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measurement noise;
determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and correcting the preset wheel diameter value based on the target wheel diameter value.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for correcting a wheel diameter of a train, comprising:
determining a first train speed based on a resolution of a speed sensor, a preset wheel diameter value and a pulse number output by the speed sensor in unit time;
determining a second train speed based on an included angle error between a mounting position of a radar speed measuring sensor and a horizontal plane, an included angle error between the mounting position of the radar speed measuring sensor and a longitudinal axis plane of a train, an included angle between a direction of transmitting electromagnetic waves by the radar speed measuring sensor and the horizontal plane, and a transmitting frequency of the radar speed measuring sensor and a Doppler frequency of the radar speed measuring sensor;
determining the acceleration of the train based on the measured value of the acceleration of the train, the error of the included angle of the horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, the error of the included angle of the vertical projection of the installation position of the accelerometer and the acceleration direction of the train, the inherent error of the accelerometer and the measurement noise;
determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and correcting the preset wheel diameter value based on the target wheel diameter value.
2. The train wheel diameter correction method according to claim 1, wherein the determining a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration includes:
determining a train travel distance within the target period based on the first train speed, the second train speed, and the train acceleration;
and determining the target wheel diameter value based on the train running distance, the total number of output pulses of the speed sensor in a target period and the total number of turns of the wheel corresponding to the speed sensor in the target period.
3. The train wheel diameter correction method according to claim 2, wherein the determining the train running distance within the target period based on the first train speed, the second train speed, and the train acceleration includes:
adopting a distributed Kalman fusion structure, and adopting filtering processing to the first train speed, the second train speed and the train acceleration to obtain a first state estimation value, a second state estimation value and a third state estimation value;
information fusion is carried out on the first state estimation value, the second state estimation value and the third state estimation value, and an optimal state estimation value is obtained;
and determining the train running distance based on the optimal state estimation value.
4. The train wheel diameter correction method according to claim 1, wherein the first train speed is expressed as:
wherein P is the resolution of the speed sensor, D is the preset wheel diameter value, and delta n is the number of pulses output by the speed sensor in unit time.
5. The train wheel diameter correction method according to claim 1, wherein the second train speed is expressed as:
wherein alpha is the error of an included angle between the installation position of the radar speed measuring sensor and the horizontal plane, beta is the error of an included angle between the installation position of the radar speed measuring sensor and the longitudinal axis plane of the train, and a 0 An included angle f between the direction of transmitting electromagnetic waves to the radar speed measuring sensor and the horizontal plane s For the transmitting frequency f of the radar speed measuring sensor d And c is the light speed for the Doppler frequency of the radar speed measuring sensor.
6. The train wheel diameter correction method according to claim 1, wherein the train acceleration is expressed as:
a ACC ＝a t *cosθ+g*sinβ+δ ACC +N ACC ；
wherein a is t For the acceleration measurement of the train, θ is the accelerationAn included angle error of horizontal projection of the installation position of the accelerometer and the acceleration direction of the train, and beta is an included angle error of longitudinal projection of the installation position of the accelerometer and the acceleration direction of the train, delta ACC N is the inherent error of the accelerometer ACC G is the gravitational acceleration, which is the measurement noise of the accelerometer.
7. A train wheel diameter correction device, comprising:
the first determining module is used for determining a first train speed based on the resolution of the speed sensor, a preset wheel diameter value and the number of pulses output by the speed sensor in unit time;
the second determining module is used for determining a second train speed based on an included angle error between the installation position of the radar speed measuring sensor and the horizontal plane, an included angle error between the installation position and the longitudinal axis plane of the train, an included angle between the direction of the electromagnetic wave emitted by the radar speed measuring sensor and the horizontal plane, and the emitting frequency of the radar speed measuring sensor and the Doppler frequency of the radar speed measuring sensor;
the third determining module is used for determining the acceleration of the train based on the actual acceleration of the train, the error of the included angle of the horizontal projection of the accelerometer and the acceleration direction of the train, the error of the included angle of the longitudinal projection of the accelerometer and the acceleration direction of the train, the inherent error of the radar speed measuring sensor and the measuring noise;
a fourth determining module configured to determine a target wheel diameter value based on the first train speed, the second train speed, and the train acceleration;
and the correction module is used for correcting the preset wheel diameter value based on the target wheel diameter value.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the train wheel diameter correction method according to any one of claims 1 to 6 when the program is executed by the processor.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the train wheel diameter correction method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements the train wheel diameter correction method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311589275.9A CN117508264A (en) | 2023-11-24 | 2023-11-24 | Train wheel diameter correction method and device, electronic equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311589275.9A CN117508264A (en) | 2023-11-24 | 2023-11-24 | Train wheel diameter correction method and device, electronic equipment and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117508264A true CN117508264A (en) | 2024-02-06 |
Family
ID=89760555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311589275.9A Pending CN117508264A (en) | 2023-11-24 | 2023-11-24 | Train wheel diameter correction method and device, electronic equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117508264A (en) |
-
2023
- 2023-11-24 CN CN202311589275.9A patent/CN117508264A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109343095B (en) | Vehicle-mounted navigation vehicle combined positioning device and combined positioning method thereof | |
| JP4780174B2 (en) | Angular velocity sensor correction device, angular velocity calculation device, angular velocity sensor correction method, angular velocity calculation method | |
| US20090005985A1 (en) | GPS-based in-vehicle sensor calibration algorithm | |
| CN110031019B (en) | Slip detection processing method for automatic driving vehicle | |
| CN103930312A (en) | Sensor system comprising a fusion filter for common signal processing | |
| US20100007550A1 (en) | Positioning apparatus for a mobile object | |
| US20120253585A1 (en) | System and method for identifying a spatial relationship for use in calibrating accelerometer data | |
| CN103796885A (en) | Method for estimating tire parameters for a vehicle | |
| CN108974054B (en) | Seamless train positioning method and system | |
| JP2007240167A (en) | Vehicle-mounted travel distance measuring apparatus | |
| CN107792117A (en) | Locomotive wheel diameter self-checking device and method based on radar | |
| JP2008077349A (en) | Vehicle status quantity estimating apparatus and vehicle steering control apparatus using the same | |
| CN103017874B (en) | Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor | |
| CN112578420B (en) | Locomotive running state detection method based on satellite positioning | |
| CN103448729A (en) | Method and apparatus for calculating yawrate and method for controlling the lane keeping assist system using the same | |
| CN117508264A (en) | Train wheel diameter correction method and device, electronic equipment and medium | |
| JP5278128B2 (en) | Conversion coefficient deriving device and conversion coefficient deriving method | |
| WO2008079456A1 (en) | System, method, and computer readable media for odometer calibration | |
| CN113588984B (en) | Train speed and distance measuring method and device, electronic equipment and storage medium | |
| KR20140062141A (en) | Method for filtering data in a tyre pressure monitoring system for a vehicle | |
| CN113799715B (en) | Method and device for determining cause of abnormality of vehicle, communication equipment and storage medium | |
| CN104535076A (en) | Antiskid device mileage accumulation method | |
| EP0944812A1 (en) | Method and apparatus for calibration of the wheel track | |
| CN110230247B (en) | Road structural defect detection device and method based on laser Doppler technology | |
| CN106324590A (en) | Method and device of improving measuring precision of train velocity measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |