CN206202336U - Rail traffic vehicles Precise Position System based on passive tag technology - Google Patents
Rail traffic vehicles Precise Position System based on passive tag technology Download PDFInfo
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- CN206202336U CN206202336U CN201621326000.1U CN201621326000U CN206202336U CN 206202336 U CN206202336 U CN 206202336U CN 201621326000 U CN201621326000 U CN 201621326000U CN 206202336 U CN206202336 U CN 206202336U
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Abstract
The utility model belongs to the real-time positioning field of track traffic, is a kind of rail traffic vehicles Precise Position System based on passive tag technology, including computer, beacon reader, rotary coding speedometer/inertial navigation system, passive tag；There is the mileage information of installation site in passive tag, beacon reader receives the mileage information of passive tag memory storage by wireless telecommunications, rotary coding speedometer/inertial navigation system obtains car speed and the mileage information of each period in real time, computer is communicated with beacon reader and rotary coding speedometer/inertial navigation system, the mileage information that the mileage difference correction rotary coding speedometer/inertial navigation system of two passive tag records of computer is obtained, so as to realize being accurately positioned in real time for rail traffic vehicles.
Description
Technical field
The present invention relates to a kind of rail transit train Precise Position System, it is adaptable to various rail transportation operation vehicles, inspection
Measuring car, maintenance vehicle are accurately positioned.
Background technology
Beacon technique is a kind of technology that color, acousto-optic, wireless signal etc. are identified to article, position；Such as navigation channel
Beacon, road guideboard are exactly the concrete application to beacon technique.
Wireless beacon technology is to carry out intersystem communications using wireless communication technology, transmission information, so as to reach article or
A kind of technology of station location marker；Passive tag is that a kind of particular technique of wireless beacon realizes that is, beacon does not include battery in itself
Or other external energy resource supply modes, using micro-energy acquisition technique for the work of itself provides the energy；Compare active beacon tool
Have non-maintaining（Battery is changed without timing）, the work period long, environmental protection the features such as.
Passive tag collectively constitutes with beacon reader and programmable code information is included in beacon system, passive tag.
The positioning of vehicle in track traffic, is the key for ensureing track traffic normal operation, high-precision orbital vehicular traffic
Positioning can effectively improve the operation security of track traffic, while the transport capacity of track traffic can also be effectively improved.
Current orbit traffic location technology have GPS/ Big Dippeves location technology, track circuit location technology, beacon location technology,
Speed-position detection technology, cable loop wire location technology, slotted waveguide location technology, wireless frequency expansion location technology etc.；Because track is handed over
Logical to be frequently necessary to pass through high mountain gorge and tunnel, GPS/ Big Dippeves signal will be unable to receive in tunnel, also can be through in high mountain gorge
Chang Wufa receives the signal of GPS/ dipper systems；Track circuit technological investment is big, maintenance big, and the circuit appearance at
Failure cannot sending signal when, alignment system cannot judge the loss of signal so as to cause positioning deviation occur, in low speed rail
The traffic epoch can also meet needs；There is identical shortcoming in beacon location technology and tracks positioned technology；Speed-position detection is divided into volume
Code odometer speed-position detection and radar fix, in odometer speed-position detection is encoded, being the rotation number of turns according to wheel calculates
The position of vehicle, because wheel can wear and tear in use, positioning can be caused as the use of wheel is increasing, and
Error is accumulation, and the error of encoder generation is although avoided using radar test mode, but due to track traffic periphery
Environment complexity can cause radar, and error is very big in itself, and this error is random；Cable loop wire location technology, slotted waveguide are fixed
Position technology, the improvement of wireless frequency expansion location technology only track circuit technology, the shortcoming that track circuit location technology is present
Do not remove, simply increased in reliability.
Because passive tag has the advantages that codified, it is input into passive tag after each passive tag is installed
The accurate mileage information of position, when vehicle is quickly through passive tag, vehicle reads passive letter by beacon reader
Mileage information in mark, you can it is determined that the exact position of vehicle at that time, between two passive tags, by with rail vehicle
The rotary coding speedometer of wheel synchronous rotary/inertial navigation system calculates the positional information of vehicle, due in rotary coding
The range finding of journey device can produce error/inertial navigation system to there is error in itself with the abrasion of wheel, and system is reading every time
After the mileage information of passive tag, mileage difference is calculated by the mileage information of passive tag read with the last time, and with from
Mileage value between two anchor points that rotary coding speedometer is calculated/be divided by and missed by the mileage value of inertial navigation system calculating
Difference coefficient, can obtain the train position of pinpoint accuracy, so as to realize the essence of rail transit train after error coefficient is corrected
It is determined that position.
Rail traffic vehicles Precise Position System based on passive tag technology is applied to vehicle in use, can effectively improve
The operation security of track traffic, improves the density of dispatching a car of vehicle in use, so as to improve the transport power of track traffic；It is applied to track friendship
Logical detection, maintenance vehicle, can be accurately positioned each trouble point, improve maintenance, the maintenance efficiency of track traffic.
The content of the invention
The purpose of this utility model is to provide a kind of rail traffic vehicles Precise Position System of base passive tag technology.
The technical solution of the utility model is：Passive letter is installed at a certain distance on the trackside of track traffic or road surface
Mark, is input into the accurate mileage information of passive tag mount point in passive tag, beacon is installed on rail traffic vehicles and is read
Device and coding odometer or inertial navigation system, open beacon reader when rail traffic vehicles bring into operation, work as track traffic
Beacon reader reads the mileage information of passive tag memory storage when vehicle is by passive tag, and rail traffic vehicles can be obtained
Take the exact position at current time；In the middle of two passive tags, system is true by rotary coding speedometer/inertial navigation system
The position of vehicle is determined, because rotary coding speedometer can produce error/inertial navigation system in itself with the abrasion of wheel
Error, thus after rail traffic vehicles read passive tag mileage information at once with the upper passive tag once read in
Journey information asks poor, calculates the mileage value difference value between two passive tags, and calculate with rotary coding speedometer/inertial navigation system
Two anchor points between mileage value be divided by, so as to obtain the error coefficient of rotary coding speedometer/inertial navigation system, lead to
The positional information crossed between two passive tags obtained after rotary coding speedometer/INS errors coefficient correction is
High-precision rail traffic vehicles positional information.
Brief description of the drawings
Fig. 1 system chief components.
Fig. 2 working-flows Fig. 1.
Fig. 3 working-flows Fig. 2.
In figure, 1-1 computers, 1-2 beacon readers, 1-3 rotary coding speedometers, 1-4 passive tags, 2-1 reads
Passive tag, 2-2 mileage informations, in 2-3 is calculated between mileage difference between two passive tags, two passive tags of 2-4
Path difference value, 2-5 calculate rotary coding speedometer error coefficient, 2-6 rotary coding speedometer error coefficients, 2-7 by this
The secondary mileage information read is preserved, and 2-8 passive tags mileage information record, 2-9 calculated and revolved when reading passive tag twice
Turn to rotate journey coding speedometer record mileage value, 2-11 between coding speedometer record mileage value, two passive tags of 2-10
Rotary coding speedometer counts zero, 2-12 correction rotary coding speedometer mileage informations, in the current rotary codings of 2-13
The mileage value of journey device, 2-14 obtains rotary coding speedometer mileage information, after 2-15 passive tags mileage information and correction
Rotary coding speedometer mileage value is sued for peace, and 2-16 shows, transmits mileage information, and 3-1 reads passive tag, 3-2 mileages letter
Breath, 3-3 calculates the mileage value between mileage difference between two passive tags, two passive tags of 3-4, and 3-5 calculates inertia and leads
Boat systematic error coefficient, 3-6 INS errors coefficients, mileage information that 3-7 reads this is preserved, 3-8 without
Source beacon mileage information record, 3-9 calculates the mileage value that inertial navigation system is calculated when reading passive tag twice, 3-10
The mileage value that inertial navigation system is calculated between two passive tags, 3-11 inertial navigation system mileages value zero, 3-12 corrections
Inertial navigation system velocity amplitude and acceleration bias value, the current inertial navigation system mileage values of 3-13,3-14 read inertia and lead
Boat system mileage value, 3-15 passive tags mileage information is sued for peace with the inertial navigation system mileage value after correction, and 3-16 shows
Show, transmit mileage information.
Specific embodiment
The utility model is described further below in conjunction with the accompanying drawings.
As shown in figure 1, the rail traffic vehicles Precise Position System based on passive tag technology includes computer（1-1）,
Beacon reader（1-2）, rotary coding speedometer/inertial navigation system（1-3）, passive tag（1-4）；Computer（1-1）It is
One has high-performance, the technical grade computer of high stability, and system supports multi-process/multithreading, can be with beacon reader
（1-2）With rotary coding speedometer/inertial navigation system（1-3）Communicated, beacon can be obtained by communication protocol and read
Device（1-2）The passive tag for reading（1-4）In mileage information；Beacon reader（1-2）Be one it is high performance with it is passive
The equipment that beacon is communicated wirelessly, can be with computer（1-1）Communicate and and passive tag（1-4）Carry out channel radio
Letter；Rotary coding speedometer/inertial navigation system（1-3）It is the rotary coding of and rail traffic vehicles wheel shaft synchronous rotary
Device and rotary encoder through signals processor hybrid system or inertial navigation system, can be with computer（1-1）Communicated and passed
Defeated mileage information；Passive tag（1-4）It is wireless beacon that the high-performance non-transformer of a technical grade is powered, can be by equipment
Write-in mileage information, can be with beacon reader（1-2）Communicate wirelessly, to beacon reader（1-2）Send mileage information.
As shown in Figure 1 and Figure 2, the rail traffic vehicles Precise Position System workflow based on passive tag technology is as follows：
In rail traffic vehicles running, computer（1-1）And beacon reader（1-2）Running status is maintained at, is believed
Mark reader（1-2）In acquisition/reception state incessantly, when rail traffic vehicles pass through passive tag（1-4）Installation position
When putting, beacon reader（1-2）Read passive tag（2-1）, get passive tag（1-4）The mileage information of middle storage, and
Mileage information is sent to computer（1-1）, computer（1-1）Receive mileage information（2-2）The reading stored up with Installed System Memory afterwards
To a upper passive tag（1-4）The mileage information passive tag mileage information record of memory storage（2-8）Ask poor, calculate two
Mileage value between passive tag（2-3）Obtain the mileage value between two passive tags（2-4）, and in this is received
Journey information（2-2）It is saved into passive tag mileage information record（2-8）, while rotary coding when passive tag is read in calculating twice
Speedometer records mileage value（2-9）, rotary coding speedometer records mileage value between result is saved as into two passive tags（2-
10）, rotary coding speedometer is counted at once be zeroed afterwards（2-11）, by the mileage value (2-4) between two passive tags
The rotary coding speedometer record mileage value and between two passive tags（2-10）Calculate rotary coding speedometer error coefficient（2-5）
Obtain rotary coding speedometer error coefficient（2-6）, system acquisition rotary coding speedometer mileage information（2-14）And by result
Save as current rotary coding speedometer mileage value（2-13）, system is by calling current rotary coding speedometer mileage value（2-
13）With rotary coding speedometer error coefficient（2-6）Correction rotary coding speedometer mileage information（2-12）, after being corrected
Rotary coding speedometer（1-3）Mileage value, passive tag mileage information with correction after rotary coding speedometer mileage value summation
（2-15）The actual position information of Current vehicle is obtained, then shown, transmitted mileage information（2-16）, mileage information can be in car
Interior display, it is possible to be sent to the relevant departments of detection, maintenance vehicle detecting system or track traffic management in real time by network.
As shown in Figure 1, Figure 3, the rail traffic vehicles Precise Position System workflow based on passive tag technology is as follows：
In rail traffic vehicles running, computer（1-1）And beacon reader（1-2）Running status is maintained at, is believed
Mark reader（1-2）In acquisition/reception state incessantly, when rail traffic vehicles pass through passive tag（1-4）Installation position
When putting, beacon reader（1-2）Read passive tag（3-1）, get passive tag（1-4）The mileage information of middle storage, and
Mileage information is sent to computer（1-1）, computer（1-1）Receive mileage information（3-2）The reading stored up with Installed System Memory afterwards
To a upper passive tag（1-4）The mileage information passive tag mileage information record of memory storage（3-8）Ask poor, calculate two
Mileage value between passive tag（3-3）Obtain the mileage value between two passive tags（3-4）, and in this is received
Journey information（3-2）It is saved into passive tag mileage information record（3-8）, while inertial navigation when passive tag is read in calculating twice
The mileage value of system-computed（3-9）, result is saved as into the mileage value that inertial navigation system is calculated between two passive tags（3-
10）, inertial navigation system mileage value is zeroed at once afterwards（3-11）, by the mileage value (3-4) between two passive tags
The mileage value that inertial navigation system is calculated and between two passive tags（3-10）Calculate INS errors coefficient（3-5）
To INS errors coefficient（3-6）, system reading inertial navigation system mileage value（3-14）And by result save as work as
Preceding inertial navigation system mileage value（3-13）, system is by calling current inertial navigation system mileage value（3-13）And inertial navigation
Systematic error coefficient（3-6）Correction inertial navigation system velocity amplitude and acceleration bias value（3-12）, the inertia after being corrected
Navigation system（1-3）Mileage value, passive tag mileage information with correction after inertial navigation system mileage value summation（3-15）
To the actual position information of Current vehicle, then show, transmit mileage information（3-16）, mileage information can show in the car,
And the relevant departments of detection, maintenance vehicle detecting system or track traffic management can be in real time sent to by network.
Above-mentioned specific embodiment is preferred embodiment of the present utility model, is not intended to limit the invention, all to be based on
The scheme to rail traffic vehicles implementation positioning of passive tag technology and rotary coding speedometer or inertial navigation system all exists
Within protection scope of the present invention.
Claims (3)
1. the rail traffic vehicles Precise Position System based on passive tag technology, including computer（1-1）, beacon reader
（1-2）, rotary coding speedometer/inertial navigation system（1-3）, passive tag（1-4）；Computer（1-1）Being one has height
The technical grade computer of performance, high stability, system supports multi-process/multithreading, can be with beacon reader（1-2）And rotation
Coding speedometer/inertial navigation system（1-3）Communicated, beacon reader can be obtained by communication protocol（1-2）Read
The passive tag for arriving（1-4）In mileage information；Beacon reader（1-2）It is that one high performance and passive tag is carried out wirelessly
The equipment of communication, can be with computer（1-1）Communicate and and passive tag（1-4）Carry out radio communication；In rotary coding
Journey device/inertial navigation system（1-3）It is the rotary encoder and rotary coding of one and rail traffic vehicles wheel shaft synchronous rotary
Device signal processor hybrid system or inertial navigation system, can be with computer（1-1）Communicated and transmitted mileage information；Nothing
Source beacon（1-4）It is wireless beacon that the high-performance non-transformer of a technical grade is powered, mileage information can be write by equipment,
Can be with beacon reader（1-2）Communicate wirelessly, to beacon reader（1-2）Send mileage information.
2. the rail traffic vehicles Precise Position System based on passive tag technology according to claim 1, its feature exists
In rail traffic vehicles running, computer（1-1）And beacon reader（1-2）Running status is maintained at, beacon reads
Device（1-2）In acquisition/reception state incessantly, when rail traffic vehicles pass through passive tag（1-4）During installation site, letter
Mark reader（1-2）Read passive tag（2-1）, get passive tag（1-4）The mileage information of middle storage, and mileage is believed
Breath is sent to computer（1-1）, computer（1-1）Receive mileage information（2-2）Read upper one for being stored up with Installed System Memory afterwards
Individual passive tag（1-4）The mileage information passive tag mileage information record of memory storage（2-8）Ask poor, calculate two passive tags
Between mileage value（2-3）Obtain the mileage value between two passive tags（2-4）, and the mileage information that this is received
（2-2）It is saved into passive tag mileage information record（2-8）, while rotary coding speedometer when passive tag is read in calculating twice
Record mileage value（2-9）, rotary coding speedometer records mileage value between result is saved as into two passive tags（2-10）, afterwards
Rotary coding speedometer is counted at once is zeroed（2-11）, by mileage value (2-4) and two nothings between two passive tags
Rotary coding speedometer record mileage value between the beacon of source（2-10）Calculate rotary coding speedometer error coefficient（2-5）Rotated
Coding speedometer error coefficient（2-6）, system acquisition rotary coding speedometer mileage information（2-14）And by result save as work as
Preceding rotary coding speedometer mileage value（2-13）, system is by calling current rotary coding speedometer mileage value（2-13）And rotation
Coding speedometer error coefficient（2-6）Correction rotary coding speedometer mileage information（2-12）, the rotary coding after being corrected
Speedometer（1-3）Mileage value, passive tag mileage information with correction after rotary coding speedometer mileage value summation（2-15）
To the actual position information of Current vehicle, then show, transmit mileage information（2-16）, mileage information can show in the car,
And the relevant departments of detection, maintenance vehicle detecting system or track traffic management can be in real time sent to by network.
3. the rail traffic vehicles Precise Position System based on passive tag technology according to claim 1, its feature exists
In rail traffic vehicles running, computer（1-1）And beacon reader（1-2）Running status is maintained at, beacon reads
Device（1-2）In acquisition/reception state incessantly, when rail traffic vehicles pass through passive tag（1-4）During installation site, letter
Mark reader（1-2）Read passive tag（3-1）, get passive tag（1-4）The mileage information of middle storage, and mileage is believed
Breath is sent to computer（1-1）, computer（1-1）Receive mileage information（3-2）Read upper one for being stored up with Installed System Memory afterwards
Individual passive tag（1-4）The mileage information passive tag mileage information record of memory storage（3-8）Ask poor, calculate two passive tags
Between mileage value（3-3）Obtain the mileage value between two passive tags（3-4）, and the mileage information that this is received
（3-2）It is saved into passive tag mileage information record（3-8）, while inertial navigation system meter when passive tag is read in calculating twice
The mileage value of calculation（3-9）, result is saved as into the mileage value that inertial navigation system is calculated between two passive tags（3-10）, afterwards
Inertial navigation system mileage value is zeroed at once（3-11）, by mileage value (3-4) and two nothings between two passive tags
The mileage value that inertial navigation system is calculated between the beacon of source（3-10）Calculate INS errors coefficient（3-5）Inertia is obtained to lead
Boat systematic error coefficient（3-6）, system reading inertial navigation system mileage value（3-14）And result is saved as into current inertia lead
Boat system mileage value（3-13）, system is by calling current inertial navigation system mileage value（3-13）And INS errors
Coefficient（3-6）Correction inertial navigation system velocity amplitude and acceleration bias value（3-12）, the inertial navigation system after being corrected
（1-3）Mileage value, passive tag mileage information with correction after inertial navigation system mileage value summation（3-15）Obtain current vehicle
Actual position information, then show, transmission mileage information（3-16）, mileage information can show in the car, it is possible to logical
Cross the relevant departments that network is sent to detection, maintenance vehicle detecting system or track traffic management in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621326000.1U CN206202336U (en) | 2016-12-06 | 2016-12-06 | Rail traffic vehicles Precise Position System based on passive tag technology |
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| CN201621326000.1U CN206202336U (en) | 2016-12-06 | 2016-12-06 | Rail traffic vehicles Precise Position System based on passive tag technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428123A (en) * | 2016-12-06 | 2017-02-22 | 北京天高科科技有限公司 | System for accurate positioning of rail transportation vehicles based on passive beacon technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428123A (en) * | 2016-12-06 | 2017-02-22 | 北京天高科科技有限公司 | System for accurate positioning of rail transportation vehicles based on passive beacon technology |
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