EP0795454A1 - Method for determining the position of a railborne vehicle and device for carrying out the method - Google Patents
Method for determining the position of a railborne vehicle and device for carrying out the method Download PDFInfo
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- EP0795454A1 EP0795454A1 EP97250069A EP97250069A EP0795454A1 EP 0795454 A1 EP0795454 A1 EP 0795454A1 EP 97250069 A EP97250069 A EP 97250069A EP 97250069 A EP97250069 A EP 97250069A EP 0795454 A1 EP0795454 A1 EP 0795454A1
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 42
- 238000001228 spectrum Methods 0.000 claims abstract description 21
- 230000002596 correlated effect Effects 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 230000015654 memory Effects 0.000 claims description 25
- 230000001419 dependent effect Effects 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims 2
- 238000005070 sampling Methods 0.000 claims 2
- 238000013144 data compression Methods 0.000 claims 1
- 230000006837 decompression Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 239000004020 conductor Substances 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
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- B61L15/0092—
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- B61L15/0094—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
Definitions
- the invention relates to a method according to the preamble of claim 1 and to a device for performing this method.
- the vehicles traveling on a route determine their respective travel location by correlating a current route image detected by them with a reference route map for which route positions are stored in a route atlas.
- the route image should consist of a radar, infrared or video image of the route.
- the reference map with which the current route map is to be correlated was recorded when the vehicle or a vehicle of the same vehicle type was traveling earlier in the same way as the current route map and was stored together with the route kilometrage in a memory.
- the route map for a specific driving location is subject to at least seasonal and weather-related changes, i.e. the route panorama in winter differs greatly from the corresponding summer panorama, especially after snowfall, and the greening of bushes and trees in spring and summer results in a different result Panorama of defoliated or partly defoliated bushes and trees in autumn and winter.
- construction activities along the route change the route panorama and make vehicle location more difficult.
- a device for self-locating a track-guided object on a route which is provided with a line conductor crossed at regular intervals for wireless information transmission from the route to the train.
- Vehicle-side reception coils detect the phase position of the reception voltages in the line conductor section in use and evaluate them. By counting the number of line conductor crossing points, the vehicle can determine where it is on the route; for the fine location within the individual line sections, additional, z. B. controlled by a non-driven vehicle shaft, measuring devices required.
- This known device for self-locating a track-guided object absolutely requires the line conductor laid in the track and is therefore quite complex.
- a device for measuring the distance and speed of rail-bound vehicles in which a vehicle-side radar device has a radar antenna directed obliquely to the ground in the direction of travel, which illuminates a narrow area between the tracks.
- the signal reflected on the track bed is received on the vehicle and evaluated with respect to the Doppler shift containing the information about the instantaneous speed of the vehicle.
- the travel distance and thus the respective travel location can also be calculated on the vehicle from the driving speed, but only as long as the radar transmission signals from gravel or other reflective materials in the track bed are reflected back to a sufficient extent. This is not the case with snow and ice, so that the locating device then fails or at least works unreliably.
- EP 0 561 705 A1 From EP 0 561 705 A1 a method and a device for self-locating track-guided vehicles are known, which are based on the correlation of certain route parameters, preferably also the curvature of the track. The location of rail current closers is to be assessed as a further location parameter. A continuous sensitive localization of vehicles on the free route is not possible with the means of EP 0 561 705 A1.
- the object of the invention is to provide a method according to the preamble of claim 1 and a device for carrying out the method, the or the everywhere on the route a sufficiently accurate localization Permits vehicles and does this without additional equipment on the track side such as line conductors and local beacons.
- the invention solves this problem by the characterizing features of claim 1 and claim 3.
- FIG. 1 shows the frequency spectrum of an acceleration signal that is generated by a vehicle-side sensor when it passes a certain route point.
- This location-specific sensor signal has different amplitudes A at different frequencies f.
- the low-frequency accelerations say something about the macroscopic track topology (curve radii, track bedding), the higher-frequency shock accelerations say something about microscopic bumps in the track.
- the acceleration sensor which provides this vibration profile for the track, must be extremely robust in order to be able to withstand the extreme environmental conditions and the accelerations that occur. It should be attached to the vehicle as unsprung as possible and then detects, for example, the accelerations that occur in the vertical direction. Additional sensors can be used for Detection of accelerations that occur, in particular, in the horizontal direction transversely to the direction of travel can be provided, which likewise deliver a location-specific multi-frequency acceleration signal for each driving location.
- FIG. 2 shows the multi-frequency acceleration values detected by a vehicle-side acceleration sensor when passing successive driving locations S0 to S10.
- the individual curves have a certain similarity to one another; in fact, they differ markedly from one another depending on the location.
- the invention is based on the presence and on the reproducibility of the location-selective frequency spectra of the acceleration signals in such a way that it compares the acceleration signals detected by a vehicle sensor during a current journey with the acceleration signals determined during a previous journey, for which a clear assignment from a route atlas given absolute or relative locations.
- An acceleration sensor S records the vibration profile of this route each time it travels a route and feeds it to one of two memories, where it is stored in digital form.
- the route profile was stored in the form of location-specific frequency spectra in a so-called reference memory RS.
- corresponding acceleration signals are fed via the now changed switching contact U to a track memory SS and are stored there in the same way as the corresponding acceleration signals in the reference memory RS.
- the signals supplied by the sensor are not advantageous saved directly, but compressed beforehand in order to keep the storage volume within limits.
- For the location-specific acceleration signals stored in the reference memory there is an assignment to travel location information stored in a route atlas SA.
- the respective current travel location can be clearly determined on the vehicle.
- the correlation process is symbolized in FIG. 3 by a comparator VGL. If the acceleration signals supplied to the track memory and the reference memory are compressed before they are stored, the data must be decompressed again before the correlation process. The accuracy of the locating process depends on the number of acceleration curves stored per route unit and included in the correlation process, as well as on their resolution.
- the values of the reference memory included in the comparison process can be replaced by the current correlation values of the distance memory. In this way, the location results are made independent of possible long-term changes in the location-dependent acceleration spectra.
- a speed sensor V in particular a radar device which is present anyway for speed measurement and whose output signal adapts the readout speed of the current acceleration spectra from the track memory to the readout speed of the acceleration spectra stored in the reference memory.
- the respective travel location is determined by accessing the data of the route atlas SA and made available as the location result OB.
- the recognition of the location result determined in each case can be made dependent on the fact that the respective location result harmonizes with previously determined location results, i. H. that there are no jumps in route kilometrage. Whether the previously determined travel location information was also determined from the correlation of acceleration spectra or by another location system, such as. B. a wheel pulse generator or a GPS satellite navigation system is irrelevant.
- the location-dependent acceleration spectra of all travel locations on a route can be stored in the reference memory or just the acceleration spectra valid for selected route points or route areas. These route areas are then preferably those in which satellite navigation cannot be used. This is the case in tunnels and train stations.
- the security of the location results depends on the length and resolution of the correlation area involved in the location process.
- the sensor signals can be correlated independently of one another or as a mixed signal.
- the acceleration spectra stored in the reference memory only apply to the vehicle that determined them. In practice, it will be sufficient to use the data stored there for correlation with the data currently determined by all vehicles of the same type.
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren nach dem Oberbegriff des Patentanspruches 1 sowie auf eine Einrichtung zur Durchführung dieses Verfahrens.The invention relates to a method according to the preamble of claim 1 and to a device for performing this method.
Ein solches Verfahren und eine solche Einrichtung sind in der nicht vorveröffentlichten deutschen Patentanmeldung 195 29 986 beschrieben. Dort stellen die eine Strecke befahrenden Fahrzeuge ihren jeweiligen Fahrort dadurch fest, daß sie ein von ihnen detektiertes aktuelles Streckenbild mit einer Referenzstreckenabbildung korrelieren, für die in einem Streckenatlas Streckenpositionen hinterlegt sind. Die Strekkenabbildung soll aus einer Radar-, Infrarot- oder Videoabbildung der Strecke bestehen. Die Referenzabbildung, mit der die aktuelle Streckenabbbildung zu korrelieren ist, wurde bei einer früheren Fahrt des Fahrzeugs oder eines Fahrzeugs des gleichen Fahrzeugtypes auf gleiche Weise aufgenommen wie das aktuelle Streckenabbild und zusammen mit der Streckenkilometrierung in einem Speicher hinterlegt.Such a method and such a device are described in the unpublished German patent application 195 29 986. There, the vehicles traveling on a route determine their respective travel location by correlating a current route image detected by them with a reference route map for which route positions are stored in a route atlas. The route image should consist of a radar, infrared or video image of the route. The reference map with which the current route map is to be correlated was recorded when the vehicle or a vehicle of the same vehicle type was traveling earlier in the same way as the current route map and was stored together with the route kilometrage in a memory.
Die für einen bestimmten Fahrort geltende Streckenabbildung ist mindestens jahreszeitlichen und witterungsbedingten Änderungen unterworfen, d. h. das Streckenpanorama unterscheidet sich im Winter insbesondere nach Schneefall stark von dem entsprechenden Sommerpanorama und auch die Begrünung von Büschen und Bäumen im Frühling und Sommer ergibt ein unterschiedliches Panorama gegenüber entlaubten oder teilentlaubten Büschen und Bäumen im Herbst und im Winter. Darüber hinaus verändern bauliche Tätigkeiten entlang der Strecke das Streckenpanorama und erschweren die Fahrzeugortung.The route map for a specific driving location is subject to at least seasonal and weather-related changes, i.e. the route panorama in winter differs greatly from the corresponding summer panorama, especially after snowfall, and the greening of bushes and trees in spring and summer results in a different result Panorama of defoliated or partly defoliated bushes and trees in autumn and winter. In addition, construction activities along the route change the route panorama and make vehicle location more difficult.
Aus der DE 32 05 314 C2 ist eine Einrichtung zur Eigenortung eines spurgeführten Objektes auf einer Strecke bekannt, die mit einem in regelmäßigen Abständen gekreuzten Linienleiter für die drahtlosen Informationsübertragung von der Strecke auf den Zug versehen ist. Fahrzeugseitige Empfangsspulen detektieren die Phasenlage der Empfangsspannungen im jeweils befahrenen Linienleiterabschnitt und bewerten sie. Durch Zählen der passierten Linienleiterkreuzungsstellen kann das Fahrzeug feststellen, wo es sich auf der Strecke befindet; für die Feinortung innerhalb der einzelnen Linienleiterabschnitte werden auf den Fahrzeugen zusätzliche, z. B. von einer nicht angetriebenen Fahrzeugwelle gesteuerte, Wegmeßeinrichtungen benötigt. Diese bekannte Einrichtung zur Eigenortung eines spurgeführten Objektes benötigt zwingend den im Gleis verlegten Linienleiter und ist daher recht aufwendig.From DE 32 05 314 C2 a device for self-locating a track-guided object on a route is known, which is provided with a line conductor crossed at regular intervals for wireless information transmission from the route to the train. Vehicle-side reception coils detect the phase position of the reception voltages in the line conductor section in use and evaluate them. By counting the number of line conductor crossing points, the vehicle can determine where it is on the route; for the fine location within the individual line sections, additional, z. B. controlled by a non-driven vehicle shaft, measuring devices required. This known device for self-locating a track-guided object absolutely requires the line conductor laid in the track and is therefore quite complex.
Aus der US-PS 5,129,605 ist ein fahrzeugseitiges Ortungssystem für Schienenfahrzeuge bekannt, das die jeweilige Fahrzeugposition durch Laufzeitbewertung von Satellitensignalen bestimmt. Ein solches auf Satellitennavigation beruhendes Ortungssystem hat den Nachteil, daß es in Abschattungsbereichen, insbesondere Tunnels und überdachten Bahnhöfen, keine brauchbaren Ortungsangaben liefert. Außerdem besteht immer die Gefahr, daß die für die Satellitennavigation verwendeten Satelliten aus militärischen Gründen vorübergehend oder langfristig nicht für die private Nutzung zur Verfügung gestellt werden, so daß das Ortungssystem dann vollständig ausfällt.From US Pat. No. 5,129,605 a vehicle-side location system for rail vehicles is known which determines the respective vehicle position by evaluating the runtime of satellite signals. Such a positioning system based on satellite navigation has the disadvantage that it does not provide any useful location information in shadowing areas, in particular tunnels and covered train stations. In addition, there is always a risk that those used for satellite navigation For military reasons, satellites are temporarily or long-term not available for private use, so that the location system then fails completely.
Aus der DE 29 42 933 A1 ist eine Vorrichtung zur Weg- und Geschwindigkeitsmessung schienengebundener Fahrzeuge bekannt, bei der eine fahrzeugseitige Radareinrichtung eine in Fahrrichtung schräg zum Boden gerichtete Radarantenne aufweist, die einen schmalen Bereich zwischen den Gleisen ausleuchtet. Das am Gleisbett reflektierte Signal wird auf dem Fahrzeug empfangen und bezüglich der die Information über die Momentangeschwindigkeit des Fahrzeugs enthaltenden Dopplerverschiebung ausgewertet. Aus der Fahrgeschwindigkeit läßt sich auf dem Fahrzeug auch der zurückgelegte Fahrweg und damit der jeweilige Fahrort errechnen, allerdings nur solange die Radarsendesignale vom Schotter oder sonstigen reflektierenden Materialien im Gleisbett in ausreichendem Maße zurückgeworfen werden. Das ist bei Schnee und Eis nicht der Fall, so daß die Ortungseinrichtung dann versagt oder zumindest unzuverlässig arbeitet.From DE 29 42 933 A1 a device for measuring the distance and speed of rail-bound vehicles is known, in which a vehicle-side radar device has a radar antenna directed obliquely to the ground in the direction of travel, which illuminates a narrow area between the tracks. The signal reflected on the track bed is received on the vehicle and evaluated with respect to the Doppler shift containing the information about the instantaneous speed of the vehicle. The travel distance and thus the respective travel location can also be calculated on the vehicle from the driving speed, but only as long as the radar transmission signals from gravel or other reflective materials in the track bed are reflected back to a sufficient extent. This is not the case with snow and ice, so that the locating device then fails or at least works unreliably.
Für die fahrzeugseitige Geschwindigkeitsbestimmung von Bahnfahrzeugen ist es bekannt (Hasler Mitteilungen, 34. Jahrgang, Nr. 2, Juni 1975, Seiten 33 bis 47), vom Fahrzeug aus die Lauffläche einer Fahrschiene mittels zweier in Fahrrichtung beabstandeter Optiken abzutasten und die Zeitverschiebung zwischen dem Auftreten übereinstimmender Abbildungen an den beiden Optiken zu messen. Aus dem Abstand der beiden Optiken und der Zeitverschiebung der korreliert Abbildungen ergibt sich die Vorrückgeschwindigkeit des Fahrzeugs. Eine Eigenortung des Fahrzeugs auf der Strecke ist mit der bekannten Einrichtung nicht möglich.For the vehicle-side speed determination of rail vehicles, it is known (Hasler Mitteilungen, 34th year, No. 2, June 1975, pages 33 to 47) to scan the tread of a running rail from the vehicle by means of two optics spaced in the direction of travel and the time difference between the occurrence to measure corresponding images on the two optics. The advancing speed of the vehicle results from the distance between the two optics and the time shift of the correlated images. A self-location the vehicle on the route is not possible with the known device.
Aus der internationalen Patentanmeldung W095/32117 sind ein Verfahren und eine Einrichtung zur Steuerung der Neigung von Wagenkästen spurgeführter Fahrzeuge bekannt, die auf der Bewertung bestimmter Streckenparameter, nämlich der Gleiskrümmungen und der Gleisüberhöhungen, aufbauen. Diese Größen werden mindestens für die Kurvenbereiche bei einer Testfahrt aufgenommen und abgespeichert und bei späteren Fahrten zur Neigungssteuerung herangezogen. Die abgespeicherten Daten können bei Folgefahrten aktualisiert werden. Für die Ortung von Fahrzeuge werden an der Strecke zusätzliche Positionsgeber benötigt, die den Fahrzeugen den von ihnen jeweils befahrenen Fahrort benennen.From the international patent application W095 / 32117 a method and a device for controlling the inclination of car bodies of track-guided vehicles are known, which are based on the evaluation of certain route parameters, namely the track curvature and the track elevation. These variables are recorded and saved at least for the curve areas during a test drive and used for incline control during later drives. The saved data can be updated on subsequent trips. For the location of vehicles, additional position transmitters are required on the route, which give the vehicles the location they are traveling on.
Aus der EP 0 561 705 A1 sind ein Verfahren und eine Einrichtung zur Eigenortung spurgeführter Fahrzeuge bekannt, die auf der Korrelation bestimmter Streckenparameter, vorzugsweise ebenfalls der Gleiskrümmungen, beruhen. Als weitere Ortungsparameter soll die Lage von Schienenstromschließern bewertet werden. Eine laufende feinfühlige Eigenortung von Fahrzeugen auf freier Strecke ist mit den Mitteln der EP 0 561 705 A1 nicht möglich.From EP 0 561 705 A1 a method and a device for self-locating track-guided vehicles are known, which are based on the correlation of certain route parameters, preferably also the curvature of the track. The location of rail current closers is to be assessed as a further location parameter. A continuous sensitive localization of vehicles on the free route is not possible with the means of EP 0 561 705 A1.
Aufgabe der Erfindung ist es, ein Verfahren nach dem Oberbegriff des Patentanspruches 1 sowie eine Einrichtung zur Durchführung des Verfahrens anzugeben, das bzw. die überall auf der Strecke eine hinreichend genaue Lokalisierung der Fahrzeuge zuläßt und hierzu ohne gleisseitige Zusatzeinrichtungen wie Linienleiter und Ortsbaken auskommt.The object of the invention is to provide a method according to the preamble of claim 1 and a device for carrying out the method, the or the everywhere on the route a sufficiently accurate localization Permits vehicles and does this without additional equipment on the track side such as line conductors and local beacons.
Die Erfindung löst diese Aufgabe durch die kennzeichnenden Merkmale des Patentanspruches 1 bzw. des Patentanspruches 3.The invention solves this problem by the characterizing features of claim 1 and claim 3.
Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.Advantageous embodiments of the invention are specified in the subclaims.
Die Erfindung ist nachstehend anhand der Zeichnung näher erläutert. Die Zeichnung zeigt in den
- Figuren 1 und 2
- ortsbezogene Beschleunigungsdiagramme und in
- Figur 3
- in schematischer Darstellung eine Fahrzeugortungseinrichtung.
- Figures 1 and 2
- location-based acceleration diagrams and in
- Figure 3
- a schematic representation of a vehicle location device.
Figur 1 zeigt das Frequenzspektrum eines Beschleunigungssignals, das von einem fahrzeugseitigen Sensor beim Passieren eines bestimmten Streckenpunktes erzeugt wird. Dieses ortsspezifische Sensorsignal weist unterschiedliche Amplituden A bei unterschiedlichen Frequenzen f auf. Die niederfrequenten Beschleunigungen sagen etwas aus über die makroskopische Streckentopologie (Kurvenradien, Gleisbettung), die höherfrequenten Schockbeschleunigungen etwas über mikroskopische Streckenunebenheiten. Der Beschleunigungssensor, der dieses Rüttelprofil der Strecke zur Verfügung stellt, muß ausgesprochen robust sein, um den extremen Umweltbedingungen und den auftretenden Beschleunigungen dauerhaft standhalten zu können. Er ist auf dem Fahrzeug möglichst ungefedert anzubringen und detektiert dann beispielsweise die in der Vertikalen auftretenden Beschleunigungen. Es können weitere Sensoren zum Detektieren von insbesondere in der Horizontalen quer zur Fahrrichtung auftretenden Beschleunigungen vorgesehen sein, die ebenfalls für jeden Fahrort ein ortsspezifisches mehrfrequentes Beschleunigungssignal liefern.FIG. 1 shows the frequency spectrum of an acceleration signal that is generated by a vehicle-side sensor when it passes a certain route point. This location-specific sensor signal has different amplitudes A at different frequencies f. The low-frequency accelerations say something about the macroscopic track topology (curve radii, track bedding), the higher-frequency shock accelerations say something about microscopic bumps in the track. The acceleration sensor, which provides this vibration profile for the track, must be extremely robust in order to be able to withstand the extreme environmental conditions and the accelerations that occur. It should be attached to the vehicle as unsprung as possible and then detects, for example, the accelerations that occur in the vertical direction. Additional sensors can be used for Detection of accelerations that occur, in particular, in the horizontal direction transversely to the direction of travel can be provided, which likewise deliver a location-specific multi-frequency acceleration signal for each driving location.
Figur 2 zeigt die beim Passieren aufeinanderfolgender Fahrorte S0 bis S10 von einem fahrzeugseitigen Beschleunigungssensor detektierten mehrfrequenten Beschleunigungswerte. Die einzelnen Kurvenzüge haben untereinander eine gewisse Ähnlichkeit; tatsächlich unterscheiden sie sich aber ortsabhängig markant voneinander. Die Erfindung baut auf dem Vorhandensein und auf der Reproduzierbarkeit der ortsselektiven Frequenzspektren der Beschleunigungssignale auf und zwar dergestalt, daß sie die bei einer aktuellen Fahrt von einem Fahrzeugsensor detektierten Beschleunigungssignale vergleicht mit den bei einer früheren Fahrt ermittelten Beschleunigungssignalen, für die aus einem Streckenatlas eine eindeutige Zuordnung zu absoluten oder relativen Fahrorten gegeben ist. Hierzu wird auf Figur 3 verwiesen. Ein Beschleunigungssensor S nimmt bei jedem Befahren einer Strecke das Rüttelprofil dieser Strecke auf und führt es einem von zwei Speichern zu, wo es in digitaler Form abgespeichert wird. Bei einer ersten Fahrt war so das Streckenprofil in Form ortsspezifischer Frequenzspektren in einem sogenannten Referenzspeicher RS niedergelegt worden. Bei einer folgenden Fahrt werden entsprechende Beschleunigungssignale über den inzwischen gewechselten Schaltkontakt U einem Streckenspeicher SS zugeführt und dort in gleicher Weise niedergelegt wie die entsprechenden Beschleunigungssignale im Referenzspeicher RS. In vorteilhafter Weise werden die vom Sensor gelieferten Signale nicht direkt gespeichert, sondern vorher komprimiert, um das Speichervolumen in Grenzen zu halten. Für die im Referenzspeicher gespeicherten ortsspezifischen Beschleunigungssignale gibt es eine Zuordnung zu in einem Streckenatlas SA hinterlegten Fahrortangaben. Durch Korrelation der dem Streckenspeicher SS zugeführten Beschleunigungssignale mit dem im Referenzspeicher RS gespeicherten Beschleunigungssignalen und Abruf der dem jeweiligen Korrelationspunkt zugeordneten Fahrortangabe aus dem Streckenatlas SA läßt sich so auf dem Fahrzeug der jeweils aktuelle Fahrort eindeutig bestimmen. Der Korrelationsvorgang wird in Figur 3 durch einen Vergleicher VGL symbolisiert. Wenn die dem Streckenspeicher und die dem Referenzspeicher zugeführten Beschleunigungssignale vor ihrer Abspeicherung komprimiert werden, so sind die Daten vor dem Korrelationsvorgang wieder zu dekomprimieren. Die Genauigkeit des Ortungsvorganges hängt ab von der Anzahl der je Streckeneinheit abgespeicherten und in den Korrelationsvorgang einbezogenen Beschleinigungskurven, sowie von deren Auflösung.FIG. 2 shows the multi-frequency acceleration values detected by a vehicle-side acceleration sensor when passing successive driving locations S0 to S10. The individual curves have a certain similarity to one another; in fact, they differ markedly from one another depending on the location. The invention is based on the presence and on the reproducibility of the location-selective frequency spectra of the acceleration signals in such a way that it compares the acceleration signals detected by a vehicle sensor during a current journey with the acceleration signals determined during a previous journey, for which a clear assignment from a route atlas given absolute or relative locations. For this purpose, reference is made to FIG. 3. An acceleration sensor S records the vibration profile of this route each time it travels a route and feeds it to one of two memories, where it is stored in digital form. During a first trip, the route profile was stored in the form of location-specific frequency spectra in a so-called reference memory RS. During a subsequent journey, corresponding acceleration signals are fed via the now changed switching contact U to a track memory SS and are stored there in the same way as the corresponding acceleration signals in the reference memory RS. The signals supplied by the sensor are not advantageous saved directly, but compressed beforehand in order to keep the storage volume within limits. For the location-specific acceleration signals stored in the reference memory, there is an assignment to travel location information stored in a route atlas SA. By correlating the acceleration signals supplied to the route memory SS with the acceleration signals stored in the reference memory RS and retrieving the travel location information assigned to the respective correlation point from the route atlas SA, the respective current travel location can be clearly determined on the vehicle. The correlation process is symbolized in FIG. 3 by a comparator VGL. If the acceleration signals supplied to the track memory and the reference memory are compressed before they are stored, the data must be decompressed again before the correlation process. The accuracy of the locating process depends on the number of acceleration curves stored per route unit and included in the correlation process, as well as on their resolution.
Nach erfolgter Korrelation können die in den Vergleichsvorgang einbezogenen Werte des Referenzspeichers durch die aktuellen Korrelationswerte des Streckenspeichers ersetzt werden. Auf diese Art und Weise werden die Ortungsergebnisse unabhängig gemacht von möglichen Langzeitveränderungen der ortsabhängigen Beschleunigungsspektren.After correlation has taken place, the values of the reference memory included in the comparison process can be replaced by the current correlation values of the distance memory. In this way, the location results are made independent of possible long-term changes in the location-dependent acceleration spectra.
Für die Korrelation der im Streckenspeicher und der im Referenzspeicher gespeicherten Frequenzspektren ist es erforderlich, die vom Streckenspeicher bereitgestellten Daten zu linearisieren, d. h. die zu korrelierenden Daten mit gleicher Abtastgeschwindigkeit aus den beiden Speichern auszulesen und zu vergleichen. Dies wird in Figur 3 versinnbildlicht durch einen Geschwindigkeitsgeber V, insbesondere ein zur Geschwindigkeitsmessung ohnehin vorhandenes Radargerät, dessen Ausgangssignal die Auslesegeschwindigkeit der aktuellen Beschleunigungsspektren aus dem Streckenspeicher der Auslesegeschwindigkeit der im Referenzspeicher hinterlegten Beschleunigungsspektren anpaßt.For the correlation of the frequency spectra stored in the route memory and in the reference memory, it is necessary to linearize the data provided by the route memory, ie the data to be correlated with the same Read and compare scanning speed from the two memories. This is represented in FIG. 3 by a speed sensor V, in particular a radar device which is present anyway for speed measurement and whose output signal adapts the readout speed of the current acceleration spectra from the track memory to the readout speed of the acceleration spectra stored in the reference memory.
Bei Korrelation der im Streckenspeicher und der im Referenzspeicher gespeicherten Beschleunigungsspektren wird durch Zugriff auf die Daten des Streckenatlas SA der jeweilige Fahrort ermittelt und als Ortungsergebnis OB zur Verfügung gestellt. Die Anerkennung des jeweils ermittelten Ortungsergebnissses kann davon abhängig gemacht sein, daß das jeweilige Ortungsergebnis mit zuvor ermittelten Ortungsergebnissen harmoniert, d. h. daß es nicht zu Sprüngen in der Streckenkilometrierung kommt. Ob dabei die zuvor ermittelten Fahrortangaben ebenfalls aus der Korrelation von Beschleunigungsspektren bestimmt wurden oder durch ein anderes Ortungssystem, wie z. B. ein Radimpulsgeber oder ein Satellitennavigationssystem GPS, ist dabei ohne belang.If the acceleration spectra stored in the route memory and the reference memory are correlated, the respective travel location is determined by accessing the data of the route atlas SA and made available as the location result OB. The recognition of the location result determined in each case can be made dependent on the fact that the respective location result harmonizes with previously determined location results, i. H. that there are no jumps in route kilometrage. Whether the previously determined travel location information was also determined from the correlation of acceleration spectra or by another location system, such as. B. a wheel pulse generator or a GPS satellite navigation system is irrelevant.
Im Referenzspeicher können die ortsabhängigen Beschleunigungsspektren aller Fahrorte einer Strecke hinterlegt sein oder auch nur die für ausgewählte Streckenpunkte oder Strek-kenbereiche geltenden Beschleunigungsspektren. Diese Strek-kenbereiche sind dann vorzugsweise die, in denen Satellitennavigation nicht zur Anwendung kommen kann. Dies ist in Tunnel und Bahnhöfen der Fall.The location-dependent acceleration spectra of all travel locations on a route can be stored in the reference memory or just the acceleration spectra valid for selected route points or route areas. These route areas are then preferably those in which satellite navigation cannot be used. This is the case in tunnels and train stations.
Insbesondere bei Neustart des auf der Korrelation von Beschleunigungsspektren beruhenden Ortungsvorganges ist es von Vorteil, durch ein zusätzliches Ortungssystem wie beispielsweise die Satellitenortung einen Vertrauensbereich um einen Grobortungspunkt vorzugeben, in dem die zu korrelierenden Beschleunigungsspektren zu suchen sind.In particular, when the location process based on the correlation of acceleration spectra is restarted, it is advantageous to use an additional location system, such as satellite location, to specify a confidence interval around a rough location point, in which the acceleration spectra to be correlated are to be sought.
Die Sicherheit der Ortungsergebnisse ist abhängig von der Länge und Auflösung der in den Ortungsvorgang einbezogenen Korrelationsbereich.The security of the location results depends on the length and resolution of the correlation area involved in the location process.
Durch Bewertung de gemessenen Frequenzspektren ist es auch möglich, das Passieren bestimmter Streckenpunkte zu erkennen, beispielsweise das Passieren einer Weiche über ihren einen oder anderen Strang. Die Aussage darüber kann vorteilhaft dazu herangezogen werden, die für den Korrelationsvorgang erforderlichen Daten des einen oder anderen Gleisstranges aus dem Referenzspeicher abzurufen.By evaluating the measured frequency spectra, it is also possible to recognize the passage of certain route points, for example the passage of a switch over one or the other line. The statement about this can advantageously be used to retrieve the data of one or the other track section required for the correlation process from the reference memory.
Bei Verwendung von mehr als einem Sensor auf dem Fahrzeug können die Sensorsignale unabhängig voneinander korreliert werden oder auch als Mischsignal.When using more than one sensor on the vehicle, the sensor signals can be correlated independently of one another or as a mixed signal.
Die im Referenz speicher gespeicherten Beschleunigungsspektren gelten streng genommen nur für das Fahrzeug, das sie ermittelt hat. In der Praxis wird es ausreichen, die dort gespeicherten Daten zur Korrelation mit den von allen Fahrzeugen des gleichen Typs aktuell ermittelten Daten heranzuziehen.Strictly speaking, the acceleration spectra stored in the reference memory only apply to the vehicle that determined them. In practice, it will be sufficient to use the data stored there for correlation with the data currently determined by all vehicles of the same type.
Claims (14)
dadurch gekennzeichnet,
daß für die Eigenortung des Fahrzeugs die Frequenzspektren von Beschleunigungsmessungen korreliert werden, die von einer Referenzfahrt und von der aktuellen Fahrt stammen.Method for self-locating a track-guided vehicle on a route using an existing reference route map stored on the vehicle with reference to route kilometrage and a current route map determined when driving on a track of the route according to the same principles as the reference route map, based on the reference - correlate the route map,
characterized,
that for the self-location of the vehicle, the frequency spectra of acceleration measurements are correlated, which originate from a reference run and from the current trip.
dadurch gekennzeichnet,
daß die Frequenzspektren der aktuellen Beschleunigungsmessungen nach Maßgabe der aktuellen Fahrgeschwindigkeit linearisiert werden.Method according to claim 1,
characterized,
that the frequency spectra of the current acceleration measurements are linearized in accordance with the current driving speed.
dadurch gekennzeichnet,
characterized,
dadurch gekennzeichnet,
daß die Korrelation der Referenz- und der aktuellen Strekkenabbildung die Bewertung der Sensorsignale hinsichtlich definierter Bereiche des Frequenzspektrums (Frequenz und Amplitude) beinhaltet.Device according to claim 3,
characterized,
that the correlation of the reference and the current route mapping includes the evaluation of the sensor signals with respect to defined areas of the frequency spectrum (frequency and amplitude).
dadurch gekennzeichnet,
daß die Daten der aktuellen Streckennachbildung jeweils frühestens nach Korrelation der aktuellen Streckenabbildung mit der Referenz-Streckenabbildung die für die Referenz-Streckenabbildung gespeicherten Daten ersetzen und fortan die Daten der Referenz-Streckenabbildung darstellen.Device according to claim 3 or 4,
characterized by
that the data of the current route replica replace the data stored for the reference route map at the earliest after correlation of the current route map with the reference route map and henceforth represent the data of the reference route map.
daß die die Referenz-Streckenabbildung und die die aktuelle Streckenabbildung darstellenden Daten vor Abspeicherung einer Datenkompression und vor Korrelation einer Datendekompression unterzogen sind.Device according to one of claims 1 to 5,
that the data representing the reference route map and the data representing the current route map are subjected to data compression before storage and data decompression before correlation.
dadurch gekennzeichnet,
daß die die Referenz-Streckenabbildung darstellenden Daten in einer definierten Abtastzahl pro Streckeneinheit den absoluten Positionsangaben der in einem Streckenatlas abgespeicherten Daten und weiteren relevanten Daten über die Strecke zugeordnet sind und daß die die aktuelle Streckenabbildung darstellenden Daten über die aktuelle Vorrückgeschwindigkeit des Fahrzeugs linearisiert in gleicher definierter Abtastzahl pro Streckeneinheit dem Korrelationsvorgang zugeführt werden.Device according to one of claims 3 to 6,
characterized by
that the data representing the reference route map are assigned to the absolute position information of the data stored in a route atlas and other relevant data about the route in a defined number of samples per route unit and that the data representing the current route map about the current advancement speed of the vehicle are linearized in the same defined manner Number of samples per unit of distance are fed to the correlation process.
dadurch gekennzeichnet,
daß die aktuelle Vorrückgeschwindigkeit des Fahrzeugs durch Radarmessung über Boden zu ermitteln ist.Device according to claim 7,
characterized by
that the current advancing speed of the vehicle is to be determined by radar measurement over the ground.
dadurch gekennzeichnet,
daß die Genauigkeit der Ortungsergebnisse durch Vorgabe verschiedenhoher Abtastraten pro Streckeneinheit sowohl für die Darstellung der Referenz-Streckenabbildung als auch der aktuellen Streckenabbildung sowie deren Auflösungen veränderbar ist.Device according to one of claims 3 to 8,
characterized by
that the accuracy of the location results can be changed by specifying differently high sampling rates per route unit both for the representation of the reference route map and the current route map and its resolutions.
dadurch gekennzeichnet,
daß die Sicherheit des Ortungsergebnisses durch Vorgabe unterschiedlich langer Korrelationsbereiche und unterschiedliche hoher Auflösungen sowie Abtastraten veränderbar ist.Device according to one of claims 3 to 9,
characterized by
that the security of the location result can be changed by specifying differently long correlation areas and different high resolutions and sampling rates.
dadurch gekennzeichnet,
daß die Anerkennung einer durch Korrelation der Referenz-Streckenabbildung und der aktuellen Streckenabbildung ermittelten Ortsangabe auf dem Fahrzeug davon abhängig gemacht ist, daß vorangegangene Ortungsvorgänge zu Ortungsergebnissen geführt haben, die mit der aktuell ermittelten Ortungsangabe harmonieren.Device according to one of claims 3 to 10,
characterized,
that the recognition of a location information on the vehicle determined by correlation of the reference route map and the current route map is made dependent on the fact that previous location procedures have led to location results which harmonize with the currently determined location information.
dadurch gekennzeichnet,
daß das Fahrzeug beim Befahren von Gleisverzweigungen aus der Bewertung der Sensorsignale den jeweils befahrenen Schienenstrang erkennt und hieraus auf die fortan zu korrelierende Referenz-Streckenabbildung schließt.Device according to one of claims 3 to 11,
characterized,
that the vehicle recognizes the rail track being traveled on from the evaluation of the sensor signals when traveling on track branches and from this concludes the reference route mapping to be correlated from now on.
dadurch gekennzeichnet,
daß ein überlagertes Ortungssystem bei Neustart des Ortungsvorganges einen Grobortungswert vorgibt, dessen Vertrauensbereich den Bereich der Referenz-Streckenabbildung vorgibt, die mit der aktuellen Streckenabbildung zu korrelieren ist.Device according to one of claims 1 to 12,
characterized,
that a superimposed location system specifies a rough location value when the location process is restarted, the confidence interval of which specifies the area of the reference route map which is to be correlated with the current route map.
dadurch gekennzeichnet,
daß die Grobortungsangabe von einem Satellitenortungssystem stammt.Device according to claim 13,
characterized by
that the rough location information comes from a satellite location system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19611775 | 1996-03-14 | ||
| DE19611775A DE19611775A1 (en) | 1996-03-14 | 1996-03-14 | Method for self-locating a track-guided vehicle and device for carrying out the method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0795454A1 true EP0795454A1 (en) | 1997-09-17 |
| EP0795454B1 EP0795454B1 (en) | 1999-07-28 |
Family
ID=7789371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP97250069A Expired - Lifetime EP0795454B1 (en) | 1996-03-14 | 1997-03-12 | Method for determining the position of a railborne vehicle and device for carrying out the method |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0795454B1 (en) |
| AT (1) | ATE182535T1 (en) |
| DE (2) | DE19611775A1 (en) |
| ES (1) | ES2135968T3 (en) |
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| WO2020021282A1 (en) * | 2018-07-26 | 2020-01-30 | Innovarail Limited | Determining position of a vehicle on a rail |
| GB2562414B (en) * | 2018-07-26 | 2020-12-09 | Innovarail Ltd | Determining position of a vehicle on a rail |
| CN114559898A (en) * | 2022-02-08 | 2022-05-31 | 深圳市有方科技股份有限公司 | Vehicle, seat assembly thereof, seat cushion and rear safety belt unfastening reminding method |
Also Published As
| Publication number | Publication date |
|---|---|
| DE19611775A1 (en) | 1997-09-18 |
| DE59700274D1 (en) | 1999-09-02 |
| EP0795454B1 (en) | 1999-07-28 |
| ATE182535T1 (en) | 1999-08-15 |
| ES2135968T3 (en) | 1999-11-01 |
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