EP0795454B1 - 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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- EP0795454B1 EP0795454B1 EP97250069A EP97250069A EP0795454B1 EP 0795454 B1 EP0795454 B1 EP 0795454B1 EP 97250069 A EP97250069 A EP 97250069A EP 97250069 A EP97250069 A EP 97250069A EP 0795454 B1 EP0795454 B1 EP 0795454B1
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 40
- 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 7
- 230000015654 memory Effects 0.000 claims description 24
- 230000001419 dependent effect Effects 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000013144 data compression Methods 0.000 claims 1
- 230000006837 decompression Effects 0.000 claims 1
- 238000000151 deposition Methods 0.000 claims 1
- 238000004088 simulation Methods 0.000 claims 1
- 239000004020 conductor Substances 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000007774 longterm Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 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
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 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 a device for Performing this procedure.
- Such a method and such a facility are in the unpublished German patent application 195 29 986.
- driving a route Vehicles determine their respective driving location in that a current route image detected by them correlate a reference path map for which in a Route atlas route positions are stored.
- the route picture should be from a radar, infrared or video image of the route.
- the route map that applies to a specific location is at least seasonal and weather-related changes subject, d. H.
- the route panorama makes a difference in winter, especially after snowfall corresponding summer panorama and also the greening of Bushes and trees in spring and summer result in a different one Panorama opposite defoliated or partly defoliated Bushes and trees in autumn and winter. Furthermore structural activities along the route change that Route panorama and complicate vehicle location.
- DE 32 05 314 C2 describes a device for self-location of a track-guided object on a route known with a line conductor crossed at regular intervals for wireless information transfer from the line is provided on the train.
- Vehicle-side reception coils detect the phase position of the received voltages in each case line section traveled and evaluate it. By It can count the number of line conductor crossing points that have passed Determine where the vehicle is on the route; for fine location within the individual line section additional, z. B. from a non-driven vehicle shaft controlled displacement measuring devices needed.
- This well-known device for Locating a track-guided object is imperative the line conductor laid in the track and is therefore quite complex.
- DE 29 42 933 A1 describes a device for path and Speed measurement of rail-bound vehicles known, in which a vehicle-side radar device is in the direction of travel radar antenna pointing obliquely to the ground, which illuminates a narrow area between the tracks.
- the signal reflected on the track bed is on the vehicle received and regarding the information about the instantaneous speed of the vehicle containing Doppler shift evaluated. From the driving speed can be on the vehicle also the distance traveled and thus the calculate the respective destination, but only as long as the Radar signals from gravel or other reflective Sufficient material thrown back in the track bed become. This is not the case with snow and ice, so the The locating device then fails or at least is unreliable is working.
- EP 0 561 705 A1 describes a method and a device known for self-locating track-guided vehicles on the correlation of certain route parameters, preferably also the curvature of the track. As further location parameters should assess the location of rail current closers become. A continuous sensitive self-location of vehicles is on the free route with the means of EP 0 561 705 A1 not possible.
- the object of the invention is a method according to the preamble of claim 1 and a device for Perform the procedure to indicate that anywhere A sufficiently precise localization of the Vehicles permitted and without additional equipment on the track side how line managers and beacons get by.
- 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, from a vehicle-mounted sensor as it passes a certain waypoint is generated.
- This site 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 frequencies Accelerations of shock something about microscopic Bumps.
- the accelerometer that this Vibration profile of the route must be pronounced be robust to the extreme environmental conditions and the to be able to withstand occurring accelerations permanently. It should be attached to the vehicle as unsprung as possible and then detects, for example, those that occur in the vertical Accelerations. Additional sensors can be used for Detect in particular horizontally across Accelerations occurring in the direction of travel are provided, which is also a location-specific multi-frequency for each location Deliver acceleration signal.
- Figure 2 shows the successive when passing Locations S0 to S10 from an on-board acceleration sensor detected multi-frequency acceleration values.
- the individual curves have a certain mutual relationship Similarity; in fact, they differ depending on the location striking from each other.
- the invention builds on the existence and on the reproducibility of the location-selective Frequency spectra of the acceleration signals in such a way that they are on a current trip of one Vehicle sensor detected acceleration signals compared with the acceleration signals determined during a previous trip, for a clear assignment from a route atlas given absolute or relative locations.
- FIG. 3 An accelerometer S takes the vibrating profile every time you drive a route this route and leads it to one of two stores, where it is stored in digital form.
- the respective Driving location determined and available as a location result OB posed.
- Acknowledgment of the location result determined in each case can be dependent on the fact that the respective Location result with previously determined location results harmonized, d. H. that there are not jumps in route kilometrage is coming. Whether the previously determined location information also from the correlation of acceleration spectra were determined or by another location system, such as B. a wheel pulse generator or a satellite navigation system GPS is irrelevant.
- the location-dependent acceleration spectra can be stored in the reference memory of all locations on a route or only those for selected route points or route areas applicable acceleration spectra. These route areas are then preferably those in which satellite navigation cannot be used. This is in tunnel and train stations the case.
- an additional location system such as the satellite location has a confidence range around one Specify rough location point in which to be correlated Acceleration spectra are to be found.
- the security of the location results depends on the Length and resolution of those involved in the location process Correlation range.
- the sensor signals can be correlated independently of one another or as a mixed signal.
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 a device for Performing this procedure.
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 facility are in the unpublished German patent application 195 29 986. There are those driving a route Vehicles determine their respective driving location in that a current route image detected by them correlate a reference path map for which in a Route atlas route positions are stored. The route picture should be from a radar, infrared or video image of the route. The reference figure with which the current route mapping has to be correlated with a previous trip of the vehicle or a vehicle of the same vehicle type recorded in the same way as that current route map and together with the route kilometer stored 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 that applies to a specific location is at least seasonal and weather-related changes subject, d. H. the route panorama makes a difference in winter, especially after snowfall corresponding summer panorama and also the greening of Bushes and trees in spring and summer result in a different one Panorama opposite defoliated or partly defoliated Bushes and trees in autumn and winter. Furthermore structural activities along the route change that Route panorama and complicate vehicle location.
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.DE 32 05 314 C2 describes a device for self-location of a track-guided object on a route known with a line conductor crossed at regular intervals for wireless information transfer from the line is provided on the train. Vehicle-side reception coils detect the phase position of the received voltages in each case line section traveled and evaluate it. By It can count the number of line conductor crossing points that have passed Determine where the vehicle is on the route; for fine location within the individual line section additional, z. B. from a non-driven vehicle shaft controlled displacement measuring devices needed. This well-known device for Locating a track-guided object is imperative 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-PS 5,129,605 is a vehicle-side location system known for rail vehicles that the respective vehicle position by evaluating the runtime of satellite signals certainly. One based on satellite navigation The disadvantage of a location system is that it is in shadowing areas, especially tunnels and covered train stations, none provides usable location information. Besides, there is always the risk that those used for satellite navigation Satellites temporarily or long-term for military reasons not provided for private use be 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.DE 29 42 933 A1 describes a device for path and Speed measurement of rail-bound vehicles known, in which a vehicle-side radar device is in the direction of travel radar antenna pointing obliquely to the ground, which illuminates a narrow area between the tracks. The signal reflected on the track bed is on the vehicle received and regarding the information about the instantaneous speed of the vehicle containing Doppler shift evaluated. From the driving speed can be on the vehicle also the distance traveled and thus the calculate the respective destination, but only as long as the Radar signals from gravel or other reflective Sufficient material thrown back in the track bed become. This is not the case with snow and ice, so the The locating device then fails or at least is unreliable is working.
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 vehicle speed determination of rail vehicles it is known (Hasler Mitteilungen, 34th year, No. 2, June 1975, pages 33 to 47), from the vehicle Running surface of a travel rail by means of two in the direction of travel to scan spaced optics and the time shift between the appearance of matching images on the to measure both optics. From the distance between the two optics and the time shift of the correlated maps the advancing speed of the vehicle. A self-location of the vehicle on the route is with the known device not possible.
Aus der internationalen Patentanmeldung WO95/32117 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 international patent application WO95 / 32117 are a Method and device for controlling the inclination of Car bodies of track-guided vehicles known on the Evaluation of certain route parameters, namely the curvature of the track and the track cant. These sizes are at least for the curve areas during a test drive recorded and saved and for later trips to the Incline control used. The stored data can be updated on subsequent trips. For location vehicles become additional position indicators along the route needed that the vehicles the one they are driving on Name the location.
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.EP 0 561 705 A1 describes a method and a device known for self-locating track-guided vehicles on the correlation of certain route parameters, preferably also the curvature of the track. As further location parameters should assess the location of rail current closers become. A continuous sensitive self-location of vehicles is on the free route with the means of EP 0 561 705 A1 not possible.
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 a method according to the preamble of claim 1 and a device for Perform the procedure to indicate that anywhere A sufficiently precise localization of the Vehicles permitted and without additional equipment on the track side how line managers and beacons get by.
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 in the Subclaims specified.
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, from a vehicle-mounted sensor as it passes a certain waypoint is generated. This site 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 frequencies Accelerations of shock something about microscopic Bumps. The accelerometer that this Vibration profile of the route must be pronounced be robust to the extreme environmental conditions and the to be able to withstand occurring accelerations permanently. It should be attached to the vehicle as unsprung as possible and then detects, for example, those that occur in the vertical Accelerations. Additional sensors can be used for Detect in particular horizontally across Accelerations occurring in the direction of travel are provided, which is also a location-specific multi-frequency for each location Deliver acceleration signal.
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.Figure 2 shows the successive when passing Locations S0 to S10 from an on-board acceleration sensor detected multi-frequency acceleration values. The individual curves have a certain mutual relationship Similarity; in fact, they differ depending on the location striking from each other. The invention builds on the existence and on the reproducibility of the location-selective Frequency spectra of the acceleration signals in such a way that they are on a current trip of one Vehicle sensor detected acceleration signals compared with the acceleration signals determined during a previous trip, for a clear assignment from a route atlas given absolute or relative locations. For this purpose, reference is made to FIG. 3. An accelerometer S takes the vibrating profile every time you drive a route this route and leads it to one of two stores, where it is stored in digital form. At a first Driving was the route profile in the form of location-specific frequency spectra stored in a so-called reference memory RS been. On a subsequent trip, corresponding Acceleration signals over the now changed Switching contact U is supplied to a track memory SS and deposited there in the same way as the corresponding ones Acceleration signals in the reference memory RS. In advantageous The signals supplied by the sensor are not made in this way saved directly, but previously compressed to the storage volume to keep within limits. For those in the reference memory There are stored location-specific acceleration signals an assignment to stored in a route atlas SA Location information. By correlating the track memory SS supplied acceleration signals with that in the reference memory RS stored acceleration signals and retrieval of the the location information assigned to the respective correlation point from the route atlas SA on the vehicle clearly determine the current driving location. The correlation process is shown in Figure 3 by a comparator VGL symbolizes. If the track memory and the reference memory supplied acceleration signals before they are stored are compressed, so the data is before Decompress the correlation process again. The precision the locating process depends on the number of each route unit stored and included in the correlation process Acceleration curves and 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 the correlation has taken place, you can start the comparison process included values of the reference memory by the current Correlation values of the route memory are replaced. In this way, the location results are independent made from possible long-term changes in 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 those in the track memory and that in the reference memory stored frequency spectra it is necessary the data provided by the track memory linearize, d. H. the data to be correlated with the same Read the scanning speed from the two memories and to compare. This is symbolized in FIG. 3 by a speed sensor V, in particular one for speed measurement anyway existing radar device, its output signal the readout speed of the current acceleration spectra from the track memory of the readout speed the acceleration spectra stored in the reference memory adjusts.
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.When the correlation between the track memory and the reference memory stored acceleration spectra is accessed on the data of the route atlas SA the respective Driving location determined and available as a location result OB posed. Acknowledgment of the location result determined in each case can be dependent on the fact that the respective Location result with previously determined location results harmonized, d. H. that there are not jumps in route kilometrage is coming. Whether the previously determined location information also from the correlation of acceleration spectra were determined or by another location system, such as B. a wheel pulse generator or a satellite navigation system GPS 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 can be stored in the reference memory of all locations on a route or only those for selected route points or route areas applicable acceleration spectra. These route areas are then preferably those in which satellite navigation cannot be used. This is in tunnel and train stations the case.
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.Especially when restarting on the correlation of acceleration spectra based locating process it is from Advantage, through an additional location system such as the satellite location has a confidence range around one Specify rough location point in which to be correlated Acceleration spectra are to be found.
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 those involved in the location process Correlation range.
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 waypoints, for example passing a switch over one of them or other strand. The statement about this can be advantageous to be used for the correlation process required data of one or the other track 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.The acceleration spectra stored in the reference memory strictly speaking, only apply to the vehicle that it is detecting Has. In practice it will suffice to have the data stored there Correlation data with that of all vehicles of the same type of data currently being determined.
Claims (14)
- Method for the self-locating of a track-guided vehicle on a track with the use of a reference track image present on the vehicle and deposited with reference to the track kilometering, and with the use of a current track image which is determined according to the same laws as the reference track image when a line of the track is travelled on, which current track image is to be correlated with the reference track image, characterized in that for the self-locating of the vehicle those frequency spectrums of acceleration measurements are correlated which come from a reference journey and from the current journey.
- Method according to claim 1, characterized in that the frequency spectrums of the current acceleration measurements are linearized in accordance with the current travelling speed.
- Device for carrying out the method according to claim 1 or 2, characterized in that on the vehicle at least one acceleration sensor (S) for detecting horizontal accelerations at right angles to the travel direction and/or vertical accelerations is provided, in that on the vehicle for depositing the data for the reference track image and for the current track image memories (SS, RS) are provided, in which the data is to be written and from which the data can be taken for correlation, and
in that a track atlas (SA) readable during correlation of the stored frequency spectrums is provided, into which travel location information was read during a first journey synchronously with the reading of the acceleration data into the reference memory. - Device according to claim 3, characterized in that the correlation of the reference image and the current track image involves the evaluation of the sensor signals with respect to defined regions of the frequency spectrum, i.e. frequency and amplitude.
- Device according to claim 3 or 4, characterized in that the data of the current track simulation in each case at the earliest after correlation of the current track image with the reference track image replaces the data stored for the reference track image and from then on represents the data of the reference track image.
- Device according to one of claims 3 to 5, in that the data representing the reference track image and the data representing the current track image is subjected to a data compression before storing and to a data decompression before correlation.
- Device according to one of claims 3 to 6, characterized in that the data representing the reference track image in a defined scanning number per track unit is allocated to the absolute position information of the data stored in a track atlas and further relevant data on the track, and in that the data on the current advance speed of the vehicle, representing the current track image, is supplied linearized in the same defined scanning number per track unit to the correlation procedure.
- Device according to claim 7, characterized in that the current advance speed of the vehicle is to be determined by radar measurement over ground.
- Device according to one of claims 3 to 8, characterized in that the accuracy of the locating results can be varied by the specification of scanning rates of different levels per track unit both for the representation of the reference track image and the current track image as well as their resolutions.
- Device according to one of claims 3 to 9, characterized in that the safety of the locating result can be varied by the specification of correlation regions of different lengths and resolutions and scanning rates of different levels.
- Device according to one of claims 3 to 10, characterized in that the recognition of a location statement determined by correlation of the reference track image and the current track image on the vehicle is made dependent on the fact that preceding locating procedures have led to locating results which harmonize with the currently determined locating statement.
- Device according to one of claims 3 to 11, characterized in that when travelling on line branches the vehicle detects from the evaluation of the sensor signals the rail track respectively travelled on and concludes from this the reference track image to be correlated from now on.
- Device according to one of claims 3 to 12, characterized in that with a restarting of the locating procedure a superimposed locating system specifies a rough locating value, the confidence region of which specifies the region of the reference track image which is to be correlated with the current track image.
- Device according to claim 13, characterized in that the rough locating statement originates from a satellite locating 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 EP0795454A1 (en) | 1997-09-17 |
| EP0795454B1 true EP0795454B1 (en) | 1999-07-28 |
Family
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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) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2777078B1 (en) * | 1998-04-02 | 2000-05-05 | Sagem | ODOMETER FOR VEHICLE SUCH AS RAIL VEHICLE AND VEHICLE LOCATION DEVICE COMPRISING THE ODOMETER |
| DE19924497C2 (en) * | 1998-06-18 | 2002-03-28 | Karl Albrecht Klinge | Procedure for checking the consistency of information about lines |
| DE10020520B4 (en) * | 2000-04-19 | 2004-02-12 | Db Reise & Touristik Ag | Method and device for monitoring the driving properties of a rail vehicle |
| US8116976B2 (en) * | 2000-05-18 | 2012-02-14 | Csr Technology Inc. | Satellite based positioning method and system for coarse location positioning |
| DE10034462A1 (en) * | 2000-07-15 | 2002-01-31 | Bosch Gmbh Robert | Device for the location-dependent display of information in a track-guided vehicle |
| FR2817527B1 (en) * | 2000-12-04 | 2003-01-10 | Alstom | METHOD AND DEVICE FOR LOCATING A VEHICLE ON A TRACK |
| DE10128761A1 (en) * | 2001-06-07 | 2002-12-12 | Siemens Ag | Device for evaluating traffic data |
| DE10233527B4 (en) * | 2002-07-23 | 2004-07-22 | Db Reise & Touristik Ag | Procedure for onboard diagnosis of wheelset guidance elements |
| DE102008060405A1 (en) * | 2008-12-01 | 2010-06-10 | Siemens Aktiengesellschaft | Method and device for determining the position of rail-bound vehicles |
| US8126934B2 (en) | 2009-03-12 | 2012-02-28 | Lockheed Martin Corporation | Updating track databases after track maintenance |
| US8244456B2 (en) | 2009-03-12 | 2012-08-14 | Lockheed Martin Corporation | Validation of track databases |
| US8392103B2 (en) | 2009-03-12 | 2013-03-05 | Lockheed Martin Corporation | Database for efficient storage of track geometry and feature locations |
| DE102009037637A1 (en) * | 2009-08-14 | 2011-02-24 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Method and electronic device for condition monitoring of components in rail vehicles |
| CN104040607B (en) * | 2012-01-12 | 2016-04-27 | 本田技研工业株式会社 | Synchronous driving assist system and synchronous travel assist system |
| DE102014212629A1 (en) | 2014-06-30 | 2015-12-31 | Siemens Aktiengesellschaft | Method for operating a rail vehicle |
| CN105346568B (en) * | 2015-12-07 | 2017-01-18 | 河南思维信息技术有限公司 | Method for positioning main lines and branch lines through GPS longitude and latitude |
| EP3431362A3 (en) | 2017-06-30 | 2019-04-17 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for infrastructure-free detection of a transition of a section of track by a rail vehicle |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3143234A1 (en) * | 1981-10-31 | 1983-05-11 | Teldix Gmbh, 6900 Heidelberg | Navigation method |
| FR2632411B1 (en) * | 1988-06-03 | 1990-08-31 | Durand Charles | METHOD AND DEVICE FOR TACHYMETRY AND LOCATION OF RAILWAY RAILWAY MATERIALS |
| FR2688757A1 (en) * | 1992-03-20 | 1993-09-24 | Sncf | METHOD AND DEVICE FOR LOCATING A VEHICLE ON A TRACK AND APPLICATION TO THE ANALYSIS AND EXPERTISE OF GEOMETRY OF A RAILWAY. |
| US5332180A (en) * | 1992-12-28 | 1994-07-26 | Union Switch & Signal Inc. | Traffic control system utilizing on-board vehicle information measurement apparatus |
| DE19505487C2 (en) * | 1994-03-09 | 1997-08-28 | Mannesmann Ag | Device in a vehicle for determining the current vehicle position |
| DE19529986C2 (en) * | 1995-08-04 | 2002-06-13 | Siemens Ag | Procedure for locating track-guided vehicles and devices for carrying out the procedure |
-
1996
- 1996-03-14 DE DE19611775A patent/DE19611775A1/en not_active Withdrawn
-
1997
- 1997-03-12 EP EP97250069A patent/EP0795454B1/en not_active Expired - Lifetime
- 1997-03-12 AT AT97250069T patent/ATE182535T1/en not_active IP Right Cessation
- 1997-03-12 ES ES97250069T patent/ES2135968T3/en not_active Expired - Lifetime
- 1997-03-12 DE DE59700274T patent/DE59700274D1/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| ATE182535T1 (en) | 1999-08-15 |
| ES2135968T3 (en) | 1999-11-01 |
| DE59700274D1 (en) | 1999-09-02 |
| EP0795454A1 (en) | 1997-09-17 |
| DE19611775A1 (en) | 1997-09-18 |
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