EP1642800A1 - Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin - Google Patents

Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin Download PDF

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Publication number
EP1642800A1
EP1642800A1 EP04447215A EP04447215A EP1642800A1 EP 1642800 A1 EP1642800 A1 EP 1642800A1 EP 04447215 A EP04447215 A EP 04447215A EP 04447215 A EP04447215 A EP 04447215A EP 1642800 A1 EP1642800 A1 EP 1642800A1
Authority
EP
European Patent Office
Prior art keywords
confidence interval
train
determining
location
beacon
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04447215A
Other languages
German (de)
English (en)
Inventor
Michel Rousseau
Antonin Starck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom Belgium SA
Original Assignee
Alstom Belgium SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alstom Belgium SA filed Critical Alstom Belgium SA
Priority to EP04447215A priority Critical patent/EP1642800A1/fr
Priority to US10/591,851 priority patent/US7769538B2/en
Priority to PL05715785T priority patent/PL1720754T3/pl
Priority to AU2005229358A priority patent/AU2005229358B2/en
Priority to EP05715785A priority patent/EP1720754B1/fr
Priority to AT05715785T priority patent/ATE423714T1/de
Priority to CN2005800066648A priority patent/CN1926020B/zh
Priority to PT05715785T priority patent/PT1720754E/pt
Priority to DE602005012932T priority patent/DE602005012932D1/de
Priority to DK05715785T priority patent/DK1720754T3/da
Priority to ES05715785T priority patent/ES2322076T3/es
Priority to CA2554069A priority patent/CA2554069C/fr
Priority to PCT/EP2005/002372 priority patent/WO2005095174A1/fr
Publication of EP1642800A1 publication Critical patent/EP1642800A1/fr
Withdrawn legal-status Critical Current

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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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • 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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • 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. global positioning system [GPS]

Definitions

  • the present invention relates to a method for securely determining the position of an object moving along a course which is known by the location device.
  • course is intended to mean a subset of the space delimited by a tubular surface of arbitrary and variable cross section, in which the vehicle is strictly constrained to move. In the event that the cross section of this tube can be neglected, this gives two equations linking longitude, latitude and altitude of the moving object.
  • the present invention relates more precisely to a method for determining the location of a train moving on a railway track of which the exact path is known.
  • the present invention relates to a method for determining the location and/or the positioning of a vehicle in terms of railway transport security. It involves being able to determine in a quasi-instantaneously way and with a given probability the location of a vehicle moving on a known course, or more precisely the zones of non-presence of said vehicle on a section.
  • a train In railway signalling, a train is not allowed to enter a specific section of track until it is certain that the train in front has departed therefrom, i.e. the track section in question is free. To that end, it is necessary to ascertain with a predetermined, extremely small margin of error (for example with a maximum error level in the order of 10 -9 and preferably in the order of 10 -12 ) the zones in which non-presence of a train can be relied upon, and to do so at each iteration of the calculation.
  • a predetermined, extremely small margin of error for example with a maximum error level in the order of 10 -9 and preferably in the order of 10 -12
  • train borne train position determination systems for fail safe train control purposes. These train position determination systems are based on train borne sensors (wheel sensors, radars,...) which give the relative position of the train with reference to trackside location materialised by trackside installed beacons (or equivalent devices). These trackside reference points are required because of the nature of the applied sensors, in order to allow resetting the error accumulated by the train location system over time (radars) and/or distance (wheel sensors).
  • the position of a vehicle can be determined using a satellite communication system by means of a GNSS (Global Navigation Satellite System) like GPS, GLONASS, and the future Galileo system.
  • GNSS Global Navigation Satellite System
  • WO 02/03094 discloses a method for secure determination of an object location, preferably a vehicle moving along a known course. This method takes advantage of the deterministic trajectory of the train to reach an optimal compromise between safety, availability and accuracy. However, this system cannot provide a higher accuracy where needed, e.g. near stations or crossings.
  • EP-B-0825418 discloses the use of several sensors to determine the position of a train. Data relating to position and error interval from several sensors, comprising beacons and GPS, is used to determine the position of the train. However, this system implies a calculation involving severals operations including integration. It is therefore considered as complex.
  • secure location is intended to mean the location, or more exactly the non-presence of a train outside a zone which is redefined at each calculation, with a error level of less than 10 -9 and preferably capable of reaching 10 -12 .
  • Another aim of the invention is to improve the localisation accuracy of a train, and to improve the throughput performance of a course such as a railway line.
  • Others aims of the invention are to improve the life cycle cost of a train/command system, to reduce the amount of equipments installed below the locomotive, to reduce the amount of equipments installed along the tracks.
  • the present invention relates to a method for determining the location and/or the positioning of an object, in particular a vehicle such as a train, moving along a known course, and this securely in terms of railway transport.
  • the method comprises the steps of
  • said absolute position is determined by a railway-safe positioning method involving a digital mapping of the possible trajectories, and at least one satellite communication receiver, e.g. a GNSS receiver or an equivalent device.
  • a railway-safe positioning method involving a digital mapping of the possible trajectories, and at least one satellite communication receiver, e.g. a GNSS receiver or an equivalent device.
  • said relative position is calculated by detecting the presence of a beacon, and by integrating the speed of the object, with reference to the location of said beacon.
  • said speed is calculated via the GNSS Doppler signal.
  • the first confidence interval for the absolute position is in the order of 50 m.
  • the present invention is also related to a location device implementing the method as previously described.
  • Fig. 1 represents trains using the invention.
  • Fig. 2 represents a graph showing the principles of the invention.
  • Fig. 1 shows a train moving on a track.
  • the track is subdivided in sections, and when the train leaves a section, another train can be allowed to enter this section. Therefore the position of the train needs to be determined.
  • This position is determined, in terms of railway safety, with absolute error length, called confidence interval.
  • This means that the train is in the confidence interval with a probability of error of less than 10 -9 and preferably of less than 10 -12 .
  • the smaller the confidence interval the sooner the section can be used by another train. The line/track throughput is therefore improved.
  • the train is equipped with an absolute position determining system (APDS).
  • APDS comprises means to access a digital mapping of the possible trajectories, and at least one GNSS receiver or equivalent device.
  • the APDS allows to determine the position of the train, with a confidence interval of around 50 m. This can be achieved by applying the method described in WO 02/03094.
  • the train is also equipped with a relative position determining system (RPDS).
  • the RPDS comprises means for detecting the presence of a beacon along the track. When a beacon is detected, the RPDS knows that the position of the train corresponds to the position of the beacon, with a confidence interval of for example around 5 m.
  • the position of the beacon can be sent by the beacon itself, or stored in a database accessible from the train.
  • the RPDS also comprises means to measure the speed of the train. Those means can be for instance the GNSS equipment of the APDS, allowing a speed determination by the GNSS Doppler signal.
  • the relative position is calculated by the RPDS by integrating the speed of the train, with reference to the position of the beacon.
  • the confidence interval which is very small when a beacon has just been passed, increases with the movement of the train because of the accumulation of errors.
  • the APDS and the RPDS are part of a train borne location system.
  • the train borne location system determines the position of the train according to the method of the invention.
  • the principle of the invention is shown Fig. 2.
  • the confidence interval of the position a train moving on a track is shown with respect to the distance ran by the train.
  • a first curve ('APDS') shows the confidence interval of the APDS.
  • the confidence interval is in this example about 50 meter.
  • a second curve ('RPDS') shows the confidence interval of the RPDS.
  • the confidence interval is of for example from 1 to 5 m.
  • the confidence interval increases, due to the accumulation of errors, until another beacon is met.
  • the method of the invention consists in determining the position of the train according to the following principle : each time a beacon is met by the train, the train borne location system operates in an beacon augmented mode, using the RPDS : the beacon position is used as a reference and the actual train position is computed with reference to this beacon, by integrating the actual speed of the train.
  • the train borne location system stops using the beacon augmented mode information and switches to the use of the APDS. It then keeps operating in APDS mode until a next beacon is met.
  • the position of the train is determined with a confidence interval shown by the 'optimal' curve in Fig. 2.
  • the present invention allows to determine the position of a train with a high accuracy by placing beacons where needed, for example near stations or crossings of tracks, and with a good accuracy and without the need of beacons, where such a higher accuracy is not needed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP04447215A 2004-03-05 2004-09-29 Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin Withdrawn EP1642800A1 (fr)

Priority Applications (13)

Application Number Priority Date Filing Date Title
EP04447215A EP1642800A1 (fr) 2004-09-29 2004-09-29 Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin
US10/591,851 US7769538B2 (en) 2004-03-05 2005-03-03 Method and system for determining the position of an object moving along a course
PL05715785T PL1720754T3 (pl) 2004-03-05 2005-03-03 Sposób i urządzenie do niezawodnego wyznaczania położenia obiektu
AU2005229358A AU2005229358B2 (en) 2004-03-05 2005-03-03 Method and system for determining the position of an object moving along a course
EP05715785A EP1720754B1 (fr) 2004-03-05 2005-03-03 Procede et systeme pour la determination en securite de la position d'un objet
AT05715785T ATE423714T1 (de) 2004-03-05 2005-03-03 Verfahren und einrichtung zur sicheren bestimmung der position eines objekts
CN2005800066648A CN1926020B (zh) 2004-03-05 2005-03-03 沿特定路线移动的物体的定位方法和系统
PT05715785T PT1720754E (pt) 2004-03-05 2005-03-03 Método e sistema para determinar a posição de um objecto que circula ao longo de um percurso
DE602005012932T DE602005012932D1 (de) 2004-03-05 2005-03-03 Verfahren und einrichtung zur sicheren bestimmung der position eines objekts
DK05715785T DK1720754T3 (da) 2004-03-05 2005-03-03 Fremgangsmåde og system til sikkert at bestemme et objekts position
ES05715785T ES2322076T3 (es) 2004-03-05 2005-03-03 Metodo y dispositivo para determinar de modo seguro la posicion de un objeto.
CA2554069A CA2554069C (fr) 2004-03-05 2005-03-03 Procede et systeme permettant de determiner la position d'un objet se deplacant sur une trajectoire
PCT/EP2005/002372 WO2005095174A1 (fr) 2004-03-05 2005-03-03 Procede et systeme permettant de determiner la position d'un objet se deplaçant sur une trajectoire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP04447215A EP1642800A1 (fr) 2004-09-29 2004-09-29 Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin

Publications (1)

Publication Number Publication Date
EP1642800A1 true EP1642800A1 (fr) 2006-04-05

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EP04447215A Withdrawn EP1642800A1 (fr) 2004-03-05 2004-09-29 Procédé et système pour la détermination de la position d'un mobile en mouvement sur un chemin

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2927089A1 (fr) * 2014-04-02 2015-10-07 ALSTOM Transport Technologies Procédé de calcul d'un intervalle de positions d'un véhicule ferroviaire sur une voie ferrée et dispositif associé
EP3028922A1 (fr) * 2014-12-03 2016-06-08 ALSTOM Transport Technologies Procédé de discrimination de la présence d'un véhicule ferroviaire sur un canton, procédé de calcul d'un intervalle de sécurité et dispositif associé
WO2019211302A1 (fr) * 2018-05-03 2019-11-07 Thales Systeme de localisation integre et autonome d'un train dans un referentiel de reseau ferroviaire

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0881136A2 (fr) * 1997-05-29 1998-12-02 Siemens Aktiengesellschaft Procédé pour former un intervalle de confiance de sécurité d'une solution de localisation
US5893043A (en) * 1995-08-30 1999-04-06 Daimler-Benz Ag Process and arrangement for determining the position of at least one point of a track-guided vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5893043A (en) * 1995-08-30 1999-04-06 Daimler-Benz Ag Process and arrangement for determining the position of at least one point of a track-guided vehicle
EP0881136A2 (fr) * 1997-05-29 1998-12-02 Siemens Aktiengesellschaft Procédé pour former un intervalle de confiance de sécurité d'une solution de localisation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
KIRICZI ET AL: "Signaltechnisch sichere Fehlergrenzen für die Erfassung der Bewegungszustände von Bahnen", FORTSCHRITT-BERICHTE VDI: REIHE 8, MESS-, STEUERUNGS- UND REGELUNGSTECHNIK, VDI VERLAG, DUESSELDOF, DE, 1996, pages 121 - 155, XP002264504, ISSN: 0178-9546 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2927089A1 (fr) * 2014-04-02 2015-10-07 ALSTOM Transport Technologies Procédé de calcul d'un intervalle de positions d'un véhicule ferroviaire sur une voie ferrée et dispositif associé
FR3019676A1 (fr) * 2014-04-02 2015-10-09 Alstom Transp Tech Procede de calcul d'un intervalle de positions d'un vehicule ferroviaire sur une voie ferree et dispositif associe
EP3028922A1 (fr) * 2014-12-03 2016-06-08 ALSTOM Transport Technologies Procédé de discrimination de la présence d'un véhicule ferroviaire sur un canton, procédé de calcul d'un intervalle de sécurité et dispositif associé
FR3029674A1 (fr) * 2014-12-03 2016-06-10 Alstom Transp Tech Procede de discrimination de la presence d'un vehicule ferroviaire sur un canton, procede de calcul d'un intervalle de securite et dispositif associe
WO2019211302A1 (fr) * 2018-05-03 2019-11-07 Thales Systeme de localisation integre et autonome d'un train dans un referentiel de reseau ferroviaire
CN112135764A (zh) * 2018-05-03 2020-12-25 塔莱斯公司 用于在铁路网参考系中定位列车的高完整性自主系统
CN112135764B (zh) * 2018-05-03 2022-12-20 塔莱斯公司 用于在铁路网参考系中定位列车的高完整性自主系统

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