JP2006240593A - Train initial position determination device and train initial position determination method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a train initial position determination device or the like capable of accurately determining an initial position of the train while utilizing a radio range-finding value. <P>SOLUTION: The train initial position determination device 1 is provided with a radio range-finding value obtaining means 3 for obtaining the position of the train 23 during stopping as the radio range-finding value at a plurality of times; an average value obtaining part 5 for obtaining an average value of the plurality of radio range-finding values obtained in the radio range-finding value obtaining means; and an initial position determination part 7 for determining the train initial position from the average value of the plurality of radio range-finding value obtained in the average value obtaining part. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to the determination of the initial position of a train.

  The conventional train detection method detects the position of a train using a track circuit. However, since the track circuit divides the track into a plurality of long sections, it is possible to specify specifically in which track circuit area the train exists, but in addition, in the specified track circuit area, It was difficult to detect where the train was located. For this reason, the following train cannot enter the track circuit until the preceding train passes through the track circuit, and there is a disadvantage that the efficiency does not increase when the number of trains is increased.

Moreover, as a method for solving such a drawback, a train position determination system disclosed in Japanese Patent Application Laid-Open No. 7-507752 (Patent Document 1) is disclosed. In such a system, it is possible to measure the distance between the lineside radio and the train radio, and to exchange data between the lineside radio and the train radio and between the lineside radios. . This is because the distance between the radio set on the ground and the on-board radio set on the vehicle is measured by the radio wave delay measurement mode. It was to judge whether or not.
JP 7-507752 gazette

  However, in the train position determination system disclosed in Patent Document 1 above, when the power of the train is turned on, first, it is necessary to accurately determine the initial position where the train is located on the track. . However, as described above, the distance value measured by radio (hereinafter, “radio distance measurement value”) is not always obtained as an accurate value if measured. This is because even if the distance between each radio is fixed, the radio distance measurement value varies from the true value due to the influence of the radio wave environment, etc. It is considered that there are variations in the shape. If the initial position is erroneously determined due to such variations, the tracking of the train position will fail, and in that case, safety measures such as stopping all lines must be taken.

  The present invention has been made in view of such problems, and provides a train initial position determination device and a train initial position determination method that can accurately determine an initial position of a train while using a wireless distance measurement value. It is to be.

  In order to solve the above-described problem, the present invention is an apparatus for determining an initial position from the position of a stopped train, and a wireless distance measurement value that is acquired a plurality of times as a wireless distance measurement position of the stopped train An acquisition unit; an average value acquisition unit that acquires an average value of a plurality of wireless distance measurement values obtained by the wireless distance measurement value acquisition unit; and an average of a plurality of wireless distance measurement values obtained by the average value acquisition unit And an initial position determination unit that determines the initial position of the train from the value.

  The average value acquisition unit calculates a new average value obtained by averaging the old average value, which is an average of the N radio distance measurement values, and the N + 1-th radio distance measurement value newly obtained by the wireless distance measurement value acquisition unit. It is preferable to further include a storage unit for calculating and storing the new average value.

  Preferably, the wireless distance measurement value obtained from the wireless distance value acquisition means is further provided with filter means interposed between the wireless distance value acquisition means and the average value acquisition unit. Only those within the allowable numerical value range are output to the average value acquisition unit.

  The allowable numerical value range in the filter means is determined according to a reference value obtained by averaging a plurality of wireless distance measurement values obtained from the wireless distance measurement value acquisition means, and the filter action of the filter means is the reference value It is preferred to function after the allowable numerical range based on is determined.

  Preferably, after the filter function is functioning, if the wireless distance values obtained from the wireless distance value acquisition means do not appear within a predetermined number, a predetermined ratio, or a predetermined time within the allowable numerical value range, The reference value is re-determined or abnormality notification is performed.

  In order to achieve the same object as described above, the present invention also provides a train initial position determination method. That is, the train initial position determination method according to the present invention is a method of determining an initial position from the position of a stopped train, and obtains the position of the stopped train as a wireless distance measurement value a plurality of times. An average value of the radio ranging values is acquired, and a train initial position is determined from the average value.

  By acquiring the radio distance measurement values a plurality of times while the train is stopped and performing the averaging process, the initial position of the train can be accurately determined while using the radio distance measurement values.

  The other features of the present invention and the operational effects thereof will be described in more detail with reference to the accompanying drawings.

  Embodiments according to the present invention will be described below with reference to the accompanying drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.

  In FIG. 1, the structure of the train initial position determination apparatus which concerns on the 1st Embodiment of this invention is shown. FIG. 2 is an image diagram showing a train and a radio on site.

  As shown in FIG. 1, the train initial position determination device 1 mainly includes a radio distance measurement value acquisition unit 3, an average value acquisition unit 5, an initial position determination unit 7, a storage unit 9, and a timer unit 11. Is provided. An average value acquisition unit 5 and a timer unit 11 are connected to the initial position determination unit 7, and a wireless distance measurement value acquisition unit 3 and a storage unit 9 are connected to the average value acquisition unit 5.

  The wireless distance value acquisition means 3 can acquire the position of the stopped train as a wireless distance value. Specifically, a method for measuring the position to the train by radio as a distance value may be a well-known method, and a detailed description thereof will be omitted.

  The average value acquisition unit 5 calculates an average value of a plurality of wireless distance measurement values obtained by the wireless distance measurement value acquisition unit 3. The storage unit 9 is a part that stores an average value of a plurality of wireless distance measurement values obtained by the average value acquisition unit 5.

  The initial position determination unit 7 determines the initial train position from the average value of the plurality of wireless distance measurement values obtained by the average value acquisition unit 5. The initial position determination unit 7 does not mean a part that only determines the initial position, but is a part that determines at least the initial position, and may be a part that performs other processing and determination. The timer unit 11 counts the time defined based on the measurement of the wireless distance measurement value (for example, the time from the start of measurement) or the number of measurement of the wireless distance measurement value, and sends the information to the initial position determination unit 7.

  Furthermore, the initial position determination unit 7 is connected to a train stop determination unit 13 in another device different from the initial train position determination device 1. The train stop determination unit 13 sends information on whether or not the train is in a stopped state to the initial position determination unit 7 in order to confirm that the wireless distance measurement value regarding the train position is that of the stopped train.

  In addition, this train stop determination part 13 may be taken in as a part of the train initial position determination apparatus 1, and in this invention, is the train stop determination part 13 conceptually a part of the train initial position determination apparatus 1? Or it is not ask | required in particular whether it is a part of another apparatus.

  Based on FIG. 2, the structure of the radio | wireless ranging value acquisition means 3 is demonstrated. The wireless distance measurement value acquisition means 3 includes an on-board wireless device 15, a railway line wireless device 17, and a station wireless device 19. The on-board wireless device 15 is integrally attached to a train 23 provided on the track 21. A plurality of the lineside radio devices 17 are provided along the track 21 with an interval. In addition, the station radio 19 is provided so as to communicate the ground device 25 and the corresponding railway radio 17. The average value acquisition unit 5, the initial position determination unit 7, the storage unit 9, and the timer unit 11 are provided in the ground device 25.

  Next, the train initial position determination method according to the present embodiment will be described with reference to FIG. When the determination of the initial train position is started, first, as step S1, it is determined whether or not the train 23 is stopped based on the information obtained by the train stop determination unit 13. When the train is stopped, the process proceeds to the next process. On the other hand, when the train is not stopped, the initial position determination of the train is terminated. If the train is moving, the initial position is determined by another means.

  If it is determined in step S1 that the train is in a stopped state, a wireless distance measurement value indicating the position of the train is acquired by the wireless distance measurement value acquisition unit 3 in step S2. The first wireless distance measurement value is stored and saved in the storage unit 9 as it is. Therefore, in the first wireless ranging value acquisition, the process goes to step S4 after passing through step S3.

  In step S4, information from the timer means 11 is examined. That is, in the timer means 11, for example, the measurement time from the start of the measurement of the wireless distance measurement value or the number of measurement of the wireless distance measurement value is counted, and the count time or the number of times exceeds a certain time or the certain number of times. Determine whether or not. Since the value for the predetermined time or the predetermined number of times is sufficient, it is naturally determined that it has not been exceeded in the first wireless distance measurement value acquisition, and the process proceeds to step S5. In step S5, it is determined whether or not the average value of the radio distance measurement values has converged to an appropriate value. Even in such processing, convergence is not evaluated at a stage where sufficient sampling has not been performed. Therefore, the process returns to step S2.

  In step S <b> 2, the wireless distance measurement value acquisition unit 3 acquires the second wireless distance measurement value. Next, as step S3, an average value of the wireless distance measurement values is acquired. That is, the first radio distance measurement value is input from the storage unit 9 to the average value acquisition unit 5, and the second radio distance measurement value is input from the radio distance measurement value acquisition unit 3. As a result, the average value acquisition unit 5 calculates the average value of the two radio distance measurement values, and sends the value to the storage unit 9 for storage and storage.

  Subsequently, in step S4 and step S5, in the same manner as described above, the elapse of a predetermined time and the average value convergence are checked, and the process returns to step S2. In step S <b> 2, the third wireless distance measurement value is acquired by the wireless distance value acquisition means 3. Subsequently, as step S3, a new average value of the wireless distance measurement values is acquired. That is, the average value acquisition unit 5 is inputted with the average value of the two previously obtained wireless distance measurement values from the storage unit 9 and also from the wireless distance measurement value acquisition means 3 for the third wireless measurement value. A distance value is input. As a result, the average value acquisition unit 5 newly calculates an average value of the three radio distance measurement values, and sends the value to the storage unit 9 for storage and storage.

  An image of such average value acquisition is shown in FIG. As an average value of the first wireless distance measurement value and the second wireless distance measurement value, an average value of the two wireless distance measurement values is acquired. Next, an average value of three wireless distance values is acquired as a new average value from the third wireless distance value and the average value of the two wireless distance values. Thereafter, in the same manner, an average value of N + 1 wireless distance values is acquired from the N + 1th wireless distance value and an average value of N wireless distance values. Therefore, when the N + 1th radio distance measurement value is obtained, an averaging process is performed, and the average value of the N wireless distance measurement values stored in the storage unit 9 so far is the newly acquired N + 1 number. It can be regarded as being rewritten to the average value of the wireless distance measurement value of minutes.

  Returning to the flowchart of FIG. 3, in step S5, it is determined whether or not the average value of the radio distance measurement values has converged to an appropriate value. That is, it is determined whether or not the average value of the newest N + 1 radio range-finding values stored in the storage unit 9 at that time is within a predetermined numerical range. As a result, when it is determined that the average value of the wireless distance measurement values has not converged to an appropriate value, the process returns to step S2, and when returning, the count time or the number of times is constant time or constant in step S4. If it is determined that the number of times has been exceeded, the initial position determination of the train is terminated, and for example, a process of notifying the fact can be performed. On the other hand, when it is determined in step S5 that the average value of the radio distance measurement values has converged to an appropriate value, the position of the train 23 is specified from the average value, and the initial train position is determined.

  In this way, according to the present embodiment, the radio ranging value is acquired a plurality of times while the train 23 is stopped, and the averaging process is performed on the train 23 while using the radio ranging value. Can be accurately determined. In addition, since the averaging process of a plurality of wireless ranging values is not performed at once, every time a new wireless ranging value is acquired, the averaging process is further performed on the average value so far. The burden on the storage unit 9 can be reduced. This is because, in actual implementation, there are not only one train 23 on the track 21 but also a large number of the tracks 21, and as a result, there are a large number of processing facilities and storage facilities. Can reduce the burden.

  Next, a second embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 5, the train initial position determining apparatus 101 according to the present embodiment is a filter between the wireless distance value acquisition unit 3 and the average value acquisition unit 5 in the first embodiment described above. Means 104 are provided. The filter means 104 functions as a so-called Kalman filter in this embodiment. The filter unit 104 outputs to the average value acquisition unit 5 only the radio ranging values obtained from the radio ranging value acquisition unit 3 that are within the allowable numerical range. Such an allowable numerical value range is determined in accordance with a reference value obtained by averaging a plurality of wireless distance measurement values obtained from the wireless distance measurement value acquisition unit 3. Therefore, as indicated by the alternate long and short dash line in FIG. 5, the wireless distance measurement value is not converted between the wireless distance measurement value acquisition unit 3 and the average value acquisition unit 5 without using the filter unit 104. Is provided between the average value acquisition unit 5 and the filter unit 104. The reference value obtained by averaging the plurality of wireless distance measurement values in the average value acquisition unit 5 is sent to the filter unit 104. An information transmission path to be sent is provided.

  Next, the train initial position determination method according to the second embodiment will be described with reference to FIG. When the determination of the initial train position is started, first, as step S1, it is determined whether or not the train 23 is stopped based on the information obtained by the train stop determination unit 13. When the train is stopped, the process proceeds to the next process. On the other hand, when the train is not stopped, the initial position determination of the train is terminated.

  If it is determined in step S1 that the train is in a stopped state, a wireless distance measurement value indicating the position of the train is acquired by the wireless distance measurement value acquisition unit 3 in step S2. In step S3, the wireless distance measurement values are averaged to obtain a reference value used by the filter means 104. As an aspect of this averaging, a mode in which a plurality of wireless ranging values are acquired and averaged may be used, or each time a wireless ranging value is acquired as shown in the image of FIG. The aspect which aims at averaging with the average value until may be sufficient.

  Subsequently, as step S4, the wireless distance value indicating the train position is acquired by the wireless distance value acquiring means 3. Next, as step S5, the wireless distance measurement value is introduced into the Kalman filter. That is, the wireless distance measurement value acquisition means 3 sends the wireless distance measurement value to the filter means 104, and the filter means 104 determines whether or not the wireless distance measurement value is within the allowable numerical value range. Such an allowable numerical value range is determined based on the reference value acquired in step S3. When the wireless distance measurement value is within the allowable numerical range, the wireless distance measurement value is stored and saved in the storage unit 9. Note that step S6, step S7 and step S8 in FIG. 6 are the same as step S3, step S4 and step S5 in FIG. Therefore, in acquiring the first wireless distance measurement value in step S4, the wireless distance measurement value is simply stored and saved in the storage unit 9, and the process returns to step S4.

  When returning to step S4, the wireless distance value indicating the train position is again acquired by the wireless distance value acquiring means 3. Further, when the Kalman filter is applied in step S5 and the wireless distance measurement value is within the allowable numerical value range, the process proceeds to step S6, and the average value of the wireless distance measurement value is acquired. The processing here is also the same as in step S3 of FIG. 4 described above, and N + 1 radio distance values are calculated from the (N + 1) th radio distance value and the average value of N radio distance values. An average value is obtained.

  Step S8 is the same as step S5 in FIG. 4 described above, and if it is determined that the average value of the radio distance measurement values has not converged to an appropriate value, the process returns to step S2, but when it returns In step S7, when it is determined that the count time or the number of times exceeds a certain time or the certain number of times, the initial position determination of the train is terminated, and for example, a process for notifying the fact can be performed. .

  On the other hand, when it is determined in step S8 that the average value of the radio distance measurement values has converged to an appropriate value, the position of the train 23 is specified from the average value, and the initial train position is determined.

  Returning to the description of step S5, when the acquired wireless distance value is subjected to the Kalman filter and it is determined that the wireless distance value is not within the allowable numerical range, the process proceeds to step S9. In step S9, it is checked whether or not the reference value used in the Kalman filter, that is, the allowable numerical range is appropriate. That is, after the start of acquisition of the radio distance measurement value in step S4, that is, after the filter of the filter means 104 is functioned, the radio distance measurement value acquired in step S4 that does not pass the Kalman filter (within an allowable range) It is determined whether or not the number of items that are not present in the list exceeds a predetermined number. If the predetermined number is not reached, the process returns to step S4. On the other hand, if the number is greater than or equal to the predetermined number, it is determined that the reference value used in the Kalman filter is not appropriate, and the process returns to step S2 to re-determine the reference value, or the process is terminated and abnormality notification is performed.

  According to the present embodiment as described above, the initial position of the train can be accurately determined while using the wireless distance measurement value as in the first embodiment. In addition, every time a new wireless distance measurement value is acquired, the averaging process is further performed on the average value so far, so the burden on the storage unit 9 can be reduced.

  Furthermore, since the wireless distance measurement values input to the average value acquisition unit 5 for determining the initial value position are only within the allowable range limited by the filter means 104, it is possible to reduce the variation of the average object. The convergence time can be shortened accordingly. In addition, the averaging process for determining the reference value of the Kalman filter is performed, but the present invention has a problem with the initial value of the train, that is, the problem of the response delay related to the position update process because the position is detected while the train is stopped. Does not occur.

  Further, according to the study by the present applicant, the wireless distance measurement values have a normal distribution variation, and the distance measurement probability within the range of 3σ from the center of the normal distribution is 90% or more in the case of the Gaussian distribution. Therefore, the probability that the reference value includes variation is low, and even if a value slightly deviated from the center of the distribution is used as the reference value, the probability of the subsequent ranging is likely to be a true value. It will approach the value. Furthermore, when a reference value that is not very appropriate is determined, measures such as re-determining the reference value with a specific state that does not pass the Kalman filter as illustrated in step S9 of FIG. 6 should be provided. Thus, it is possible to prevent the processing from being prolonged or an inappropriate value being determined as the initial train position.

  Although the contents of the present invention have been specifically described with reference to the preferred embodiments, various modifications can be made by those skilled in the art based on the basic technical idea and teachings of the present invention. It is self-explanatory.

  The present invention is not limited to the connection modes shown in the block diagrams of FIGS. 1 and 5, and the block diagram is merely an example. Therefore, there is a part having the function of each component, and there is no particular limitation as long as the train initial position can be determined by the flow as described above. In addition, each component in the block diagram does not need to be clearly formed as one part. Therefore, for example, a plurality of components in the block diagram can be realized by a processing device such as one computer. Conversely, one component of the block diagram may be realized by a plurality of parts or devices.

  In step S9 in FIG. 6, it is only necessary to check whether or not the reference value used in the Kalman filter, that is, the allowable numerical value range, is appropriate. In short, the wireless range obtained from the wireless distance measurement value acquisition means after the filter function is functioned. It suffices if it is possible to determine whether or not a predetermined number, a predetermined ratio, or a predetermined time does not appear among the distance measurement values within the allowable numerical value range. The specific description of the above embodiment is an example of a determination mode focusing on the number of them.

It is a block diagram which shows the schematic structure of the train initial position determination apparatus which concerns on the 1st Embodiment of this invention. It is an image figure showing a train and a radio on the spot. It is a flowchart which shows the initial position determination method of the train in the apparatus of FIG. It is a figure which shows the image of average value acquisition. It is a block diagram which shows schematic structure of the train initial position determination apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the initial position determination method of the train in the apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101 Train initial position determination apparatus 3 Wireless ranging value acquisition means 5 Average value acquisition part 7 Initial position determination part 9 Storage part 23 Train 104 Filter means

Claims (6)

A device for determining an initial position from the position of a stopped train,
Wireless ranging value acquisition means for acquiring the position of the stopped train as a wireless ranging value multiple times;
An average value acquisition unit for acquiring an average value of a plurality of wireless distance measurement values obtained by the wireless distance measurement value acquisition means;
An initial train position determination device, comprising: an initial position determination unit that determines an initial train position from an average value of a plurality of wireless ranging values obtained by the average value acquisition unit. The average value acquisition unit
A new average value obtained by averaging the old average value, which is an average of N distance measurement values, and the N + 1th distance measurement value newly obtained by the wireless distance value acquisition unit, is calculated.
A storage unit for storing the new average value;
The train initial position determining apparatus according to claim 1. A filter unit interposed between the wireless distance measurement value acquisition unit and the average value acquisition unit;
The filter means outputs only the radio distance measurement values obtained from the radio distance measurement value acquisition means within the allowable numerical value range to the average value acquisition unit.
The train initial position determining device according to claim 1 or 2, characterized by the above-mentioned. The allowable numerical value range in the filter means is determined according to a reference value obtained by averaging a plurality of wireless distance measurement values obtained from the wireless distance measurement value acquisition means,
The filter action of the filter means functions after an allowable numerical range based on the reference value is determined.
The train initial position determining apparatus according to claim 3.   After the filter function is activated, if the wireless ranging values obtained from the wireless ranging value acquisition means do not appear within a predetermined number, a predetermined ratio, or a predetermined time within the allowable numerical range, the reference value is set. The train initial position determination device according to claim 4, wherein the train initial position determination device performs re-determination or abnormality notification. A method for determining an initial position from the position of a stopped train,
Obtaining the position of the stopped train as a wireless distance measurement multiple times,
Obtain the average value of multiple wireless ranging values,
A train initial position determination method, wherein an initial train position is determined from the average value.

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