JP2011024328A - Train control device - Google Patents

Train control device Download PDF

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JP2011024328A
JP2011024328A JP2009166611A JP2009166611A JP2011024328A JP 2011024328 A JP2011024328 A JP 2011024328A JP 2009166611 A JP2009166611 A JP 2009166611A JP 2009166611 A JP2009166611 A JP 2009166611A JP 2011024328 A JP2011024328 A JP 2011024328A
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train
gps
deviation vector
gps receiver
information
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JP4926213B2 (en
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Masashi Nishida
賢史 西田
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Kyosan Electric Manufacturing Co Ltd
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Kyosan Electric Manufacturing Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

<P>PROBLEM TO BE SOLVED: To recognize reliability of position information detected by a GPS receiver, to change a control system by recognized reliability and to maintain the safety of train control. <P>SOLUTION: Fluctuation of positioning precision of the GPS receiver 9 is detected by a reference GPS reception station 3 fixed on the ground. An onboard controller 6 loaded on a train 1 judges whether positioning precision using the GPS receiver 5 deteriorates or not by deviation vector information showing a fluctuation of positioning precision transmitted from the GPS reception station 3 and controls speed of the train 1. Even if that positioning precision using the GPS receiver 5 is always maintained cannot be guaranteed, the GPS receiver 5 is applied for train control from which safety is requested. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

この発明は、ＧＰＳシステムを用いて車両の走行位置を検出して列車の速度を制御する列車制御装置に関するものである。   The present invention relates to a train control device that detects the travel position of a vehicle using a GPS system and controls the speed of the train.

走行している列車の位置を検知するため、特許文献１や特許文献２にはＧＰＳを利用して列車の走行位置を検知して速度制限を行う装置が開示されている。特許文献１に示された車両運転支援システムは、車両に搭載したＧＰＳ受信機からの緯度・経度信号に基づいて車両の現在位置を検出し、検出した車両の位置が速度検知エリア内であるか否を判定し、速度検知エリアで列車の速度が制限速度を越えないように制御している。   In order to detect the position of a traveling train, Patent Document 1 and Patent Document 2 disclose devices that limit the speed by detecting the traveling position of a train using GPS. The vehicle driving support system disclosed in Patent Document 1 detects the current position of a vehicle based on a latitude / longitude signal from a GPS receiver mounted on the vehicle, and whether the detected position of the vehicle is within a speed detection area. It is determined whether or not the train speed does not exceed the speed limit in the speed detection area.

特許文献２に示された列車走行情報検知装置は、複数の車両で編成された列車の先頭車両と最後尾車両にＧＰＳ受信機を搭載し、各ＧＰＳ受信機からの緯度・経度信号に基づいて列車の前後の現在位置をそれぞれ検出し、検出した列車の前後の現在位置とＧＰＳアンテナの設置位置により測位計算をして列車全体の在線位置と向きを把握している。   The train travel information detection device disclosed in Patent Document 2 is equipped with a GPS receiver on the first and last vehicles of a train formed of a plurality of vehicles, and based on latitude / longitude signals from each GPS receiver. The current position before and after the train is detected, and the positioning calculation is performed based on the detected current position before and after the train and the installation position of the GPS antenna to grasp the position and direction of the entire train.

特許文献１や特許文献２に示すように、ＧＰＳ受信機からの緯度・経度信号に基づいて列車の現在位置を検知しても、ＧＰＳ受信機に異常や故障あった場合、間違った緯度・経度信号により列車が実際に走行している位置と異なる位置を認識すると、実際に列車が走行している位置の制限速度以上で走行する可能性があり、安全性が確保できなくなる。   As shown in Patent Document 1 and Patent Document 2, even if the current position of the train is detected based on the latitude / longitude signal from the GPS receiver, if the GPS receiver has an abnormality or malfunction, the wrong latitude / longitude If a position different from the position where the train is actually traveling is recognized by the signal, there is a possibility of traveling at a speed exceeding the speed limit at which the train is actually traveling, and safety cannot be ensured.

このＧＰＳ受信機の異常を検出するため、特許文献３に示されたＧＰＳ装置は、２台のＧＰＳアンテナを一定間隔で車両の前後に設け、２台のＧＰＳアンテナが接続された２台のＧＰＳ受信機により出力する緯度・経度による車両の位置情報から２台のＧＰＳアンテナ間の距離を算出し、算出した２台のＧＰＳアンテナ間の距離と２台のＧＰＳアンテナ間の設置間隔を比較して２台のＧＰＳ受信機が正常に動作しているかどうかを判定し、ＧＰＳ受信機に異常が生じたと判定したとき、最低制限速度で車両を走行させている。   In order to detect the abnormality of this GPS receiver, the GPS device shown in Patent Document 3 is provided with two GPS antennas provided with two GPS antennas provided at the front and rear of the vehicle at regular intervals and connected to the two GPS antennas. The distance between the two GPS antennas is calculated from the position information of the vehicle according to the latitude and longitude output by the receiver, and the calculated distance between the two GPS antennas is compared with the installation interval between the two GPS antennas. When it is determined whether the two GPS receivers are operating normally and it is determined that an abnormality has occurred in the GPS receiver, the vehicle is running at the minimum speed limit.

また、特許文献４に示された車両位置検出装置は、ＧＰＳ受信機で検出した位置情報を速度センサとジャイロセンサで検出した走行距離と進行方向により算出した車両位置により補正して位置検出精度を高めるようにしている。   In addition, the vehicle position detection device disclosed in Patent Document 4 corrects position information detected by a GPS receiver by a vehicle position calculated by a travel distance and a traveling direction detected by a speed sensor and a gyro sensor, thereby improving position detection accuracy. I try to increase it.

ＧＰＳを利用するうえで通常に発生する誤差に対しては、例えば特許文献３に示された従来の方式で対応できる。しかしながらＧＰＳ受信機で検出する位置情報の精度はＧＰＳ衛星の運用によりコントロールすることができる。例えばＧＰＳ衛星の運用者が安全保障などを理由にノイズを混入するとＧＰＳ受信機で検出する位置情報の誤差が大きくなる。このようなＧＰＳ衛星の運用システムの挙動を把握することは困難であり、位置精度が求められる列車制御の安全性が保てなくなる。   An error that normally occurs when using GPS can be dealt with, for example, by the conventional method disclosed in Patent Document 3. However, the accuracy of position information detected by the GPS receiver can be controlled by the operation of the GPS satellite. For example, if a GPS satellite operator mixes noise for security reasons, the error in position information detected by the GPS receiver increases. It is difficult to grasp the behavior of the operation system of such a GPS satellite, and the safety of train control that requires position accuracy cannot be maintained.

この発明は、このような問題を解消し、ＧＰＳ受信機で検出した位置情報の信頼度を確認し、確認した信頼度により制御方式を変更して安全性を保つことができる列車制御装置を提供することを目的とするものである。   The present invention provides a train control device that can solve such problems, confirm the reliability of position information detected by a GPS receiver, and maintain safety by changing the control method according to the confirmed reliability. It is intended to do.

この発明の列車制御装置は、ＧＰＳシステムを利用した測位結果により列車の位置を把握して列車の速度を制御する列車制御装置において、地上に設けた基準ＧＰＳ受信局は、ＧＰＳ受信機で一定周期毎にＧＰＳアンテナの設置位置を示す基準測位情報を算出し、算出した基準測位情報と前記ＧＰＳアンテナの設置位置を示す基準位置情報とを比較し、基準位置情報に対する基準測位情報のずれ量を偏差ベクトル値として算出し、算出した偏差ベクトル値を示す偏差ベクトル情報を、伝送媒体を介して列車に送信し、列車に搭載されたＧＰＳ受信機は、ＧＰＳアンテナからの信号を受信して列車が走行している位置を示す測位情報を車上制御装置に出力し、前記車上制御装置は、前記地上の基準ＧＰＳ受信局から送信している偏差ベクトル情報を一定周期毎に受信し、受信した偏差ベクトル情報に示された偏差ベクトル値とあらかじめ定められた基準値と比較し、偏差ベクトル値が基準値を超えていないときは、前記ＧＰＳ受信機から出力されている測位情報に基づいて列車の速度を制御し、偏差ベクトル値が基準値を超えているときは、前記ＧＰＳ受信機の測位精度が劣化したと判断して列車の速度を安全側に制御することを特徴とする。   The train control device according to the present invention is a train control device that controls the speed of a train by grasping the position of the train based on a positioning result using a GPS system. The reference GPS receiver station provided on the ground is a GPS receiver with a constant period. The reference positioning information indicating the installation position of the GPS antenna is calculated for each time, the calculated reference positioning information is compared with the reference position information indicating the installation position of the GPS antenna, and the deviation amount of the reference positioning information with respect to the reference position information is deviated. Deviation vector information indicating the calculated deviation vector value is transmitted to the train via the transmission medium, and the GPS receiver mounted on the train receives the signal from the GPS antenna and the train travels. Positioning information indicating the current position is output to the onboard control device, and the onboard control device transmits the deviation vector information transmitted from the ground reference GPS receiving station. Is received at regular intervals, and the deviation vector value indicated in the received deviation vector information is compared with a predetermined reference value. When the deviation vector value does not exceed the reference value, the GPS receiver outputs the deviation vector value. If the deviation vector value exceeds the reference value, it is judged that the positioning accuracy of the GPS receiver has deteriorated, and the train speed is controlled to the safe side. It is characterized by doing.

この発明の他の列車制御装置は、ＧＰＳシステムを利用した測位結果により列車の位置を把握して列車の速度を制御する列車制御装置において、地上に設けた基準ＧＰＳ受信局は、ＧＰＳ受信機で一定周期毎にＧＰＳアンテナの設置位置を示す基準測位情報を算出し、算出した基準測位情報と前記ＧＰＳアンテナの設置位置を示す基準位置情報とを比較し、基準位置情報に対する基準測位情報のずれ量を偏差ベクトル値として算出し、算出した偏差ベクトル値とあらかじめ定められた基準値と比較し、比較結果を示す情報を、伝送媒体を介して列車に送信し、列車に搭載されたＧＰＳ受信機は、ＧＰＳアンテナからの信号を受信して列車が走行している位置を示す測位情報を車上制御装置に出力し、前記車上制御装置は、前記地上の基準ＧＰＳ受信局から送信している情報を一定周期毎に受信し、受信した情報で偏差ベクトル値が基準値を超えていないことを示すときは、前記ＧＰＳ受信機から出力されている測位情報に基づいて列車の速度を制御し、受信した情報で偏差ベクトル値が基準値を超えていることを示すときは、前記ＧＰＳ受信機の測位精度が劣化したと判断して列車の速度を安全側に制御することを特徴とする。   Another train control device of the present invention is a train control device that controls the speed of a train by grasping the position of the train based on a positioning result using a GPS system. The reference GPS receiving station provided on the ground is a GPS receiver. The reference positioning information indicating the installation position of the GPS antenna is calculated at regular intervals, the calculated reference positioning information is compared with the reference position information indicating the installation position of the GPS antenna, and the deviation amount of the reference positioning information with respect to the reference position information Is calculated as a deviation vector value, the calculated deviation vector value is compared with a predetermined reference value, information indicating the comparison result is transmitted to the train via the transmission medium, and the GPS receiver mounted on the train is , Receiving a signal from the GPS antenna and outputting positioning information indicating the position where the train is traveling to the on-board control device. When the information transmitted from the receiving station is received at regular intervals and the received information indicates that the deviation vector value does not exceed the reference value, based on the positioning information output from the GPS receiver When the train speed is controlled and the received information indicates that the deviation vector value exceeds the reference value, it is determined that the positioning accuracy of the GPS receiver has deteriorated, and the train speed is controlled to the safe side. It is characterized by that.

この発明は、地上に設けられた基準ＧＰＳ受信局でＧＰＳ受信機の測位精度の変動を検出し、このＧＰＳ受信機の測位精度が劣化したか否を列車に搭載した車上制御装置又は地上の基準ＧＰＳ受信局のいずれかで判断し、ＧＰＳ受信機の測位精度が劣化している場合は列車の速度を安全側に制御するから、ＧＰＳ受信機を利用した測位精度が常に保たれていることが保証できない場合でも、ＧＰＳ受信機を安全性が求められる列車制御に適用することができる。   This invention detects a change in positioning accuracy of a GPS receiver at a reference GPS receiver station provided on the ground, and determines whether or not the positioning accuracy of the GPS receiver has deteriorated. Judgment is made at any of the reference GPS receiver stations, and if the positioning accuracy of the GPS receiver is degraded, the train speed is controlled to the safe side, so the positioning accuracy using the GPS receiver is always maintained. Even when the GPS cannot be guaranteed, the GPS receiver can be applied to train control requiring safety.

この発明の列車制御装置の構成を示すブロック図である。It is a block diagram which shows the structure of the train control apparatus of this invention. 列車制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of a train control apparatus.

図１は、この発明の列車制御装置の構成を示すブロック図である。図に示すように、列車１に搭載された車上装置２と地上に設けられた基準ＧＰＳ受信局３を有する。車上装置２はＧＰＳアンテナ４が接続されたＧＰＳ受信機５と車上制御装置６を有する。ＧＰＳ受信機５はＧＰＳアンテナ４を介してＧＰＳ衛星（不図示）からの信号を受信し、緯度・経度を測位情報として車上制御装置６に出力する。車上制御装置６はＧＰＳ受信機５から入力した測位情報に基づいて列車位置を把握し、把握した列車位置の所定の時間における変化から列車１の実速度を算出し、列車位置と算出した実速度によりあらかじめ設定されている速度データテーブルや地上制御装置から送られる列車１の移動を制約する情報と照合して列車１の制限速度や停止目標等を算出して列車１の速度を制御する。   FIG. 1 is a block diagram showing the configuration of the train control device of the present invention. As shown in the figure, it has an on-board device 2 mounted on a train 1 and a reference GPS receiving station 3 provided on the ground. The on-vehicle device 2 includes a GPS receiver 5 to which a GPS antenna 4 is connected and an on-vehicle control device 6. The GPS receiver 5 receives a signal from a GPS satellite (not shown) via the GPS antenna 4 and outputs the latitude and longitude as positioning information to the on-board controller 6. The on-board controller 6 grasps the train position based on the positioning information input from the GPS receiver 5, calculates the actual speed of the train 1 from the change of the grasped train position at a predetermined time, and calculates the train position and the actual The speed of the train 1 is controlled by calculating a speed limit, a stop target, and the like of the train 1 by collating with a speed data table set in advance by the speed and information restricting movement of the train 1 sent from the ground control device.

基準ＧＰＳ受信局３は、ＧＰＳアンテナ８が接続されたＧＰＳ受信機９と位置データ記憶部１０と偏差ベクトル算出部１１及び送信器１２を有する。ＧＰＳ受信機９はＧＰＳアンテナ８を介してＧＰＳ衛星（不図示）からの信号を受信してＧＰＳアンテナ８が設置してある位置の緯度・経度を基準測位情報として偏差ベクトル算出部１１に出力する。位置データ記憶部１０にはＧＰＳアンテナ８が設置されて位置の緯度・経度を示す基準位置情報が格納されている。偏差ベクトル算出部１１はＧＰＳ受信機８から入力した基準測位情報と位置データ記憶部１０に格納された基準位置情報とを比較し、基準位置情報が示す緯度・経度と基準測位情報が示す緯度・経度の差を演算して偏差ベクトル値を算出し、算出した偏差ベクトル値を示す偏差ベクトル情報を送信器１２に出力する。送信器１２は入力した偏差ベクトル情報を列車１に送信する。この送信器１２から列車１に対して送信する電送媒体はレール１３を利用しても良いし、無線を利用しても良い。   The reference GPS receiving station 3 includes a GPS receiver 9 to which a GPS antenna 8 is connected, a position data storage unit 10, a deviation vector calculation unit 11, and a transmitter 12. The GPS receiver 9 receives a signal from a GPS satellite (not shown) via the GPS antenna 8 and outputs the latitude / longitude of the position where the GPS antenna 8 is installed to the deviation vector calculation unit 11 as reference positioning information. . The position data storage unit 10 stores GPS antenna 8 and stores reference position information indicating the latitude and longitude of the position. The deviation vector calculation unit 11 compares the reference positioning information input from the GPS receiver 8 with the reference position information stored in the position data storage unit 10, and the latitude / longitude indicated by the reference position information and the latitude / longitude indicated by the reference positioning information. A deviation vector value is calculated by calculating a difference in longitude, and deviation vector information indicating the calculated deviation vector value is output to the transmitter 12. The transmitter 12 transmits the input deviation vector information to the train 1. The transmission medium transmitted from the transmitter 12 to the train 1 may use the rail 13 or may use radio.

この列車制御装置の動作を図２のフローチャートを参照して説明する。
基準ＧＰＳ受信局３のＧＰＳ受信機９は、あらかじめ定めた一定周期毎にＧＰＳアンテナ８を介してＧＰＳ衛星からの信号を受信してＧＰＳアンテナ８の設置位置を示す緯度・経度を基準測位情報として偏差ベクトル算出部１０に出力している（ステップＳ１）。偏差ベクトル算出部１０は基準測位情報が入力すると、入力した基準測位情報と位置データ記憶部１０に格納された基準位置情報とを比較し、基準位置情報が示す緯度・経度と基準測位情報が示す緯度・経度の差を演算して偏差ベクトル値を算出し、算出した偏差ベクトル値を示す偏差ベクトル情報にそのときの時刻を付加して位置データ記憶部１１に格納するとともに偏差ベクトル情報を送信器１２に出力する（ステップＳ２）。送信器１２は入力した偏差ベクトル情報を、伝送媒体を介して列車１に送信する（ステップＳ３）。この処理を一定周期毎に繰り返す（ステップＳ４）。 The operation of this train control device will be described with reference to the flowchart of FIG.
The GPS receiver 9 of the reference GPS receiving station 3 receives a signal from a GPS satellite via the GPS antenna 8 at predetermined intervals and uses the latitude / longitude indicating the installation position of the GPS antenna 8 as reference positioning information. It outputs to the deviation vector calculation part 10 (step S1). When the reference positioning information is input, the deviation vector calculation unit 10 compares the input reference positioning information with the reference position information stored in the position data storage unit 10, and indicates the latitude / longitude indicated by the reference position information and the reference positioning information. The difference between latitude and longitude is calculated to calculate a deviation vector value, the time at that time is added to the deviation vector information indicating the calculated deviation vector value, and the deviation vector information is stored in the position data storage unit 11 and the transmitter. 12 (step S2). The transmitter 12 transmits the input deviation vector information to the train 1 via the transmission medium (step S3). This process is repeated at regular intervals (step S4).

一方、列車１に搭載した車上装置２のＧＰＳ受信機４は、常時、ＧＰＳアンテナ４を介してＧＰＳ衛星からの信号を受信して列車１が走行している位置を示す緯度・経度を測位情報として車上制御装置６に出力している（ステップＳ１１）。車上制御装置６は、受信コイル７を介して地上の基準ＧＰＳ受信局３から送信している偏差ベクトル情報を一定周期毎に受信し（ステップＳ１２）、受信した偏差ベクトル情報に示された偏差ベクトル値とあらかじめ定められた基準値と比較し、偏差ベクトル値が基準値を超えたかどうかを判定する（ステップＳ１３）。この判定の結果、偏差ベクトル値が基準値を超えていないときは、ＧＰＳ受信機４で検出した列車１の位置が所定の誤差範囲内にあると判断して、ＧＰＳ受信機４から受信から入力した測位情報に基づいて列車１の制限速度や停止目標等を算出して列車１の速度を制御する（ステップＳ１４）。また、偏差ベクトル値が基準値を超えたときは、ＧＰＳ受信機で検出している列車１の位置が所定の誤差範囲からずれて測位精度が劣化したと判断して列車１の制限速度を安全側になるように補正して列車１の速度を制御する。   On the other hand, the GPS receiver 4 of the on-board device 2 mounted on the train 1 always receives a signal from a GPS satellite via the GPS antenna 4 and measures the latitude and longitude indicating the position where the train 1 is traveling. Information is output to the on-board controller 6 (step S11). The on-board controller 6 receives the deviation vector information transmitted from the ground reference GPS receiving station 3 via the receiving coil 7 at regular intervals (step S12), and the deviation indicated by the received deviation vector information. The vector value is compared with a predetermined reference value to determine whether or not the deviation vector value exceeds the reference value (step S13). If the deviation vector value does not exceed the reference value as a result of this determination, it is determined that the position of the train 1 detected by the GPS receiver 4 is within a predetermined error range, and input from the GPS receiver 4 is received. Based on the obtained positioning information, the speed limit of the train 1 and the stop target are calculated to control the speed of the train 1 (step S14). When the deviation vector value exceeds the reference value, it is determined that the position of the train 1 detected by the GPS receiver has deviated from a predetermined error range and the positioning accuracy has deteriorated, and the speed limit of the train 1 is made safe. The speed of the train 1 is controlled by correcting so as to be on the side.

このように地上に固定された基準ＧＰＳ受信局３でＧＰＳ受信機９の測位精度の変動を検出し、列車１に搭載した車上制御装置６は基準ＧＰＳ受信局３から送信される測位精度の変動を示す偏差ベクトル情報によりＧＰＳ受信機５を利用した測位精度が劣化したか否を判定しで列車１の速度を制御するから、ＧＰＳ受信機５を利用した測位精度が常に保たれていることが保証できない場合でも、ＧＰＳ受信機５を安全性が求められる列車制御に適用することができる。   Thus, the on-board controller 6 mounted on the train 1 detects the fluctuation of the positioning accuracy of the GPS receiver 9 by the reference GPS receiving station 3 fixed on the ground, and the positioning accuracy transmitted from the reference GPS receiving station 3 is high. Since the speed of the train 1 is controlled by determining whether or not the positioning accuracy using the GPS receiver 5 is deteriorated based on the deviation vector information indicating the fluctuation, the positioning accuracy using the GPS receiver 5 is always maintained. Even when the GPS cannot be guaranteed, the GPS receiver 5 can be applied to train control that requires safety.

また、基準ＧＰＳ受信局３のデータ記憶部１１に偏差ベクトル情報を格納するとき、偏差ベクトル情報にそのときの時刻を付加することにより、どの時点でＧＰＳを利用した測位精度に変動が生じたかを確認することができ、ＧＰＳの利用有効期間等を設定することができる。   Further, when the deviation vector information is stored in the data storage unit 11 of the reference GPS receiving station 3, by adding the time at that time to the deviation vector information, it is possible to determine at which point the positioning accuracy using the GPS has changed. It can be confirmed, and the GPS valid period can be set.

また、偏差ベクトル情報は、ＧＰＳシステムが本質的に有する測位精度のばらつきの影響を除くため、測位精度の変動を統計的に処理したものであっても良い。   Further, the deviation vector information may be obtained by statistically processing the variation in positioning accuracy in order to eliminate the influence of the variation in positioning accuracy inherent in the GPS system.

前記説明では列車１に搭載された車上制御装置６で地上から送信された偏差ベクトル情報に基づいてＧＰＳ受信機６による測位精度の劣化有無を判定する場合について説明したが、地上に固定された基準ＧＰＳ受信局３の偏差ベクトル算出部１０で算出した偏差ベクトル値と基準値とを比較してＧＰＳシステムを利用した場合の測位精度の劣化有無を判定して列車１に送信しても良い。   In the above description, the case where the on-board controller 6 mounted on the train 1 determines whether or not the positioning accuracy of the GPS receiver 6 is deteriorated based on the deviation vector information transmitted from the ground is fixed to the ground. The deviation vector value calculated by the deviation vector calculation unit 10 of the reference GPS receiving station 3 may be compared with the reference value to determine whether or not the positioning accuracy has deteriorated when the GPS system is used, and transmitted to the train 1.

１；列車、２；車上装置、３；基準ＧＰＳ受信局、４；ＧＰＳアンテナ、
５；ＧＰＳ受信機、６；車上制御装置、７；受信コイル、８；ＧＰＳアンテナ、
９；ＧＰＳ受信機、１０；位置データ記憶部、１１；偏差ベクトル算出部、
１２；送信器。 1; train, 2; on-board device, 3; reference GPS receiving station, 4; GPS antenna,
5; GPS receiver, 6; On-board controller, 7; Reception coil, 8; GPS antenna,
9; GPS receiver, 10; position data storage unit, 11; deviation vector calculation unit,
12: Transmitter.

特開２００２−３３５６０７号公報JP 2002-335607 A 特開２００４−１６８２１６号公報JP 2004-168216 A 特開２００８−２５３０３４号公報JP 2008-253034 A 特開２００６−９８２４６号公報JP 2006-98246 A

Claims (2)

ＧＰＳシステムを利用した測位結果により列車の位置を把握して列車の速度を制御する列車制御装置において、
地上に設けた基準ＧＰＳ受信局は、ＧＰＳ受信機で一定周期毎にＧＰＳアンテナの設置位置を示す基準測位情報を算出し、算出した基準測位情報と前記ＧＰＳアンテナの設置位置を示す基準位置情報とを比較し、基準位置情報に対する基準測位情報のずれ量を偏差ベクトル値として算出し、算出した偏差ベクトル値を示す偏差ベクトル情報を、伝送媒体を介して列車に送信し、
列車に搭載されたＧＰＳ受信機は、ＧＰＳアンテナからの信号を受信して列車が走行している位置を示す測位情報を車上制御装置に出力し、前記車上制御装置は、前記地上の基準ＧＰＳ受信局から送信している偏差ベクトル情報を一定周期毎に受信し、受信した偏差ベクトル情報に示された偏差ベクトル値とあらかじめ定められた基準値と比較し、偏差ベクトル値が基準値を超えていないときは、前記ＧＰＳ受信機から出力されている測位情報に基づいて列車の速度を制御し、偏差ベクトル値が基準値を超えているときは、前記ＧＰＳ受信機の測位精度が劣化したと判断して列車の速度を安全側に制御することを特徴とする列車制御装置。 In the train control device that grasps the position of the train from the positioning result using the GPS system and controls the speed of the train,
The reference GPS receiving station provided on the ground calculates reference positioning information indicating the installation position of the GPS antenna at a fixed period by the GPS receiver, the calculated reference positioning information and the reference position information indicating the installation position of the GPS antenna; And calculating the deviation amount of the reference positioning information with respect to the reference position information as a deviation vector value, sending deviation vector information indicating the calculated deviation vector value to the train via the transmission medium,
A GPS receiver mounted on the train receives a signal from a GPS antenna and outputs positioning information indicating a position where the train is traveling to the on-board control device. The deviation vector information transmitted from the GPS receiving station is received at regular intervals, and the deviation vector value indicated in the received deviation vector information is compared with a predetermined reference value, and the deviation vector value exceeds the reference value. If not, the speed of the train is controlled based on the positioning information output from the GPS receiver. If the deviation vector value exceeds the reference value, the positioning accuracy of the GPS receiver has deteriorated. A train control device that judges and controls the speed of the train to the safe side. ＧＰＳシステムを利用した測位結果により列車の位置を把握して列車の速度を制御する列車制御装置において、
地上に設けた基準ＧＰＳ受信局は、ＧＰＳ受信機で一定周期毎にＧＰＳアンテナの設置位置を示す基準測位情報を算出し、算出した基準測位情報と前記ＧＰＳアンテナの設置位置を示す基準位置情報とを比較し、基準位置情報に対する基準測位情報のずれ量を偏差ベクトル値として算出し、算出した偏差ベクトル値とあらかじめ定められた基準値と比較し、比較結果を示す情報を、伝送媒体を介して列車に送信し、
列車に搭載されたＧＰＳ受信機は、ＧＰＳアンテナからの信号を受信して列車が走行している位置を示す測位情報を車上制御装置に出力し、前記車上制御装置は、前記地上の基準ＧＰＳ受信局から送信している情報を一定周期毎に受信し、受信した情報で偏差ベクトル値が基準値を超えていないことを示すときは、前記ＧＰＳ受信機から出力されている測位情報に基づいて列車の速度を制御し、受信した情報で偏差ベクトル値が基準値を超えていることを示すときは、前記ＧＰＳ受信機の測位精度が劣化したと判断して列車の速度を安全側に制御することを特徴とする列車制御装置。 In the train control device that grasps the position of the train from the positioning result using the GPS system and controls the speed of the train,
The reference GPS receiving station provided on the ground calculates reference positioning information indicating the installation position of the GPS antenna at a fixed period by the GPS receiver, the calculated reference positioning information and the reference position information indicating the installation position of the GPS antenna; And calculating the deviation amount of the reference positioning information with respect to the reference position information as a deviation vector value, comparing the calculated deviation vector value with a predetermined reference value, and information indicating the comparison result via the transmission medium Send to train,
A GPS receiver mounted on the train receives a signal from a GPS antenna and outputs positioning information indicating a position where the train is traveling to the on-board control device. When the information transmitted from the GPS receiving station is received at regular intervals and the received information indicates that the deviation vector value does not exceed the reference value, it is based on the positioning information output from the GPS receiver. Control the train speed, and if the received information indicates that the deviation vector value exceeds the reference value, it is judged that the positioning accuracy of the GPS receiver has deteriorated, and the train speed is controlled to the safe side. A train control device.
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