JP2012171563A - Apparatus and method for detecting location of railroad vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a location detection apparatus for a railroad vehicle in which, even when an interval of branch lines is narrow like the station yard and further the precision of a GPS measurement machine is low, which branch line the railroad vehicle enters can be detected accurately.SOLUTION: A location detection apparatus includes: a distance calculation unit 21 which inputs a rough location of a maintenance vehicle H determined by a GPS measurement machine 33 and calculates a moving distance; an advancing direction estimation unit 23 which estimates an advancing direction through fuzzy inference by entering an angular velocity ω and an angular velocity ω' of the maintenance vehicle H acquired by a data acquisition unit 22; a branch point estimation unit 25 which estimates a branch point by entering the moving distance calculated by the distance calculation unit 21 and the rough location determined by the GPS measurement machine 33, and entering the advancing direction from the advancing direction estimation unit 23; and a branch angle detection unit 26 which detects a branch angle by entering a displacement angle θ determined by the data acquisition unit 22 and the advancing direction estimated by the advancing direction estimation unit 23, and outputs a branch line number corresponding to the branch angle.

Description

  The present invention relates to a position detection apparatus and a position detection method for a railway vehicle.

  Conventionally, the position of a maintenance vehicle has been detected in order to ensure the safety of a railway vehicle for inspecting rails and the like, for example, a maintenance vehicle for maintenance of a track. For example, when detecting the position, positioning from a GPS satellite is performed. Data is used (see Patent Document 1).

JP 2007-17240 A

  However, when trying to determine the position of the maintenance vehicle from the positioning data from GPS satellites, if the accuracy is not high and there are a lot of tracks branching within the station, the distance between the tracks is narrow, so which branch line There is a problem that it is difficult to specify whether it has moved or not.

  In addition, when a maintenance vehicle enters a tunnel or the like, radio waves do not reach. Therefore, if there is a branching device in the tunnel or close to the tunnel exit, the branch line that has been moved to is accurately identified. There is a problem that can not be.

  Therefore, the present invention is applicable to any branch even when the interval between branch lines is narrow as in a station premises and the accuracy of the GPS measuring instrument is low, or when positioning data from a GPS satellite cannot be used as in a tunnel. It is an object of the present invention to provide a railway vehicle position detection device and a position detection method capable of accurately detecting whether a line has been entered.

In order to solve the above problems, a position detection device for a railway vehicle according to the present invention is an apparatus for detecting the position of a railway vehicle,
A GPS measuring device capable of detecting the approximate position of the railway vehicle;
A speed detector for detecting the speed of the railway vehicle;
An angular velocity detector that is provided in the railway vehicle and detects an angular velocity in the traveling direction of the railway vehicle;
The distance at which the speed detected by the speed detector is input to calculate the moving distance, and the approximate position of the railway vehicle on the map can be calculated based on the moving distance and the movement start position obtained by the GPS measuring instrument. A calculation unit;
A data acquisition unit that obtains the angular acceleration in the traveling direction of the railway vehicle by inputting the angular velocity detected by the angular velocity detector and calculates the displacement angle by integrating the angular velocity;
A traveling direction estimation unit that inputs angular velocity and angular acceleration from the data acquisition unit and estimates the traveling direction by fuzzy inference;
The travel distance and the approximate position calculated by the distance calculation unit are input, the branch point is estimated based on the branch reliability curve, and is estimated by the traveling direction estimation unit when there is a single branch line in the same direction. A branch point estimation unit that estimates the branch line number by inputting the traveling direction and outputs the information when there are multiple branch lines in the same direction;
When information that is branched in the same direction is input, the displacement angle obtained by the data acquisition unit and the traveling direction estimated by the traveling direction estimation unit are input to detect the branching angle and to the branching angle. A branch angle detector that outputs the corresponding branch line number;
A branch point verification that inputs the branch point and branch line number obtained by the branch point estimation unit or the branch line number detected by the branch angle detection unit and checks whether or not the line information is provided in advance. Part.

  According to a second aspect of the present invention, there is provided a position detection apparatus for a railway vehicle, wherein the traveling direction estimation unit of the position detection apparatus according to the first aspect uses a fuzzy rule based on angular velocity and angular acceleration to determine the traveling direction of the railway vehicle. Any one of the left direction, the right direction, and the straight direction is estimated.

  According to a third aspect of the present invention, there is provided a position detection device for a railway vehicle, wherein the branching angle detection unit of the position detection device according to the first or second aspect includes input of track information such as a branching point, a branching angle, and a branching line number, By performing a one-to-one matching with the displacement angle, the branch angle can be estimated and the branch line number corresponding to the branch angle is detected.

Furthermore, the railway vehicle position detection method according to claim 4 is provided with a GPS measuring device that can detect the approximate position of the railway vehicle, a speed detector that detects the speed of the railway vehicle, and the railway vehicle. A method for detecting a position of a railway vehicle equipped with an angular velocity detector for detecting an angular velocity in a traveling direction of the vehicle,
The distance at which the speed detected by the speed detector is input to calculate the moving distance, and the approximate position of the railway vehicle on the map can be calculated based on the moving distance and the movement start position obtained by the GPS measuring instrument. A calculation process;
A data acquisition step of obtaining the displacement angle by inputting the angular velocity detected by the angular velocity detector and integrating the angular acceleration in the traveling direction of the railway vehicle and the angular velocity.
A traveling direction estimation step of inputting angular velocity and angular acceleration from the data acquisition step and estimating the traveling direction by fuzzy inference;
The travel distance and approximate position calculated in the distance calculation step are input, the branch point is estimated based on the branch reliability curve, and is estimated in the traveling direction estimation step when there is a single branch line in the same direction. A branch point estimation step of estimating the branch line number by inputting the traveling direction and outputting the information when there are a plurality of branch lines in the same direction;
When information that is branched in the same direction is input, the displacement angle obtained in the data acquisition step and the traveling direction estimated in the traveling direction estimation step are input to detect the branching angle and to the branching angle. A branch angle detection step for outputting a corresponding branch line number;
A branch point verification that inputs the branch point and branch line number obtained in the branch point estimation step or the branch line number detected in the branch angle detection step and checks whether or not the line information is provided in advance. A process comprising the steps.

  According to a fifth aspect of the present invention, there is provided a method for detecting a position of a railway vehicle in which the direction of travel of the railway vehicle is determined by using a fuzzy rule based on an angular velocity and an angular acceleration. This is a method of estimating any one of the left direction, the right direction and the straight direction.

  According to a sixth aspect of the present invention, there is provided a position detection method for a railway vehicle in the branch angle estimation step of the position detection method according to the fourth or fifth aspect, wherein line information such as branch points, branch angles, branch line numbers, and the like are input. By performing one-to-one matching with the displacement angle, the branch angle can be estimated and the branch line number corresponding to the branch angle is detected.

  According to the above position detection device and position detection method, when the railway vehicle branches when there is only one branch line, the approximate position can be determined from the travel distance of the railway vehicle and the GPS positioning data obtained by the distance calculation unit. At the same time, the branched line can be found by estimating the traveling direction by the fuzzy rule based on the angular velocity obtained by the angular velocity detector and the angular acceleration obtained by the data acquisition unit. Further, when the maintenance vehicle branches when there are a plurality of branch lines in the same direction, one-to-one matching between the displacement angle of the railway vehicle input from the data acquisition unit and the branch angle input in advance. Thus, the branch angle, that is, the branch line number can be detected. That is, as compared with a conventional system that uses GPS positioning data to identify a currently traveling track, only using approximate position information, for example, even between adjacent branch lines in a station premises, The current position of the railway vehicle can be accurately detected.

It is a block diagram which shows schematic structure of the position detection apparatus of the rail vehicle in the Example of this invention. It is a graph which shows the fuzzy rule used by the advancing direction estimation part of the position detection apparatus. The membership function for output used in the traveling direction estimation unit is shown. It is a graph explaining the estimation method in the traveling direction estimation part. It is a figure for demonstrating the estimation period in the advancing direction estimation part. It is a figure which shows the branch reliability curve obtained by the branch reliability curve calculation part of the same position detection apparatus. It is a schematic diagram of the railway track for demonstrating the position detection method of the railway vehicle of this invention.

Hereinafter, a position detection apparatus and a position detection method for a railway vehicle according to an embodiment of the present invention will be described based on specific examples.
First, the branch part of a railway track will be schematically described.

  For example, in a station premises, there are cases where a number of branch lines branch from a main line connecting stations, or branch lines further branch. For example, a branch line branches from a main line in order, and a branching unit is naturally arranged at a branch position, that is, a branch point.

  In addition, there are many branch points at large stations and the adjacent tracks are also close to each other. At such a location, which branch line the railway vehicle, for example, the maintenance vehicle that maintains the track, enters. It is difficult to accurately detect the signal from only the GPS information.

  Therefore, the position detection device and the position detection method can accurately detect the position of the maintenance vehicle, particularly to which branch line, by using GPS information based on independent positioning with high positioning accuracy.

  This position detection device is provided with map data and a function for displaying the position of a maintenance vehicle on a map in a place where there is a branch line such as a station in cooperation with the approximate position information based on GPS information. Has been.

  This map data includes line numbers such as main lines and branch lines, branch point numbers (branch unit numbers), distances between branch points, the number of branch lines, branch angles, and the like as track information. This line information is provided in a necessary portion of a constituent member to be described later, or is input as necessary. In the following, information related to branching, for example, branch point numbers, branch lines, the number of branch lines, branch angles, and the like will be described as branch information.

  In addition, the position detecting device includes a GPS measuring device for detecting the approximate position of the maintenance vehicle by receiving a positioning signal from a GPS satellite. As described above, this GPS measuring device is used as an auxiliary, and a low-priced one using a single positioning method can be used.

Hereinafter, a position detection device for a railway maintenance vehicle will be described with reference to the drawings.
As shown in FIG. 1, this position detection device is provided in the maintenance vehicle H and detects a speed thereof (for example, a pulse detector that detects the rotational speed of a traveling wheel as a pulse signal is used) 11. An angular velocity detector 12 that is provided in the maintenance vehicle H and detects an angular velocity ω in the traveling direction of the maintenance vehicle H, and a track information storage unit (so-called database) 13 that holds the track information. The movement distance of the maintenance vehicle H from the movement start point (reference position) based on the time from the movement start (running start) and the speed input from the speed detector 11 (in the case of using a pulse detector, the number of pulses) And the current approximate position obtained by the GPS measuring instrument 33 is input and the travel distance is calculated. Based on the above, the distance calculation unit 21 that can obtain the approximate position of the maintenance vehicle H on the map, and the angular velocity ω ′ from the angular velocity detector 12 are input, and the angular acceleration ω ′ that is the time change rate (differential value) is calculated. In addition, the data acquisition unit (of course, provided with a time measurement unit) 22 for calculating the displacement angle θ of the maintenance vehicle H, which is an integral value thereof, and the angular velocity ω and the angular acceleration ω ′ are input from the data acquisition unit 22. Then, the traveling direction estimation unit 23 that estimates the traveling direction by fuzzy inference, and the travel distance and approximate position obtained by the distance calculation unit 21 are input and a branch zone on the map (with the branch point as the center). A branch reliability curve calculation unit 24 for calculating a branch reliability curve (to be described later) for determining whether the distance is within a predetermined length range), and the movement distance and approximate position calculated by the distance calculation unit 21 are input. Then A branch point is estimated on the basis of a branch reliability curve, and a branch line number is estimated by inputting the traveling direction estimated by the traveling direction estimation unit 23 when there is a single (one) branch line in the same direction. In addition, when there are a plurality (plural) of branch lines in the same direction, the branch point estimation unit 25 that outputs the information, and the traveling direction when the branch point estimation unit 25 determines that there are a plurality of branch lines And a displacement angle θ of the maintenance vehicle H (a displacement angle with respect to the track, which corresponds to a branch angle) θ is input from the data acquisition unit 22, and the displacement angle θ and a branch on a branch pattern input in advance are input. A branch angle detection unit 26 that detects a branch angle by matching the corners one-to-one, and a branch point and a branch line number obtained by the branch point estimation unit 25 or a branch detected by the branch angle detection unit 26 Enter the wire number A branch point collating unit 27 for collating whether matches in order a provided line information is provided.

  On the maintenance vehicle H side, a map display means 31 having vehicle position display software 32 and a GPS measuring device 33 capable of displaying the current position of the maintenance vehicle H on a map is provided. Naturally, branch information such as a branch point number and a branch line number obtained by the branching device verification unit 27 is input, and the correct position of the maintenance vehicle H is displayed on the map.

Next, the traveling direction estimation unit 23 will be described.
The traveling direction estimation unit 23 determines whether the vehicle travels straight or in a direction by fuzzy inference, and uses, for example, a fuzzy rule as shown in the chart of FIG.

In this fuzzy rule, the input values are angular velocity ω _m (average value over a predetermined time) and angular acceleration ω ′. These input values are NB (negative), NM (negative), ZERO, PM (median), and PB (positive), both of which are memberships drawn outside the chart shown in FIG. Functions K1 and K2 are used. The output values are also NB (negative), NM (negative), ZERO, PM (median), and PB (positive), and the membership function K3 as shown in FIG. 3 is used.

For example, if ω _m is close to zero (ZERO) and ω ′ is large to the right (true size), it is determined that the vehicle is slightly bent to the right (PS) (corresponding to the shaded portion in FIG. 2).
Then, the output value is obtained based on, for example, the max-mini centroid method. FIG. 3 shows the membership function K3 used for output. Further, the output value obtained from the membership function K3 is a curve shown by a broken line as shown in FIG. 4. Whether the output value exceeds or exceeds a predetermined threshold value α, the right direction (left direction) ) Or a straight line.

  For the determination, a determination time as shown in FIG. 5 (for example, t = 500 mmsec, which can be set to an arbitrary value) is provided. This is not a branch but a grace period for determining whether or not the track is bent. For example, the actual determination is performed every 100 mmsec, and the remaining 400 mmsec is the confirmation period. The reason why the determination is made using the threshold value α is to adjust the determination degree and remove disturbance fluctuations.

  Next, the branch reliability curve calculation unit 24 calculates (creates) a branch reliability curve for determining whether or not a branch point is reached. As shown in FIG. 6, for example, a normal distribution curve (Gaussian curve) S is used as the branch reliability curve S. The point indicating the maximum value at the center of the branch reliability curve S corresponds to the center of the branch zone Z, that is, the branch point. The horizontal axis of the coordinates shown in FIG. 6 represents distance, and the vertical axis represents reliability (%). For example, it is estimated that the maintenance vehicle H has branched when the approximate position of the maintenance vehicle H enters the branch zone Z and exceeds a preset threshold value α. This threshold value β is set to 20%, for example. Of course, this threshold value β is adjusted so as to be able to estimate whether or not it is a branch point appropriately according to actual operation.

Next, the branch point estimation unit 25 will be described.
The branch point estimation unit 25 inputs the travel direction (left / right / straight) estimated by the travel direction estimation unit 23 and the branch reliability curve S input from the branch reliability curve calculation unit 24 to maintain the branch point. The branch point on which the vehicle H passes or has passed is estimated. Here, in the case of branching leftward or rightward, in other words, in the case where only one branch is made in the same direction (one branch line), the maintenance vehicle without changing the direction at the branch point It can be estimated that H passes straight through the branch zone Z and goes straight.

  Specifically, the travel distance and the approximate position from the distance calculation unit 21 are input, and the branching reliability curve S input from the branching reliability curve calculation unit 24 and the traveling direction and line determined by the traveling direction estimation unit 23 are input. A branch point is estimated based on the line information input from the information storage unit 13.

  By the way, when there are a plurality of branches in the same direction (when there are further branch points in the vicinity of the branch point), it is not possible to estimate which direction the travel has been made. Therefore, the branch angle detection unit 26 provided to deal with such a case will be described.

  In this branch angle detection unit 26, information indicating that there are a plurality of branch lines, a branch point, and a traveling direction are also input from the branch point estimation unit 25, and further, a displacement angle θ of the maintenance vehicle H is input from the data acquisition unit 22. One-to-one matching with a branch angle data table provided in advance (or inputted from the track information storage unit) is performed, and the closest angle is selected, and finally, as shown in FIG. It is extracted as such a branch line number (a number prefixed with N).

  Next, in the branch angle matching unit 27, the branch point estimated by the branch point estimation unit 25 and the branch line number detected by the branch angle detection unit 26 are input and line information (particularly, input in advance). , Branch information) is checked to determine whether the branch point is correct. If the verification is correct, the branch point number and branch line number that have passed are sent to the map display means 31 side together with the traveling direction, time, etc., and the correct current position of the maintenance vehicle H is displayed on the map. In addition, when the branching device collation part 27 cannot collate, an alarm signal is sent to the map display means 31 side, and attention is drawn.

Next, a position detection method for detecting to which branch line the maintenance vehicle has moved in the station premises will be described more specifically.
Here, the case where the position of the maintenance vehicle H in the station yard as shown in FIG. 7 is detected will be described. In the following description, a number with N at the beginning of the parenthesis represents a wire number.

  As shown in FIG. 7, the main line A is provided with a first branch line B (N12) that branches at a branch angle θ1 in the left direction, and the first branch line B has a branch angle θ2 in the left direction. Therefore, a second branch line C (N122) that branches is provided, and a third branch line D1 (N1221) that branches at the branch angles θ3, θ4 (θ3 <θ4) is provided in the second branch line C. And a fourth branch line D2 (N1222) is provided.

  When the movement start point (travel start point) of the maintenance vehicle H is P, and the maintenance vehicle H starts to move (travel), the approximate position from the GPS measuring device 33 is input to the distance calculation unit 21 and the maintenance vehicle H The approximate position is detected, and the moving distance is calculated from the speed v from the speed detector 11.

Also, the angular velocity ω ′, which is the rate of change over time, is obtained by inputting the angular velocity ω from the angular velocity detector 12 to the data acquisition unit 22.
The angular velocity ω and the angular acceleration ω ′ are input to the traveling direction estimation unit 23, and the traveling direction is estimated based on the fuzzy rule described above.

  On the other hand, the branch reliability curve calculation unit 24 receives the approximate position and is inversely proportional to the branch reliability curve (the distance from the branch point in the branch zone) at the next branching device (branch number J (i)). The value, that is, a normal distribution curve (S) that is higher near the branch point and lower when close to the boundary of the branch zone is calculated and input to the branch point estimation unit 25.

  In the branch point estimation unit 25, the approximate position and the accurate movement distance are input from the distance calculation unit 21, and the travel direction is input from the travel direction estimation unit 23. Based on the branch reliability curve S, the branch reliability is predetermined. When the threshold value (for example, 20%) β is exceeded, it is estimated that the vehicle has branched in the input traveling direction. The branch point number and the branched branch line number are output. In the case of branching leftward or rightward, the branching direction can be estimated when the branching reliability exceeds the threshold value β. However, for straight traveling, it is estimated that the vehicle has traveled straight through the branching zone Z. Is done. Of course, when going straight, the branch point number and branch line number are output.

  As described above, when the branch point goes straight, leftward or rightward, that is, when there is one branch line, it can be clearly estimated from the output from the traveling direction estimation unit 23, that is, the branch direction. When there are multiple branches, for example, two branches in the same direction, such as the third branch point J3, it is impossible to estimate only by the branch direction.

  In this case, the fact that there are a plurality of branch lines from the branch point estimation unit 25, the branch point and the traveling direction are input to the branch point detection unit 26, and the displacement angle θ of the maintenance vehicle H is input from the data acquisition unit 22 in advance. One-to-one matching with the data table of the branch angle provided (or input from the line information storage unit) is performed, the closest angle is selected, and the branch line number corresponding to this angle is detected. .

  As described above, when there is one branch line, the branch point number and branch line number estimated by the branch point estimation unit 25 are input to the branch point verification unit 27, and a plurality of branch lines are provided. In this case, the branch point number estimated by the branch point estimation unit 25 and the branch line number estimated by the branch angle detection unit 26 are input to the branch verification unit 27, and based on the previously input line information, It is verified whether the branch point that has passed and the branch line number that is the line in the branch direction coincide with each other.

Here, after branching leftward at the first branch point J1, the case of passing leftward at the second branch point J2 and further branching to the front branch line at the third branch point J3 will be described.
When the first branch point J1 passes, the “left direction” is input from the traveling direction estimation unit 23 to the branch point estimation unit 25, and the distance of the maintenance vehicle H exceeds the threshold β of the corresponding branch reliability curve. The first branch point J1 is estimated to branch leftward, and the branch point number and branch line number B (N12) are output. Note that when the maintenance vehicle H goes straight ahead, this is known as soon as it leaves the branch zone Z of the first branch point J1, and similarly, the branch point number J1 and the branch line number A (N11) are output. .

Similarly, when the second branch point J2 is branched leftward, the branch point number J2 and the branch line number C (N122) are output.
Next, when branching to the preceding branch line D1 at the third branch point J3, it can be seen that a plurality of branches are made in the right direction based on the distance data and the approximate position. The displacement angle θ of the maintenance vehicle H is input to the branch angle detection unit 26 from the “direction” signal and the data acquisition unit 22. Here, the branch angle θ3 is estimated by a one-to-one matching between the displacement angle θ and the previously input branch angle, and the branch line number D1 (N1221) corresponding to the branch angle θ3 is output.

  The branch point number J3 output from the branch point estimation unit 25 and the branch line number D1 (N1221) output from the branch angle detection unit 26 are input to the branching unit verification unit 27 and input in advance here. It is determined whether or not it matches the track information. When these verifications are completed, the track information is output to the map display means 31, and the current position of the maintenance vehicle H is displayed on the map.

  As described above, when the maintenance vehicle H branches when the number of branch lines is one, the approximate position is known from the travel distance and GPS positioning data of the maintenance vehicle H obtained by the distance calculation unit, and the maintenance vehicle A branch line can be found by estimating the direction of travel using fuzzy rules based on the angular velocity and angular acceleration. Further, when the maintenance vehicle branches when there are a plurality of branch lines in the same direction, the branch angle detection unit calculates the displacement angle of the maintenance vehicle from the data acquisition unit and the branch angle input in advance. A branch angle, that is, a branch line number can be detected by one-to-one matching. That is, as compared with a conventional system that uses GPS positioning data to identify a currently traveling track, only using approximate position information, for example, even between adjacent branch lines in a station premises, The current position of the maintenance vehicle can be accurately detected.

By the way, the position detection method for the railway maintenance vehicle described above is described in the process format as follows.
That is, the position detection method for the maintenance vehicle for railroad includes a GPS measuring device that can detect the approximate position of the railroad vehicle, a speed detector that detects the speed of the railcar, and the progress of the railroad vehicle. A method for detecting a position of a railway vehicle equipped with an angular velocity detector for detecting an angular velocity in a direction,
The distance at which the speed detected by the speed detector is input to calculate the moving distance, and the approximate position of the railway vehicle on the map can be calculated based on the moving distance and the movement start position obtained by the GPS measuring instrument. A calculation process;
A data acquisition step of obtaining the displacement angle by inputting the angular velocity detected by the angular velocity detector and integrating the angular acceleration in the traveling direction of the railway vehicle and the angular velocity.
A traveling direction estimation step of inputting angular velocity and angular acceleration from the data acquisition step and estimating the traveling direction by fuzzy inference;
The travel distance and approximate position calculated in the distance calculation step are input, the branch point is estimated based on the branch reliability curve, and is estimated in the traveling direction estimation step when there is a single branch line in the same direction. A branch point estimation step of estimating the branch line number by inputting the traveling direction and outputting the information when there are a plurality of branch lines in the same direction;
When information that is branched in the same direction is input, the displacement angle obtained in the data acquisition step and the traveling direction estimated in the traveling direction estimation step are input to detect the branching angle and to the branching angle. A branch angle detection step for outputting a corresponding branch line number;
A branch point verification that inputs the branch point and branch line number obtained in the branch point estimation step or the branch line number detected in the branch angle detection step and checks whether or not the line information is provided in advance. A process comprising:
Further, in the traveling direction estimation step, using a fuzzy rule based on angular velocity and angular acceleration, the traveling direction of the railway vehicle is a method for estimating one of the left direction, the right direction, and the straight direction,
Furthermore, in the branch angle estimation step, the branch angle can be estimated and the branch angle can be estimated by performing one-to-one matching between the line information such as the branch point, the branch angle, and the branch line number and the input displacement angle. Is a method of detecting a branch line number corresponding to.

DESCRIPTION OF SYMBOLS 1 Position detection apparatus 11 Speed detector 12 Angular velocity detector 13 Line information storage part 21 Distance calculation part 22 Data acquisition part 23 Travel direction estimation part 24 Branch reliability curve calculation part 25 Branch point estimation part 26 Branch angle detection part 27 Branch device Verification unit

Claims (6)

A device for detecting the position of a railway vehicle,
A GPS measuring device capable of detecting the approximate position of the railway vehicle;
A speed detector for detecting the speed of the railway vehicle;
An angular velocity detector that is provided in the railway vehicle and detects an angular velocity in the traveling direction of the railway vehicle;
The distance at which the speed detected by the speed detector is input to calculate the moving distance, and the approximate position of the railway vehicle on the map can be calculated based on the moving distance and the movement start position obtained by the GPS measuring instrument. A calculation unit;
A data acquisition unit that obtains the angular acceleration in the traveling direction of the railway vehicle by inputting the angular velocity detected by the angular velocity detector and calculates the displacement angle by integrating the angular velocity;
A traveling direction estimation unit that inputs angular velocity and angular acceleration from the data acquisition unit and estimates the traveling direction by fuzzy inference;
The travel distance and the approximate position calculated by the distance calculation unit are input, the branch point is estimated based on the branch reliability curve, and is estimated by the traveling direction estimation unit when there is a single branch line in the same direction. A branch point estimation unit that estimates the branch line number by inputting the traveling direction and outputs the information when there are multiple branch lines in the same direction;
When information that is branched in the same direction is input, the displacement angle obtained by the data acquisition unit and the traveling direction estimated by the traveling direction estimation unit are input to detect the branching angle and to the branching angle. A branch angle detector that outputs the corresponding branch line number;
A branch point verification that inputs the branch point and branch line number obtained by the branch point estimation unit or the branch line number detected by the branch angle detection unit and checks whether or not the line information is provided in advance. A position detection apparatus for a railway vehicle.   2. The traveling direction estimation unit estimates a traveling direction of a railway vehicle to one of a left direction, a right direction, and a straight direction by using a fuzzy rule based on an angular velocity and an angular acceleration. The position detection apparatus of a rail vehicle as described.   In the branch angle detection unit, one-to-one matching between line information such as branch point, branch angle, branch line number, etc. and the input displacement angle can be used to estimate the branch angle and support the branch angle. The position detection device for a railway vehicle according to claim 1 or 2, wherein a branch line number to be detected is detected. A GPS measuring device that can detect the approximate position of a railway vehicle, a speed detector that detects the speed of the railway vehicle, and an angular velocity detector that is provided on the railway vehicle and detects an angular velocity in the traveling direction of the railway vehicle. A method for detecting the position of a railway vehicle,
The distance at which the speed detected by the speed detector is input to calculate the moving distance, and the approximate position of the railway vehicle on the map can be calculated based on the moving distance and the movement start position obtained by the GPS measuring instrument. A calculation process;
A data acquisition step of obtaining the displacement angle by inputting the angular velocity detected by the angular velocity detector and integrating the angular acceleration in the traveling direction of the railway vehicle and the angular velocity.
A traveling direction estimation step of inputting angular velocity and angular acceleration from the data acquisition step and estimating the traveling direction by fuzzy inference;
The travel distance and approximate position calculated in the distance calculation step are input, the branch point is estimated based on the branch reliability curve, and is estimated in the traveling direction estimation step when there is a single branch line in the same direction. A branch point estimation step of estimating the branch line number by inputting the traveling direction and outputting the information when there are a plurality of branch lines in the same direction;
When information that is branched in the same direction is input, the displacement angle obtained in the data acquisition step and the traveling direction estimated in the traveling direction estimation step are input to detect the branching angle and to the branching angle. A branch angle detection step for outputting a corresponding branch line number;
A branch point verification that inputs the branch point and branch line number obtained in the branch point estimation step or the branch line number detected in the branch angle detection step and checks whether or not the line information is provided in advance. A method for detecting the position of a railway vehicle comprising the steps of:   5. The railway according to claim 4, wherein in the traveling direction estimation step, the traveling direction of the railway vehicle is estimated as one of the left direction, the right direction, and the straight direction by using a fuzzy rule based on the angular velocity and the angular acceleration. Vehicle position detection method.   In the branch angle estimation process, one-to-one matching between line information such as branch point, branch angle, branch line number, etc. and the input displacement angle can be used to estimate the branch angle and support the branch angle. 6. The method for detecting a position of a railway vehicle according to claim 4, wherein a branch line number to be detected is detected.

Images