JP2014215271A - Positioning device, positioning method and positioning program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress the deterioration of positioning accuracy by, when an azimuth in which a train is moving due to a shuttle service or the like is inverted, quickly correcting the azimuth.SOLUTION: A reception part 11 receives a positioning signal from a satellite. A movement signal input part 12 inputs a movement signal related to a change in the location of a train loaded with the reception part 11 detected by a sensor attached to the train. A positioning part 13 positions the location of the train by processing a positioning signal received by the reception part 11 by a satellite navigation method. Also, the positioning part 13 measures the location of the train by processing the movement signal input to the movement signal input part 12 by an inertia navigation method. When the speed of the train exceeds a predetermined azimuth determination speed, the control part 10 determines whether or not an azimuth in which the train is moving obtained from the movement signal input to the movement signal input part is appropriate, and otherwise, the positioning part 13 allows the positioning part 13 to invert the azimuth in which the train moves, the azimuth being obtained from the movement signal.

Description

  The present invention relates to a technique for receiving a positioning signal from a satellite and positioning a moving body.

  Conventionally, there is a positioning device that is mounted on a moving body such as a vehicle and processes a positioning signal received from a satellite (GPS satellite) to position the position of the moving body. In addition, navigation devices using this type of positioning device are also widespread.

  A navigation device (vehicle navigation device) mounted on a vehicle processes a movement signal related to a change in the position of the host vehicle detected by an acceleration sensor, an angular velocity sensor, or the like attached to the vehicle, and determines the position of the host vehicle by inertial navigation. Measure. In addition, the positioning signal received from the satellite is processed by satellite navigation to determine the position of the host vehicle. Then, the position of the host vehicle measured by inertial navigation is corrected with the position of the host vehicle positioned by satellite navigation, and positioning is finally performed with the corrected position as the position of the host vehicle.

  Further, when the vehicle is turned on the turntable in a parking lot or the like, the direction of the own vehicle (the direction ahead of the own vehicle) is shifted by the angle turned by the turntable. As a result, the position of the own vehicle cannot be properly determined by inertial navigation. Therefore, even if the position of the own vehicle measured by inertial navigation is corrected with the position of the own vehicle measured by satellite navigation, the position of the own vehicle is not obtained. Is not appropriate. Therefore, it is proposed that information related to the turntable (position, rotation angle, etc.) is stored in a database, and when the vehicle is turned on the turntable stored in the database, the direction of the own vehicle is corrected quickly. (See Patent Document 1).

  In addition, a proposal has been made to mount a positioning device on a train (railway vehicle) traveling along a track and detect the position of the train (position on the track network) (see Patent Document 2).

JP 2008-215923 A JP 2010-234799 A

  However, the front and rear of a train are not fixed like a car. That is, when the direction of traveling (moving) is reversed in a turn-back operation or the like, the train does not make a U-turn like an automobile, but changes the last vehicle to the first vehicle and the first vehicle to the last vehicle It is carried out. Thus, the front of the vehicle changes depending on the direction in which the train is traveling. For this reason, if the direction in which the train is traveling is changed, such as when the train is traveling, the direction in which the train is traveling and the direction in which the train is actually traveling are reversed. The position of the train cannot be properly determined by inertial navigation. Therefore, the positioning device cannot accurately determine the position of the train.

  An object of the present invention is to provide a technique in which, when the direction in which a train moves in a turn-back operation or the like is reversed, the direction can be corrected quickly, and a decrease in positioning accuracy can be suppressed.

  The positioning device of the present invention is configured as follows in order to solve the above-described problems and achieve the object.

  The receiving unit receives a positioning signal from a satellite. The movement signal input unit inputs a movement signal related to a change in the position of the train detected by a sensor (for example, an acceleration sensor or an angular velocity sensor) attached to the train on which the receiving unit is mounted.

  The positioning unit is a satellite navigation positioning function that processes the positioning signal received by the receiving unit to determine the position of the train, and an inertial navigation that processes the movement signal input to the movement signal input unit to determine the position of the train. Has a positioning function. When a positioning signal is received from the satellite, the positioning unit corrects the position of the train determined by inertial navigation with the position of the train determined by satellite navigation, and finally the corrected position is determined as the train position. Perform positioning. Further, the positioning unit measures the position of the train by inertial navigation when the positioning signal cannot be received from the satellite.

  If the direction of the train exceeds the predetermined direction determination speed, the direction determination unit determines whether the direction in which the train is moving from the movement signal input to the movement signal input unit by the positioning unit is appropriate. Determine. The train may reverse the moving direction due to a turn-back operation or the like. The train stops once when reversing the moving direction. Therefore, the direction determination speed may be set to about several tens km / h (for example, 10 to 30 km / h).

  When the azimuth correction unit determines that the azimuth in which the train is moving from the movement signal input to the movement signal input unit is not appropriate by the azimuth determination unit, the positioning unit determines from the movement signal. Reverse the direction in which the train you are moving is moving.

  Therefore, when the direction in which the train is moving is changed (reversed) during a turn-back operation or the like, the positioning unit quickly corrects the direction in which the train is moving from the movement signal input to the movement signal input unit. Can be done.

  The movement signal input unit inputs a movement signal including the angular velocity in the turning direction of the train detected by the angular velocity sensor, and the positioning unit turns the turning direction of the train included in the movement signal input to the movement signal input unit. What is necessary is just to make it the structure which obtains the direction which the train is moving from the integrated value of the angular velocity of.

  In addition, the azimuth determination unit obtains whether or not the azimuth in which the train is moving from the movement signal input to the movement signal input unit by the positioning unit is appropriate by the satellite navigation positioning function in the positioning unit. What is necessary is just to set it as the structure determined by contrast with the direction which the train is moving.

  In addition, the movement signal input unit is configured to input a movement signal including the acceleration in the longitudinal direction of the train detected by the sensor, and the direction determination unit has a predetermined integration time when the train speed exceeds the direction determination speed. The train obtained by the positioning unit from the movement signal moves based on the train speed obtained by integrating the longitudinal acceleration of the train included in the movement signal input to the movement signal input unit. It is good also as a structure which determines whether the azimuth | direction which is suitable is appropriate.

  Moreover, it is good also as a structure which inputs the direction signal which shows the direction which the train is moving from the train side. In this case, the train may be provided with a direction detection sensor such as a gyro sensor that detects the moving direction, and the detection output of the direction detection sensor is input to the positioning device.

  In this case, the configuration related to the above-described azimuth determination unit can be eliminated.

  According to the present invention, when the direction in which the train moves in a turn-back operation or the like is reversed, the direction can be corrected quickly, so that a decrease in positioning accuracy can be suppressed.

It is a figure explaining the movement of a train. It is a figure which shows the structure of the principal part of a positioning apparatus. It is a flowchart which shows operation | movement of a positioning apparatus. It is a flowchart which shows operation | movement of the positioning apparatus concerning another example. It is a flowchart which shows operation | movement of the positioning apparatus concerning another example. It is a figure which shows the structure of the principal part of a positioning apparatus. It is a flowchart which shows operation | movement of the positioning apparatus concerning another example.

  Hereinafter, a positioning device according to an embodiment of the present invention will be described.

  First, although it is well known, the traveling of the train will be described. The train travels and moves along the laid track. FIG. 1 is a diagram illustrating the traveling direction (movement direction) of a train. The train connects a plurality of vehicles in a row. When the train travels in the direction A shown in FIG. 1, the leading vehicle becomes the vehicle X and the last vehicle becomes the vehicle Y. When the train travels in the direction B shown in FIG. 1, the leading vehicle becomes the vehicle Y and the last vehicle becomes the vehicle X. The vehicles X and Y are provided with driver seats. The train travels by the leading vehicle (vehicle X or vehicle Y) determined by the traveling direction pulling the connected vehicle. Specifically, when traveling in the direction A shown in FIG. 1, other vehicles (including the vehicle Y) to which the vehicle X is connected are pulled. Further, when traveling in the direction B shown in FIG. 1, the vehicle Y pulls other vehicles (including the vehicle X) to which the vehicle Y is connected and travels in the direction B. As described above, the train is not fixed at the front and the rear as in the car, so when the direction of traveling (moving) is reversed in the turn-back operation or the like, the train does not make a U-turn like the car.

  FIG. 2 is a diagram illustrating a configuration of a main part of the positioning device according to this example. The positioning device 1 according to this example measures the position of a train that travels along a laid track. The positioning device 1 includes a control unit 10, a receiving unit 11, a movement signal input unit 12, a positioning unit 13, and an output unit 14.

  The control unit 10 controls the operation of each part of the positioning device 1 main body. Moreover, the control part 10 has the structure corresponded to the azimuth | direction determination part and azimuth | direction correction | amendment part said by this invention. The control unit 10 is not only connected to the positioning unit 13 but also connected to each unit other than the positioning unit 13 (in FIG. 1, connection lines between the control unit 10 and each unit other than the positioning unit 13). The illustration is simply omitted.)

  The receiving unit 11 receives a positioning signal that a satellite (GPS satellite) constantly transmits toward the earth. There are currently 24 satellites transmitting positioning signals. This positioning signal is a navigation message including satellite orbit information about the corresponding satellite (satellite transmitting this positioning signal), a clock correction value, and an ionospheric correction coefficient. The navigation message is spread by the C / A code and placed on the L1 wave (frequency: 1575.42 MHz). The receiving unit 11 inputs the received positioning signal to the positioning unit 13.

  A signal (movement signal) relating to a change in the position of the train on which the positioning device 1 is mounted is input to the movement signal input unit 12. This movement signal is a detection output of the angular velocity sensor 21 and the acceleration sensor 22 attached to the train. The acceleration sensor 22 detects at least two-axis accelerations in the X-axis direction, which is the front-rear direction of the train on which the positioning device 1 is mounted, and the Y-axis direction, which is the left-right direction of the train. Input to the input unit 12. The angular velocity sensor 21 detects the angular velocity in the turning direction of the vehicle on which the positioning device 1 body is mounted, and inputs this to the movement signal input unit 12 as a movement signal. The turning direction is an azimuth direction around the Z axis that is orthogonal to the longitudinal direction (X-axis direction) and the left-right direction (Y-axis direction) of the train on which the positioning device 1 main body is mounted. The positioning unit 13 stores an integrated value obtained by integrating the detection output of the angular velocity sensor 21, and obtains a direction in which the train is traveling based on the integrated value.

  The angular velocity sensor 21 and the acceleration sensor 22 correspond to the sensors referred to in the present invention.

  In addition, a speed pulse corresponding to the rotation speed of the wheel, which is a detection output of the encoder 23 attached to the train wheel, is input to the movement signal input unit 12. The movement signal input unit 12 obtains the traveling speed of the train from the speed pulse input from the encoder 23. The movement signal input unit 12 cannot obtain the traveling direction of the train (the rotation direction of the wheels) from this speed pulse.

  The positioning unit 13 measures the position of the train on which the positioning device 1 main body is mounted. The positioning unit 13 processes the movement signal input to the movement signal input unit 12 to determine the position of the train by inertial navigation regardless of whether the reception unit 11 has received positioning signals from four or more satellites. To do. Moreover, if the receiving part 11 has received the positioning signal from four or more satellites, the positioning part 13 will position the position of the vehicle carrying the positioning apparatus 1 main body by satellite navigation. Further, the positioning unit 13 corrects the position of the train determined by inertial navigation with the position of the train determined by satellite navigation, and finally determines the corrected position as the position of the train.

  If the positioning unit 13 has not received positioning signals from four or more satellites, the positioning unit 13 sets the position determined by inertial navigation as the train position.

  The output unit 14 outputs a positioning result including the position of the train positioned by the positioning unit 13 to the host device. The host device is, for example, an operation management device that grasps the position of each train in the route network in real time and manages the operation of each train. Further, the host device may be a display control device that displays the train position superimposed on a map on a display installed in the driver's seat of the train, or may be a device other than these.

  Hereinafter, the operation of the positioning device 1 will be described. FIG. 3 is a flowchart showing the operation of the positioning device.

  The positioning device 1 performs a positioning process for positioning the train position in parallel with the process shown in FIG. If the positioning unit 1 has not received positioning signals from four or more satellites, the positioning device 1 performs a positioning process in which the position determined by the inertial navigation in the positioning unit 13 is set to the position of the train. Moreover, if the positioning device 1 has received positioning signals from four or more satellites by the receiving unit 11, the positioning unit 13 corrects the position measured by the inertial navigation in the positioning unit 13 with the position of the train measured by the satellite navigation, A positioning process is performed in which the corrected position is the train position.

  In the positioning unit 13, the control unit 10 determines whether the train speed is less than a preset first speed (s1). This first speed is a low speed of several km / h (for example, 1 to 5 km / h), and is a speed immediately before the train stops. The control unit 10 obtains the train speed from the speed pulse that is the detection output of the encoder 23.

  When determining that the speed of the train is lower than the preset first speed in s1, the control unit 10 determines whether the speed of the train exceeds a predetermined second speed (s2). This second speed is a speed of several tens km / h (for example, 10 to 30 km / h), which is faster than the first speed. This second speed is the direction determination speed referred to in the present invention.

  When the traveling is resumed after the train is stopped, the control unit 10 determines that the speed of the train exceeds the second speed in s2. The train temporarily stops when the direction is reversed during a turn-back operation or the like. Therefore, there is a possibility that the train determined to have exceeded the second speed in s2 has the direction reversed (changed the leading vehicle).

  In the control unit 10, the train used by the positioning unit 13 based on the integrated value of the detection output of the angular velocity sensor 21 input to the movement signal input unit 12, that is, the positioning used by inertial navigation is running. An orientation is obtained (s3).

  In addition, the control unit 10 processes the positioning signal from the satellite received by the receiving unit 11 by the positioning unit 13 by satellite navigation, and the train obtained by the satellite navigation travels from the change in the position of the train. The direction which is present is obtained (s4).

  The control unit 10 compares the direction in which the train used for positioning in inertial navigation obtained in s3 is traveling with the direction in which the train obtained by positioning by satellite navigation obtained in s4 is traveling. Then, it is determined whether or not the deviation of the direction exceeds a predetermined angle A (for example, 90 °) (s5). In the determination relating to s5, the deviation between the two directions is set to a narrower angle.

  If the difference between the two directions does not exceed the predetermined angle A at s5, the control unit 10 does not reverse the direction in which the train is traveling, that is, the train used for positioning in inertial navigation is running. It is determined that the azimuth is appropriate, and the process returns to s1.

  On the other hand, if the deviation between the two directions exceeds a predetermined angle A at s5, the control unit 10 reverses the direction in which the train is traveling in a loopback operation or the like, that is, in the positioning in inertial navigation. It is determined that the direction in which the train being used is traveling is inappropriate, and the positioning unit 13 is instructed to reverse the direction in which the train used in the positioning in inertial navigation is traveling (s6). ), Return to s1. The positioning unit 13 reverses the direction in which the train used for positioning in inertial navigation is traveling according to the instruction of s6.

  As described above, in the positioning device 1 according to this example, the positioning unit 13 integrates the detection output of the angular velocity sensor 21 when the direction in which the train is traveling is reversed (when the leading vehicle is changed). The direction in which the train obtained from the value travels (the direction in which the train used by the positioning unit 13 for positioning in inertial navigation) can be corrected quickly. Therefore, a decrease in positioning accuracy in the positioning unit 13 is suppressed.

  Next, another example of the present invention will be described. The positioning device 1 according to this example also has the configuration shown in FIG. The positioning device 1 according to this example uses the detection output of the acceleration sensor 22 to determine whether or not the direction in which the train is traveling in a loopback operation or the like has been reversed. FIG. 4 is a flowchart showing the operation of the positioning apparatus according to this example. The positioning device 1 according to this example performs a positioning process for positioning the position of the train in parallel with the process shown in FIG. 4, similarly to the positioning device 1 of the example described above.

  The positioning device 1 according to this example performs the processes related to s1 and s2 described above in the control unit 10. When determining that the speed of the train has exceeded the predetermined second speed in s2, the control unit 10 integrates the detection outputs of the acceleration sensor 22 in the longitudinal direction of the train over a predetermined time (s11). The integrated value of the detection output of the acceleration sensor 22 in the longitudinal direction of the train obtained in s11 is the speed in the longitudinal direction of the train.

  The control unit 10 determines whether the speed of the train obtained in s11 is positive or negative with respect to the direction in which the train used for positioning in inertial navigation is traveling at this time (s12). .

  If the control unit 10 determines that it is positive in s12, the train determines that the direction in which the train is traveling is not reversed, that is, the direction in which the train used for positioning in inertial navigation is traveling is appropriate. And return to s1.

  On the other hand, if the control unit 10 determines that it is negative in s12, the direction in which the train is traveling in the loopback operation or the like is reversed, that is, the direction in which the train used for positioning in inertial navigation is traveling. It judges that it is improper, and instruct | indicates that the direction which the train currently used for the positioning used in the inertial navigation is reversing is instruct | indicated to the positioning part 13 in s6, and returns to s1. The positioning unit 13 reverses the direction in which the train used for positioning in inertial navigation is traveling according to the instruction of s6.

  As described above, the positioning device 1 according to this example also performs positioning when the direction in which the train is traveling in a turn-back operation or the like is reversed (when the leading vehicle is changed) as in the positioning device 1 according to the above example. The direction in which the train travels which the unit 13 obtains from the integrated value of the detection output of the angular velocity sensor 21 (the direction in which the train used by the positioning unit 13 for positioning in inertial navigation) can be corrected quickly. . Therefore, a decrease in positioning accuracy in the positioning unit 13 is suppressed.

  Further, the processes shown in FIG. 3 and FIG. 4 may be combined and configured as shown in FIG. Specifically, the control unit 10 makes a determination based on a comparison between the direction in which the train used by the positioning unit 13 for positioning by inertial navigation and the direction in which the train obtained by satellite navigation is traveling. (S3 to s5), and the integrated value of the detection output of the acceleration sensor 22 in the longitudinal direction of the train over a predetermined period of time with respect to the direction in which the train used for positioning in inertial navigation is traveling at this time Whether it is positive or negative (s11, s12). If the control unit 10 determines that the azimuth deviation exceeds the angle A in s5, or if the train speed is determined to be negative in s12, the train reverses the direction in which the train is traveling in a turnback operation or the like. In step s6, the positioning unit 13 is instructed to reverse the direction in which the train used for positioning in inertial navigation is traveling.

  Another example of the positioning device 1 according to the present invention will be described.

  FIG. 6 is a diagram showing a configuration of a main part of the positioning device according to this example. Similarly to the above-described example, the positioning device 1 according to this example measures the position of the train traveling along the laid track. The positioning device 1 includes an azimuth signal input unit 15 in addition to the control unit 10, the reception unit 11, the movement signal input unit 12, the positioning unit 13, and the output unit 14 illustrated in FIG.

  The azimuth signal input unit 15 receives an azimuth signal indicating the azimuth in which the train on which the positioning device is mounted is moving. This direction signal is a signal indicating the direction in which the train detected by the gyro sensor 24 attached to the train is moving.

  FIG. 7 is a flowchart showing the operation of the positioning apparatus according to this example.

  The positioning device 1 according to this example performs the processes related to s1 and s2 described above in the control unit 10. When the control unit 10 determines that the train speed has exceeded the predetermined second speed in s2, the control unit 10 determines the direction in which the train used for the positioning in the inertial navigation is traveling with respect to the positioning unit 13 as a gyro sensor. It is a detection output of 24, and it is instructed to match the direction in which the train indicated by the direction signal input to the direction signal input unit 15 is moving (s21). In accordance with the instruction of s21, the positioning unit 13 sets the direction in which the train used for positioning in inertial navigation is traveling to the direction in which the train indicated by the direction signal input to the direction signal input unit 15 is moving. Match.

As described above, the positioning device 1 according to this example also performs positioning when the direction in which the train is traveling in a turn-back operation or the like is reversed (when the leading vehicle is changed) as in the positioning device 1 according to the above example. The direction in which the train travels which the unit 13 obtains from the integrated value of the detection output of the angular velocity sensor 21 (the direction in which the train used by the positioning unit 13 for positioning in inertial navigation) can be corrected quickly. . Therefore, a decrease in positioning accuracy in the positioning unit 13 is suppressed.

DESCRIPTION OF SYMBOLS 1 ... Positioning device 10 ... Control part 11 ... Reception part 12 ... Movement signal input part 13 ... Positioning part 14 ... Output part 15 ... Direction signal input part 21 ... Angular velocity sensor 22 ... Acceleration sensor 23 ... Encoder 24 ... Gyro sensor

Claims (7)

A receiver for receiving a positioning signal from a satellite;
A movement signal input unit for inputting a movement signal related to a change in the position of the train detected by a sensor attached to the train equipped with the reception unit;
A satellite navigation positioning function for processing the positioning signal received by the receiving unit to determine the position of the train, and an inertial navigation for measuring the position of the train by processing the movement signal input to the movement signal input unit A positioning unit having a positioning function;
When the speed of the train exceeds a predetermined azimuth determination speed, it is determined whether the direction in which the train is moving is obtained from the movement signal input to the movement signal input unit by the positioning unit is appropriate. An orientation determining unit for determining;
When the azimuth determining unit determines that the direction in which the train is moving is obtained from the movement signal input to the movement signal input unit by the positioning unit is not appropriate, the positioning unit is obtained from the movement signal. An orientation correction unit that reverses the orientation in which the train is moving. The movement signal input unit inputs a movement signal including an angular velocity in a turning direction of the train detected by the sensor,
The positioning according to claim 1, wherein the positioning unit obtains a direction in which the train is moving from an integrated value of angular velocities in the turning direction of the train included in the movement signal input to the movement signal input unit. apparatus.   The azimuth determining unit determines whether the azimuth in which the train is moving obtained from the movement signal input to the movement signal input unit by the positioning unit is appropriate, and the satellite navigation positioning function in the positioning unit. The positioning device according to claim 1, wherein the positioning device is determined based on a comparison with a direction in which the train is moving. The movement signal input unit inputs a movement signal including acceleration in the longitudinal direction of the train detected by the sensor,
When the speed of the train exceeds the direction determination speed, the azimuth determination unit is configured to move in a longitudinal direction of the train included in the movement signal input to the movement signal input unit over a predetermined integration time. 4. The method according to claim 1, wherein, based on the speed of the train obtained by accumulating acceleration, the positioning unit determines whether or not the direction in which the train is moving obtained from the movement signal is appropriate. A positioning device according to the above. A receiver for receiving a positioning signal from a satellite;
A movement signal input unit for inputting a movement signal related to a change in the position of the train detected by a sensor attached to the train equipped with the reception unit;
A satellite navigation positioning function for processing the positioning signal received by the receiving unit to determine the position of the train, and an inertial navigation for measuring the position of the train by processing the movement signal input to the movement signal input unit A positioning unit having a positioning function;
When the speed of the train exceeds a predetermined direction determination speed, the train input from the train side moves in the direction in which the train is moving, which is obtained from the movement signal by the positioning unit. A positioning device including an azimuth correction unit that matches a given direction. A satellite navigation positioning process for processing the positioning signal from the satellite received by the receiving unit and positioning the position of the train equipped with this receiving unit, and the train equipped with the receiving unit input to the movement signal input unit A positioning step for performing an inertial navigation positioning process for processing a movement signal related to a change in the position of the train detected by an attached sensor and positioning the position of the train;
If the speed of the train exceeds a predetermined direction determination speed, whether or not the direction in which the train is moving obtained from the movement signal input to the movement signal input unit by the positioning step is appropriate An orientation determination step for determining
When the azimuth determining step determines that the azimuth in which the train is moving obtained from the movement signal input to the movement signal input unit by the positioning step is not appropriate, the positioning step is obtained from the movement signal. A positioning method in which a computer executes an azimuth correction step of inverting the direction in which the train is moving. A satellite navigation positioning process for processing the positioning signal from the satellite received by the receiving unit and positioning the position of the train equipped with this receiving unit, and the train equipped with the receiving unit input to the movement signal input unit A positioning step for performing an inertial navigation positioning process for processing a movement signal related to a change in the position of the train detected by an attached sensor and positioning the position of the train;
If the speed of the train exceeds a predetermined direction determination speed, whether or not the direction in which the train is moving obtained from the movement signal input to the movement signal input unit by the positioning step is appropriate An orientation determination step for determining
When the azimuth determining step determines that the azimuth in which the train is moving obtained from the movement signal input to the movement signal input unit by the positioning step is not appropriate, the positioning step is obtained from the movement signal. A positioning program for causing a computer to execute an azimuth correction step for inverting the direction in which the train is moving.

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