JP2019064518A - System and method for detecting train position - Google Patents

Abstract

To realize highly accurate train position detection capable of solving the problems when using a global positioning satellite system (GNSS) without using a ground element and without increasing the number of satellites and reducing a measurement error of a position measuring device that measures positions of trains.SOLUTION: First and second position measuring devices (such as a GPS receiver, a distance measuring sensor, a recognition sensor, and a distance sensor) for measuring a position of a train are installed on a plurality of vehicles among a train composition. A train position detecting system estimates a position (a point A) of a first vehicle upon receiving a measurement position obtained by the first position measuring device, estimates a position (a point B) of a second vehicle upon receiving a measurement position obtained by the second position measuring device, estimates a movement position (a point C) of the estimated position, which moves along a track for an installation interval between the first position measuring device and the second position measuring device, and determines a position (a point D) between the position (the point A) of the first vehicle and the movement position (the point C) of the second vehicle as a train position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system and method for detecting the position of a train connecting a plurality of vehicles traveling on a predetermined track.

  In order to run the train safely, position information indicating the current position of the running train, that is, the position of the vehicle is required. Then, by measuring the position of the train accurately, that is, detecting the position of the train with high accuracy, more detailed train control such as, for example, reducing the distance from another train becomes possible.

  As a method of measuring the position of the vehicle concerned, there is, for example, a method of measuring the speed of the train by a speed sensor and integrating the measured speed to calculate the travel distance of the train. However, this method can not avoid the accumulation of integral errors caused by the deviation of the train wheel diameter.

  Therefore, in general, by installing a plurality of ground elements storing the position information of ground elements between the tracks on the track and reading the position information of the train from the ground elements when the train passes above it, Methods for correcting wheel diameter errors are widely used.

  Moreover, as a technique which makes installation of a ground child unnecessary, without using a ground child, there exists a technology of Unexamined-Japanese-Patent No. 2016-217710 (cited reference 1), for example. In this publication, "the train position detection device for detecting the position of a train by receiving positioning radio waves from a plurality of satellites via a reception antenna, and detecting the position of the train in a predetermined horizontal direction and a predetermined elevation angle with respect to the train A train position detection device comprising: a determination unit that determines the satellite located within a range; and a calculation unit that calculates the position of the train using positioning radio waves from the satellite determined by the determination unit There is a description of.

JP, 2016-217710, A JP, 2008-39491, A

  In Patent Document 1, a plurality of satellite measurement means (GPS receivers including a GNSS antenna) are installed in one train (train), so even if the number of satellites that can be observed by each GPS receiver is temporarily small, both By sharing the information from the satellites observed by the GPS receiver of the above between the two GPS receivers, it is possible to increase the number of satellites that can be observed as one formation and to reduce the error.

However, since each satellite moves along different orbits, the number of observable satellites may be reduced depending on the time zone. In this case, since the number of satellites that can be observed in all the satellite measurement means in one organization decreases, the number of satellites that can be observed as one organization does not change even if satellite information from satellites is shared by multiple satellite measurement means. Errors in train detection positions can not be reduced. That is, there is a problem that the error range of the train detection position is large and the train position can not be detected with high accuracy by merely using a plurality of satellite measurement means.
Generally, the accuracy of the Global Positioning Satellite System (GNSS) depends on the number of satellites that can be observed and the strength of the satellite signals. For this reason, when there are few satellites that can be observed or the radio field intensity of the satellite signal is weak, the error of the train position measured by the Global Positioning Satellite System (GNSS) becomes large.

  Therefore, according to the present invention, the above-mentioned problems in the case of using the Global Positioning Satellite System (GNSS) can be corrected without using the ground element and without increasing the number of satellites, and the position of the train is measured. It is an object of the present invention to provide a technology that can reduce the measurement error of the position measurement device and realize highly accurate train position detection.

  In order to solve the above-mentioned subject, in the present invention, the 1st and 2nd position measuring device which measures the position of a train to a plurality of vehicles in train organization, for example, a GPS receiver and a ranging sensor (including recognition sensor, distance) Sensor) to estimate the position of the first vehicle by receiving the measurement position by the first position measurement device, estimate the position of the second vehicle by receiving the measurement position by the second position measurement device, and the estimated position The movement position of the first position measurement device and the second position measurement device is estimated by moving along the track by the installation interval, and the position between the position of the first vehicle and the movement position of the second vehicle is taken as the train position It is decided.

For example, one representative train position sensing system and method of the present invention is:
A train position detection system for detecting a position of a train formed by connecting a plurality of vehicles traveling on a predetermined track, the train position detection system comprising:
A first position measurement hand device installed in a first vehicle forming the train, and the first position measurement device indicates a measurement position of a first position measurement unit that measures the position of a vehicle of the train Output location information,
A second position measurement unit installed in a second vehicle different from the first vehicle, and the second position measurement device indicates a measurement position of a second position measurement unit that measures the position of a vehicle of the train. Output measurement position information,
An installation interval storage unit that stores installation intervals of the first position measurement device and the second position measurement device along the track;
A track shape storage unit that stores track shapes including position information indicating each position of the track;
A first position estimation unit configured to estimate a first position of the first vehicle on a track from first measurement position information measured by the first position measurement device;
The second position of the second vehicle on the track is estimated from the second measurement position information measured by the second position measurement device, and the first position estimated by the first position estimation unit from the estimated second position A second position estimation unit for estimating a movement position on the track of the second vehicle moved in the direction of the track along the track by the installation interval;
By using the first position estimated by the first position estimation unit and the movement position estimated by the second position estimation unit, any position between the first position and the movement position can be It is characterized by comprising a position determination unit which determines the position.

  According to the present invention, a plurality of position measurement values by a plurality of position measurement devices (position measurement means such as a satellite ranging system including a GPS receiver or a ranging system including a ranging sensor) installed in different trains In other words, since the measurement position of the train is determined by reducing the measurement error of the detection position of the train (own vehicle), the position measurement device can calculate and detect the train position with higher accuracy than measuring it alone. can do. In addition, it is possible to calculate and detect the train position with high accuracy without being affected by the number of satellites as described above when using a satellite ranging system.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the structure of the train position detection system in the form of Example 1 of this invention. A table showing data configuration (travel distance from departure station and latitude / longitude) of a track shape storage unit in a storage device (database). FIG. 8 is a principle diagram illustrating an example of a state in which the position of a train is calculated using measurement positions obtained by two position measurement devices in the form of Example 1; Explanatory drawing explaining an example of the method of estimating the point which moved the measurement position measured by the 2nd position measurement apparatus along the track | orbit by the installation space of two position measurement apparatuses in the form of Example 1. FIG. 6 is a flowchart showing a processing procedure in a first position estimation unit, a second position estimation unit, and a position determination unit of the position determination device in the form of the first embodiment. 6 is a flowchart showing a processing procedure in a second position estimation unit in the form of Example 1; The figure which shows the structure of the train position detection system in the form of Example 2 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, the measurement position of the train is indicated by the first position measurement device mounted on the second vehicle following the first vehicle forming the train, the second position measurement device mounted on the second vehicle connected to the first vehicle. Method of reducing the error range of the train detection position using the first and second measurement position information, the measurement error range of each measurement position information, and the installation interval information indicating the installation interval of the first and second position measurement devices explain.

The vehicle on which the first position measurement device is mounted is not limited to the leading vehicle, and any vehicle may be used. Therefore, the position to be determined is not limited to the leading vehicle, and the position of any vehicle may be determined.
When the number of vehicles in the same formation is larger than 2, any vehicle may be selected as the vehicle on which the first position measurement device and the second position measurement device are mounted.
Further, although the position measurement device is described using the satellite positioning system, that is, using the GPS receiver, the position measurement device is not limited to the satellite positioning system.
For example, if it is possible to calculate the distance from a train to a ground facility whose position is known in advance, such as a sign, the position of the train can be estimated from the distance and the position of the ground facility.
As means for calculating the distance to the ground facility, there is a method of measuring the distance to the sign by a triangulation method using a stereo camera as shown in, for example, Japanese Patent Laid-Open No. 2008-39491 (Patent Document 2) . For calculation of the distance to the ground facility, for example, a distance measurement sensor, a recognition sensor, a distance sensor, or the like may be used.
First, the configuration of the train position detection system and the role of each component will be described using FIG. 1.

FIG. 1 is a block diagram showing an example of a train position detection system according to the present invention.
The train position detection system includes a first position measurement device 11, a second position measurement device 21, a storage device 12, a position estimation device 13, and a position determination device 14.

  In this example, the first position measurement device 11, the storage device 12, the position estimation device 13, and the position determination device 14 are mounted on the first vehicle 1 of the leading vehicle. The second position measuring device 21 is mounted on a second vehicle 201 of a following vehicle.

The first position measuring device 11 and the second position measuring device 21 include a first position measuring unit 111 and a second position measuring unit 121.
The first position measurement unit 111 and the second position measurement unit 121 are formed of, for example, a known GPS receiver.
The first position measuring unit 111 and the second position measuring unit 121 may be configured by, for example, a recognition sensor, a distance sensor, or a combination thereof instead of the GPS receiver.

The GPS receiver 111 of the first position measurement device 11 and the GPS receiver 211 of the second position measurement device 21 receive GPS signals (including latitude and longitude) from satellites orbiting the sky.
Thereby, the present position (measurement position) of the 1st position measuring device 11 and the 2 position measuring device 21 can be measured.

Since the measurement positions measured by the first position measurement device 11 and the two position measurement device 21 are the current positions of the first position measurement device 11 and the two position measurement device 21, the first position measurement device and the second position measurement device There is an error with the true position on the orbit of.
Generally, the error is smaller as the number of satellites that can be observed from the position measurement devices 11 and 21 is smaller, and the error is larger as the number of satellites that can be observed is smaller.

The storage device 12 includes an installation interval storage unit 121 and a track shape storage unit 122.
The installation interval storage unit 121 installs the first GPS receiver 111 of the first position measuring device 11 installed in the first vehicle 1 and the second GPS receiver 211 of the second position measuring device 21 installed in the second vehicle 2. It is a database that stores intervals.

The track shape storage unit 122 stores track shape including information indicating the position on the track from the departure station where the train has departed, for example, the latitude and longitude of each position of the track 3, and 3 is a database storing information on how the installation interval between the first position measuring device 11 and the second position measuring device 21 moves along the track 3 (see FIG. 2).
The latitude and longitude of each point of the trajectory 3 can be known in advance, for example, using information published by the Geographical Survey Institute of Japan.
The data configuration of the track shape storage unit 122 will be described later.

The position estimation device 13 includes a first position estimation unit 131 and a second position estimation unit 132.
The first position estimation unit 131 receives the first measurement position information including the latitude and the longitude from the first GPS receiver 111, and the position on the trajectory of the first vehicle 1 based on the first measurement position information (see the point A in FIG. 3). Have a function to estimate In addition, the first position estimation unit 131 projects the measurement position measured by the GPS receiver 111 of the first position measurement device 11 onto the trajectory to estimate the first position (point A) on the trajectory.
As a projection method, for example, there is a method of obtaining a point which is the minimum distance from the measured measurement position to the trajectory.

The second position measuring device 132 receives second measurement position information including latitude and longitude from the second GPS receiver 211, and estimates the position (point B) on the trajectory of the second vehicle 2 from the second measurement position information. It has a function.
In addition, the second position estimation unit 132 sets the position on the trajectory of the second vehicle 2 by the set interval of the first GPS receiver 111 and the second GPS receiver 121, that is, the set interval L3 (see the point B in FIG. 3). ) Has a function of estimating the position (Point C) on the track moved along the track in the direction of the position (Point A) of the first vehicle 1 estimated by the first position estimation unit 131.

The position determination device 14 determines the position on the orbit (point A) estimated by the first position estimation unit 131 and the position on the orbit (point C) estimated by the second position estimation unit 132. It has a function of calculating, estimating or determining the position of a train in between (see point D in FIG. 3), and determines the position of the train (train position).
As a method of determining the train position, for example, there is a method of taking the midpoint between two points (point A and point C). The train positioning does not have to be specified at the midpoint between the two points (point A and point C), but may be between the two points (point A and point C). The details will be described later.

FIG. 2 is a table showing a data configuration (moving distance from the departure station and latitude / longitude) of the track shape storage unit 122 in the storage device (database) 12.
As illustrated, the table has areas 1091, 1092 and 1093 for storing the travel distance (m), latitude (degree) and longitude (degree) of the train from the departure station 4 (see FIG. 3).

  Next, the principle of the train position detection system when the method of the present embodiment is used will be described using FIGS. 3 and 4.

FIG. 3 is a view showing a state in which the train position is estimated from the positions obtained by the two position measurement devices (first and second position measurement devices) 11 and 21 by the method according to the present embodiment.
In the present embodiment, from the measurement position (point X) measured by the GPS receiver 111 of the first position measurement device 11, the first position estimation unit 131 calculates and estimates the point A which is a position on the orbit.

  Next, from the measurement position (point Y) measured by the GPS receiver 211 of the second position measurement device 21, the second position estimation unit 132 calculates a point B which is a position on the orbit, and the point B The point C which is a position moved along the trajectory 3 for the installation interval L3 is calculated and estimated.

And let the middle point of the point A and the point C be a point D.
Point D may be between point A and point C. For example, if there is a difference between a measurement error (measurement error) by the GPS receiver 111 of the first position measurement device 11 and a measurement error (measurement error) by the GPS receiver 211 of the second position measurement device 21, the measurement error A point near point A or point C may be taken as point D depending on the ratio of.

  More specifically, for example, the measurement error of the second estimated position (point C) on the orbit by the second position estimation unit is 10 m, and the measurement of the first estimated position on the orbit (point A) by the first position estimation unit If the error is 5 m, the ratio of measurement error between the two is 2: 1, and according to the ratio, the train position (point) at a ratio of 2 from the estimated position (point C) and 1 from the estimated position (point A) Identify D). That is, a position (point D) which is farther than the second estimated position (point C) and close to the first estimated position (point A) is specified as the train position.

If the measurement error of the second estimated position (point C) on the orbit by the second position estimation unit is 5 m, and if the measurement error of the first estimated position (point A) on the orbit by the first position estimation unit is 10 m, The ratio of both measurement errors is 1: 2, and according to the ratio, the train position (point D) is specified at a ratio of 1 from the estimated position (point C) and 2 from the estimated position (point A).
This makes it possible to calculate a point D having a smaller error than the points A and C. As a result, the train position can be detected with higher accuracy regardless of the number of satellites and the type of position measurement device. it can.

FIG. 4 shows a method of estimating the point C which has moved along the trajectory 3 by the method according to the present embodiment by the installation distance (L3) between the first position measuring device 11 and the second position measuring device 21. FIG.
In this embodiment, from the latitude / longitude (135.030: 34.580) of the point B obtained by the second position estimation unit 132 and the database of the track shape storage unit 122, from the departure station 4 (0 m) to the point B The movement distance L2 (550 m) is calculated.

Next, a point at which the movement distance L5 (L2 + L3: 770 m) from the departure station 4 to the point C has been moved by the installation interval (L3) of the installation interval storage unit 121 is determined.
By this, it is possible to estimate the point B obtained by the second position estimation unit 132 as the point C moved along the track 3 by the installation interval.

  Next, the process flow of the first position estimation unit 131, the second position estimation unit 132, and the position determination unit 141 will be described using FIG.

  Step S101: The first position estimation unit 131 projects the position (point X) measured by the GPS receiver 111 of the first position measurement device 11 onto the track 3 to calculate the first position (point A) on the track ,presume.

  Step S102: The second position estimation unit 132 projects the position (point Y) measured by the second position measurement device onto the track 3 to estimate the position (point B) on the track.

  Step S103: The second position estimation unit 132 measures the first position along the trajectory 4 by the installation interval (L3) obtained from the installation interval storage unit 121 and the position (point B) on the trajectory estimated in step S102. The second position (point C) on the orbit moved in the direction of the device 11 is estimated.

  Step S104: The position determination unit 141 calculates the position (point D) of the train from the first position (point A) on the track and the second position (point C) on the track.

  In the present embodiment, the point information used in step S101 is acquired from the first position measuring device 11, and the point information used in step S102 is acquired from the second position measuring device 21. However, the method is limited to this method. Instead, the point information used in step S101 may be acquired from the second position measuring device 21, and the point information used in step S102 may be acquired from the first position measuring device 11.

  Next, in step S103, a specific method of moving a point on the track along the track shape by the installation interval L3 will be described using FIG.

  Step S201: The second position estimation unit 132 refers to the latitude and longitude of the point B on the orbit calculated using the second position measurement device 21 (latitude 135.030 and light 34.580 in FIG. 4).

  Step S202: The second position estimation unit 132 refers to the database of the track shape storage unit 122, and from the latitude and longitude of the point B on the track calculated in the step S201, from the departure station 4 of the second position measuring device 21. The movement distance L2 (500 m) is calculated.

  Step S203: The second position estimation unit 132 moves the movement distance from the departure station 4 obtained in step S202 by the installation interval L3 (770 m-500 m = 270 m) stored in the installation interval storage unit 121. A distance to C, that is, a movement distance L5 (770 m) from the departure station 4 to the point C is estimated.

  The variance of the errors for all positions from the departure station 4 to the arrival station 4 can be reduced by this method, and the error can be reduced across stations.

In addition, although it did not specifically limit in embodiment mentioned above, the same satellite positioning system may be used by the 1st position measurement apparatus 11 and the 2nd position measurement apparatus 21, You may use a different satellite positioning system, respectively.
When different satellite positioning systems are used for the first position measurement device 11 and the position measurement device 21, since the probability distributions of the errors are respectively different, the middle point (point D) of the two points (point C, point A) was calculated The variance of time is expected to be small.

  According to the embodiment described above, the point A on the track obtained by the first position measurement unit 111 and the first position estimation unit 131 mounted on the first vehicle 1 and the second position measurement mounted on the second vehicle The train position (point D) is determined based on the point C on the track obtained by moving the point B on the track obtained by the unit 211, the second position estimation unit 132, etc. along the track 3 by the installation interval L3. By doing this, it is possible to calculate a position with a small error between the entire stations, and it is possible to improve the position measurement accuracy. As a result, the position of the train can be detected with high accuracy.

  In this embodiment, the first position estimation unit 131, the second position estimation unit 132, and the position determination unit 141 in the case where a GPS receiver is used for each of the first position measurement device 11 and the second position measurement device 21 in the first embodiment. Shows an example of detecting a train position. Basically, the second embodiment is the same as the first embodiment. Therefore, the same reference numerals are given to the same parts, the detailed description thereof is omitted, and only the operation different from the first embodiment will be described.

FIG. 7 is a diagram showing the configuration of a train position detection system according to an embodiment of the present invention.
The storage device 12 includes a GPS receiver installation interval storage unit 121 ′, a track shape storage unit 122, and a GPS error storage unit 123.

  The GPS receiver installation interval storage unit 121 ′ is each installation position of the first GPS receiver 111 installed in the first vehicle 1 which is a succeeding vehicle and the second GPS receiver 211 installed in the second vehicle 2 which is a leading vehicle. The setting interval L3 of is stored.

The trajectory shape storage unit 122 stores the trajectory shape including the latitude and longitude of each position of the trajectory 3.
The GPS error storage unit 123 stores the maximum error of the GPS when using the satellite positioning system.

  The first position estimation unit 131 installed in the first vehicle 1 includes the latitude and longitude from the first GPS receiver 111, the installation position of the first GPS receiver 111 in the GPS receiver storage unit 123, and the maximum GPS in the GPS error storage unit 125. It has a function of estimating the position of the first GPS receiver 111 from the error.

  The second position estimation unit 132 installed in the second vehicle 1 is the second GPS receiver 211 based on the latitude and longitude from the first GPS receiver 111 and the line shape in the route shape storage unit 124 and the maximum error in the GPS error storage unit 125. It has a function to estimate the position.

  The position determination unit 141 includes the position of the first GPS receiver 111 in the GPS receiver storage unit 123, the position of the second GPS receiver 211 in the GPS receiver storage unit 123, the first GPS receiver 111, and the second GPS receiver 211. It has a function to specify the position of the train from the installation interval of.

  According to the above embodiment, it is possible to reduce the error range of the measurement position, which is the above-mentioned technical problem when using a GPS receiver as the position measurement device. That is, the error range can be narrowed and the error of the measurement position can be reduced by adding constraints from the error information of the GPS based on the error information of the GPS receiver and the information such as the installation interval of the GPS receiver and the trajectory shape. As a result, the position of the train can be detected with high accuracy.

Also, in each of the above-described embodiments, the GPS position can not be detected by obtaining the relative distance from the station using a recognition sensor instead of acquiring the latitude and longitude (absolute position) by GPS for detection of the train position. However, it is possible to detect the vehicle position with high accuracy.
Further, it is possible to reduce an error by using a GPS receiver for the first or second position measurement device, using a distance sensor for the second or first position measurement device, and taking their logical sum.

  The present invention is not limited to the embodiments described above, but includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. In addition, with respect to a part of the configuration of each embodiment, it is possible to add, delete, and replace other configurations. Further, each configuration, function, etc. described above may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and the like for realizing each function can be placed in a memory, a hard disk, a recording device such as a solid state drive (SSD), or a recording medium such as an IC card, an SD card, or a DVD.

1, 2 Vehicle 11, 21 Position Measurement Device 111, 211 Position Measurement Unit (including GPS Receiver)
12 storage device 121 installation interval storage unit 121 'GPS receiver installation interval storage unit 122 track shape storage unit 13 position estimation device 131, 132 position estimation unit 14 position determination device 141 position determination unit

Claims (10)

A train position detection system for detecting a position of a train formed by connecting a plurality of vehicles traveling on a predetermined track, the train position detection system comprising:
A first position measuring device installed in a first vehicle forming the train, and a first measurement position indicating a measurement position of a first position measuring unit that measures a position of a vehicle of the train Output information,
A second position measurement device installed in a second vehicle different from the first vehicle, and the second position measurement device indicates a measurement position of a second position measurement unit that measures the position of the vehicle of the train. Output measurement position information,
An installation interval storage unit that stores installation intervals of the first position measurement device and the second position measurement device along the track;
A track shape storage unit that stores track shapes including position information indicating each position of the track;
A first position estimation unit configured to estimate a first position of the first vehicle on a track from first measurement position information measured by the first position measurement device;
The second position of the second vehicle on the track is estimated from the second measurement position information measured by the second position measurement device, and the first position estimated by the first position estimation unit from the estimated second position A second position estimating unit configured to estimate a moving position on the track of the second vehicle moved in the direction along the track by the installation interval;
By using the first position estimated by the first position estimation unit and the movement position estimated by the second position estimation unit, any position between the first position and the movement position can be A train position detection system comprising: a position determination unit which determines a position. In the train position detection system according to claim 1,
A satellite positioning system including a GSP receiver in which one or both of the first position measuring device and the second position measuring device correspond to a satellite positioning system, and the position of the vehicle is determined using the satellite positioning system. A train position detection system characterized by estimating. In the train position detection system according to claim 1,
One or both of the first position measuring device and the second position measuring device includes a distance measuring sensor of the train, and measures a distance to a ground facility whose position is known in advance. ,
The said position determination part determines the position of the said vehicle from the distance distance-measured by the said ranging sensor, and the position of the said ground installation. The train position detection system characterized by the above-mentioned. In the train position detection system according to claim 1,
The position of the train is determined by calculating the midpoint between the position estimated by the first position estimation unit and the movement position estimated by the second position estimation unit, and determining the position of the train. Detection system. In the train position detection system according to claim 1,
The position determination unit determines the position of the train according to the ratio of the measurement error of the first position measuring device and the measurement error of the second position measuring device between the first position and the movement position. A train position detection system characterized by A train position detection system for detecting a position of a train formed by connecting a plurality of vehicles traveling on a predetermined track, the train position detection system comprising:
The first GPS receiver installed in the first vehicle and the first GPS receiver measure latitude and history indicating the measurement position of the first GPS receiver,
The second GPS receiver installed in the second vehicle and the second GPS receiver measure latitude and history indicating the measurement position of the first GPS receiver,
A GPS receiver installation interval storage unit storing an installation interval between the first GPS receiver and the installation position of the second GPS receiver;
An orbit shape storage unit that stores an orbit shape including latitude and longitude of each position of the orbit;
GPS error storage unit that stores the maximum errors of multiple GPSs,
A first position estimation unit configured to estimate the position of the first GPS receiver from the latitude and longitude from the first GPS receiver, the installation position of the first GPS receiver, the orbit shape, and the maximum error of the GPS;
A second position estimation unit for estimating the position of the second GPS receiver from the latitude and longitude from the second GPS receiver, the installation position of the second GPS receiver, the orbit shape, and the maximum error of the plurality of GPSs;
A train position including a position determination unit that determines the position of the vehicle from the position of the first GPS receiver, the position of the second GPS receiver, and the installation interval between the first GPS receiver and the installation position of the second GPS receiver Detection system. In the train position detection system according to claim 6,
The first position estimation unit
Estimating a first position of the first vehicle on the track from the latitude and longitude measured by the first GPS receiver;
The second position estimation unit
The second position on the track of the second vehicle is estimated from the latitude and longitude measured by the second GPS receiver, and from the estimated second position to the first position direction estimated by the first position estimation unit, Estimating a moving position on the track of the second vehicle moved by the installation interval along the track;
The position determination unit
A vehicle position detection system, comprising: calculating a middle point between the position estimated by the first position estimation unit and the movement position estimated by the second position estimation unit to determine the position of the train. In the train position detection system according to claim 6,
The first position estimation unit
Estimating a first position of the first vehicle on the track from the latitude and longitude measured by the first GPS receiver;
The second position estimation unit
The second position on the track of the second vehicle is estimated from the latitude and longitude measured by the second GPS receiver, and from the estimated second position to the first position direction estimated by the first position estimation unit, Estimating a moving position on the track of the second vehicle moved by the installation interval along the track;
The position determination unit determines the position of the train according to a ratio of a measurement error of a first GPS receiver and a measurement error of the second GPS receiver between the first position and the movement position. Train position detection system that features. A train position detection method for detecting a position of a train formed by connecting a plurality of vehicles traveling on a predetermined track, the train position detection method comprising:
Measuring a measurement position of a first position measurement device installed in a first vehicle forming the train;
Measuring a measurement position of a second position measurement device installed in a second vehicle different from the first vehicle;
Storing an installation interval along the track of the first position measuring device and the second position measuring device;
Storing an orbit shape including position information indicating each position of the orbit;
A first position estimation step of estimating a first position of the first vehicle on a track from the first measurement position information measured by the first position measurement device;
The second position on the track of the second vehicle is estimated from the second measurement position information measured by the second position measurement device, and the second position estimated in the first position estimation step from the estimated second position A second position estimating step of estimating a moving position on the track of the second vehicle moved in one position direction along the track by the installation interval;
Using the first position estimated in the first position estimation step and the movement position estimated in the second position estimation step, any position between the first position and the movement position is A positioning step to determine as a position;
A train position detection method comprising: In the train position detection method according to claim 9,
In the first position estimation step,
Estimating a first position of the first vehicle on the track from the latitude and longitude measured by the first GPS receiver;
In the second position estimation step,
The second position on the track of the second vehicle is estimated from the latitude and longitude measured by the second GPS receiver, and the first position direction estimated in the first position estimation step from the estimated second position Estimating the traveling position on the track of the second vehicle moved along the track by the installation interval,
The position determination step
The position of the train is determined according to the ratio of the measurement error of the first position measuring device and the measurement error of the second position measuring device between the first position and the movement position. Train position detection method.

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