JP2020165788A - Moving vehicle position detector - Google Patents

Abstract

To provide a moving vehicle position detector with which it is possible to detect the position of a moving vehicle (e.g., a train) before start of movement.SOLUTION: A moving vehicle position detector includes a fixed wireless station 7 for performing wireless communication with an onboard wireless station (mobile wireless station) amounted in a train T and installed in a station or vehicle base (mobile facility) where a plurality of trains T (moving vehicle) can stand by, and is constituted so as to receive a radio wave transmitted from the onboard wireless station with the fixed wireless station 7 and calculate its arrival direction (radio wave arrival angle θ), as well as calculate the distance D from the fixed wireless station 7 to the train T (onboard wireless station) on the basis of a radio wave reciprocation time between the fixed wireless station 7 and the onboard wireless station and specify the position of the train T on the basis of the calculated radio wave arrival angle θ and distance D.SELECTED DRAWING: Figure 5

Description

The present invention relates to a moving body position detecting device for specifying the position of a moving body such as a train.

In a train control system using wireless communication (so-called CBTC system), the train position is detected and detected based on the radio propagation time between the ground radio station installed on the ground and the on-board radio station mounted on the train. A technique for controlling a train based on the train position is known. In such a technique, it is necessary to set the initial position of the train which is the reference of the train control. However, since the train position detected based on the radio propagation time includes an error, it is difficult to identify on which track the train is located, for example, at a depot or a stop having a plurality of tracks. The initial position of the train may not be set accurately.

Patent Document 1 discloses the following techniques regarding the setting of the initial position of the train. That is, the on-board child and the on-board tramponder are provided on the train at predetermined intervals. The ground element and the ground transponder are provided in the manual operation range in which the train is manually operated by the driver in the track at the same interval as the predetermined interval. The manual operation range is set before the train control section in which train control is performed by the train control system. Then, when the position of the train when the on-board child and the ground element are combined and communication between the on-board transponder and the ground transponder is established, the position of the train enters the train control section of the train. It is set as the initial position.

Japanese Unexamined Patent Publication No. 2004-359156

However, in the technique described in Patent Document 1, the train needs to move in order to set the initial position of the train. Considering that the automatic operation of trains will progress in the future, a technology that can identify the position of the train even before the train moves is required. It should be noted that such a request is not limited to trains, but is common to moving bodies that require position management and the like.

Therefore, an object of the present invention is to provide a moving body position detecting device capable of specifying the position of the moving body before the start of movement.

According to one aspect of the present invention, the mobile body position detection device is a fixed radio wave that is installed in a mobile body facility where a plurality of mobile bodies can stand by and performs wireless communication with a mobile radio station mounted on the mobile body. The fixed radio station receives radio waves transmitted from the mobile radio station including the station, calculates the direction of arrival thereof, and based on the radio wave round-trip time between the fixed radio station and the mobile radio station. The distance from the fixed radio station to the moving body is calculated, and the position of the moving body is specified based on the calculated arrival direction and distance.

Further, according to another aspect of the present invention, the mobile body position detection device is installed in a mobile body facility where a plurality of mobile bodies can stand by, and wireless communication is performed with a mobile radio station mounted on the mobile body. The movement includes a plurality of fixed radio stations to be performed, receives radio waves transmitted from the mobile radio station by at least two fixed radio stations, calculates their arrival directions, and based on the calculated at least two arrival directions. Identify the position of the body.

The mobile body position detecting device can identify the position of the mobile body, for example, when the mobile body is activated and the mobile radio station is in a state where radio waves can be transmitted. Therefore, according to the moving body position detecting device, the position of the moving body before the start of movement can be specified.

It is a figure which shows the schematic structure of the moving body position detection apparatus which concerns on 1st Embodiment. It is a figure which shows the schematic structure of the train as a moving body. It is a block diagram which shows the schematic structure of the fixed radio station which comprises the mobile body position detection apparatus which concerns on the 1st Embodiment. It is a figure for demonstrating an example of the operation of the moving body position detection apparatus which concerns on the 1st Embodiment. It is a figure for demonstrating the identification of the position of the train by the moving body position detection device which concerns on the 1st Embodiment. It is a figure which shows the schematic structure of the moving body position detection apparatus which concerns on 2nd Embodiment. It is a block diagram which shows the schematic structure of the 1st and 2nd fixed radio stations which make up the mobile body position detection apparatus which concerns on the 2nd Embodiment. It is a figure for demonstrating an example of the operation of the moving body position detection apparatus which concerns on the 2nd Embodiment. It is a figure for demonstrating the identification of the position of the train by the moving body position detection device which concerns on the 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Although the following embodiments mainly target trains, the present invention is not limited to trains, and can target various mobile objects such as buses.

[First Embodiment]
FIG. 1 is a diagram showing a schematic configuration of a moving body position detecting device according to the first embodiment of the present invention. The mobile body position detecting device according to the first embodiment is applied to a stop (mobile body facility) where a plurality of trains (moving bodies) can stand by, and the position of the train waiting at the stop, that is, before the start of movement. It is configured to detect the position (initial position).

In FIG. 1, a plurality of detention lines (here, first to third detention lines 3a to 3c) are attached to the stop 1 in addition to the main line 2. The first to third detention lines 3a to 3c are arranged side by side at intervals from each other. The train T can be detained on each of the first to third detention lines 3a to 3c, but FIG. 1 shows a state in which the train T is detained on the second detention line 3b.

FIG. 2 is a diagram showing a schematic configuration of the train T. As shown in FIG. 2, the train T is equipped with an on-board radio station 5. In the present embodiment, the on-board radio station 5 is mounted near the head of the train T. The on-board radio station 5 has an antenna 5a and is connected to the on-board device 6 of the train T. The on-board radio station 5 is capable of wireless communication with each of a plurality of radio stations along the main line (not shown) installed at predetermined intervals along the main line 2.

Returning to FIG. 1, fixed radio stations 7 are installed in the vicinity of the first to third detention lines 3a to 3c at the stop 1. The fixed radio station 7 has an array antenna 7a. Although not particularly limited, the array antenna 7a has, for example, a configuration in which a plurality of antenna elements are linearly arranged. Preferably, the plurality of antenna elements are arranged so as to be arranged in a direction substantially orthogonal to the first to third indwelling lines 3a to 3c. Although four antenna elements are shown in the figure, the number of antenna elements can be set arbitrarily. The radio wave transmission / reception range of the array antenna 7a covers the entire range on the first to third detention lines 3a to 3c. Further, in the present embodiment, the fixed radio station 7 (or the array antenna 7a) is arranged at a position higher than the train T. Therefore, the fixed radio station 7 is capable of wireless communication with the on-board radio station 5 of each train T located on the first to third detention lines 3a to 3c.

Further, the fixed radio station 7 is connected to the ground device 8. Then, in the present embodiment, the mobile body position detecting device is configured by the fixed radio station 7 and the ground device 8.

FIG. 3 is a block diagram showing a schematic configuration of the fixed radio station 7. As shown in FIG. 3, in the present embodiment, the fixed radio station 7 includes an information extraction unit 71, a radio wave arrival direction calculation unit 72, and a distance measuring unit 73.

The information extraction unit 71 is configured to extract the information contained therein from the radio waves received by the array antenna 7a. The radio wave arrival direction calculation unit 72 is configured to calculate the arrival direction of the radio wave received by the array antenna 7a (hereinafter referred to as “radio wave arrival angle θ”). Although detailed description will be omitted, the radio wave arrival direction calculation unit 72 is configured to calculate the radio wave arrival angle θ by using a known arrival direction estimation algorithm (MUSIC method, ESPRIT method, etc.).

The distance measuring unit 73 is configured to calculate the distance D from the fixed radio station 7 to the train T based on the round-trip time of the radio wave between the fixed radio station 7 and the object (here, the train T). .. More specifically, the ranging unit 73 has the array antenna 7a and the antenna 5a based on the round-trip time of the radio wave between the array antenna 7a of the fixed radio station 7 and the antenna 5a of the on-board radio station 5 of the train T. It is configured to calculate the distance D from.

The fixed radio station 7 outputs the information extracted by the information extraction unit 71, the radio wave arrival angle θ calculated by the radio wave arrival direction calculation unit 72, and the distance D calculated by the distance measuring unit 73 to the ground device 8. It is configured.

The ground device 8 is used for the position information of the first to third detention lines 3a to 3c, the position information of the fixed radio station 7, and each train T that may be detained on the first to third detention lines 3a to 3c. It stores information (identification information, train length, etc.). The terrestrial device 8 is provided with information extracted by the information extraction unit 71 of the fixed radio station 7, the radio wave arrival angle θ calculated by the radio wave arrival direction calculation unit 72 of the fixed radio station 7, and the distance measuring unit 73 of the fixed radio station 7. Based on the calculated distance D, the train T waiting at the stop 1 is grasped, and the grasped position of the train T (particularly which of the first to third detention lines 3a to 3c is located) is determined. It is configured to be specific.

Next, an example of the operation of the moving body position detecting device according to the first embodiment will be described with reference to FIG. Here, as shown in FIG. 1, a case where the train T is detained on the second detention line 3b of the stop 1 will be described.

When the start of the train T is completed and the train T is in the standby state, the on-board device 6 of the train T generates the start-up completion information of the train T including the identification information ID of the train T via the on-board radio station 5. And send. As a result, the radio wave including the activation completion information is transmitted from the antenna 5a of the on-board radio station 5 of the train T (S1).

The radio wave including the activation completion information transmitted from the antenna 5a of the on-board radio station 5 of the train T is received by the array antenna 7a of the fixed radio station 7. When the array antenna 7a receives the radio wave including the activation completion information, the fixed radio station 7 transmits the position detection radio wave including the response request from the array antenna 7a (S2).

The position detection radio wave transmitted from the array antenna 7a is received by the antenna 5a of the on-board radio station 5 of the train T. When the antenna 5a of the on-board radio station 5 of the train T receives the position detection radio wave, the on-board device 6 of the train T generates response information including the identification information ID of the train T to generate the on-board radio station 5. Send via. As a result, the radio wave including the response information is transmitted from the antenna 5a of the on-board radio station 5 (S3), and the transmitted radio wave including the response information is received by the array antenna 7a of the fixed radio station 7.

The information extraction unit 71 of the fixed radio station 7 extracts the identification information ID contained therein from the radio wave including the response information received by the array antenna 7a (S4). Further, the radio wave arrival direction calculation unit 72 of the fixed radio station 7 calculates the radio wave arrival angle θ of the radio wave including the response information based on the radio wave including the response information received by the array antenna 7a (S5).

Further, the distance measuring unit 73 of the fixed radio station 7 calculates the distance D from the fixed radio station 7 to the on-board radio station 5 of the train T (S6). Specifically, the distance measuring unit 73 of the fixed radio station 7 is the train T from the elapsed time from the time when the array antenna 7a transmits the position detection radio wave to the time when the array antenna 7a receives the radio wave including the response information. Based on the time obtained by subtracting the response delay time of, that is, based on the radio wave round-trip time between the fixed radio station 7 and the on-board radio station 5 of the train T, the fixed radio station 7 (array antenna 7a) of the train T The distance D to the on-board radio station 5 (antenna 5a) is calculated.

The fixed radio station 7 outputs the identification information ID extracted by the information extraction unit 71, the radio wave arrival angle θ calculated by the radio wave arrival direction calculation unit 72, and the distance D calculated by the distance measuring unit 73 to the ground device 8. (S7). Specifically, the fixed radio station 7 associates the radio wave arrival angle θ calculated by the radio wave arrival direction calculation unit 72 and the distance D calculated by the distance measuring unit 73 with the identification information ID extracted by the information extraction unit 71. Is output to the ground device 8.

The ground device 8 identifies based on the radio wave arrival angle θ and the distance D associated with the identification information ID, the position information of the fixed radio station 7, and the position information of the first to third detention lines 3a to 3c. The position of the train T having the information ID is specified (S8). Specifically, in the present embodiment, as shown in FIG. 5, in the ground device 8, the head portion of the train T having the identification information ID is located at the point A, in other words, the identification information ID. It is specified that the train T having the above is located on the second detention line 3b. Thereby, the ground device 8 can specify the position of the train T waiting at the stop 1, that is, the initial position (current position) of the train T before the start of movement.

Here, the ground device 8 further uses the train length L of the train T and the correction value α to bring the train T into the range X (the range from the point A + α to the point A− (L + α)) on the second detention line 3b. It is also possible to identify it as being located.

Although the case where the train T is detained on the second detention line 3b has been described here, even when the train T is detained on the detention lines 3a and 3c other than the second detention line 3b, the ground device 8 Can specify the initial position (current position) of the train T in the same manner as described above.

Further, in the above embodiment, one fixed radio station 7 is installed, but the number and position of the fixed radio stations are not limited to this, and can be arbitrarily set as needed.

Further, in the above embodiment, the on-board radio station 5 is mounted near the head of the train T, but the present invention is not limited to this. The number and position of on-board radio stations mounted on the train T can be arbitrarily set. For example, in the train T, on-board radio stations may be mounted in the vicinity of the head and the vicinity of the tail, respectively. In this case, the ground device 8 can more accurately grasp the initial position (current position) of the train T.

Further, in the above embodiment, the ground device 8 specifies the position of the waiting train T before the start of movement, but the present invention is not limited to this, and the position of the moving train T may be specified. Of course it is possible.

Further, as shown by the broken line arrow in FIG. 4, the radio wave including the response information may be repeatedly transmitted from the antenna 5a of the on-board radio station 5 a plurality of times (S3). This is mainly to improve the calculation accuracy of the radio wave arrival angle θ by the radio wave arrival direction calculation unit 72. In this case, the ranging unit 73 of the fixed radio station 7 starts from the elapsed time from the time when the array antenna 7a transmits the position detection radio wave until the array antenna 7a first receives the radio wave including the response information to the train T. The distance D from the fixed radio station 7 (array antenna 7a) to the on-board radio station 5 (antenna 5a) of the train T is calculated based on the time obtained by subtracting the response delay time of.

[Second Embodiment]
FIG. 6 is a diagram showing a schematic configuration of a moving body position detecting device according to a second embodiment of the present invention. The moving body position detecting device according to the second embodiment is applied to a vehicle base (mobile body facility) in which a plurality of trains (moving bodies) can stand by, and the position of the train waiting at the vehicle base, that is, the start of movement. It is configured to detect the previous position (initial position). The same reference numerals are used for the elements common to the first embodiment, and the description thereof will be omitted.

In FIG. 6, the depot 10 has a plurality of detention lines (here, first to fifth detention lines 13a to 13e) connected to the warehousing / delivery line 12 branched from the main line (not shown). The first to fifth detention lines 13a to 13e are arranged side by side at intervals from each other. The train T can be detained on each of the first to fifth detention lines 13a to 13e, but FIG. 6 shows a state in which the train T is detained on the third detention line 13c.

A first fixed radio station 17 and a second fixed radio station 27 are installed in the depot 10. The first fixed radio station 17 has an array antenna 17a, and the second fixed radio station 27 has an array antenna 27a. The radio wave transmission / reception range of the array antenna 17a of the first fixed radio station 17 and the radio wave transmission / reception range of the array antenna 27a of the second fixed radio station 27 cover the entire range on the first to fifth detention lines 13a to 13e. are doing.

In the present embodiment, the first fixed radio station 17 is arranged on the entry / exit line 12 side in the depot 10, and the second fixed radio station 27 is the terminal of the first to fifth detention lines 13a to 13e in the depot 10. It is located on the side. However, the arrangement of the first fixed radio station 17 and the second fixed radio station 27 is not limited to this. As in the first embodiment, it is preferable that the plurality of antenna elements in the array antennas 17a and 27a are arranged so as to be arranged in a direction substantially orthogonal to the first to fifth indwelling lines 13a to 13e. Further, the first fixed radio station 17 (or array antenna 17a) and the second fixed radio station 27 (or array antenna 27a) are arranged at positions higher than the train T. For example, the first fixed radio station 17 and the second fixed radio station 27 are attached to a portion near the ceiling of the depot 10 or the ceiling of the wall.

Therefore, the first fixed radio station 17 and the second fixed radio station 27 are capable of wireless communication with the on-board radio station 5 of each train T located on the first to fifth detention lines 13a to 13e. ..

The first fixed radio station 17 and the second fixed radio station 27 are connected to the ground device 18. Then, in the present embodiment, the mobile body position detecting device is configured by the first fixed radio station 17, the second fixed radio station 27, and the ground device 18.

FIG. 7 is a block diagram showing the configurations of the first fixed radio station 17 and the second fixed radio station 27. As shown in FIG. 6, the first fixed radio station 17 and the second fixed radio station 27 have an information extraction unit 71 and a radio wave arrival direction calculation unit 72. That is, unlike the fixed radio station 7 in the first embodiment, the first fixed radio station 17 and the second fixed radio station 27 in the second embodiment do not have the ranging unit 73.

The ground device 18 is provided with position information of the first to fifth detention lines 13a to 13e, position information of the first fixed radio station 17, position information of the second fixed radio station 27, and on the first to fifth detention lines 13a to 13e. Information (identification information, train length, etc.) of each train T that may be detained in the station is stored. Then, the ground device 18 has the information extracted by the information extraction unit 71 of the first fixed radio station 17, the radio wave arrival angle θ1 calculated by the radio wave arrival direction calculation unit 72 of the first fixed radio station 17, and the second fixed radio. Based on the information extracted by the information extraction unit 71 of the station and the radio wave arrival angle θ2 calculated by the radio wave arrival direction calculation unit 72 of the second fixed radio station 27, the train T waiting at the vehicle base 10 is grasped. , It is configured to specify the position of the grasped train T (particularly which of the first to fifth detention lines 13a to 13e is located).

Next, an example of the operation of the train position detection device according to the second embodiment will be described with reference to FIG. Here, as shown in FIG. 6, a case where the train T is detained on the third detention line 13c of the depot 10 will be described.

When the start of the train T is completed and the train T is in the standby state, the on-board device 6 of the train T generates the start-up completion information of the train T including the identification information ID of the train T via the on-board radio station 5. And send. As a result, the radio wave including the activation completion information is transmitted from the antenna 5a of the on-board radio station 5 of the train T (S11).

The radio wave including the activation completion information transmitted from the antenna 5a of the on-board radio station 5 of the train T is received by the array antenna 17a of the first fixed radio station 17 and the array antenna 27a of the second fixed radio station 27.

When the array antenna 17a of the first fixed radio station 17 receives the radio wave including the activation completion information, the information extraction unit 71 of the first fixed radio station 17 includes the activation completion information received by the array antenna 17a. The identified identification information ID is extracted (S12). Further, the radio wave arrival direction calculation unit 72 of the first fixed radio station 17 calculates the radio wave arrival angle θ1 of the radio wave including the activation completion information based on the radio wave including the activation completion information received by the array antenna 17a ( S13). Then, the first fixed radio station 17 associates the identification information ID extracted by the information extraction unit 71 with the radio wave arrival angle θ1 calculated by the radio wave arrival direction calculation unit 72, and outputs the information to the ground device 18 (S14).

Similarly, when the array antenna 27a of the second fixed radio station 27 receives the radio wave including the activation completion information, the information extraction unit 71 of the second fixed radio station 27 receives the activation completion information from the activation completion information received by the array antenna 27a. The identification information ID contained therein is extracted (S15). The radio wave arrival direction calculation unit 72 of the second fixed radio station 27 calculates the radio wave arrival angle θ2 of the radio wave including the activation completion information based on the radio wave including the activation completion information received by the array antenna 27a (S16). .. Then, the second fixed radio station 27 associates the identification information ID extracted by the information extraction unit 71 with the radio wave arrival angle θ2 calculated by the radio wave arrival direction calculation unit 72, and outputs the information to the ground device 18 (S17).

The ground device 18 has a radio wave arrival angle θ1 and a radio wave arrival angle θ2 associated with the same identification information (identification information ID in this case), position information of the first fixed radio station 17, and position of the second fixed radio station 27. The position of the train T is specified based on the information and the position information of the first to fifth detention lines 13a to 13e (S18). Specifically, in the present embodiment, as shown in FIG. 9, the ground device 18 determines that the head of the train T having the identification information ID is located at the point B, in other words, the identification information ID. It is specified that the train T to be carried is located on the third detention line 13c. As a result, the ground device 8 can specify the position of the train T waiting at the depot 10, that is, the initial position (position on the line) of the train T before the start of movement.

Here, as in the case of the first embodiment, the ground device 18 further uses the train length L of the train T and the correction value β, and the train T is on the third detention line 13c in the range Y (point B + β to the point). It is also possible to specify that it is located in the range up to B- (L + β).

Although the case where the train T is detained on the third detention line 13c has been described here, the present invention is not limited to this. The ground device 18 can specify the initial position (current position) of the train T detained on the detention lines 13a, 13b, 13d, 13e other than the third detention line 13c in the same manner as described above.

Further, in the above embodiment, the first fixed radio station 17 and the second fixed radio station 27 do not have the distance measuring unit 73, but the first fixed radio station 17 and the second fixed radio station 27 have the distance measuring unit 73. You may have. In this case, the first fixed radio station 17 and the second fixed radio station 27 transmit the position detection radio waves from the array antennas 17a and 27a and the array antenna 17a, similarly to the fixed radio station 7 in the first embodiment. , 27a receives radio waves including the response information transmitted from the antenna 5a of the on-board radio station 5 of the train T, extracts the identification information ID, calculates the radio wave arrival angles θ1 and θ2, and from the first fixed radio station 17. The distance D1 to the on-board radio station 5 of the train T is calculated, and the distance D2 from the second fixed radio station 27 to the on-board radio station 5 of the train T is calculated. Then, the ground device 18 has a radio wave arrival angle θ1, a radio wave arrival angle θ2, a distance D1 and a distance D2 associated with the same identification information ID, the position information of the first fixed radio station 17, and the second fixed radio station 27. It may be configured to specify the position of the train T based on the position information of the above and the position information of the first to fifth detention lines 13a to 13e.

Further, the ground device 18 may be configured to diagnose the radio wave arrival direction calculation unit 72 of the first fixed radio station 17 and the second fixed radio station 27. In this case, the ground device 18 diagnoses the radio wave arrival direction calculation unit 72 of the first fixed radio station 17 and the second fixed radio station 27, for example, as follows.

First, the ground device 18 gives a diagnostic radio wave transmission command to the second fixed radio station 27. Then, the diagnostic radio wave is transmitted from the array antenna 27a of the second fixed radio station 27, and the transmitted diagnostic radio wave is received by the array antenna 17a of the first fixed radio station 17. The radio wave arrival direction calculation unit 72 of the first fixed radio station 17 calculates the radio wave arrival angle θd1 of the diagnostic radio wave received by the array antenna 17a, and outputs the calculated radio wave arrival angle θd1 to the ground device 18. The ground device 18 calculates the direction (angle) of the second fixed radio station 27 as seen from the first fixed radio station 17 based on the position information of the first fixed radio station 17 and the position information of the second fixed radio station 27. The calculated direction (angle) is compared with the radio wave arrival angle θd1 input from the first fixed radio station 17. Then, when the difference between the two is within the threshold value, the ground device 18 determines that the radio wave arrival direction calculation unit 72 of the first fixed radio station 17 is normal, and when the difference between the two exceeds the threshold value, it is on the ground. The device 18 determines that there is an abnormality in the radio wave arrival direction calculation unit 72 of the first fixed radio station 17.

Next, the ground device 18 gives a diagnostic radio wave transmission command to the first fixed radio station 17. Then, the diagnostic radio wave is transmitted from the array antenna 17a of the first fixed radio station 17, and the transmitted diagnostic radio wave is received by the array antenna 27a of the second fixed radio station 27. The radio wave arrival direction calculation unit 72 of the second fixed radio station 27 calculates the radio wave arrival angle θd2 of the diagnostic radio wave received by the array antenna 27a, and outputs the calculated radio wave arrival angle θd2 to the ground device 18. The ground device 18 calculates the direction (angle) of the first fixed radio station 17 as seen from the second fixed radio station 27 based on the position information of the first fixed radio station 17 and the position information of the second fixed radio station 27. The calculated direction (angle) is compared with the radio wave arrival angle θd2 input from the second fixed radio station 27. Then, the ground device 18 determines that the radio wave arrival direction calculation unit 72 of the second fixed radio station 27 is normal if the difference between the two is within the threshold value, and if the difference between the two exceeds the threshold value, the second It is determined that there is an abnormality in the radio wave arrival direction calculation unit 72 of the fixed radio station 27.

It should be noted that the number and position of fixed radio stations and the number and position of on-board radio stations mounted on the train T can be arbitrarily set as in the case of the first embodiment. However, in this embodiment, at least two fixed radio stations are required. Of course, it is also possible to specify not only the position of the waiting train T before the start of movement but also the position of the moving train T. Further, as shown by the broken line arrow in FIG. 8, the radio wave including the activation completion information is the antenna of the on-board radio station 5 mainly for improving the calculation accuracy of the radio wave arrival angle θ by the radio wave arrival direction calculation unit 72. It may be repeatedly transmitted from 5a a plurality of times (S11).

Although the embodiment of the present invention and its modification have been described above, the present invention is not limited to the above-described embodiment and its modification, and further modification or modification can be made based on the technical idea of the present invention. It is possible.

1 ... Stop (mobile facility), 5 ... On-board radio station (mobile radio station), 5a ... Antenna, 6 ... On-board equipment, 7 ... Fixed radio station, 7a ... Array antenna, 8 ... Ground equipment, 10 ... Vehicle base (mobile facility), 17 ... 1st fixed radio station, 17a ... array antenna, 18 ... ground device, 27 ... second fixed radio station, 27a ... array antenna, 71 ... information extraction unit, 72 ... radio wave arrival direction Calculation unit, 73 ... Distance measuring unit, T ... Train (moving body)

Claims (8)

Including fixed radio stations that are installed in mobile facilities where multiple mobiles can stand by and that perform wireless communication with mobile radio stations mounted on the mobiles.
The radio wave transmitted from the mobile radio station is received by the fixed radio station, the direction of arrival is calculated, and the radio wave round trip time between the fixed radio station and the mobile radio station is used from the fixed radio station. The distance to the moving body is calculated, and the position of the moving body is specified based on the calculated arrival direction and distance.
Mobile position detector. The radio wave transmitted from the mobile radio station is a radio wave transmitted from the mobile radio station of the mobile in standby, and is the initial stage of the mobile before the start of movement based on the calculated arrival direction and distance. The moving body position detecting device according to claim 1, wherein the position is specified. Including multiple fixed radio stations that are installed in a mobile facility where multiple mobiles can stand by and that perform wireless communication with mobile radio stations mounted on the mobiles.
Radio waves transmitted from the mobile radio station are received by at least two fixed radio stations, their arrival directions are calculated, and the position of the mobile is specified based on the calculated at least two arrival directions.
Mobile position detector. The radio wave transmitted from the mobile radio station is a radio wave transmitted from the mobile radio station of the mobile in standby, and is a radio wave of the mobile before the start of movement based on at least two calculated arrival directions. The moving body position detecting device according to claim 3, which specifies an initial position. It stores the position information of each of the plurality of fixed radio stations.
Radio waves transmitted from each of the plurality of fixed radio stations are received by other fixed radio stations among the plurality of fixed radio stations, their arrival directions are calculated, and the calculated arrival directions and reception destinations are fixed. The mobile position detecting device according to claim 3 or 4, wherein the arrival direction calculation function is diagnosed by comparing with the direction of the fixed radio station of the transmission source as seen from the radio station. The distance from each of the at least two fixed radio stations to the mobile is calculated based on the radio wave round trip time between each of the at least two fixed radio stations and the mobile radio station, and the calculated at least two The moving body position detecting device according to any one of claims 3 to 5, which specifies the position of the moving body based on a distance and at least two calculated arrival directions. The mobile body position detecting device according to any one of claims 1 to 6, wherein the radio wave transmitted from the mobile radio station includes identification information of the mobile body. The moving body is a train
The mobile facility is a railway facility having a plurality of railroad tracks.
The position of the train is specified as the position of the moving body.
The mobile body position detecting device according to any one of claims 1 to 7.