JP4126233B2 - Track vehicle position detection system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position detection system for an orbital traveling vehicle that corrects the self-position of a vehicle traveling on a track using GPS (Global Positioning System).
[0002]
[Prior art]
A vehicle traveling on a track is obtained by multiplying the wheel rotation speed by the wheel diameter. This wheel rotation speed includes errors due to wheel sliding and slipping, and this error is corrected (so-called point detection). As one of the methods, conventionally, a method using GPS has been devised (see, for example, Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 2002-225708
In this regard, the GPS method uses GPS position information (latitude / longitude / altitude) output based on radio waves received from GPS satellites on a database in which the relationship between orbital positions and GPS position information is stored in advance. By comparing, this is a method of detecting its own position every time GPS position information is received. Usually, the accuracy of single positioning is insufficient, so correction information from the ground station (MID In many cases, a method for improving accuracy by using a method using the method or a method using FM multiplex broadcasting is used.
[0005]
[Problems to be solved by the invention]
Therefore, in the method using GPS, once a database representing the relationship between the position of the trajectory and the GPS position information is created, subsequent maintenance is basically unnecessary, but obstacles such as tunnels and stations are Since the reception situation from the GPS satellite and the reception situation of the correction information from the ground station deteriorate, the reliability is inferior to the method using the ground equipment.
[0006]
Accordingly, the present invention has been made in view of the above-described points, and a position detection system that improves reliability by actively utilizing the fact that the reception status from a GPS satellite is deteriorated by an obstacle. It is an issue to provide.
[0007]
[Means for Solving the Problems]
The invention made to solve this problem is a position detection system for a track traveling vehicle that detects the position of a vehicle traveling on a track, the counting means for counting the number of wheel rotations of the vehicle, and the counting Integrating means for calculating the cumulative travel distance of the vehicle based on the count value of the means, GPS positioning means for outputting the GPS position information of the vehicle based on radio waves received from GPS satellites, and outputs of the GPS positioning means The position information of each obstacle on the trajectory to be disabled is stored as the trajectory information database storing the travel distance of the vehicle, and the obstacle in which the output of the GPS positioning means is disabled is specified as a specific obstacle from the respective obstacles those comprising the obstacle identification means for, and correcting means for correcting the integrated travel distance of the vehicle based on the position information of the specific obstacle identified in the obstacle specifying means In the trajectory information database, the length of each obstacle is stored and the position information of each obstacle is stored in correspondence with the GPS position information, and the obstacle specifying means outputs the output of the GPS positioning means. Compare the GPS position information of the vehicle just before it becomes impossible with the GPS position information of each obstacle, find the shortest distance from each obstacle to the vehicle, and find the most value for the shortest distance from each obstacle When the GPS positioning information can be output by the GPS positioning means, the correction means is time required to recover after the GPS positioning means cannot be output. The distance traveled by the vehicle is obtained, and the travel distance of the vehicle corresponding to the position information of the specific obstacle is obtained on the condition that the distance is comparable to the length of the specific obstacle. The distance adding a value, characterized in that the integrated travel distance of the vehicle.
[0008]
In the position detection system for a track vehicle according to the present invention having such characteristics, the counting means counts the number of wheel rotations of the vehicle, and the accumulating means calculates the accumulated traveling distance of the vehicle based on the counted value. On the other hand, the GPS positioning means outputs the GPS position information of the vehicle based on the radio wave received from the GPS satellite. Further, in the trajectory information database, position information of each obstacle on the trajectory that disables the output of the GPS positioning means is stored with the travel distance of the vehicle.
[0009]
When the GPS positioning means cannot be output, the orbit information database is used to specify that the obstacle specifying means disables the output of the GPS positioning means as a specific obstacle from the obstacles. Further, the correcting means corrects the accumulated travel distance of the vehicle based on the position information of the specific obstacle specified by the obstacle specifying means.
[0010]
That is, in the position detection system for a track vehicle according to the present invention, when the output of the GPS positioning means is disabled, the correction means is based on the position information of the specific obstacle specified by the obstacle specifying means. Since the accumulated mileage is corrected and the accumulated mileage of the vehicle is corrected by detecting obstacles, by actively using the fact that the reception status from GPS satellites gets worse with obstacles, Reliability can be improved.
[0011]
Further, in the position detection system for a track vehicle according to the present invention, when the correction means corrects the cumulative travel distance of the vehicle, the track information database is used, and correction information from the ground station is not necessary. It can also be reduced.
[0012]
Further, in the position detection system for a track vehicle according to the present invention, the length of each obstacle is stored in the track information database, and the position information of each obstacle is also stored with GPS position information. By comparing the GPS position information of the vehicle immediately before the output of the GPS positioning means becomes impossible and the GPS position information of each obstacle, the shortest distance closest to the vehicle is obtained from each obstacle, and the shortest distance is determined by the GPS positioning means. As long as it is smaller than the positioning error, it is necessary to identify the obstacle at the shortest distance from the obstacles as a specific obstacle, and for the correction means to recover after the GPS positioning means cannot be output. The distance traveled by the vehicle within a specified period of time is obtained, and on the condition that the distance is comparable to the length of the specific obstacle, the travel distance of the vehicle corresponding to the position information of the specific obstacle is calculated. If the distance is applied value to the integrated travel distance of the vehicle, even result in loss of the output of the GPS positioning unit by unexpected obstacle that is not stored in the track information database, obstacle identification means unexpected failure It is possible to prevent an object from being specified as a specific obstacle.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, the outline | summary of the position detection system 1 of the track traveling vehicle of this Embodiment is shown. First, the configuration of the track detection vehicle position detection system 1 according to the present embodiment will be described. As shown in FIG. 1, the position detection system 1 for a track vehicle according to the present embodiment detects the position of a railway vehicle traveling on a track. In the leading vehicle 2, a GPS antenna 12 and a GPS A receiver 13, a speed generator 14, a distance integrating unit 15, a trajectory information database 16, an obstacle detecting unit 17 are provided.
[0014]
In this regard, the GPS antenna 12 receives radio waves from the GPS satellite 11. The GPS receiver 13 outputs GPS position information (latitude / longitude / altitude) of the leading vehicle 2 based on the radio wave from the GPS satellite 11 received via the GPS antenna 12. The speed generator 14 outputs n pulses (hereinafter referred to as “distance pulse”) as the wheel rotates once. The distance integration unit 15 multiplies the count value of the “distance pulse” by the wheel diameter / n to calculate the integrated travel distance of the leading vehicle 2 (and thus the railcar).
[0015]
The track information database 16 also includes a tunnel that obstructs reception of radio waves from the GPS satellite 11 via the GPS antenna 12 when the leading vehicle 2 (and hence the railcar) is traveling and stopping on the track. The length of each obstacle such as a station or a station is stored. Further, for each obstacle, the position information is stored so that the GPS position information (latitude, longitude, altitude) and the travel distance (for example, the number of meters) of the leading car 2 (and thus the railcar) correspond to each other. Has been.
[0016]
Obstacles include overpasses in addition to the tunnels and stations described above. In the following description, the term “trajectory information” is used to mean the entire information stored in the trajectory information database 16.
[0017]
FIG. 2 shows a state in which reception of radio waves from the GPS satellite 11 via the GPS antenna 12 is hindered when the leading vehicle 2 (and thus the railcar) is traveling on the track of the tunnel 3. Is shown. Further, FIG. 3 shows that when the leading vehicle 2 (and eventually the railcar) is running / stopping on the track of the station 4, the reception of the radio wave from the GPS satellite 11 via the GPS antenna 12 is obstructed. It shows how it works. In particular, in FIG. 3, unlike FIGS. 1 and 2, the GPS antenna 12 is installed below the leading vehicle 2, and the radio wave from the GPS satellite 11 is transmitted to the GPS antenna 12 by the platform of the station 4. It is easy to be disturbed to receive via. In addition, as shown in FIGS. 1 and 2, even when the GPS antenna 12 is installed on the top surface of the leading car 2, the radio wave from the GPS satellite 11 is received via the GPS antenna 12 by the roof of the station 4 or the like. May be disturbed.
[0018]
The obstacle detection unit 17 also includes positioning errors (hereinafter referred to as GPS position information (latitude / longitude / altitude) from the GPS receiver 13 and GPS position information (latitude / longitude / altitude) from the GPS receiver 13. , “GPS positioning error”), the “orbit information” of the orbit information database 16, etc., to identify obstacles that are obstructing the reception of radio waves from the GPS satellites 11. 15 corrects the cumulative travel distance of the leading vehicle 2 (and thus the railcar) calculated by the step 15.
[0019]
Next, the operation of the track detection vehicle position detection system 1 according to the present embodiment will be described. FIG. 5 is a flowchart of the position detection system 1 for a track vehicle according to the present embodiment. As shown in FIG. 5, in the position detection system 1 for a track vehicle according to the present embodiment, first, in S11, the distance accumulating unit 15 counts “distance pulses” from the speed generator 14, and further in S12. Then, the distance integrating unit 15 multiplies the count value of the “distance pulse” by the wheel diameter / n to calculate the integrated traveling distance of the leading vehicle 2 (and hence the railcar).
[0020]
In S13, it is determined whether or not an obstacle has been detected last time (S17 described later). If it is determined in the previous time (S17 described later) that no obstacle has been detected (S13: No), the process proceeds to S14, and "0" is substituted for the obstacle length (variable). Next, in S15, it is determined whether or not GPS position information (latitude, longitude, altitude) can be output by the GPS receiver 13. If it is determined that GPS position information (latitude, longitude, altitude) can be output by the GPS receiver 13 (S15: Yes), the process proceeds to S16, and the GPS output from the GPS receiver 13 is output. After updating the GPS position information (variable) to the position information (latitude / longitude / altitude), the process returns to S11.
[0021]
On the other hand, when it is determined that the GPS position information (latitude / longitude / altitude) cannot be output by the GPS receiver 13 (S15: No), the process proceeds to S17. In S17, the obstacle detection unit 17 detects the GPS position information (latitude / longitude / altitude) of the obstacle closest to the previous (S16) GPS position information (variable) and the previous (S16) GPS position. A distance between the position information (variables) (hereinafter referred to as “shortest distance”) is obtained, and “shortest distance” is compared with “GPS positioning error”.
[0022]
In this regard, the GPS position information (latitude / longitude / altitude) of the obstacle closest to the GPS position information (variable) of the previous time (S16 described above) is specified based on “orbit information” in the orbit information database 16. Specifically, for example, the GPS position information (variable) of the previous time (S16 described above) is compared with the GPS position information (latitude, longitude, altitude) of each obstacle in the trajectory information database 16, and the previous time (described above). The obstacle closest to the GPS position information (variable) in S16) (hereinafter referred to as “specific obstacle”) is specified, and the GPS position information (latitude / longitude / altitude) of “specific obstacle” is specified. .
[0023]
If it is determined that the “shortest distance” is equal to or greater than the “GPS positioning error” (S17: No), the process returns to S11 without doing anything. On the other hand, when it is determined that the “shortest distance” is smaller than the “GPS positioning error” (S17: Yes), the process proceeds to S18, where the obstacle detection unit 17 detects an obstacle such as a predetermined variable. After setting the value to indicate that there is, return to S11.
[0024]
In this regard, FIG. 4 shows an example of the case where it is determined in S17 that the “shortest distance” is smaller than the “GPS positioning error” (S17: Yes). In the schematic diagram of FIG. 4, reference numeral 31 is a line, reference numeral 32 is a “specific obstacle”, reference numeral 33 is a position indicated by GPS position information (variable), and reference numeral 34 is a range of “GPS positioning error”. Is a circle indicating A circle 34 indicating the range of “GPS positioning error” is drawn with “GPS positioning error” (arrow) as a radius centered on the position 33 indicated by the GPS position information (variable).
[0025]
On the other hand, in S13 described above, when it is determined that an obstacle has been detected in the previous time (S17) (S13: Yes), the process proceeds to S19, and the GPS position information (latitude, longitude, It is determined whether or not (altitude) output is possible. If it is determined that GPS position information (latitude, longitude, altitude) cannot be output by the GPS receiver 13 (S19: No), the process returns to S11 via S20.
[0026]
In this regard, the S20, the obstacle detection unit 17, the top wheel 2 (hence, railcar) has a value obtained by multiplying the reception interval of the GPS receiver 13 to the running speed of the obstacle length as (variable), it Until GPS position information (latitude, longitude, altitude) can be output by the GPS receiver 13, it is repeatedly performed (S19: Yes). Accordingly, the value of the obstacle length (variable) is determined based on the fact that GPS position information (latitude / longitude / altitude) cannot be output by the GPS receiver 13 (S19: No). This means the distance traveled by the leading car 2 (and thus the railcar) within the time required until the position information (latitude, longitude, altitude) can be output (S19: Yes). Note that the traveling speed of the leading car 2 (and hence the railway vehicle) can be known from the speed generator 14 or the like.
[0027]
In S19, after it is determined that the GPS position information (latitude, longitude, altitude) can be output by the GPS receiver 13 (S19: Yes), the process proceeds to S21 and is stored in the trajectory information database 16. Compare the length of the “specific obstacle” with the value of the obstacle length (variable). If it is determined that the length of the “specific obstacle” stored in the trajectory information database 16 is almost equal to the value of the obstacle length (variable) (S21: Yes), the process proceeds to S22. In S <b> 22, the obstacle detection unit 17 determines the obstacle length (for example, the number of meters) of the leading vehicle 2 (and thus the railcar) corresponding to the “specific obstacle” stored in the track information database 16. Variable) is added, and the sum is replaced with the integrated travel distance calculated in S12 . On the other hand, when it is not determined that the length of the “specific obstacle” stored in the trajectory information database 16 is almost equal to the value of the obstacle length (variable) (S21: No), the process returns to S11.
[0028]
When the process proceeds to S21, the obstacle detection unit 17 returns a predetermined variable or the like having a value indicating that an obstacle is detected in S18 to a value indicating that no obstacle is detected. Keep it.
[0029]
As described above in detail, in the track vehicle detection system 1 according to the present embodiment, the distance integrating unit 15 counts the “distance pulse” from the speed generator 14 (S11), and further the distance integrating. The unit 15 multiplies the count value of the “distance pulse” by the wheel diameter / n to calculate the cumulative travel distance of the leading vehicle 2 (and thus the railcar) (S12). On the other hand, the GPS receiver 13 outputs GPS position information (latitude / longitude / altitude) of the leading vehicle 2 (and thus the railcar) based on the radio wave received from the GPS satellite 11 (S15: Yes, S16). Further, the track information database 16 stores the position information of each obstacle on the track that disables the output of the GPS receiver 13 as the travel distance (for example, the number of meters) of the leading vehicle 2 (and thus the railcar). ing.
[0030]
When the output of the GPS receiver 13 is disabled (S15: No), the obstacle detection unit 17 uses the orbit information database 16 to disable the output of the GPS receiver 13 for each obstacle. Is identified as a “specific obstacle” (S 17), and the obstacle detection unit 17 further determines the leading vehicle 2 (and eventually, based on the position information of the “specific obstacle” identified by the obstacle detection unit 17. The accumulated travel distance of the railway vehicle is corrected (S22).
[0031]
In other words, in the position detection system 1 of the track vehicle according to the present embodiment, when the output of the GPS receiver 13 is disabled (S15: No), the obstacle detection unit 17 is identified by the obstacle detection unit 17. The accumulated mileage of the leading vehicle 2 (and thus the railcar) is corrected based on the position information of the “specific obstacle” (S22), and the obstacle is not affected by the deterioration of the reception status of the correction information from the ground station. Since the accumulated mileage of the leading vehicle 2 (and hence the railcar) is corrected by detecting the object, the fact that the reception status from the GPS satellite 11 is deteriorated by the obstacle is used to It is possible to improve the performance.
[0032]
Moreover, in the position detection system 1 of the track traveling vehicle according to the present embodiment, the obstacle detection unit 17 uses the track information database 16 when correcting the total travel distance of the leading vehicle 2 (and hence the railcar). Since the correction information from the ground station is not necessary, the cost can be reduced.
[0033]
In the position detection system 1 of the track vehicle according to the present embodiment, the length of each obstacle is stored in the track information database 16 and the position information of each obstacle is GPS position information (latitude / longitude / altitude). I remember it. Further, the obstacle detection unit 17 detects the GPS position information (variable) of the leading vehicle 2 (and thus the railcar) immediately before the output of the GPS receiver 13 is disabled, and the GPS position information (latitude, longitude, The “shortest distance” closest to the vehicle is determined from each obstacle, and the “shortest distance” is determined from the obstacles on the condition that the “shortest distance” is smaller than the “GPS positioning error”. Those at “distance” are identified as “specific obstacles” (S17). Further, the obstacle detection unit 17 determines the distance traveled by the leading vehicle 2 (and thus the railcar) within the time required for the output from the GPS receiver 13 to be recovered and the obstacle length (variable). ) (S20), and on the condition that the distance (obstacle length (variable)) is comparable to the length of the "specific obstacle" (S21: Yes), the position information of the "specific obstacle" The value obtained by adding the distance (obstacle length (variable)) to the travel distance (for example, the number of meters) of the top car 2 (and therefore the railcar) corresponding to the sum of the top car 2 (and thus the railcar) The travel distance is set (S22). Therefore, even if the output of the GPS receiver 13 is disabled due to an unexpected obstacle that is not stored in the trajectory information database 16, the obstacle detection unit 17 identifies the unexpected obstacle as a “specific obstacle”. Can be prevented.
[0034]
However, if it is assumed that the circle 34 indicating the range of “GPS positioning error” in FIG. 4 includes two or more obstacles on the line 31, it is not possible to specify “specific obstacle” in S17. Since it is difficult, “trajectory information” regarding these obstacles is deleted from the trajectory information database 16 in advance.
[0035]
In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning.
For example, in the position detection system 1 of the track vehicle according to the present embodiment, the obstacle detection unit 17 detects the GPS position information of the leading vehicle 2 (and thus the railcar) immediately before the output of the GPS receiver 13 is disabled. (Variables) and the GPS position information (latitude, longitude, altitude) of each obstacle are compared to obtain the “shortest distance” closest to the vehicle from each obstacle, and the “shortest distance” is “GPS positioning error”. On the condition that it is smaller, the obstacle at the “shortest distance” is identified as the “specific obstacle” from among the obstacles (S17). In this respect, the reception status from the GPS satellite 11 is the obstacle. From the viewpoint of positively using the deterioration, the “specific obstacle” may be specified from the number of times the output of the GPS receiver 13 is disabled.
[0036]
Moreover, in the position detection system 1 of the track traveling vehicle according to the present embodiment, the obstacle detection unit 17 takes the leading vehicle 2 (within the time required until the GPS receiver 13 recovers after the output from the GPS receiver 13 is disabled. As a result, the distance traveled by the railway vehicle) is obtained as an obstacle length (variable) (S20), and the distance (obstacle length (variable)) is comparable to the length of the “specific obstacle”. (S21: Yes), the distance (obstacle length (variable)) is included in the travel distance (for example, the number of meters) of the leading vehicle 2 (and hence the railcar) corresponding to the position information of the “specific obstacle”. The added value is the total travel distance of the leading car 2 (and hence the railcar) (S22). In this regard, from the viewpoint of improving the reliability compared to the prior art, the GPS receiver 13 When the output recovers, First car 2 corresponding to the position information of the obstacle "(hence, railway vehicle) travel distance (e.g., number of meters) only, top car 2 (and hence, a railway vehicle) may be integrated travel distance.
[0037]
【The invention's effect】
In the position detection system for a track vehicle according to the present invention, when the output of the GPS positioning unit becomes impossible, the correction unit performs the integrated running of the vehicle based on the position information of the specific obstacle specified by the obstacle specifying unit. Since the distance is corrected and the accumulated mileage of the vehicle is corrected by detecting obstacles, reliability can be improved by actively using the fact that the reception status from GPS satellites deteriorates due to obstacles. Can be improved.
[0038]
Further, in the position detection system for a track vehicle according to the present invention, when the correction means corrects the cumulative travel distance of the vehicle, the track information database is used, and correction information from the ground station is not necessary. It can also be reduced.
[0039]
Further, in the position detection system for a track vehicle according to the present invention, the length of each obstacle is stored in the track information database, and the position information of each obstacle is also stored with GPS position information. By comparing the GPS position information of the vehicle immediately before the output of the GPS positioning means becomes impossible and the GPS position information of each obstacle, the shortest distance closest to the vehicle is obtained from each obstacle, and the shortest distance is determined by the GPS positioning means. As long as it is smaller than the positioning error, it is necessary to identify the obstacle at the shortest distance from the obstacles as a specific obstacle, and for the correction means to recover after the GPS positioning means cannot be output. The distance traveled by the vehicle within a specified period of time is obtained, and on the condition that the distance is comparable to the length of the specific obstacle, the travel distance of the vehicle corresponding to the position information of the specific obstacle is calculated. If the distance is applied value to the integrated travel distance of the vehicle, even result in loss of the output of the GPS positioning unit by unexpected obstacle that is not stored in the track information database, obstacle identification means unexpected failure It is possible to prevent an object from being specified as a specific obstacle.
[Brief description of the drawings]
FIG. 1 is a diagram showing an outline of a position detection system for a track vehicle according to an embodiment of the present invention.
FIG. 2 shows a position detection system for an orbital vehicle according to an embodiment of the present invention, in which a radio wave from a GPS satellite is transmitted to a GPS antenna when a leading vehicle (and eventually a railcar) is traveling on a tunnel track. It shows a state in which reception via the communication is disturbed.
FIG. 3 shows a position detection system for an orbital traveling vehicle according to an embodiment of the present invention, in which a radio wave from a GPS satellite is transmitted to a GPS when a leading vehicle (and eventually a railcar) is traveling / stopping on a station track. It shows how reception via an antenna is disturbed.
FIG. 4 is a schematic diagram showing an example of a case where it is determined that “shortest distance” is smaller than “GPS positioning error” in the position detection system for a track vehicle according to an embodiment of the present invention.
FIG. 5 is a flowchart of a position detection system for a track vehicle according to an embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Position detection system of track vehicle 2 Lead vehicle 3 Tunnel 4 Station 11 GPS satellite 12 GPS antenna 13 GPS receiver 14 Speed generator 15 Distance integration part 16 Track information database 17 Obstacle detection part 31 Line 32 "Specific obstacle"
34 “GPS positioning error”

Claims (1)

A position detection system for an orbital vehicle that detects the position of a vehicle traveling on a track,
Counting means for counting the number of wheel rotations of the vehicle;
Integrating means for calculating an integrated travel distance of the vehicle based on a count value of the counting means;
GPS positioning means for outputting the GPS position information of the vehicle based on radio waves received from GPS satellites;
A trajectory information database storing position information of each obstacle on the trajectory that disables the output of the GPS positioning means with the travel distance of the vehicle;
Obstacle identifying means for identifying as a specific obstacle out of each obstacle the output of the GPS positioning means disabled,
Correction means for correcting the accumulated travel distance of the vehicle based on the position information of the specific obstacle specified by the obstacle specifying means ,
In the trajectory information database, the length of each obstacle is stored and the position information of each obstacle is stored in correspondence with the GPS position information,
The obstacle specifying means compares the GPS position information of the vehicle immediately before the output of the GPS positioning means is disabled with the GPS position information of each obstacle, and determines the shortest distance from each obstacle to the vehicle. Find the obstacle with the smallest value for the shortest distance from each obstacle as the specific obstacle,
When the GPS positioning information can be output by the GPS positioning means, the correction means obtains the distance traveled by the vehicle within the time required for recovery after the output of the GPS positioning means is disabled, On the condition that the distance is comparable to the length of the specific obstacle, a value obtained by adding the obtained distance to the travel distance of the vehicle corresponding to the position information of the specific obstacle is set as the cumulative travel distance of the vehicle. position sensing system of the track traveling vehicle, characterized in that.

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