JP4931748B2 - Train position detection device and mobile radio - Google Patents

Description

  The present invention relates to a train position detection device and a mobile radio that detect the position of a train necessary to perform train operation control.

A conventional train position detection device is installed in a train and is installed in a transponder car upper element that transmits a radio wave called a power wave, and in a track that allows a stop position of the station, and receives a radio wave from the car upper element. It is comprised with a ground element (for example, refer patent document 1).
In the prior art described in Patent Document 1, the ground unit includes three coils (coil 1, coil 2, and coil 3) installed in the track along the traveling direction of the train in the train stop area in the track. Yes. The position of the coil in the track is such that coil 1 is the area before the train stop area, coil 2 is the train stop area, and coil 3 is the area before the train stop fixed position. When the train stops, the transponder armature is on the ground element, and the ground element measures the reception level of each coil of radio waves from the transponder armature. Determine if it is located on the coil. As a result of the determination, when the transponder upper is positioned on the coil 1, the train is positioned in front of the stop area (short), and when it is positioned on the coil 2, the train is positioned in the stop area ( In addition, when it is positioned on the coil 3, it is detected that the train is positioned (over) before the stop area.

  According to the train position detection device described above, when the displacement of the ground element and the transponder vehicle element fluctuates due to, for example, changes in the number of passengers and the mounting position of the vehicle upper element, the reception level of each coil changes. Therefore, the detection accuracy of the train stop position deteriorates. Therefore, in the invention of Patent Document 1, the ground unit has two coils installed before and after the train stop position, and the train stops depending on whether or not the absolute value of the output voltage difference of each coil is within a predetermined range. Detects whether the position is within the allowable range or out of the allowable range. When the polarity of the voltage difference is positive, the train stop position is detected before the stop position allowable range. In this way, the stop position of the train can be detected stably and accurately even when the vehicle conditions fluctuate.

JP 2001-151112 A (FIGS. 1 and 3)

  The conventional train position detection device as described above determines whether the train is located in a short, just, or over area with respect to the train stop area, but the area is only a distance corresponding to the size of the coil. Because of the width, it is difficult to quantify the train position. Further, since the ground unit is configured to install a plurality of coils in the track, installation work and maintenance management are not easy.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a train position detection device that can detect a train position with high accuracy and a mobile radio that constitutes this device.

A train position detection device according to the present invention is installed beside a train track, and radiates a transmission signal having a predetermined frequency, amplitude or phase as a radio wave, and is mounted on a train. It consists of a mobile radio that receives radio waves, and the mobile radio calculates the radio wave arrival angle based on the reception means that extracts the radio waves from the fixed radio received by the antenna as received signals and the extracted received signals And a train position calculation means for calculating a train position relative to a predetermined reference train position on the track based on the calculated radio wave arrival angle. The angle of arrival of radio waves calculated by the means, the distance between the fixed radio and the track, and the standard between the straight line connecting the fixed radio and the reference train position and the perpendicular perpendicular to the track and passing through the reference train position And it calculates the train position based on.

  According to the present invention, the train-mounted mobile radio determines the angle of arrival of radio waves from a fixed radio installed on the side of the track, and the train with respect to a predetermined reference train position on the track based on the angle of arrival of radio waves Since the position is obtained, it is possible to detect a highly accurate train position that can be quantified. In addition, the train position can be obtained with high accuracy without storing the track shape and the absolute position coordinates of the fixed radio. Furthermore, since the fixed radio is installed beside the track, installation work and maintenance management can be easily performed, and the risk of work in the track is eliminated because it does not involve the passage of the train.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a functional configuration of a train position detection apparatus according to Embodiment 1 of the present invention.
In the figure, the train position detection apparatus includes a mobile radio device 100 mounted on a train and a fixed radio device 200 installed beside the track. The mobile radio 100 includes an array antenna (reception unit) 101, a reception unit (reception unit) 102, a radio wave arrival angle calculation unit (radio wave arrival angle calculation unit) 103, a train position calculation unit (train position calculation unit) 104, and position correction. A value storage unit 105 is provided. On the other hand, the fixed wireless device 200 includes an antenna 201, an amplification unit 202, and a signal generation unit 203. Here, the functions of the array antenna 101 and the receiving unit 102 are the same as those used in a radar or the like.

Next, the operation will be described.
In fixed radio 200, signal generation section 203 generates and outputs a transmission signal having a predetermined frequency, amplitude, or phase. Further, an ID signal modulated with a predetermined frequency, amplitude or phase is output. A transmission signal from the signal generation unit 203 is amplified in power by the amplification unit 202 and output to the antenna 201. The antenna 201 radiates the input transmission signal as a radio wave.
When the train arrives at a place where the fixed wireless device 200 is located, the radio waves radiated from the fixed wireless device 200 are received by the array antenna 101 of the mobile wireless device 100 mounted on the train and output to the receiving unit 102. Here, the array antenna 101 has a configuration in which, for example, a plurality of antenna elements are linearly arranged substantially in parallel with the traveling direction of the train. Further, depending on the high-resolution radio wave arrival angle estimation technique used in the radio wave arrival angle calculation unit 103, which will be described later, an antenna array having an arbitrary shape such as a planar array or a curved surface may be used.

  The receiving unit 102 extracts and amplifies the radio wave component from the fixed wireless device 200 and outputs it to the radio wave arrival angle calculation unit 103 as a received signal. The radio wave arrival angle calculation unit 103 calculates the arrival angle of the radio wave from the fixed radio 200 based on the input received signal, and outputs the calculated radio wave arrival angle to the train position calculation unit 104. Here, the radio wave arrival angle is calculated from the frequency, amplitude, phase, etc. of the received signal. The radio wave arrival angle estimation technique is the same as that used in radar or the like. For example, the MUSIC (MUltiple SIgnal Classification) method or the maximum likelihood estimation method is used. Also, other high resolution radio wave arrival angle estimation techniques may be used. As shown in FIG. 2, when the mobile radio device 100 moves in the direction of the arrow, the radio wave arrival angle is 0 degree when the radio wave arrives from the direction orthogonal to the trajectory 300, and is 0 degrees. Are output as positive and negative values.

The train position calculation unit 104 calculates the train position based on the radio wave arrival angle input from the radio wave arrival angle calculation unit 103. Further, when determining the train position, correction is performed using the correction value stored in the position correction value storage unit 105 as will be described later.
A specific method for obtaining the train position from the radio wave arrival angle in the train position calculation unit 104 will be described with reference to FIG. The track 300 through which the mobile radio device 100 passes is a straight line, and the arrow direction of the track 300 is the traveling direction of the train. The distance between the fixed radio 200 and the track 300 is Y, the coordinates of the foot of the perpendicular line from the fixed radio 200 to the track 300 are X0, the position of the mobile radio 100 is X1, and the predetermined reference train position on the track 300 Is X2, and the radio wave arrival angle from the fixed radio 200 is θ1. In addition, an angle formed by a straight line connecting the fixed wireless device 200 and the reference train position X2 and a perpendicular perpendicular to the track 300 and passing through the reference train position X2 is defined as a reference angle θ2.

In FIG. 3, the relationship of the formula (1) is established among the distance Y, the distance D1 between the positions X1 and X0, and the radio wave arrival angle θ1.
tan (θ1) = D1 / Y (1)
Therefore, the distance D1 is obtained by the equation (2) obtained by multiplying the tangent of the radio wave arrival angle θ1 and the distance Y.
D1 = Y × tan (θ1) (2)
Similarly, the distance D2 between X2 and X0 can be obtained by equation (3) obtained by multiplying the tangent of the reference angle θ2 and the distance Y.
D2 = Y × tan (θ2) (3)
Here, the solutions of the distances D1 and D2 may be positive or negative. However, the positive distance means that the position is in front of X0, and the negative distance is in the place that has passed X0. Means to be located. Further, when the obtained distance is zero, it means that it is coincident with X0.

Further, when the distance obtained by subtracting the distance D2 from the distance D1 is D3, D3 is the distance between the reference train positions X2 and X1 from the equation (4).
D3 = D1-D2 = X1-X2 (4)
Here again, the distance D3 is expressed as a positive / negative distance. When the distance is positive, X1 is present in front of X2, and when the distance is negative, X1 is present at a location passing through X2. To do. Moreover, when D3 is zero, it means that it is located on the reference train position X2. As described above, the train position D3 with respect to the reference train position X2 can be obtained.

  The distance Y between the fixed radio 200 and the track 300 and the reference angle θ2 are used as a known constant by installing the fixed radio 200 at a predetermined distance, which is used when the train position calculation unit 104 calculates. The constant, the distance Y, and the reference angle θ2 may be held by the fixed wireless device 200 and added to the radio wave of the transmission signal and wirelessly transmitted to the mobile wireless device 100. In the mobile radio device 100, the received distance Y and the reference angle θ2 are input to the train position calculation unit 104 and used for calculation of the train position. The distance Y and the reference angle θ2 may be transmitted using a railroad transponder of another transmission form. In that case, the transponder for railroad can use, for example, the transponder used in the automatic train stop device (ATS), and the transponder upper element is installed in the train and the transponder ground element is installed in the track to transmit the transponder upper element. On the other hand, the transponder ground unit responds. The transponder ground element is installed in front of the train stop position, and when responding, the transponder ground element transmits the distance Y and the reference angle θ2 to the transponder vehicle upper element. The obtained distance Y and the reference angle θ2 are input to the train position calculation unit 104 in the mobile radio device 100.

  By the way, the mobile radio device 100 cannot always be mounted under the same conditions when mounted on a train. For example, the location where the mobile wireless device 100 is attached may vary depending on the type of vehicle. That is, the distance Y between the fixed wireless device 200 and the track 300, the radio wave arrival angle θ1, and the reference angle θ2 differ depending on the train. For this reason, the mobile radio device 100 stores in advance the correction values of the device relating to the distance Y, the angle θ1 and the angle θ2 in the position correction value storage unit 105. The train position calculation unit 104 corrects Y, θ1, and θ2 based on this correction value, and performs the processing of equations (1) to (4) using the corrected values, so that the mobile radio device 100 is mounted. The train position can be obtained with high accuracy regardless of where the train is.

In order to reduce the influence of multipath, circularly polarized waves may be used for radio waves transmitted from the fixed radio 200 and received by the mobile radio 100. When circularly polarized waves are used, the influence of reflected waves can be removed because the direction of polarization changes when radio waves are reflected.
In order to improve noise resistance, radio waves radiated from the fixed radio 200 are transmitted using BPSK (Binary) using a code such as a preset M sequence, GOLD sequence, orthogonal sequence, or a combination of these codes. Phase shift keying) may be modulated and transmitted, and demodulated by the mobile radio device 100.

FIG. 4 shows an application example of the train stop position detection device, but is an installation example for accurately detecting the stop position of the train. In this case, the fixed wireless device 200 is installed on the roof of the station platform, the utility pole on the side of the platform, and the mobile wireless device 100 is installed on the train.
When the stop position differs for each train depending on the number of trains and the platform structure, the reference train position may be set at a predetermined location by setting the reference angle θ2 for each train. A plurality of fixed radio devices 200 may be installed according to the structure of the station platform and the number of platforms. In such a case, the stop position of the train is detected for each fixed radio from the fixed radio ID and the distance Y, angle θ1, and angle θ2 corresponding to the ID. Further, by detecting the train position before entering the station platform, the distance to the train stop position can be obtained, and the train speed can be controlled from the obtained distance.

  FIG. 5 shows another application example of the train stop position detecting device. In this case, the example is an installation example for accurately detecting the position of the running train. This shows a state in which the fixed wireless device 200 is installed on a power pole beside the track and the mobile wireless device 100 is installed on a train. In the case of this example, the traveling speed of the train may be obtained based on the detected time change of the train position.

  As described above, according to the first embodiment, the train position detection device is installed beside the train track, and emits a transmission signal having a predetermined frequency, amplitude or phase as a radio wave, and A train position detection device is configured with a mobile radio device mounted on a train and receiving the radio waves of the fixed radio device. In the mobile radio device, the radio waves from the fixed radio device received by the antenna are taken out as received signals and taken out. A radio wave arrival angle is calculated based on the received signal, and a train position with respect to a predetermined reference train position on the track is calculated based on the calculated radio wave arrival angle. Therefore, a highly accurate train position that can be digitized can be detected. In addition, the train position can be obtained with high accuracy without storing the track shape and the absolute position coordinates of the fixed radio. Furthermore, since the fixed radio is installed beside the track, installation work and maintenance management can be easily performed, and the risk of work in the track is eliminated because it does not involve the passage of the train.

Embodiment 2. FIG.
FIG. 6 is a block diagram showing a functional configuration of the mobile radio of the train position detection apparatus according to Embodiment 2 of the present invention.
The mobile radio 400 according to the second embodiment includes a directional antenna (reception unit) 401, a reception unit (reception unit) 402, a radio wave arrival angle calculation unit (radio wave arrival angle calculation unit) 403, a train position calculation unit (train position). (Calculation means) 404, a position correction value storage unit 405, an antenna drive unit 406, and an angle control signal generation unit 407 are provided. Here, the functions of the directional antenna 401, the receiving unit 402, the antenna driving unit 406, and the angle control signal generating unit 407 are the same as those used in a radar or the like.

Next, the operation will be described.
The antenna drive unit 406 drives according to the control signal generated by the angle control signal generation unit 407. The directional antenna 401 is rotated around a vertical axis by the antenna driving unit 406 and receives radio waves coming from the fixed radio 200 while rotating. When the train arrives at a place where the fixed radio 200 is located, the radio wave from the fixed radio 200 received by the directional antenna 401 is amplified by the receiving unit 402 and extracted as a received signal, and output to the radio wave arrival angle calculating unit 403. Is done. The radio wave arrival angle calculation unit 403 receives angle information output from the angle control signal generation unit 403 in addition to the reception signal, and calculates the radio wave arrival angle from the angle information and the frequency, amplitude, phase, etc. of the reception signal. It outputs to the train position calculation part 404. The train position calculation unit 404 is the same as the train position calculation unit 104 of the first embodiment, and the input radio wave arrival angle θ1, the distance between the fixed radio 200 and the track 300, and the fixed radio 200 and the reference train position X2. The train position is calculated and output based on a reference angle θ2 formed by a straight line connecting the two and a perpendicular line perpendicular to the track 300 and passing through the reference train position X2. When the train position calculation unit 404 obtains the train position, the train position calculation unit 404 has the distance Y, the angle θ1 and the angle θ2 stored in the position correction value storage unit 405 similar to the position correction value storage unit 105 of the first embodiment. The train position is calculated with correction using the correction value.

  As described above, according to the second embodiment, as in the first embodiment, a highly accurate train position that can be quantified can be obtained. In addition, the position of the train can be detected with high accuracy without storing the track shape and the absolute position coordinates of the fixed radio. Furthermore, since the fixed radio is installed beside the track, installation work and maintenance management can be easily performed, and the risk of work in the track is eliminated because it does not involve the passage of the train.

Embodiment 3 FIG.
FIG. 7 is a block diagram showing a functional configuration of the mobile radio of the train position detection apparatus according to Embodiment 3 of the present invention. In the figure, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle.
The mobile radio device 500 according to the third embodiment includes an array antenna 101, a receiving unit 102, a radio wave arrival angle calculation unit 103, a train position calculation unit (train position calculation means) 504, and a train position storage unit 505.

Next, the operation of the characteristic part of the third embodiment will be described.
Here, the train position storage unit 505 stores data on a predetermined train position on the track associated with the radio wave arrival angle. It is assumed that the stored radio wave arrival angle and train position have a predetermined resolution. When the radio wave arrival angle obtained by the radio wave arrival angle calculation unit 103 is input, the train position calculation unit 104 calculates and outputs a corresponding train position from the train position storage unit 505 based on the radio wave arrival angle.

  As described above, according to the third embodiment, the train position storage unit 505 stores in advance data on a predetermined train position on the track associated with the radio wave arrival angle. Since the corresponding train position is calculated from the train position storage unit 505 based on the radio wave arrival angle calculated by the arrival angle calculation unit 103, the same effects as those of the first embodiment can be obtained.

It is a block diagram which shows the function structure of the train position detection apparatus by Embodiment 1 of this invention. It is explanatory drawing shown about the electromagnetic wave arrival angle which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the method of calculating the train stop position which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the example of application of the train stop position detection apparatus of this invention. It is explanatory drawing which shows the other example of application of the train stop position detection apparatus of this invention. It is a block diagram which shows the function structure of the mobile radio of the train position detection apparatus which concerns on Embodiment 2 of this invention. It is a block diagram which shows the function structure of the mobile radio of the train position detection apparatus which concerns on Embodiment 3 of this invention.

Explanation of symbols

  100, 400, 500 mobile radio, 101 array antenna, 102, 402 reception unit, 103, 403 radio wave arrival angle calculation unit, 104, 404, 504 train position calculation unit, 105 position correction value storage unit, 200 fixed radio, 201 antenna, 202 amplification unit, 203 signal generation unit, 401 directional antenna, 405 position correction value storage unit, 406 antenna drive unit, 407 angle control signal generation unit, 505 train position storage unit.

Claims (9)

A fixed radio that is installed beside the track of a train and emits a transmission signal having a predetermined frequency, amplitude, or phase as a radio wave, and a mobile radio that is mounted on a train and receives the radio wave of the fixed radio And
The mobile radio is
Receiving means for taking out a radio wave from the fixed wireless device received by an antenna as a received signal;
Radio wave arrival angle calculating means for calculating the radio wave arrival angle based on the extracted received signal;
Train position calculation means for calculating the train position relative to a predetermined reference train position on the track based on the calculated radio wave arrival angle ,
The train position calculation means is orthogonal to the trajectory, the radio wave arrival angle calculated by the radio wave arrival angle calculation means, the distance between the fixed radio and the track, and the straight line connecting the fixed radio and the reference train position. A train position detecting device, wherein a train position is calculated based on a reference angle formed by a perpendicular passing through the reference train position . The fixed wireless device is characterized in that a distance and a reference angle between the fixed wireless device used in the train position calculation means and the track and a reference angle are stored in advance and added to the radio wave of the transmission signal and wirelessly transmitted to the mobile wireless device. The train position detecting device according to claim 1 . The mobile wireless device includes a position correction value storage unit that stores in advance the correction value of the own device related to the distance between the fixed wireless device and the orbit, the radio wave arrival angle, and the reference angle,
Train location calculating means according to claim 1, characterized in that to calculate the position correction value distance between the fixed radio station and track based on the correction value storage section, the train position by correcting the radio wave arrival angle and reference angle Or the train position detection apparatus of Claim 2 . The mobile wireless device includes a train position storage unit that stores in advance data on a predetermined train position on the track associated with the radio wave arrival angle,
Train location calculating means one of claims 1, characterized in that to calculate the corresponding train location from the train position storage unit based on the radio wave arrival angle calculated by the radio wave arrival angle calculating means of claim 3 one wherein the train position detection system according. The train position detecting device according to any one of claims 1 to 3 , wherein the radio wave emitted by the fixed radio is a circularly polarized wave. A mobile radio mounted on a train that receives radio waves having a predetermined frequency, amplitude, or phase radiated from a fixed radio installed on the side of the track of the train,
Receiving means for taking out a radio wave from the fixed wireless device received by an antenna as a received signal;
Radio wave arrival angle calculating means for calculating the radio wave arrival angle based on the extracted received signal;
Train position calculation means for calculating the train position relative to a predetermined reference train position on the track based on the calculated radio wave arrival angle ,
The train position calculation means includes the radio wave arrival angle calculated by the radio wave arrival angle calculation means, a distance between the fixed radio and the track, and a straight line and a track connecting the fixed radio and the reference train position. The mobile radio device characterized in that the train position is calculated based on a reference angle formed by a perpendicular line that is orthogonal and passes through the reference train position . Train location calculating means according to claim 6, wherein the calculating the train position using the distance and the reference angle between the fixed radio station and track wirelessly transmitted in addition to radio wave signal transmitted from the fixed radio Mobile radio. A position correction value storage unit that stores in advance the correction value of the own device related to the distance between the fixed radio and the orbit, the radio wave arrival angle and the reference angle;
Train location calculating means claim and calculates the position correction value distance between the fixed radio station and track based on the correction value storage section, the train position by correcting the radio wave arrival angle and reference angle 6 Or the mobile radio of Claim 7 . A train position storage unit that stores in advance data on a predetermined train position on the track associated with the radio wave arrival angle,
Train location calculating means one of claims 6, characterized in that to calculate the corresponding train location from the train position storage unit based on the radio wave arrival angle calculated by the radio wave arrival angle calculating means of claim 8 one wherein the mobile radio according.

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