KR101262762B1 - railway vehicle's location error correction apparatus and method of the same - Google Patents

Abstract

The present invention relates to a position error correction system of a train capable of improving the accuracy of train position information, which is essential information for train control; When calculating train position and travel distance by measuring tachometer installed on train, moving distance increases due to track and wheel idle and slip / slide phenomenon and train position error accumulates. There is an advantage that can solve the problems to correct the error of the train position, and accurately measure the travel distance.

Description

Railway vehicle's location error correction apparatus and method of the same}

The present invention relates to an apparatus and method for correcting a position error of a train, and more particularly, to an apparatus and method for correcting a position error of a train capable of improving the accuracy of train position information, which is essential information for train control.

In general, in the railway system, the measurement and monitoring of train position and travel distance are essential information for train operation.

At this time, the train position in the general rail system can be grasped by the on-vehicle train control device 10 installed in the train 1 and the ground train control device 20 installed on the ground as shown in FIG. The on-vehicle train control device 10 measures the amount of rotation of the wheel from the tachometer mounted on the train (1) to grasp the train moving distance and speed from the starting point, the movement distance and speed information is the propulsion of the train and Used for braking control. Ground train control device 20 to determine the position of the train by grasping the occupancy of the train in the track circuit installed on the track at regular intervals, the train occupancy information is used for the train interval control to ensure the safe operation of the train. .

At this time, the on-vehicle train control system installed in the train calculates the moving distance by measuring the amount of rotation of the wheel through the tachometer 12 mounted on the train, as shown in Figure 2, idle and slide of the track and wheel ( As the moving distance increases due to the slip / slide phenomenon, the position error of the train accumulates. Of course, in order to solve such a problem, a method of improving the position error by installing a balise that provides train position correction information on a track at a certain distance is currently being applied. Applying balis throughout the section has the disadvantage of increasing installation and maintenance costs.

On the other hand, the rail system should be checked and repaired for the subrail railway system that needs maintenance in advance to ensure the safety of rail passengers. In addition, various stabilization of railroad systems are being carried out through trial run to stabilize performance and secure safety of newly developed railroad systems.

Currently, the maintenance of railway facilities such as tracks, tram lines, and ground signaling devices is carried out by checking the trains equipped with various detection devices during train non-operation time to check the abnormality of the railway facilities. There is a disadvantage that is lowered.

In addition, the problem of deterioration of positional accuracy is similarly generated in test measurement through a test train in a newly developed railway system such as a high speed train and a tilting train.

In maintenance inspection trains, tilting trains and high-speed railway test trains currently operating in Korea, the position of maintenance points and test measurement points is generally determined using a tachometer, and the system as shown in FIG. 3 is applied. Is in use.

That is, the speed of the train 1 is determined by using the tachometer 12 which measures the amount of rotation of the wheel for a unit time, and the output of the tachometer 12 is accumulated in the comprehensive measurement system 30 so that the train 1 The relative distance of travel is determined. However, in order to correct the travel distance error due to wheel wear and idle / sliding phenomenon, the train occupant visually checks the Kilopost mark 40 showing the track position information at regular intervals and checks the Kilopost input control panel ( 32) By correcting the kilo-marking information visually confirmed by the naked eye, the travel distance error of the train is corrected.

In this case, the kilo stop cover 40 is installed at intervals of about 0.2km on the side of the track as shown in FIG. 4, and the white letters on the blue background at the bottom represent kilometer unit information, and the yellow ground at the top. The black letters in the back indicate unit of hundred meters. Kilo top mark is a standard position mark installed to check the position of the track during the construction of the track. Marks are installed on all tracks.Kilo top information is grasped by maintenance personnel and test measurement personnel when confirming maintenance points and test measurement points. Mandatory location information.

By the way, in the case of the above system, when the occupant of the train visually checks the kilo-top cover 40 and inputs the ki-jeong information through the ki-jeong input control panel 32 to correct the train position, the passenger's kilo-mark is recognized. And correction error due to the delay of inputting the correction information, and the misunderstanding of the correction value of the correction mark 40 is corrected to an incorrect position value, so that the maintenance and test measurement points are incorrectly identified, and the maintenance and test measurement time and There is a problem that an increase in cost occurs.

Of course, GPS navigation equipment such as GPS can be additionally configured to determine the absolute position information and the train travel distance can be corrected.However, in order to determine the absolute position using the satellite navigation system, at least four GPS satellite signals must be received. Therefore, in a track environment such as a tunnel, it is impossible to determine the absolute position through the satellite navigation system, so it is difficult to always correct the moving distance.

In addition, since the positional information of the satellite navigation system is output as X, Y, Z or latitude, longitude, and altitude information, it is difficult to match the railway track information represented by one-dimensional length information. Calibration is problematic in application.

In addition, maintenance inspection trains and test evaluation test trains are non-commercial trains with a low frequency of operation, and new installations of absolute position correction means such as ballis are installed and maintained on all tracks to correct train travel distances. Problems such as increased maintenance costs and reduced operational efficiency can occur.

Accordingly, the present invention is to solve these problems, the object of the present invention is to compensate for the position error of the train using a satellite navigation system and track circuit that can correct the position error of the train by adding a minimum device in the existing railway system and To provide a method.

In order to solve such a technical problem,

A ground track circuit device for generating track track occupancy information when the train occupies a track circuit; It is installed on the ground and receives the track circuit occupancy information of the ground track circuit device and receives GNSS visual information from the GNSS satellite to obtain the occupied track circuit ID information of the track circuit where the occupancy of the train occurred and the time information of the track circuit occupancy point of the train. A ground train position correction device for calculating; It is installed on the train and receives the occupied track circuit ID information and the time information of the track circuit occupied time point from the ground train position correction device, and receives the GNSS time information from the GNSS satellite and calculates it through a tachometer installed on the train through time synchronization. Characterized in that consisting of; vehicle onboard train position correction device for correcting the position of one train.

At this time, the vehicle-mounted train position correction device; A first GNSS receiving module for receiving GNSS visual information from the GNSS satellites, a track circuit DB for storing and managing occupied track circuit ID information of a track circuit received from a ground train position correction device, and a track circuit from a ground train position correction device. Performs time synchronization using the first wireless communication module for receiving the occupied orbital circuit ID information of the train and the time information at the time of occupying the track circuit of the train, and the GNSS visual information inputted through the first GNSS receiving module and the first wireless communication module. And characterized by consisting of a train position calculation module for calculating the train position by correcting the position error of the train.

And, the above ground train position correction device; The second GNSS receiving module receiving GNSS visual information from the GNSS satellite and the track circuit occupancy information received from the ground track circuit device calculate the occupied track circuit ID information of the track circuit in which the occupancy of the train occurs and the GNSS received from the GNSS satellite. A track occupancy information calculation module for calculating time information of a track circuit occupied time point using time information, and a second radio for transmitting the occupied track circuit ID information and time information of the track circuit occupied time point to the on-vehicle train position correction device; Characterized in that composed of a communication module.

In addition, the shadow area is characterized in that the satellite signal repeater for providing a satellite navigation signal in order to maintain the time synchronization of the onboard train position correction device and the ground train position correction device.

On the other hand, the position error correction method of the train of the present invention, if the train occupies the track circuit, the track track occupancy step of generating the track circuit occupancy information from the ground track circuit device to transmit to the ground train position correction device installed on the ground, and the ground An occupancy point operation step of receiving the track circuit occupancy information and receiving visual information from a GNSS satellite to calculate the occupancy point of the track circuit and transmitting it to the onboard train position correction apparatus provided in the train; The compensator is to determine the absolute position of the start point of the track circuit occupied by the track circuit occupancy information received from the ground train position correction device, and to determine the absolute position of the passing time of the start point of the track circuit, and the vehicle train position correction The device uses the absolute position of the start point of the track circuit and the passing time information to determine the other point of entry of the track circuit. The meter compares the train position and the absolute position of the track circuit and the starting point calculated by the position error of the accumulated train characterized in that comprising the bojeongneun error correction step.

Here, the track circuit occupancy information includes the occupied track circuit ID of the occupied track circuit, and the on-vehicle train position correction device is provided with a track circuit DB storing information about the track circuit to determine the absolute position of the track circuit start point. It features.

According to the present invention, the moving distance increases due to the slip and slide phenomenon of the track and the wheel at the time of calculating the train position and the moving distance by measuring the amount of rotation of the wheels through the tachometer mounted on the train. There is an advantage that can correct the error of the train position by solving the problem that the position error of the cumulative.

1 is a view showing a configuration for a conventional train control.
2 is a configuration diagram of a vehicle onboard train control system for a conventional train control.
3 is a view showing a configuration for the position correction of the conventional detection train and the test train.
4 is a diagram illustrating a conventional kilo-top cover.
5 is an overall configuration diagram of a position error correction apparatus for a train according to the present invention.
6 is a system configuration diagram installed on the vehicle of FIG. 5.
7 is a detailed block diagram of the on-vehicle train position correction apparatus of FIG.
8 is a detailed block diagram of the ground train position correction apparatus of FIG.
9 is a diagram illustrating a shadow area of the position error correction system according to the present invention.
10 is a flowchart of a method for correcting a position error of a train according to the present invention.

Hereinafter, with reference to the accompanying drawings the position error correction system and the moving distance measuring system of the train according to the present invention will be described in detail.

The present invention is to measure the exact position and moving distance of the train by correcting the error of the position and the moving distance using the tachometer, while minimizing the additional cost burden for precision measurement using the existing system to the maximum, the position error of the train Calibrate and measure the distance traveled.

For this purpose, a position error correction apparatus of the train illustrated in FIGS. 5 to 9 is proposed.

According to FIG. 5, the position error correction system of the train according to the present invention provides accurate position information of the train 1 to the onboard train control apparatus 100 using a global navigation satellite system (GNSS) and a track circuit. do.

Such a position error correction system of a train according to the present invention is a ground track circuit device 120 for generating track information occupied when the train 1 occupies the track circuit 110, and the ground track is installed on the ground Receives the track circuit occupancy information of the circuit device 120 and receives the GNSS visual information from the GNSS satellite 130 and occupies the track circuit ID information of the track circuit 110 in which the occupancy of the train 1 has occurred and the track circuit of the train. Ground train position correction device 140 for calculating the time information of the viewpoint and the train 1 is installed in the ground train position correction device 140 from the occupied track circuit ID information and the time information of the track circuit occupied time point Receiving and receiving the GNSS visual information from the GNSS satellite 130 is composed of a vehicle-mounted train position correction device 150 for correcting the position error of the train through time synchronization.

That is, the position error correction system of a train according to the present invention is a system for correcting the position of a train using a satellite navigation system and a track circuit, and further installs a ground train position correction device 140 on the ground and corrects a vehicle train position on a vehicle. The device 150 is additionally installed to correct the position.

At this time, the satellite navigation system is used for synchronizing the visual information between the onboard train position correction device 150 and the ground train position correction device 140, the track circuit 110 is used for providing absolute position information.

In addition, the track circuit occupancy information of the ground track circuit device 120 is also transmitted to the ground train control device 122 is utilized as information to control the train.

On the other hand, as shown in Figure 6, the vehicle-mounted train control device 100 and the vehicle-mounted train position correction device 150 is provided.

The on-vehicle train position correction device 150 receives the train movement distance and speed information from the starting point by measuring the rotation amount of the wheel from the tachometer 101, the occupied track circuit of the ground train position correction device 140 Receives the ID information and the time information of the point of occupying the track circuit, and receives the GNSS time information from the GNSS satellite 130 to correct the position error of the train.

In addition, the on-vehicle train position correction device 150 calculates the train position of the error correction is transmitted to the on-vehicle train control device 100. Of course, the on-vehicle train control device 100 controls the braking / propulsion device 103 of the train by using the train position and speed information of the error inputted from the on-vehicle train position correction device 150 to correct the braking of the train 1. And propulsion control.

In addition, the detailed configuration of the on-vehicle train position correction device 150 is as shown in FIG. Accordingly, the vehicle-mounted train position correction device 150 is composed of a first GNSS receiving module 151, a track circuit DB 152, a first wireless communication module 153, a train position calculation module 154.

At this time, the first GNSS receiving module 151 is used for time synchronization with the ground train position correction device 140 and receives the GNSS visual information from the GNSS satellite 130.

The first wireless communication module 153 receives the occupying track circuit ID information and the time information of the occupying track circuit from the ground train position correction device 140.

In addition, the track circuit DB (152) is for the storage and management of the occupied track circuit ID information received from the ground train position correction device 140, the information about the track circuit is stored so that the absolute position of the track circuit ID Used to figure out.

In addition, the train position calculation module 154 performs time synchronization using the GNSS time information input through the first GNSS receiving module 151, and occupies the track ID information received through the first wireless communication module 153. And by receiving the absolute position information of the track circuit 110, the track circuit ID and the track circuit occupancy time information, and the moving distance information of the tachometer 101 by using the time information of the track circuit occupied time point and correcting the position error of the train. The position is calculated and output to the onboard vehicle control apparatus 100.

In addition, the detailed configuration of the above ground train position correction device 140 is as shown in FIG. Accordingly, the second GNSS receiving module 141, the second wireless communication module 142, and the track occupancy information calculating module 143 are configured.

In this case, the second GNSS receiving module 141 receives GNSS visual information from the GNSS satellite 130, and is used to measure the time of occupancy of the time synchronization point and the occupied circuit with the onboard train position correction device 150. .

The track occupancy information calculation module 143 calculates the occupying track circuit ID information of the track circuit 110 in which the occupancy of the train 1 occurs using the track circuit occupancy information received from the ground track circuit device 120. , Using the GNSS time information received from the GNSS satellite 130 to calculate the occupancy time of the occupancy time of the track circuit of the train.

As described above, the occupying track circuit ID information calculated by the track occupancy information calculating module 143 and the occupancy time information of the track circuit are transmitted to the on-vehicle train position correction device 150 through the second wireless communication module 142.

Meanwhile, FIG. 9 is to maintain visual synchronization between the onboard train position correction device 150 and the ground train position correction device 140 in the shadow area of the satellite navigation system such as a tunnel, and the satellite navigation signal in the shadow area of the satellite navigation system. Satellite signal repeater 160 is installed to provide.

That is, in the present invention, since the satellite navigation system is used only for simple time synchronization, not for obtaining position information, even when using the satellite signal repeater 160 in the shaded area, it does not significantly affect the train position correction accuracy.

Hereinafter, a method of correcting a position error of a train using the above-described position error correcting device of the train will be described.

First, the position error correction method of the train is composed of a track circuit occupancy step (S10), occupancy time calculation step (S20), absolute position detection step (S30) and error correction step (S40), In the track circuit occupancy step (S10), when the train 1 enters the track circuit 110, the ground track circuit device 120 is installed on the ground track information occupying the track circuit occupied by the train (1) It is transmitted to the ground train position correction device 140.

In addition, in the occupancy point operation step (S20), the time information of the time when the ground train position correction device 140 receives the track circuit occupancy information from the ground track circuit device 120 through the second GNSS receiving module 141. Received from the GNSS satellite 130 to calculate the track circuit ID occupied by the train 1 and the occupancy time.

At this time, the ground train position correction device 140 wirelessly calculates the occupied track circuit ID information (track circuit occupancy information) and the time information of the track circuit occupancy time through the second wireless communication module 142 provided therein. The vehicle is sent to the onboard train position correction device 150.

In the absolute position determining step (S30), when the occupant train position correcting device 150 receives the occupying track circuit ID information and the time information of the track circuit occupying time from the ground train position correcting device 140, the occupying track circuit The absolute position (absolute movement distance) of the starting point of the track circuit 110 according to the ID is identified through the track circuit DB 152, and the passing time of the track circuit starting point is determined.

At this time, the on-vehicle train position correction device 150 receives the occupied track circuit ID information and the time information of the track circuit occupancy point from the ground train correction device 140 through the first wireless communication module 153 provided therein. do.

In addition, the vehicle-mounted train position correction device 150 is synchronized with the time of the ground train position correction device 140 because it receives the GNSS time information through the first GNSS receiving module 151.

Next, in the error correction step (S40), the on-vehicle train position correction device 150 is the tachometer 101 of the entry point of the track circuit 110 by using the absolute position and the passing time information of the start point of the track circuit 110. Comparing the train position calculated by) and the absolute position of the starting point of the track circuit occupied by the train 1 is calculated by the tachometer 101 to correct the position error of the accumulated train.

Therefore, it is possible to improve the accuracy of the train location information through a minimum improvement to the existing train control equipment, in particular, the present invention is to improve the existing train control system to a Radio Based Communication Control System (CBTC) The first and second wireless communication modules 153 and 142 in the onboard train position correction device 150 and the ground train position correction device 140 may be alternately connected to the wireless communication module in the wireless communication based train control system. When applied, it is possible to drastically reduce the required cost since it is not necessary to construct a wireless communication network for transmitting train position correction information (occupation track ID, occupancy time).

While the present invention has been described in connection with what is presently considered to be preferred embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: Train 100: Onboard train control device
101: tachometer 102: kilo
110: track circuit 120: ground track circuit device
130: GNSS satellite 140: ground train position correction device
141: second GNSS receiving module 142: second wireless communication module
143: track occupancy information calculation module 150: onboard train position correction device
151: 1GNSS receiving module 152: track circuit DB
153: first wireless communication module 154: train position calculation module
160: satellite signal repeater

Claims (6)

A ground track circuit device for generating track track occupancy information when the train occupies a track circuit;
It is installed on the ground and receives the track circuit occupancy information of the ground track circuit device and receives GNSS visual information from the GNSS satellite to obtain the occupied track circuit ID information of the track circuit where the occupancy of the train occurred and the time information of the track circuit occupancy point of the train. A ground train position correction device for calculating;
It is installed on the train and receives the occupied track circuit ID information and the time information of the track circuit occupied time point from the ground train position correction device, and receives the GNSS time information from the GNSS satellite and calculates it through a tachometer installed on the train through time synchronization. On-vehicle train position correction device for correcting the position of the train; Position error correction device of the train, characterized in that consisting of.
According to claim 1, wherein the vehicle-mounted train position correction device;
A first GNSS receiving module for receiving GNSS visual information from the GNSS satellites, a track circuit DB for storing and managing occupied track circuit ID information of a track circuit received from a ground train position correction device, and a track circuit from a ground train position correction device. Performs time synchronization using the first wireless communication module for receiving the occupied orbital circuit ID information of the train and the time information at the time of occupying the track circuit of the train, and the GNSS visual information inputted through the first GNSS receiving module and the first wireless communication module. And a train position calculation module configured to calculate a train position by correcting a position error of the train.
According to claim 1, wherein the ground train position correction device;
The second GNSS receiving module receiving GNSS visual information from the GNSS satellite and the track circuit occupancy information received from the ground track circuit device calculate the occupied track circuit ID information of the track circuit in which the occupancy of the train occurs and the GNSS received from the GNSS satellite. A track occupancy information calculation module for calculating time information of a track circuit occupied time point using time information, and a second radio for transmitting the occupied track circuit ID information and time information of the track circuit occupied time point to the on-vehicle train position correction device; Position error correction apparatus for a train, characterized in that consisting of a communication module.
The method of claim 1,
And a satellite signal repeater providing a satellite navigation signal in order to maintain visual synchronization between the onboard train position correction device and the ground train position correction device in the shadowed area.
When the train occupies the track circuit, the track track occupancy step of generating the track circuit occupancy information from the ground track circuit device and transmitting it to the ground train position correction device installed on the ground;
An occupancy point calculation step of receiving the track circuit occupancy information from the ground track circuit device, receiving visual information from a GNSS satellite, calculating a point occupied by the track circuit, and transmitting the point to occupancy train position correction apparatus provided in the train;
The onboard train position correcting apparatus may be configured to determine an absolute position of the track circuit starting point occupied by the track circuit occupancy information received from the ground train position correcting apparatus, and to determine a passing time of the track circuit starting point;
The on-vehicle train position correction apparatus compares the train position calculated by the tachometer of the track circuit entry point and the absolute position of the track circuit start point by using the absolute position of the track circuit starting point and the passing time information to calculate the accumulated position error of the train. Position error correction method of the train comprising the error correction step of correcting.
The method of claim 5,
The track circuit occupancy information includes the occupied track circuit ID of the occupied track circuit, and the on-vehicle train position correction device is provided with a track circuit DB in which information about the track circuit is stored to determine the absolute position of the track circuit starting point. Position error correction method of train to say.

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