RU1837343C - Method of checking position of vehicles - Google Patents

Abstract

The invention relates to radio navigation and may find application in driving vehicles. The aim of the invention is to increase the transmission capacity of a control center. The vehicle location control method is based on the vehicle measuring its location, converting it to a radio signal and transmitting it to the control center, receiving the location data of each vehicle in the control center for a predetermined time interval and displaying the received information in the control center, additionally on each the vehicle, the location radio signal is delayed by an amount determined by the phase shift relative to the time scale The control center, the vehicle number and the relative position of the latter and the control center, while receiving radio signals in the control center is performed at a time determined by the vehicle number. 12 ill. 00 s

Description

The invention relates to radio navigation and may find application in driving vehicles.

The waiting time for a response message in the control center will be

Tokh 2TTsT + Tz + Tm TTsT | RCT1 / Co, 0) where TCT is the signal propagation time between the control center and the vehicle with the requested number,

Tz - the duration of the request signal;

Tm - the duration of the signal containing information about the location of the vehicle,

RCT1 is the distance between the control center and the vehicle with the requested number,

Co is the speed of propagation of an electromagnetic wave.

For a given period of repeating the time scale, which is chosen to be equal to a given rate of updating information about the location of vehicles, the throughput of the control center is determined by the expression

Nmak T / T0zh. (2)

where Nmak is the maximum number of the vehicle,

T is the period of updating vehicle position information.

The value of RCT is not a priori known, therefore, the highest possible value should be taken about its quality - (RCT poppy)

00

Cj

CA

4 CO

the range of the radio link between the center and the vehicle or the range of the control system that implements this method. Typically, the value of (Tz + Tm) 2 TzT1mak, i.e. most of the waiting time at the reception control center is the propagation time of the request and response signals.

Fig. 1a shows a timeline diagram of a control center with a repetition period equal to T. This repetition period is evenly divided into sections of length Tm, each of which is assigned to receive a signal about the location of a vehicle with a specific number (indicated by a number at the beginning of the interval Tm) . In FIG. 1.6 is a diagram for vehicle number I with an initial phase shift Fiat; Figures 5-8 show control system devices in a vehicle location control center. The necessary timing diagrams are shown in FIGS. 9-.12.

The device contains s a control center, a timeline shaper 1, a synchronizer 2, a display device 3, a radio receiver (RPU) A, on each TCi - a vehicle with number 1 - a timeline shaper 5, a synchronizer b, a radio-transmitting device 7, a unit for determining location 8, computing device 9, frequency standard 10, frequency divider 11, counter 12, decoder 13, electronic computer 14, indicating device 15, receiver 16, decoder 17, former 18, trigger 19, element I 20, counter 21, form Scanner 22, frequency standard 23, frequency divider 24, counter 25, decoder 26, driver 27, comparator 28, encoder 29, transmitter 30, computers 31, registers 32-34, location block 35, band pass filters 36, 37, 38, detectors 39, 40, 41. shift register 42; trigger 43, element I 44, trigger 45, delay elements 46, 47, 48, trigger 49, element of equivalence 50, element 51, counter 52, elements of equivalence 53, driver 54, trigger 55, element I 56, counters 57, decoder 58 , element And 59, the shift register 60, element And 61, shaper 62. generator 63, trigger 64, elements And 65, 66, generators 67, 68 and the element OR 69.

. To implement the method, it is necessary to ensure the following operations on the control center:

.- forming a timeline, - receiving data on the location of vehicles,

5

0

0

- display of the received information,.

- search of all numbers of vehicles from to i. Nmak and repetition of everything

the work process starting with a period of T Nmek-Tm, the following sequence of operations is used on the vehicle:

-measure its location (X | V |) creates a timeline with a known

phase shift (Ftzach |) relative to the time scale of the control center, the location of the vehicle and at time (T3 | or T3G) corresponding to its phase shift, vehicle number and the relative position of the latter and the control center.

The structure of the first possible monitoring system in the vehicle location control center implementing the method is shown in FIG. Shaper 1 serves to create a timeline for the control center. Synchronizer 2 enumerates the values of i. Radio receiver

5, device 4 receives messages from all vehicles. The purpose of the driver 5 is similar to the driver 1. The synchronizer 6 generates a trigger signal of the radio transmitting device. The computing device 9 calculates the start time of the RPDU 7 and converts (if necessary) the vehicle location coordinates measured by block 8 from one coordinate system to a more convenient for further processing (for example, hyperbolic rectangular).

The system works as follows. If, on a vehicle with number I, a signal is transmitted about its location at a time relative to the beginning of its time scale with a delay equal to

T3g (S) Tm-FnachgTtst1. (3)

then this signal will arrive at the control center in the time interval from time i to time i + 1 in Figs. 1a. If expression (3) is negative, then the signal is delayed. The magnitude is

0 TTc is determined by the coordinates of the control center (for example, rectangular Хс,; Уц, which are known a priori) and measured by an I-vehicle with number I own coordinates (XiYi) with no known expressions (4)

 TV 4xU-Xi) 2-f - () 2 / Co- W Thus, the messages transmitted by vehicles are also separated in time, which

0

5

allows to reduce the identity by another value

AND

Before the vehicle starts to work, a measurement is carried out corresponding to Щ1MI devices of the Fnach value, the value of which is stored in the memory of device 9. After this, the vehicle starts to track along the route. At the same time, EM8 measures the location of the vehicle, a signal of values. which arrives for processing in the device 9. Based on the known vehicle number, known a priori

P

quantities T3 | in accordance with the expressions

but the values of Tm, Fnach and the coordinates of the location UV9 calculates

(3 and (4). Shaper 5 generates a highly stable reference signal with a period of T0. Synchronizer G counts the number of turns of To from the beginning of the time scale of the transfer medium. When from the beginning of the scale

the vehicle will pass the interval Tjj (corresponds to the signal at the second exit of the synchronizer b, at the output of the sync

I1

PC

A timing signal b will trigger the radio transmitter 7. In the latter, the vehicle location signal from the computing device is coded as necessary to ensure stability, and is emitted at the di-frequency. The start-up process is transmitted again with the update period of T. So, the signal from the location of the transport vehicle is emitted in accordance with fc1.6.

Formulator 1 forms a time scale of the control center similarly to shaper 5. The signal from its output is sent to synchronizer 2 to count the number of periods from the beginning of the time scale of the control center. The signal at the output of synchronizer 2 is the code of the number of the interval-time with a length of Tm from 1 El on the time scale of the control center, which is repeated with period T. Thus, at the first input of the display device 3, there is a signal of compliance with figure 1, a. The signals from the vehicles are filtered out from interference and decoded: appropriately in the radio transmitter A. Consequently, at the gatherings of the display device 3, the information about the vehicle number and its position changes synchronously (in accordance with figure 1). The information is used by the device 3 for display in a form convenient for the operator.

The implementation of the components of the considered system for specialists in this field

fifteen

twenty

0

lasg technology will not be difficult.,. . i to facilitate understanding of the implementation of the proposed method, a system with the maximum use of 5 perspectives of the present elements of digital v is described below. computer technology.

The second possible control system in the control center of the location of the TRNS-Morgen relocation, realizing by proposing - 10 we and the method, is depicted in Fig. It is tayuhe. will get the equipment of the control center and vehicles,

The frequency standard 10 generates a signal characterized by high frequency stability, from which the frequency divider 11 creates a signal with a period of Tm. Counter 12 counts the latter, i.e. the number code in it corresponds to the vehicle number. The decoder 13 determines the time of generation in the counter 12 of the vehicle code with the maximum number, after which the former 18 sets the counter 12 to its initial state with its output. Next, the joint work of elements 10-13 and 18 provides the formation of a time scale for the control center with a repetition period of -Tm evenly divided into Hnak sections of duration Tm, iterating over all the numbers of vehicles from to NNmzk and repeating work from the number. Receiver 16 receives signals from vehicles, decoder 17 decodes them and converts them to

5 convenient for input into a computer 14. The latter converts the received vehicle position information into the control signals of device 15. Elements 19-22 provide

0 measurement Ф) ah1. Elements 23-27 form the timeline of the vehicle, similarly to the control center devices of the same name. Encoder 25 converts sig. cash on the location of the transport

5 means to a view convenient for transmission to the control center (for example, using subcarriers), and the transmitter 30 transmits it to the control center. The computer 31 calculates the location

0 of the vehicle about the corresponding coordinate system (Xt and YT) and the moment of emission of the vehicle location signal (T3 or T3). The last value is stored in register 33. Register

5 34 stores the PHEC1 value, block 35 serves to determine the location of the vehicle.

Operation of a second possible monitoring system at a location control center

vehicles is as follows.

Frequency standard 10 generates at its output a signal with high stability of the repetition period. This period is divided by a divider 11. so that its output signal (see FIG. 2) has a repetition period Tm. These signals are counted in counter 1.2 and the signal of the period number code Tm from counter 12 enters the decoder 13 and the computer -14. When the code in counter 12 is equal to Nmax. then, at the output of the decoder 13, a signal is generated that passes through element 47 (with a delay time TE / Л347 / ТМ / in driver 18 and sets the trigger 49 to state Q, according to which the midrange 12 will return to its original state. After a delay time of element 48 (TK 48}, trigger 19 will return to state Q with a period of Tm and the process is repeated. In this way, a timeline is formed on the control center. In the same way, a timeline on the vehicle is generated using elements 23-27.

Before driving, each vehicle measures the value of Fnach) (see Fig. 10). To this end, its measurement output is connected to the measurement input of the control center, and its Phnach and clock inputs are connected to the outputs of the control center equipment of the same name. In this case, the duration of the state of the logical unit at the output of the trigger 19 will turn out to be equal to the value of Fnach which, using the AND element 20 and the counter 21, is converted into a code. After the end of the signal at the measuring output TCi, the signal from the shaper 27 with its edge will provide a record of the number from the counter 21 to the register 34. The decline of the same signal will return to the initial state of the counter 21, Thus in register 34, the Fnach code appears.

After the measurement is completed, the Fnach begins to move along the route, where the block 35 determines the location of the vehicle in any coordinate system, and the computer 31 converts these Coordinates to a form convenient for further processing (for example, into rectangular Xi, YJ ) Since the location of the control center is a priori known (as well as the number of the given vehicle d), using the computer 31, the TCT value is calculated (see expression (4) and the T3i value is determined by expression (3), where Tm is the a priori known value. the value of Fnach is read by the computer 31 from the register 34. The signal T3 from the first output of the computer 31 goes to the register 32 for storage, and from the second

output signal about the location of the vehicle enters the register 33.

The information in register 32 is stored as two parts in the first part is

code of the quantity Ti) (T3i / TM + 1) where T3t / TM is the integer part of the fraction, and in the second part the value is T2 TzgZT3 | / TmO. The code of the first part of the information from the register 32 goes to the second input of the element 50, and the code of the second part to the second input of the element 53 (see Fig. 7) of the element 28. Since the signal from the counter 25 is supplied to the first input of the element 50, the output signal element 50 will occur at a point in time, which is T1 from the beginning of the vehicle’s time scale. and its length will be Tm. This signal will allow the output of element 1451 of the output signal of the frequency standard 23 to the counter 52. When the code number

0 last reaches the value T2, at the output of the element 53, a signal is received, which the driver 54 will transmit to the output of the element 28. Thus the output signal of element 28 will be spaced from the beginning of the time scale of the vehicle by an amount of (T1-1) -T2) T3 |.

The arrival of the signal from the element 28 to the first input of the encoder 29 provides the beginning of the latter (Fig. 8.11). Wherein

0, the trigger 55 will be set to the Q state. According to which the signal from the VCH23 passes through the And 56 element. The pulses from the output of the And 56 element are counted in the counter 57, the state of which determines the output signals

5 of the decoder 58. When a signal appears at the first output of the latter, the signal of generator 63 passes through element 59 and the appearance of which indicates the beginning of sending a message. The signal from the second output of the decoder 58 appears when the transmission of the message has ended. According to it, the trigger 53 through the former 62 will return to its original state, which, in turn, will reset the counter

5 57, The same signal sets the initial state Q in trigger 64 and ensures the passage of the signal at the end of message transmission from generator 67 through the And 66 element. The signal from the output of And 59 will also record location information from register 33 to the shift register 60, the signal from the third output 58 of the decoder 58 translates from the state Q in the trigger 64. that will ensure the passage of the shifting

5 signals through the And 65 element to the second input of the register 60. As a result, at the output of the last one (in the form of a code sequential in time), information about the location of the vehicle of the unit,

which using the And 61 element will

modulated by the signal of the generator 68. Thus at the output of OR 69, a signal is detected in the sequence of pulses, the total length of which in time does not exceed Tm. It starts with a pulse having a filling frequency of FH (from 63), and ends with a pulse with a filling frequency of FK (from 67). Between them is located information about the location of the vehicle, the units in which are filled with a frequency P (from 68).

The signal generated by the encoder 29 is transmitted using the transmitter 30, received by the control center receiver 16 and, after appropriate filtering, is fed to the first input of the decoder 17.

In the decoder 17, the signal from the receiver 16 falls on the elements 36-38. the first of which is tuned to the FH frequency. the second is -Fj, and t) is -FK. As follows from the above descriptor of the encoder 29. A message from each vehicle t begins with a pulse having a fill frequency FK. Therefore, at first the signal appears at the output of the filter 36, which is detected in the dtector 38. It sets the register 42 to the initial state and puts the trigger 43 into the C state. The latter will result in the transmission of: a signal from the output of the delay element 46 at the output of element 44. Since the scales in hemeni are tied (by measuring the Fnach). then the location information is generated linked in time to the signals of the frequency standard 10, and subsequently, to the output signal of the element 46, in the delay of which is chosen equal to half the period of the signal from the frequency standard 10. The signal from the output of the And element 44 s | it is used to shift the information about the location of the vehicle from the exit e; of the 40th register 40. After the end

receiving information in the register 42, the signal at the output of the detector 41. which indicates the end of the reception of data about the location of the vehicle and sets the triggers 43 and 45 to the initial state. The latter was set to Q state by the signal from the output of the detector 38 at the beginning of the cycle receiving information. Setting the trigger 45 to state C thus indicates the end of the reception of information from the vehicle number I, the code of which appears at this point in time in counter 12.

The information from the decoder 17 and the counter 12 is used in the computer 14 to convert to a form convenient for display on the device 15.

Claims (1)

SUMMARY OF THE INVENTION A method for monitoring the location of vehicles based on each vehicle measuring its location, converting it to a radio signal and transmitting it to a control center, at which this signal is received from each vehicle for a predetermined time interval and its location is displayed, characterized in , which, in order to increase the throughput on each vehicle, delays the measured location signal and transmission of the radio signal schestvl dissolved over the time interval corresponding to the address of the vehicle, the control center upon receipt of radio signals is compared time of receiving each signal sequence with time slots allocated to each vehicle and the results of the comparison signal forming a predetermined location of the vehicle. l / g  Output F beg  Output / YAFOTED I I FIG. 4 Output Yu (DFM) VykhoLZ (dsh 26} Output 18 1FI) fpHPV.i , fpHPV.i -LLЈh z0 / te sa / 3 / ° GE & H Cfyrac CV2J & Ј / .№ Fh f1 KAZ P i-l fie. ft Fh