WO2003027706A1 - Procede et dispositif de localisation de vehicules par le biais du decalage doppler de signaux radio mobiles - Google Patents

Procede et dispositif de localisation de vehicules par le biais du decalage doppler de signaux radio mobiles Download PDF

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Publication number
WO2003027706A1
WO2003027706A1 PCT/EP2002/008857 EP0208857W WO03027706A1 WO 2003027706 A1 WO2003027706 A1 WO 2003027706A1 EP 0208857 W EP0208857 W EP 0208857W WO 03027706 A1 WO03027706 A1 WO 03027706A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
mobile radio
doppler frequency
transmitter
route
Prior art date
Application number
PCT/EP2002/008857
Other languages
German (de)
English (en)
Inventor
Xiaogang Gu
Original Assignee
Bombardier Transportation Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bombardier Transportation Gmbh filed Critical Bombardier Transportation Gmbh
Publication of WO2003027706A1 publication Critical patent/WO2003027706A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0246—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving frequency difference of arrival or Doppler measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0269—Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position
    • G01S5/02695—Constraining the position to lie on a curve or surface

Definitions

  • the invention relates to methods and a device for locating vehicles.
  • the invention is suitable for - but not limited to - use in rail vehicles.
  • the route is predefined for vehicles and the detection of a block segment of the route in which a vehicle is located or certain points on the route that a vehicle passes are of great importance.
  • Known mobile radio-based location methods which measure the angle, time or time difference of the propagation of the radio signals between the vehicle and mobile radio stations, reach z. B. due to multipath propagation hardly the accuracy of less than 100 m.
  • the object of the invention is to eliminate the disadvantages of the prior art described and to propose a method and a device for locating vehicles, in particular rail vehicles, each of which enables precise locating of the vehicle with high availability.
  • This object is achieved by methods for locating vehicles according to the features of claims 1, 2, 4 and 5 and by a device according to the features of claim 7.
  • the vehicle the position of which is to be determined on a known and / or predetermined route, is equipped at least with a mobile radio device which can send and / or receive the radio signals to and / or from mobile radio stations.
  • the antennas of the mobile radio stations lie along the route and can send and / or receive the radio signals to and / or from vehicles with the mobile radio device.
  • the Doppler frequency of the radio signal is measured on the vehicle and / or the mobile radio stations.
  • the evaluation of the Doppler frequency change around the point of the zero Doppler frequency determines the passage of the route points by the vehicle at which the connection line with the antenna of the radio-connected mobile radio station is perpendicular to the route line.
  • At least two mobile radio stations at which the measured Doppler frequencies for the vehicle or for which the measured Doppler frequencies on the vehicle have different signs, are evaluated in order to identify the location segment of the vehicle.
  • the location segment of the vehicle is determined by the route between these mobile radio stations.
  • the invention for the detection of block segments can, but does not have to be based on a mobile radio system.
  • the trackside GSM-R antennas are within 5 m across the track, so that the change in the Doppler frequency between the vehicle equipped with radio and the trackside antennas in the vicinity of the antennas is very strong.
  • the invention uses this property for location, so that it is possible to identify the locations close to the antenna by measuring the Doppler frequency changes or to detect the route blocks by measuring the Doppler frequencies with two mobile radio stations at which the Doppler frequencies have different signs.
  • the distance covered can be determined within a block segment using an additional sensor such as an odometer or the integrated Doppler frequency
  • the method according to the invention has a higher location accuracy, in particular at block boundaries, and has a more reliable block detection.
  • the method according to the invention is insensitive to multipath propagation. Time synchronization errors can easily be determined by level measurement without additional sensors.
  • the invention can better location availability z. B. offer by GSM-R. Another advantage is that no additional infrastructure is necessary if an existing network, e.g. B. GSM-R is used.
  • the invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing. They show schematically and not to scale
  • Fig. 1 shows a route with devices for locating a rail vehicle moving on the route
  • Fig. 2 shows a route with devices for locating the route segment in which a rail vehicle is located.
  • a vehicle 1 with a mobile radio device 2 travels from position A to position B and a mobile radio station 3 is arranged in the vicinity of the route, in this case a track.
  • the received mobile radio frequency at vehicle 1 or at mobile radio station 3 changes compared to the transmitter frequency because of the Doppler effect.
  • after position 0 e.g.
  • the mobile radio device 2 must accordingly have at least one receiver and the mobile radio station 3 must have at least one transmitter.
  • the signal emitted by the transmitter of the mobile radio station 3 in a specific frequency is received by the receiver of the mobile radio device 2.
  • the transmitted GSM signal contains a user identification or a base station identification, which is thus also transmitted. The change in the frequency of the received signal is detected and evaluated.
  • the GSM system uses an uplink and downlink frequency block.
  • Each of these frequency blocks consists of 125 frequency channels.
  • the frequency channel or the carrier frequency is known to the receiver.
  • the difference caused by the Doppler effect to the transmission frequency or to the nominal carrier frequency of the signal known for the transmitter and the receiver is determined, and a change in the sign of this difference frequency is detected and interpreted as the location of the vehicle 1 at the position O of the route perpendicular to the mobile radio station 3.
  • the route can, as shown in FIG. 2, by zero Doppler frequency points, e.g. B. three positions lying along the route i-1, i and i + 1 have separate route segments K, K + l.
  • the first mobile radio station 4 assigned to the first position i-1 and the second mobile radio station 5 assigned to the second position i limit the first route segment.
  • the second route segment K + 1 adjoining in this exemplary embodiment is delimited by the second mobile radio station 5 and the third mobile radio station 6 assigned to the third position i + 1.
  • a vehicle 7 with a mobile radio device 8 arranged thereon runs in the predetermined direction, this can be done Pass the zero Doppler frequency points of positions i-1, i and i + 1 and determine the location segments K, K + l of vehicle 7 by evaluating the Doppler frequency f described above.
  • the first location segment K can be identified by the mobile radio stations at positions i-1 and i, which cause different signs of the Doppler frequencies f.
  • the vehicle 7 is in the first stay segment K.
  • the mobile radio device 8 must accordingly have at least one receiver and the mobile radio stations 4, 5, 6 each have at least one transmitter.
  • the signal emitted by the transmitters of the mobile radio stations 4, 5, 6 in a specific frequency is received by the receiver of the mobile radio device 8.
  • the receiver can differentiate the transmitter signals based on their frequency.
  • the frequency channels are used for this.
  • TDMA Time Division Multiplex Access
  • CDMA Code Division Multiplex Access
  • the GSM standard uses different frequencies and time slots.
  • UMTS primarily uses CDMA. With CDMA, different codes belonging to different transmitters can be based on one frequency.
  • the frequency shifts caused by the Doppler effect are determined in the mobile radio device 8 and the signs of these frequency shifts are compared with one another. chen.
  • the location of the vehicle 7 within this route segment K is inferred from the different signs of the frequency shifts of two mobile radio stations 4, 5 forming a route segment K.
  • the mobile radio device 8 must accordingly have at least one transmitter and the mobile radio stations 4, 5, 6 each have at least one receiver.
  • the signal emitted by the transmitter of the mobile radio device 8 in a specific frequency is received by the receivers of the mobile radio stations 4/5, 6.
  • the frequency shifts caused by the Doppler effect are determined in each of the mobile radio stations 4, 5, 6 and the signs of the frequency shifts are compared with one another.
  • the location of the vehicle 7 within this route segment K is inferred from the different signs of the frequency shifts of two mobile radio stations 4, 5 forming a route segment K. By locating the same signs of the frequency shifts of two mobile radio stations 5, 6 forming a route segment K + 1, it can be concluded that the vehicle 7 is located outside this route segment K + 1.
  • the mobile radio stations 4, 5, 6 are advantageously located in the vicinity of the route, since the accuracy speed of the location procedure is increased.
  • the GSM-R antennas on the track side lie, for example, within 5 m across the track, so that the change in the Doppler frequency £ between the vehicle 1/7 equipped with the mobile radio device 2.8 and the track antennas on the track Cellular stations 4, 5, 6 near the antennas is very strong.
  • the transmitters or the receivers can transmit or receive, for example, permanently or at intervals. It is also possible to limit the transmission range of the transmitters and / or the reception range of the receivers in order to reduce interference signals.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne des procédés et un dispositif de localisation de véhicules, en particulier de véhicules sur rails. L'objectif de cette invention est de mettre en oeuvre des procédés et un dispositif de localisation de véhicules, en particulier de véhicules sur rails, permettant une localisation précise du véhicule d'une grande fiabilité. Ce véhicule, dont la position doit être déterminée sur une ligne de chemin de fer connue et/ou prédéfinie, est équipé d'au moins un dispositif radio mobile pouvant émettre et/ou recevoir les signaux radio vers et/ou en provenance de stations radio mobiles. Les antennes de ces stations radio mobiles sont placées le long du parcours et peuvent émettre et/ou recevoir ces signaux radio vers et/ou en provenance de véhicules équipés dudit dispositif radio mobile. La fréquence Doppler du signal radio est mesurée au niveau du véhicule et/ou des stations radio mobiles. En évaluant la variation de fréquence Doppler autour du point de la fréquence Doppler zéro, on peut déterminer le dépassement des points de la ligne de chemin de fer par le véhicule, points au niveau desquels la ligne de connexion avec l'antenne de la station radio mobile en contact radio est perpendiculaire à la ligne de la trajectoire. L'évaluation d'au moins deux stations radio mobiles, au niveau desquelles les fréquences Doppler mesurées pour le véhicule ou pour lesquelles les fréquences Doppler mesurées au niveau du véhicule présentent des signes différents, permet de déterminer le segment d'emplacement du véhicule, ce segment d'emplacement étant défini par la distance entre ces stations radio mobiles.
PCT/EP2002/008857 2001-09-20 2002-08-08 Procede et dispositif de localisation de vehicules par le biais du decalage doppler de signaux radio mobiles WO2003027706A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10147462A DE10147462A1 (de) 2001-09-20 2001-09-20 Verfahren und Vorrichtung zur Ortung von Fahrzeugen
DE10147462.8 2001-09-20

Publications (1)

Publication Number Publication Date
WO2003027706A1 true WO2003027706A1 (fr) 2003-04-03

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CN (1) CN100359560C (fr)
DE (1) DE10147462A1 (fr)
WO (1) WO2003027706A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005008276A2 (fr) * 2003-07-16 2005-01-27 General Electric Company Systeme et procede de determination de la position d'une plate-forme mobile
EP2085286A3 (fr) * 2008-01-31 2010-01-13 Schweizer Electronic M2S AG Procédé de détermination automatisée et réglage de paramètres d'alerte dans des véhicules sur rails et système correspondant
CN102009669A (zh) * 2010-11-02 2011-04-13 徐州翔和电气设备有限公司 一种轨道电机车实时定位系统
US8040275B2 (en) 2009-07-15 2011-10-18 Lockheed Martin Corporation Method and apparatus for geographic positioning
WO2015082091A1 (fr) * 2013-12-02 2015-06-11 Siemens Aktiengesellschaft Procédé et dispositif permettant l'acquisition côté véhicule de données de position d'un véhicule ferroviaire
US20200025900A1 (en) * 2018-07-19 2020-01-23 Rohde & Schwarz Gmbh & Co. Kg Apparatus and method for determining a spatial position of a transmitter
DE102017207782B4 (de) * 2017-05-09 2020-10-29 Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg Erleichterung des Einstiegs in Fahrzeuge für Blinde und Sehbehinderte

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WO2006051119A1 (fr) 2004-11-15 2006-05-18 Nanotron Technologies Gmbh Procede symetrique a trajets multiples pour determiner la distance entre deux emetteurs-recepteurs
WO2011008206A1 (fr) * 2009-07-15 2011-01-20 Lockheed Martin Corporation Procédé et appareil pour un positionnement géographique
DK2463682T3 (da) * 2010-12-07 2013-06-03 Kapsch Trafficcom Ag Fremgangsmåde til bestemmelse af et køretøjs afstand til en radiobåke og en radiobåke
CN102795250A (zh) * 2012-08-27 2012-11-28 白维 轨道车辆基于电子区间的组网运行调度系统
CN102325304B (zh) * 2011-09-16 2018-01-23 中兴通讯股份有限公司 位置信息传递方法、装置及系统
CN103926557A (zh) * 2014-04-17 2014-07-16 广州三峰网络科技有限公司 智能定位导航系统
CN104869632B (zh) * 2015-04-30 2019-01-15 天津菲利科电子技术有限公司 基于无线定位的斗轮机或叶轮机行程位置检测系统
CN109348414B (zh) * 2018-11-30 2021-03-12 中国联合网络通信集团有限公司 定位车辆所在车道的方法及设备
CN110121143B (zh) * 2019-03-25 2021-06-18 北京三快在线科技有限公司 位置确定方法、装置、电子设备及可读存储介质
CN113596984B (zh) * 2020-04-30 2022-12-06 华为技术有限公司 一种终端定位方法及装置
CN111572599B (zh) * 2020-05-22 2022-06-14 广州铁科智控有限公司 一种基于点对点双向通信的列车定位唤醒装置及方法

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005008276A2 (fr) * 2003-07-16 2005-01-27 General Electric Company Systeme et procede de determination de la position d'une plate-forme mobile
WO2005008276A3 (fr) * 2003-07-16 2005-03-03 Gen Electric Systeme et procede de determination de la position d'une plate-forme mobile
US7109920B2 (en) 2003-07-16 2006-09-19 General Electric Company Moving platform position determination system and method
AU2004258182B2 (en) * 2003-07-16 2009-12-03 General Electric Company Moving platform position determination system and method
CN1849526B (zh) * 2003-07-16 2010-12-08 通用电气公司 运动平台位置确定系统和方法
EP2085286A3 (fr) * 2008-01-31 2010-01-13 Schweizer Electronic M2S AG Procédé de détermination automatisée et réglage de paramètres d'alerte dans des véhicules sur rails et système correspondant
US8040275B2 (en) 2009-07-15 2011-10-18 Lockheed Martin Corporation Method and apparatus for geographic positioning
CN102009669A (zh) * 2010-11-02 2011-04-13 徐州翔和电气设备有限公司 一种轨道电机车实时定位系统
WO2015082091A1 (fr) * 2013-12-02 2015-06-11 Siemens Aktiengesellschaft Procédé et dispositif permettant l'acquisition côté véhicule de données de position d'un véhicule ferroviaire
DE102017207782B4 (de) * 2017-05-09 2020-10-29 Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg Erleichterung des Einstiegs in Fahrzeuge für Blinde und Sehbehinderte
US20200025900A1 (en) * 2018-07-19 2020-01-23 Rohde & Schwarz Gmbh & Co. Kg Apparatus and method for determining a spatial position of a transmitter
US11022686B2 (en) * 2018-07-19 2021-06-01 Rohde & Schwarz Gmbh & Co. Kg Apparatus and method for determining a spatial position of a transmitter

Also Published As

Publication number Publication date
CN1555495A (zh) 2004-12-15
CN100359560C (zh) 2008-01-02
DE10147462A1 (de) 2003-04-17

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