CN104656113B - Train satellite fix differential data processing method and base station system - Google Patents
Train satellite fix differential data processing method and base station system Download PDFInfo
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- CN104656113B CN104656113B CN201510041384.6A CN201510041384A CN104656113B CN 104656113 B CN104656113 B CN 104656113B CN 201510041384 A CN201510041384 A CN 201510041384A CN 104656113 B CN104656113 B CN 104656113B
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- gnss
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to wireless navigation and Train Operation Control Technology field, a kind of train satellite fix differential data processing method and base station system are disclosed, method includes：3 GNSS differential datas of GNSS base stations are obtained in real time；The GNSS differential datas of 3 GNSS base stations to obtaining are parsed respectively, obtain the differential correcting information of each GNSS base stations；The GNSS differential correcting informations of each GNSS base stations to obtaining are compared analyzing and processing two-by-two, and carry out two from three voting according to the analysis processing result；According to two from three voting result, decide whether for the GNSS differential correcting informations after processing by analysis to be sent to GNSS movement stations.System includes：3 GNSS base stations and 1 voting unit.Train satellite fix differential data processing method and base station system that the present invention is provided, can make the positioning result of train relatively reliable, effectively improve the security of Train Detection and Identification.
Description
Technical field
The present invention relates to radionavigation and Train Operation Control Technology field, more particularly to a kind of train of two from three is defended
Star positions the base station system of differential data processing method and application the method.
Background technology
Train positioning is the important component of train operation control system, positioning letter that is accurate, timely obtaining train
Breath, is guarantee that train safely, effectively runs.In the prior art, conventional train positioning method has：Track circuit, speed are passed
Sensor, inquiry response devices, speed-position detection, GNSS (satellite navigation) etc..GNSS is relative with cost as modern localization method
It is low, and the advantage such as mobility strong, continuity be good.But because train is higher to positioning precision and reliability requirement, GNSS single-points are determined
Position mode cannot meet its requirement, therefore need to use GNSS differential techniques and redundancy voting technology, improve its positioning precision and
Reliability.
The content of the invention
It is an object of the invention to：A kind of train positioning differential data processing method of two from three is provided and the method is applied
Base station system, make the positioning of train relatively reliable, effectively increase the security of train operation.
A kind of train satellite fix differential data processing method of two from three that the present invention is provided, including：Step S10) it is real
When obtain 3 GNSS differential datas of GNSS base stations；
Step S20) the GNSS differential datas of 3 GNSS base stations to obtaining parse respectively, obtain each GNSS base stations
Differential correcting information；
Step S30) the GNSS differential correcting informations of each GNSS base stations to obtaining are compared analyzing and processing, and root two-by-two
Two from three voting is carried out according to the analysis processing result；
Step S40) according to two from three voting result, decide whether the GNSS differential correcting informations after processing by analysis
It is sent to GNSS movement stations.
Further, the step S20) specifically include：
Step S210) the GNSS differential datas to getting carry out CRC check；
Step S220) in the GNSS differential datas time tag position, carry out data alignment, if obtain time-out,
Then abandon the time data；
Step S230) extract differential data in differential correcting information.
Further, the step S30) specifically include：
GNSS differential correcting informations according to obtaining are contrasted, when between any two GNSS base stations, carrier phase difference is less than
Given threshold, and continuous three pseudorange differences are less than set threshold value, then judge that the output of two GNSS base stations is consistent.
Further, it is described to be contrasted according to the GNSS differential correcting informations for obtaining, also include：
If the satellite number in the GNSS differential correcting informations of 2 GNSS base stations of contrast is consistent with satellite number, directly
Two groups of GNSS differential correcting informations are contrasted；
If the satellite number or satellite number in the GNSS differential correcting informations of 2 GNSS base stations of contrast are inconsistent, extract
Uniform portion is contrasted, and exports the comparative result of uniform portion and the raw differential correcting information of inconsistent part.
Train satellite fix differential data processing method according to claim 1, it is characterised in that the difference number
According to including carrier phase differential data or GPS local area differential's data.
Further, before 3 GNSS differential datas of GNSS base stations are obtained in real time, also include：
3 GNSS base stations generate GNSS differential datas respectively.
The present invention also provides a kind of train satellite potential difference of the above-mentioned train satellite fix differential data processing method of application
Divide base station system, including：3 GNSS base stations and 1 voting unit, wherein,
The GNSS base stations, for generating and sending differential data in real time；
The voting unit, for receiving GNSS differential datas that each GNSS base stations send and entering to the GNSS differential datas
Row parsing, and GNSS differential correcting informations to being obtained after parsing are compared analyzing and processing two-by-two, and according to the analyzing and processing
Result carries out two from three voting, according to voting result, by the output of GNSS differential datas.
Further, the GNSS base stations include：
GNSS positions antenna, for receiving GNSS signal；
GNSS locating modules, for producing differential data and sending to voting unit.
Further, the voting unit includes：
GNSS differential data receiver modules, for receiving the GNSS differential datas that each GNSS base stations send；
Data are parsed and voting module, for the 3 groups of GNSS difference numbers obtained to the GNSS differential datas receiver module
According to being parsed, being compared two-by-two analysis, two from three voting, according to voting result, GNSS differential datas is exported.
Further, 3 GNSS difference base stations are arranged on the anchor point of known GNSS.
Therefore, apply the technical scheme of the present invention, 3 GNSS differential datas of GNSS base stations are obtained, and it is entered
Row " 3 take 2 " voting is calculated, so as to obtain reliable GNSS differential correcting informations, can position train relatively reliable, is effectively carried
The security of train operation high.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, not
Inappropriate limitation of the present invention is constituted, in the accompanying drawings：
Fig. 1 is the train satellite fix differential data process flow schematic diagram that the embodiment of the present invention 1 is provided；
Fig. 2 is the train satellite fix difference base station system structure diagram that the embodiment of the present invention 2 is provided.
Specific embodiment
Describe the present invention in detail below in conjunction with accompanying drawing and specific embodiment, herein illustrative examples of the invention
It is and explanation is used for explaining the present invention but not as a limitation of the invention.
Embodiment 1：
Fig. 1 is the train satellite fix differential data process flow schematic diagram that the embodiment of the present invention 1 is provided.
As shown in figure 1, the train satellite fix differential data processing method that the present invention is provided, comprises the following steps.
Step 10：3 GNSS differential datas of GNSS base stations are obtained in real time；
Step 20：GNSS differential datas to 3 GNSS base stations are parsed respectively, and the GNSS for obtaining each GNSS base stations is poor
Divide correcting information；
Step 30：Analyzing and processing is compared two-by-two to 3 groups of GNSS differential correcting informations, and according to the analysis processing result
Carry out two from three voting；
Step 40：According to two from three voting result, decide whether the GNSS differential datas output after processing by analysis.
Further, step 20) specifically include：Step 210) CRC check is carried out to differential data, it is ensured that and data are complete；Step
Rapid time tag position 220) in the GNSS differential datas, carries out data alignment, if obtaining time-out, abandons the moment
Data；Step 230) extract differential data in differential correcting information.
Further, step 30) specifically include：GNSS differential correcting informations according to obtaining are contrasted, when any two
Between GNSS base stations, when carrier phase difference is less than given threshold, and continuous three pseudoranges difference less than set threshold value, then two are judged
The output of GNSS base stations is consistent, it is allowed to export.It should be noted that, threshold value sets according to positioning precision demand.
Further, it is described to be contrasted according to the GNSS differential correcting informations for obtaining, also including following 2 kinds of situations：1.
If the satellite number in the differential correcting information of any 2 GNSS base stations of contrast is consistent with satellite number, directly to two groups of differences
Correcting information is divided to be contrasted；If the satellite number or satellite number 2. in 2 differential correcting informations of GNSS base stations of contrast differ
Cause, then extract uniform portion and contrasted, and the raw differential of the comparative result and inconsistent part for exporting uniform portion changes
Positive information.
Alternatively, described differential data includes carrier phase differential data or GPS local area differential's data.
Alternatively, the GNSS differential datas to 3 GNSS base stations are obtained and parsed, and are also included：Storage institute
State GNSS differential datas, base station operation state, the configuration information of base station of each GNSS base stations.
Further, in step 10) before, also include
Step 100：3 GNSS base stations generate GNSS differential datas.
Embodiment 2：
Fig. 2 is the structural representation of the train satellite fix difference base station system that the embodiment of the present invention 2 is provided.
As shown in Fig. 2 the row of the train satellite fix differential data processing method of application above-described embodiment 1 that the present invention is provided
Car satellite fix difference base station system includes：3 GNSS base stations 1,2,3 and voting unit 4, wherein each GNSS base stations, for reality
Shi Shengcheng differential datas are simultaneously exported to voting unit, and GNSS difference base stations are arranged on the anchor point of known GNSS, difference
Data output interface is preferably serial ports or network interface, and the differential data of GNSS difference base stations output is RTCM or other standards lattice
Formula；
Voting unit 4, is the embedded computer for possessing computing capability, and the GNSS for receiving each GNSS base stations transmission is poor
Divided data, is parsed, and 3 groups of GNSS differential correcting informations to parsing are compared analyzing and processing two-by-two, according to voting
As a result, GNSS differential datas are exported.
Alternatively, each GNSS base stations 1,2,3 include respectively：GNSS positions antenna, for receiving GNSS signal；GNSS is positioned
Module, for producing differential data and exporting to voting unit.
Alternatively, voting unit 4 includes：GNSS differential data receiver modules, for receiving what each GNSS base stations sent
GNSS differential datas；Data are parsed and voting module, and 3 groups of GNSS for being obtained to the GNSS differential datas receiver module are poor
Divided data is parsed, is compared analysis, two from three voting, according to voting result, by the output of GNSS differential datas two-by-two.
Voting unit carries out record storage to the differential data that 3 GNSS base stations send first, then to 3 groups of GNSS difference
Data are parsed, and obtain the differential correcting information content of RTCM format, including every satellite information (time, satellite number, puppet
Away from, carrier phase etc.), 2 algorithms are taken using 3, make decisions, if judgement passes through, that is, there are the input results of more than 2 unanimously, then
Voting unit exports differential data, will not otherwise export.The way of output for being used can be by serial ports or network interface.
Although the foregoing describing specific embodiment of the invention, it will be appreciated by those of skill in the art that these
Specific embodiment is merely illustrative of, those skilled in the art in the case where principle of the invention and essence is not departed from,
Various omissions, substitutions and changes can be carried out to the details of the above method and system；For example, merge above method step, so that
Substantially identical function is performed according to substantially identical method then belong to technical side of the invention to realize substantially identical result
Case, should be included within the protection domain required by claims of the present invention.
Claims (8)
1. a kind of train satellite fix differential data processing method, it is characterised in that including：
Step S10) 3 GNSS differential datas of GNSS base stations are obtained in real time；
Step S20) the GNSS differential datas of 3 GNSS base stations to obtaining parse respectively, obtain the difference of each GNSS base stations
Divide correcting information；
Step S30) the GNSS differential correcting informations of each GNSS base stations to obtaining are compared analyzing and processing two-by-two, and according to this
Analysis processing result carries out two from three voting；
If the satellite number in the GNSS differential correcting informations of 2 GNSS base stations of contrast is consistent with satellite number, directly to two
Group GNSS differential correcting informations are contrasted；If contrast 2 GNSS base stations GNSS differential correcting informations in satellite number or
Satellite number is inconsistent, then extract uniform portion and contrasted, and export the comparative result of uniform portion and inconsistent part
Raw differential correcting information；
According to the comparing result of the GNSS differential correcting informations for obtaining, when carrier phase difference is less than setting between any two GNSS base stations
Threshold value, and continuous three pseudorange differences are less than set threshold value, then judge that the output of two GNSS base stations is consistent；
Step S40) according to two from three voting result, decide whether the GNSS differential correcting informations after processing by analysis is defeated
Go out.
2. train satellite fix differential data processing method according to claim 1, it is characterised in that the step S20)
Specifically include：
Step S210) the GNSS differential datas to getting carry out CRC check, it is ensured that and data are complete；
Step S220) in the GNSS differential datas time tag position, carry out data alignment, if obtain time-out, throw
Abandon the time data；
Step S230) extract differential data in differential correcting information.
3. train satellite fix differential data processing method according to claim 1, it is characterised in that the differential data
Including carrier phase differential data or GPS local area differential's data.
4. train satellite fix differential data processing method according to claim 1, it is characterised in that obtaining 3 in real time
Before the GNSS differential datas of individual GNSS base stations, also include：3 GNSS base stations generate GNSS differential datas respectively.
5. using the train satellite potential difference of any train satellite fix differential data processing method described in Claims 1-4
Divide base station system, it is characterised in that including：3 GNSS base stations and 1 voting unit, wherein,
The GNSS base stations, for generating and sending differential data in real time；
The voting unit, for receiving GNSS differential datas that each GNSS base stations send and being solved to the GNSS differential datas
Analysis, and GNSS differential correcting informations to being obtained after parsing are compared analyzing and processing two-by-two, and according to the analysis processing result
Two from three voting is carried out, according to voting result, by the output of GNSS differential datas.
6. train satellite fix difference base station system according to claim 5, it is characterised in that the GNSS base stations bag
Include：
GNSS positions antenna, for receiving GNSS signal；
GNSS locating modules, for producing differential data and exporting to voting unit.
7. train satellite fix difference base station system according to claim 5, it is characterised in that the voting unit bag
Include：
GNSS differential data receiver modules, for receiving the GNSS differential datas that each GNSS base stations send；
Data are parsed and voting module, for entering to 3 groups of GNSS differential datas that the GNSS differential datas receiver module is obtained
Row parsing, two-by-two comparison analysis, two from three voting, according to voting result, by the output of GNSS differential datas.
8. train satellite fix difference base station system according to claim 5, it is characterised in that 3 GNSS difference
Base station is arranged on the anchor point of known GNSS.
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| CN201510041384.6A CN104656113B (en) | 2015-01-27 | 2015-01-27 | Train satellite fix differential data processing method and base station system |
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| CN201510041384.6A CN104656113B (en) | 2015-01-27 | 2015-01-27 | Train satellite fix differential data processing method and base station system |
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| CN105068417B (en) * | 2015-07-17 | 2017-08-29 | 上海卫星工程研究所 | Method when SpaceWire time calibration in network is with school |
| US9671500B1 (en) * | 2015-12-22 | 2017-06-06 | GM Global Technology Operations LLC | Systems and methods for locating a vehicle |
| CN109870674A (en) * | 2019-02-14 | 2019-06-11 | 华北电力科学研究院有限责任公司 | The method and apparatus of Software Radar signals security protection |
| CN115480280B (en) * | 2022-11-14 | 2023-02-24 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Vehicle pseudo base station based cooperative positioning method and storage medium |
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