CN105372442A - Train speed measuring method, processor and train speed measuring system - Google Patents
Train speed measuring method, processor and train speed measuring system Download PDFInfo
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- CN105372442A CN105372442A CN201510927421.3A CN201510927421A CN105372442A CN 105372442 A CN105372442 A CN 105372442A CN 201510927421 A CN201510927421 A CN 201510927421A CN 105372442 A CN105372442 A CN 105372442A
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- 238000005259 measurement Methods 0.000 claims abstract description 27
- 238000012360 testing method Methods 0.000 claims description 266
- 230000003137 locomotive effect Effects 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 14
- 238000000926 separation method Methods 0.000 claims description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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Abstract
The invention belongs to the rail transit technical field and provides a train speed measuring method, a processor and a train speed measuring system. The method includes the following steps that: the speed measuring estimated value of a train at the current period is calculated based on the overall speed measuring value of the train at a last period and the acceleration of the train at the last period; the acceleration of the train is acquired by an acceleration sensor group installed on the train; the speed measuring values of radars of a radar group installed on the train at the current period and the speed measuring values of cylindrical grating speed sensors of a cylindrical grating speed sensor group installed on the train at the current period are obtained; the error estimated values of the speed measuring values of the radars at the current period and the error estimated values of the speed measuring values of the cylindrical grating speed sensors at the current period are calculated based on the speed measuring estimated value of the train at the current period; and the overall speed measuring value of the train at the current period is calculated according to the error estimated values of the speed measuring values of the radars and the error estimated values of the speed measuring values of the cylindrical grating speed sensors. With the train speed measuring method, the processor and the train speed measuring system of the invention adopted, the reliability and accuracy of speed measurement of the train can be improved.
Description
Technical field
The present invention relates to technical field of rail traffic, be specifically related to a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system.
Background technology
In order to alleviate blocking up of the peak time volume of the flow of passengers, punctual and shortening running interval becomes developing goal, and developing rapidly along with urban track traffic, the rail level situation of subway line becomes increasingly complex, while shortening running interval, the safe operation problem of train can be faced.In order to ensure the safe operation of train, signal system is just needed to have robotization and the intellectuality of height.
In track traffic, signal system is by its nucleus equipment and vehicle-mounted automatic protection (AutomaticTrainOperation, ATP) system ensures the safe operation of track traffic, and the realization of all safeguard function of vehicle-mounted ATP system must rely on reliable velocity survey, at present, adopt in domestic subway system, at the headstock of train or the tailstock, a radar and two wheel shape raster velocity sensors are installed respectively, tested the speed by the combination of radar and wheel shape raster velocity sensor.Specific works principle is: adopt wheel shape raster velocity sensor and radar to measure the travelling speed of train in real time, and merged by the train running speed of wheel shape raster velocity sensor and radargrammetry, obtain the travelling speed of train.
Wherein, wheel shape raster velocity sensor is arranged on the wheel of train, and the principle that wheel shape raster velocity sensor tests the speed is: the travelling speed being calculated train by the rotation number of turns detecting wheel accurately.Radar is generally arranged on bottom train head, the principle of radar velocity measurement is: the relative velocity calculating radar and target according to the difference of the reflected signal frequency of rail level reflection, because when target is when radar antenna is close, reflected signal frequency spectrum will higher than transmitter frequency, when target theory radar antenna, reflected signal frequency lower than transmitter frequency, thus, will can calculate reflected signal difference on the frequency.In the process using wheel shape raster velocity sensor, if wheel shape raster velocity sensor is arranged on power wheel, in the high-power Power output stage, power wheel is easy to dally, if installed on the driven wheel by wheel shape raster velocity sensor, exports the stage in larger damping force, engaged wheel is easy to slide, and, there is the wheel lock up of mobile probability when low speed, this idle running and skidding are referred to as empty sliding phenomenon.And the rail ponding caused at the inclement weather such as heavy rain, heavy snow, to freeze, the sliding situation of the sky of train wheel can be caused to become more serious.The advantage of radar is the rotating speed not relying on wheel, therefore, can be supervised the sky cunning of wheel shape raster velocity sensor, can reduce speed pickup and be subject to the sliding harmful effect of wheel sky, the accuracy that raising system tests the speed by radar.
But radar is that the microwave reflected by rail level carries out train speed measurement, and radar velocity measurement can cause the Single Point of Faliure of radar to become outstanding to the dependence of rail level reflectivity.Because along with subway line rail level situation becomes increasingly complex, comprise ground line, underground line, elevated line, quarrel track and ballastless track etc., rail level reflection case can be caused also to become complicated, thus affect the accuracy of radar velocity measurement.And the rail level conditioned reflex caused due to ponding, accumulated snow, light source and other reason is deteriorated, and can cause the disabled situation of radar velocity measurement in the short time that occurs.In addition, radar is due to the impact of the measuring principle of self, and range rate error is comparatively large at any time for it, and under normal circumstances, radar velocity measurement value always fluctuates up and down in values for actual speed, thus can affect the measurement of the road speed of train.
Therefore, accidental in Rail Transit System, irregular radar tests the speed fault and the sliding inefficacy of testing the speed that all can cause of wheel sky in short-term, and, because the subway line service time is long, operation interval is short, tunnel and overhead on, the unavailability investigating radar velocity measurement accidental is greatly limited over time and space, therefore, need under the prerequisite ensureing train operating safety, the reliability that raising system tests the speed, accuracy and availability, accidental to solve in Rail Transit System, irregular radar tests the speed fault and the sliding Problem of Failure that tests the speed that all can cause of wheel sky in short-term.
Summary of the invention
For the defect that prior art exists, the present invention proposes a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system, to test the speed in short-term fault and the sliding Problem of Failure that tests the speed that all can cause of wheel sky to solve accidental in existing Rail Transit System, irregular radar.
For this purpose, first aspect, the invention provides a kind of locomotive velocity measuring method, described method comprises:
Based on the acceleration in a cycle on totally test the speed value and the train in a cycle on train, calculate the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
Obtain the value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of each radar of radar group current period installed ON TRAINS;
Based on the estimated value that tests the speed of described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
To test the speed the error estimate of value according to test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed of each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.
Wherein, test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed of each radar described in described basis, each wheel shape raster velocity sensor described tests the speed the error estimate of value, the train calculating train current period totally tests the speed value, comprising:
According to the error estimate of the value that tests the speed of each radar described, based on error mean and the error variance of the value that tests the speed of each radar preset, obtain the probability of error density of the value that tests the speed of each radar of current period;
The error estimate of the value that tests the speed according to each wheel shape raster velocity sensor described, to test the speed the error mean of value and error variance based on the wheel shape raster velocity sensor preset, obtain the probability of error density of the value that tests the speed of each wheel shape raster velocity sensor interior of front cycle;
According to the probability of error density of the value that tests the speed of described each radar of current period, based on the reliability coefficient of the value that tests the speed of the radar preset, calculate the value weight that tests the speed of each radar of current period;
According to the probability of error density of the value that tests the speed of each wheel shape raster velocity sensor in the front cycle, based on the reliability coefficient of the value that tests the speed preset, calculate the value weight that tests the speed of each wheel shape raster velocity sensor of described current period;
According to the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of described current period of the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value.
Wherein, totally the test the speed computing formula of value of the train of described train current period is as follows:
Wherein, v
measurementfor train totally tests the speed value, w
rm1, w
rm2w
rmN1for the value weight that tests the speed of each radar of current period, w
om1, w
om2w
omN2for the value weight that tests the speed of each wheel shape raster velocity sensor of current period, v
rm1, v
rm2v
rmN1for the value that tests the speed of each radar of current period, v
om1, v
om2v
omN2for the value that tests the speed of each wheel shape raster velocity sensor of current period.
Wherein, in the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of described current period according to the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed before value, and described method also comprises:
Judge whether described each radar, each acceleration transducer described or each wheel shape raster velocity sensor described break down;
If each radar described, each acceleration transducer described and each wheel shape raster velocity sensor described all do not break down, then perform the value that tests the speed of described test the speed value and each wheel shape raster velocity sensor of described current period according to the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value;
If at least one in each radar described, each acceleration transducer described and/or each wheel shape raster velocity sensor described breaks down, then carry out radar, acceleration transducer and/or wheel shape raster velocity sensor fault and report to the police.
Wherein, described in described judgement, whether each radar breaks down, and comprising:
According to the error mean of the value that tests the speed of described default radar, the first default error reference value and the first default level of significance, carry out two-sided hypothesis test;
Be true time in the normal proposition of the range rate error of radar, whether continuous a1 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a1 is preset constant, E
rmfor the unbiased esti-mator of described default radar velocity measurement error mean,
for the first error reference value preset, k
1it is the separation of the first region of rejection.
Wherein, described in described judgement, whether each wheel shape raster velocity sensor breaks down, and comprising:
According to the error mean of the value that tests the speed of described default wheel shape raster velocity sensor, the second default error reference value and the second default level of significance, carry out two-sided hypothesis test;
Be true time in the normal proposition of range rate error of wheel shape raster velocity sensor, whether continuous a2 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a2 is preset constant, E
omfor the unbiased esti-mator of described default wheel shape raster velocity sensor range rate error average,
for the second error reference value preset, k
2it is the separation of the second region of rejection.
Wherein, described in described judgement, whether each acceleration transducer breaks down, and comprising:
The acceleration measured according to described current period acceleration transducer and the acceleration calculation value of current period train, according to the 3rd level of significance preset, carry out two-sided hypothesis test;
The normal proposition of acceleration of measuring at acceleration transducer is true time, and whether continuous a3 the cycle before judging current period multiple acceleration transducer event of failure occurs, and if so, then judge that acceleration transducer breaks down, wherein a3 is preset constant;
Wherein, the acceleration calculation value of described current period train is:
Second aspect, the invention provides a kind of processor, comprising:
First computing module, for the acceleration based on a cycle on totally test the speed value and the train in a cycle on train, calculates the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
Second computing module, for obtaining the value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of installation each radar of radar group current period ON TRAINS;
3rd computing module, for the estimated value that tests the speed based on described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
4th computing module, to test the speed the error estimate of value for test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed according to each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.
The third aspect, the invention provides a kind of locomotive velocity measuring system, comprising:
Processor as claimed in claim 8, installation groups of acceleration sensors ON TRAINS, the wheel shape raster velocity sensor group of installing radar group ON TRAINS and installing ON TRAINS; Wherein, described processor connects described groups of acceleration sensors, radar group and described wheel shape raster velocity sensor group.
Wherein, described groups of acceleration sensors, described radar group and described wheel shape raster velocity sensor group are arranged on headstock or the tailstock of train.
The invention provides a kind of locomotive velocity measuring method, processor and locomotive velocity measuring system, based on the velocity-measuring system of train configuration radar group, wheel shape raster velocity sensor group and groups of acceleration sensors, by degree of will speed up as calculating the foundation of range rate error, improve the reliability based on the multisensor velocity-measuring system of radar and wheel shape raster velocity sensor and the degree of accuracy that tests the speed.Under the prerequisite ensureing train operating safety, improve accidental in track traffic, irregular radar preferably and to test the speed in short-term the problem that velocity-measuring system that fault and the sliding phenomenon of wheel sky cause lost efficacy, the availability that the system of improve tests the speed.
Accompanying drawing explanation
In order to be illustrated more clearly in disclosure embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present disclosure, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these figure.
The process flow diagram of a kind of locomotive velocity measuring method that Fig. 1 provides for one embodiment of the invention;
The structural representation of a kind of processor that Fig. 2 provides for one embodiment of the invention;
A kind of structural representation of locomotive velocity measuring system of Fig. 3 for providing in one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in disclosure embodiment, be clearly and completely described the technical scheme in disclosure embodiment, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of disclosure protection.
It should be noted that, the equal Normal Distribution of value error that tests the speed of test the speed value error and the wheel shape raster velocity sensor of the radar mentioned in each disclosed embodiment of the present invention.
As shown in Figure 1, the disclosure one embodiment provides a kind of locomotive velocity measuring method, and the method comprises the steps S1 to S4:
S1, acceleration based on a cycle on totally test the speed value and the train in a cycle on train, calculate the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
It should be noted that, according to time span T, the train operation cycle is divided multiple cycle.
Particularly, the computing formula of the calibration speed of train current period is:
Wherein,
for the estimated value that tests the speed of train current period, V
last_periodfor a cycle on train tests the speed value, a
last_periodfor the acceleration in a cycle on train, T is the train cycle.
Particularly, the train of train each cycle totally tests the speed value in real time to calculate and to store.
Particularly, the acceleration of train is by groups of acceleration sensors Real-time Collection and store, and the acceleration of the train at this place is the mean value of the acceleration in cycle on the train that gathers of groups of acceleration sensors.
It should be noted that, the acceleration of train can be obtained by acceleration transducer, also (TransportationManagementSystem can be managed by vehicle transport, TMS) the traction braking feedback of system obtains, but the acceleration that acceleration transducer obtains is the most reliable and accurate.
The value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of S2, acquisition installation each radar of radar group current period ON TRAINS;
It should be noted that, radargrammetry be the velocity amplitude of train, wheel shape raster velocity sensor measurement be the rotating speed of wheel shaft.
It should be noted that, radar has multiple frame that tests the speed, and in one-period, the value that tests the speed according to multiple frames that test the speed of radar is averaging, and obtains the value that tests the speed of radar.
Preferably, the radar velocity measurement frame at this place is 20, then, in one-period, the value that tests the speed of radar is averaging by 20 values that test the speed and obtains.
It should be noted that, the quantity of the frame that tests the speed of the radar in the present embodiment is only distance and illustrates, the present embodiment does not limit the quantity of the frame that tests the speed of radar, and the sample size that those skilled in the art can need according to actual conditions selects the quantity of the frame that tests the speed of radar.
S3, the estimated value that tests the speed based on described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
Particularly, the test the speed computing formula of error of value of each radar current period is:
Wherein, E
rmfor the error of the value that tests the speed of radar, v
rmfor the value that tests the speed of radar,
for the estimated value that tests the speed of train current period.
Particularly, the computing formula of the error of the value that tests the speed of each wheel shape raster velocity sensor is:
Wherein, E
omfor the error of the value that tests the speed of wheel shape raster velocity sensor, v
omfor the value that tests the speed of wheel shape raster velocity sensor measurement,
for the estimated value that tests the speed of train current period.
It should be noted that, the value that tests the speed of radar, be actually by the actual error of the actual speed of radar and radar calculate to; The value that tests the speed of speed pickup, be actually and calculated by the actual error of the actual speed of wheel shape raster velocity sensor and wheel shape raster velocity sensor, computing formula is as follows:
v
rm＝v
rreal+ε
rm，
v
om＝v
oreal+ε
om，
Wherein, v
rm, v
omthe value that tests the speed of test the speed value and the wheel shape raster velocity sensor of radar respectively, v
rreal, v
orealthe actual speed of radar and the actual speed of wheel shape raster velocity sensor respectively, ε
rm, ε
omthe actual error of radar and the actual error of wheel shape raster velocity sensor respectively;
This place is by the estimated value that tests the speed of train current period
be approximately equal to the actual speed of radar and the actual speed of wheel shape raster velocity sensor, pass through formula
calculate the approximate error of the value that tests the speed of radar, pass through formula
calculate the approximate error of wheel shape raster velocity sensor.
The error estimate of the value that tests the speed of S4, the value that to test the speed according to the value that tests the speed of each radar described, each wheel shape raster velocity sensor described, each radar described and each wheel shape raster velocity sensor described test the speed the error estimate of value, and the train calculating train current period totally tests the speed value.
It should be noted that, the quantity of wheel shape raster velocity sensor, radar and acceleration transducer that the present embodiment does not limit, those skilled in the art can install the wheel shape raster velocity sensor of varying number, radar and acceleration transducer according to actual conditions.
In the present embodiment, by being worth the error of the value that tests the speed of error and wheel shape raster velocity sensor according to acceleration calculation radar velocity measurement, the final travelling speed value calculating train current period, improves the reliability of velocity-measuring system and the degree of accuracy that tests the speed.Accidental in Rail Transit System, irregular radar are tested the speed fault and wheel sky is sliding causes system inefficacy of testing the speed to have good improvement in short-term.Owing to there being the sensor of the normal work occupied the majority in this speed-measuring method all the time, when ensureing train operating safety, the availability of speed-measuring method can be improved.
Step S4 in the present embodiment: " to test the speed the error estimate of value according to test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed of each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.", specifically comprise not shown following steps S41 to S45:
S41, error estimate according to the value that tests the speed of each radar described, based on error mean and the error variance of the value that tests the speed of each radar preset, obtain the probability of error density of the value that tests the speed of each radar of current period;
It should be noted that, the error mean of the value that tests the speed of the radar preset at this place and error variance, it is the occurrence calculated by many experiments, but the present embodiment does not limit the default error mean of radar velocity measurement value and the occurrence of error variance, those skilled in the art according to actual conditions, can determine the error mean of radar velocity measurement value and the occurrence of error variance.
It should be noted that, easy in order to calculate, can only preset the error mean of one group of radar velocity measurement value and the occurrence of error variance, the probability of error density of the value that tests the speed of each radar all obtains based on the error mean of this group radar velocity measurement value and error variance, but accurate in order to result of calculation, those skilled in the art also can according to the needs of actual conditions, and the radar for friction speed section presets error mean and the error variance of the different values that tests the speed.
The error estimate of S42, the value that to test the speed according to each wheel shape raster velocity sensor described, to test the speed the error mean of value and error variance based on the wheel shape raster velocity sensor preset, obtain the probability of error density of the value that tests the speed of each wheel shape raster velocity sensor interior of front cycle;
It should be noted that, the error mean of the value that tests the speed of the wheel shape raster velocity sensor preset at this place and error variance can be one or more groups, identical with the default principle of error variance with the error mean of the value that tests the speed of above-mentioned radar, repeat no more herein.
S43, probability of error density according to the value that tests the speed of described each radar of current period, based on the reliability coefficient of the value that tests the speed of the radar preset, the value weight that tests the speed of each radar of calculating current period;
Particularly, the computing formula of the value weight that tests the speed of radar is:
w
rm＝a
rm·f
rm，
Wherein, w
rmfor the value weight that tests the speed of radar, f
rmfor the probability of error density of radar velocity measurement value, a
rmthe reliability coefficient of the value that tests the speed of radar.
S44, probability of error density according to the value that tests the speed of each wheel shape raster velocity sensor in the front cycle, based on the reliability coefficient of the value that tests the speed preset, calculate the value weight that tests the speed of each wheel shape raster velocity sensor of described current period;
Particularly, the computing formula of the value weight that tests the speed of wheel shape raster velocity sensor is as follows:
w
om＝a
om·f
om，
Wherein, w
omfor the value weight that tests the speed of wheel shape raster velocity sensor, f
omfor wheel shape raster velocity sensor tests the speed the probability of error density of value, a
omthe reliability coefficient of the value that tests the speed of wheel shape raster velocity sensor.
It should be noted that, the present embodiment does not limit the value reliability coefficient a that tests the speed
rm, a
omoccurrence, those skilled in the art according to actual conditions, can determine a
rm, a
omvalue.
S45, the value that tests the speed according to test the speed value and each wheel shape raster velocity sensor of described current period of the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value.
In the present embodiment, according to the result of actual error statistical study, before calculating, the test the speed probability density of value average, described current period tests the speed the anticipation error of value of testing the speed described in the probability density of value average and described current period that to test the speed described in the anticipation error of value, described current period the cycle, improve the accuracy of speed-measuring method, simultaneously, do not use acceleration calculation to test the speed value, prevent from using acceleration transducer to calculate for a long time and the cumulative errors that cause.
In the present embodiment, totally the test the speed computing formula of value of the train of train current period is as follows:
Wherein, v
measurementfor train totally tests the speed value, w
rm1, w
rm2w
rmN1for the value weight that tests the speed of each radar of current period, w
om1, w
om2w
omN2for the value weight that tests the speed of each wheel shape raster velocity sensor of current period, v
rm1, v
rm2v
rmN1for the value that tests the speed of each radar of current period, v
om1, v
om2v
omN2for the value that tests the speed of each wheel shape raster velocity sensor of current period.
Step S45 in the present embodiment: " in the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of described current period according to the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value." before, this locomotive velocity measuring method also comprises not shown following steps S045 to S245:
Whether S045, judgement described each radar, each acceleration transducer described or each wheel shape raster velocity sensor described break down;
If S145 each radar described, each acceleration transducer described and each wheel shape raster velocity sensor described all do not break down, then perform step S45;
If at least one in S245 each radar described, each acceleration transducer described and/or each wheel shape raster velocity sensor described breaks down, then carry out radar, acceleration transducer and/or wheel shape raster velocity sensor fault and report to the police.
Pass through the result of actual error statistical study as the foundation judging radar, speed pickup and acceleration transducer fault in the present embodiment, improve the accuracy of radar or speed sensor fault judgement, decrease the possibility of erroneous judgement, meanwhile, acceleration transducer whether fault can effectively be judged.
Particularly, judge whether each radar described breaks down, and comprises not shown following steps A1 to A2:
A1, the error mean according to the value that tests the speed of described default radar, the first default error reference value and the first default level of significance, carry out two-sided hypothesis test;
A2, be true time in the normal proposition of the range rate error of radar, whether continuous a1 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a1 is preset constant, E
rmfor the unbiased esti-mator of radar velocity measurement error mean,
for the first error reference value preset, k
1it is the separation of the first region of rejection.
It should be noted that, k
1be with
for the normal distribution of parameter, the separation of the region of rejection determined by set level of significance, wherein,
be respectively range rate error average and the range rate error variance of default radar.
Particularly, the first region of rejection is
n
1for the sample size of radar velocity measurement error, α
1for volume first level of significance preset.
It should be noted that, the value of the a1 in the present embodiment is only and illustrates, the present embodiment does not limit the occurrence of a1, and those skilled in the art can obtain the occurrence of a1 by many experiments checking according to actual conditions.
Particularly, judge in the present embodiment that the mechanism of radar fault is the two-sided hypothesis test based on Normal Mean, level of significance α
1generally get 0.05 or 0.01.
The present embodiment hypothesis level of significance α
1get 0.05, the frame that tests the speed of radar is 20, and the normal error mean that tests the speed preset under present speed is
current range rate error average is
as the average E of 20 range rate errors in last cycle
rmfor
unbiased esti-mator.
Need test-hypothesis:
H
0:
namely establish radar velocity measurement error normal;
H
1:
namely establish radar velocity measurement error abnormal.
At H
0for under genuine prerequisite, the single cycle occurs
the probability of event is less than 2.5%; If continuous 5 cycles, this event occurred, then probability is less than 0.0000009765625%, thus can suspect H
0correctness thus refusal H
0, assert radar fault.
Particularly, judge whether each wheel shape raster velocity sensor described breaks down, and comprises not shown following steps B1 to B2:
B1 to test the speed the error mean of value, the second default error reference value and the second default level of significance according to described default wheel shape raster velocity sensor, carries out two-sided hypothesis test;
B2, be true time in the normal proposition of range rate error of wheel shape raster velocity sensor, whether continuous a2 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a2 is preset constant, E
omfor the unbiased esti-mator of wheel shape raster velocity sensor range rate error average,
for the second error reference value preset, k
2it is the separation of the second region of rejection.
It should be noted that, k
2be with
for the normal distribution of parameter, the separation of the region of rejection determined by set level of significance, wherein,
be respectively range rate error average and the range rate error variance of default wheel shape raster velocity sensor.
Particularly, the second region of rejection is
wherein, n
2for the sample size of the value that tests the speed of wheel shape raster velocity sensor, α
2for the second level of significance preset.
Particularly, the breakdown judge fault of wheel shape raster velocity sensor is identical with the process that radar fault judges, repeats no more herein.
In the present embodiment, according to the result of actual error statistical study, as the weight of the value that tests the speed calculating radar or wheel shape raster velocity sensor, judge the confidence level of the value that tests the speed of radar or wheel shape raster velocity sensor, if weight is larger, the confidence level of this value of testing the speed is higher, carries out breakdown judge accordingly, improve the accuracy of the breakdown judge of radar and wheel shape raster velocity sensor, decrease and radar or wheel shape raster velocity sensor are mistaken for fault or are mistaken for normal possibility.
Particularly, judge whether each acceleration transducer described breaks down, and comprises not shown following steps C1 to C2:
The acceleration calculation value of C1, the acceleration measured according to described current period acceleration transducer and current period train, according to the 3rd level of significance preset, carries out two-sided hypothesis test;
C2, acceleration transducer measure the normal proposition of acceleration be true time, whether continuous a3 the cycle before judging current period there is multiple acceleration transducer event of failure, if so, then judge that acceleration transducer breaks down, wherein a3 is preset constant;
Wherein, the acceleration calculation value of described current period train is:
Illustrate, level of significance α
3the value of getting 0.05, a3 is 5, then the single cycle, the probability of single acceleration transducer event of failure occurred is 2.5%, and the probability that the so single cycle, n acceleration transducer event of failure occurred is (25/100)
n%, the probability that continuous 5 cycles, this event of failure occurred should be less than (25/100)
5n%, therefore, if continuous 5 cycles, this event of failure occurred, can assert that acceleration transducer breaks down.
It should be noted that, the value of the a3 in the present embodiment is only and illustrates, the present embodiment does not limit the occurrence of a3, and those skilled in the art can obtain the occurrence of a3 by many experiments checking according to actual conditions.
The breakdown judge mechanism of the acceleration transducer in the present embodiment, effectively can judge acceleration transducer whether fault.
As shown in Figure 2, another embodiment disclosed by the invention provides a kind of processor, comprising: the first computing module 21, second computing module 22, the 3rd computing module 23 and the 4th computing module 24;
First computing module 21, for the acceleration based on a cycle on totally test the speed value and the train in a cycle on train, calculates the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
Second computing module 22, for obtaining the value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of installation each radar of radar group current period ON TRAINS;
3rd computing module 23, for the estimated value that tests the speed based on described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
4th computing module 24, to test the speed the error estimate of value for test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed according to each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.
A kind of processor that the present embodiment provides, by obtaining the acceleration of the train operation of acceleration transducer Real-time Collection, and according to acceleration calculation range rate error, improves the reliability that processor tests the speed and the degree of accuracy tested the speed.
As shown in Figure 3, another embodiment of the present invention discloses a kind of locomotive velocity measuring system, comprising:
Processor 31, installation groups of acceleration sensors 32 ON TRAINS, installation radar group 33 ON TRAINS and the wheel shape raster velocity sensor group 34 of installing ON TRAINS disclosed in above-described embodiment;
Wherein, processor 31 connects groups of acceleration sensors 32, radar group 33 and wheel shape raster velocity sensor group 34.
Groups of acceleration sensors 32 in the present embodiment, radar group 33 and wheel shape raster velocity sensor group 34 are arranged on headstock or the tailstock of train.
Particularly, radar group is arranged on the headstock of train or the bottom of the tailstock, and wheel shape raster velocity sensor group is arranged on the headstock of train or the wheel of the tailstock.
A kind of locomotive velocity measuring system provided in the present embodiment, processor connects acceleration transducer, radar and at least one wheel shape raster velocity sensor described, by obtaining the acceleration of the train operation of acceleration transducer Real-time Collection, and according to acceleration calculation range rate error, improve the reliability that processor tests the speed and the degree of accuracy tested the speed.
It should be noted that, " first ", " second ", " the 3rd " are only used for distinguishing the identical entity of title or operation with " the 4th " herein, do not imply order or relation between these entities or operation.
One of ordinary skill in the art will appreciate that: above each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of the claims in the present invention.
Claims (10)
1. a locomotive velocity measuring method, is characterized in that, described method comprises:
Based on the acceleration in a cycle on totally test the speed value and the train in a cycle on train, calculate the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
Obtain the value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of each radar of radar group current period installed ON TRAINS;
Based on the estimated value that tests the speed of described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
To test the speed the error estimate of value according to test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed of each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.
2. method according to claim 1, it is characterized in that, test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed of each radar described in described basis, each wheel shape raster velocity sensor described tests the speed the error estimate of value, the train calculating train current period totally tests the speed value, comprising:
According to the error estimate of the value that tests the speed of each radar described, based on error mean and the error variance of the value that tests the speed of each radar preset, obtain the probability of error density of the value that tests the speed of each radar of current period;
The error estimate of the value that tests the speed according to each wheel shape raster velocity sensor described, to test the speed the error mean of value and error variance based on the wheel shape raster velocity sensor preset, obtain the probability of error density of the value that tests the speed of each wheel shape raster velocity sensor interior of front cycle;
According to the probability of error density of the value that tests the speed of described each radar of current period, based on the reliability coefficient of the value that tests the speed of the radar preset, calculate the value weight that tests the speed of each radar of current period;
According to the probability of error density of the value that tests the speed of each wheel shape raster velocity sensor in the front cycle, based on the reliability coefficient of the value that tests the speed preset, calculate the value weight that tests the speed of each wheel shape raster velocity sensor of described current period;
According to the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of described current period of the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value.
3. method according to claim 2, is characterized in that, totally the test the speed computing formula of value of the train of described train current period is as follows:
Wherein, v
measurementfor train totally tests the speed value,
for the value weight that tests the speed of each radar of current period,
for the value weight that tests the speed of each wheel shape raster velocity sensor of current period,
for the value that tests the speed of each radar of current period,
for the value that tests the speed of each wheel shape raster velocity sensor of current period.
4. method according to claim 2, it is characterized in that, in the value that tests the speed of test the speed value and each wheel shape raster velocity sensor of described current period according to the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed before value, and described method also comprises:
Judge whether described each radar, each acceleration transducer described or each wheel shape raster velocity sensor described break down;
If each radar described, each acceleration transducer described and each wheel shape raster velocity sensor described all do not break down, then perform the value that tests the speed of described test the speed value and each wheel shape raster velocity sensor of described current period according to the value weight that tests the speed of described each radar of current period, the value weight that tests the speed of each wheel shape raster velocity sensor of described current period, described each radar of current period, the train calculating train current period totally tests the speed value;
If at least one in each radar described, each acceleration transducer described and/or each wheel shape raster velocity sensor described breaks down, then carry out radar, acceleration transducer and/or wheel shape raster velocity sensor fault and report to the police.
5. method according to claim 4, is characterized in that, described in described judgement, whether each radar breaks down, and comprising:
According to the error mean of the value that tests the speed of described default radar, the first default error reference value and the first default level of significance, carry out two-sided hypothesis test;
Be true time in the normal proposition of the range rate error of radar, whether continuous a1 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a1 is preset constant, E
rmfor the unbiased esti-mator of radar velocity measurement error mean,
for the first error reference value preset, k
1it is the separation of the first region of rejection.
6. method according to claim 4, is characterized in that, described in described judgement, whether each wheel shape raster velocity sensor breaks down, and comprising:
To test the speed the error mean of value, the second default error reference value and the second default level of significance according to described default wheel shape raster velocity sensor, carry out two-sided hypothesis test;
Be true time in the normal proposition of range rate error of wheel shape raster velocity sensor, whether continuous a2 the cycle before judging current period occurs
event, if so, then judge that radar breaks down, wherein, a2 is preset constant, E
omfor the unbiased esti-mator of wheel shape raster velocity sensor range rate error average,
for the second error reference value preset, k
2it is the separation of the second region of rejection.
7. method according to claim 4, is characterized in that, described in described judgement, whether each acceleration transducer breaks down, and comprising:
The acceleration measured according to described current period acceleration transducer and the acceleration calculation value of current period train, according to the 3rd level of significance preset, carry out two-sided hypothesis test;
The normal proposition of acceleration of measuring at acceleration transducer is true time, and whether continuous a3 the cycle before judging current period multiple acceleration transducer event of failure occurs, and if so, then judge that acceleration transducer breaks down, wherein a3 is preset constant;
Wherein, the acceleration calculation value of described current period train is:
8. a processor, is characterized in that, comprising:
First computing module, for the acceleration based on a cycle on totally test the speed value and the train in a cycle on train, calculates the estimated value that tests the speed of train current period; Described train acceleration is by the groups of acceleration sensors collection of installing ON TRAINS;
Second computing module, for obtaining the value that tests the speed of test the speed value and installation each wheel shape raster velocity sensor of wheel shape raster velocity sensor group current period ON TRAINS of installation each radar of radar group current period ON TRAINS;
3rd computing module, for the estimated value that tests the speed based on described train current period, calculate the error estimate of the value that tests the speed of each wheel shape raster velocity sensor of described current period and each wheel shape raster velocity sensor of described current period and to test the speed the error estimate of value;
4th computing module, to test the speed the error estimate of value for test the speed value, the error estimate of the value that tests the speed of each radar described and each wheel shape raster velocity sensor described of the value that tests the speed according to each radar described, each wheel shape raster velocity sensor described, the train calculating train current period totally tests the speed value.
9. a locomotive velocity measuring system, is characterized in that, comprising:
Processor as claimed in claim 8, installation groups of acceleration sensors ON TRAINS, the wheel shape raster velocity sensor group of installing radar group ON TRAINS and installing ON TRAINS;
Wherein, described processor connects described groups of acceleration sensors, radar group and described wheel shape raster velocity sensor group.
10. system according to claim 9, is characterized in that, described groups of acceleration sensors, described radar group and described wheel shape raster velocity sensor group are arranged on headstock or the tailstock of train.
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