CN107953902A - A kind of method of train position correction - Google Patents
A kind of method of train position correction Download PDFInfo
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- CN107953902A CN107953902A CN201711236922.2A CN201711236922A CN107953902A CN 107953902 A CN107953902 A CN 107953902A CN 201711236922 A CN201711236922 A CN 201711236922A CN 107953902 A CN107953902 A CN 107953902A
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- 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
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Abstract
A kind of embodiment of the invention discloses that method of train position correction, when target train passes through the first transponder, when the radiation scope and reader of reader into the first transponder on target train roll the radiation scope away from target train, the level of beacon locating signals changes.According to target train corrected time relative to the first transponder first is distance travelled and the first transponder where reference position determine target train where correction position.If the first spacing distance between correction position and last updated position undetermined is less than the first pre-determined distance, the current location using the correction position as target train, is added in positional information.This method is realized the positioning to target train based on the first transponder position of itself, the position that the correction position of positioning and train itself update is contrasted, ensure that the accuracy of correction position by the change by beacon locating signals during the first transponder.
Description
Technical field
The present embodiments relate to train Positioning Technology field, more particularly, to a kind of method of train position correction.
Background technology
Being accurately positioned for train position is an important factor for ensureing traffic safety.In order to ensure being accurately positioned for train, have
When need to be updated location equipment.It is huge due to train positioning system, during being updated to location equipment,
Hot mobile unit has carried out corresponding renewal and ground installation and vehicle-mounted peripheral hardware when not being updated, can be due to mobile unit
With ground installation or the incompatible precise positioning for leading to not realize train of vehicle-mounted peripheral hardware, the operation of train have impact on.
For example, Foundation of Beijing Metro Line 5 is one of backbone of running due north and due south, in October, 2007 opens operation, signal system
System is using the quasi-moving block system based on multi information non-insulated track circuit (FS2500) plus APR positioning.Nearly ten years, with
In The Northern Part of Beijing develops rapidly, and the volume of the flow of passengers of No. 5 lines increases rapidly, and the average daily volume of the flow of passengers of 2015 has reached 850,000 person-times, most
Up to 108.5 ten thousand person-times, 400,000 person-times of the average daily volume of the flow of passengers estimated initial stage is significantly larger than designed.With continuing for the volume of the flow of passengers
Increase, operator are forced to take increasing purchase vehicle, shorten the measures such as operation interval to improve transport power.With the shortening at operation interval
With the aging of signal system equipment, the failure rate of No. 5 lines will further improve.Nearly 2 years, because signal system failure repeatedly causes 5
Number line Train delay, operation interval widen, transport power declines, passenger is detained, and are subject to the extensive concern of society.In this case, to 5
The modernization overlay of number line signal system is brought into schedule, and in order not to influence normal operation transformation phase in, a phase is to vehicle-mounted
Equipment is upgraded, compatible existing ground rail circuit arrangement and American Standard APR.
Due to the reason of No. 5 line upgrading time phasings, a phase only transforms vehicle-mounted signal device.Ground installation, for example,
Include ATP antennas, velocity sensor, Doppler radar, APR readers including track circuit, APR, semaphore, vehicle-mounted peripheral hardware
(Reader) etc. equipment, remains unchanged.Cab signal cabinet needs compatible existing ground installation and vehicle-mounted after the completion of the transformation of one phase
Peripheral hardware.That is, mobile unit (VOBC) need to carry out targeted design, to adapt to existing ground installation and vehicle-mounted peripheral hardware.
During the embodiment of the present invention is realized, inventor has found existing train positioning system in escalation process,
It is incompatible due to mobile unit and vehicle-mounted peripheral hardware or ground installation, it can not realize the precise positioning to train.
The content of the invention
The technical problems to be solved by the invention are how to solve existing train positioning system in escalation process, due to
Incompatible, the problem of can not realizing the precise positioning to train of mobile unit and vehicle-mounted peripheral hardware or ground installation.
For above technical problem, the embodiment provides a kind of method of train position correction, including：
After the first flag information of installation the first transponder in orbit is received, judge to receive described first
Whether the positional information of the newest addition of target train of identification information is effective, if so, then obtain most newly added position, as treating
Positioning is put；
According to the position where the first transponder described in the first flag acquisition of information, as with reference to position, and according to
It is the change information for the beacon locating signals that the target train is sent, right when the target train passes through first transponder
The corrected time and the corresponding speed corresponding to the corrected time that the position undetermined is corrected, calculate the target train
The distance travelled relative to first transponder, it is distance travelled as first；
According to the reference position and described first distance travelled, the position that the target train is currently located is obtained, is made
For correction position, judge the first spacing distance between the correction position and the position undetermined whether be less than first it is default away from
From if so, the position for being then currently located the correction position as the target train, is added in the positional information.
Alternatively, the position according to the first flag acquisition of information where the first transponder, as reference
Position, and when passing through first transponder according to the target train, the beacon locating signals that the target train is sent
The corresponding speed of change information, the corrected time being corrected to the position undetermined and the target train in the corrected time
Degree, calculates the distance that the target train is travelled relative to first transponder, distance travelled as first, including：
According to the first flag information, obtaining the first flag information corresponding first by onboard track data should
The position of device is answered, as the reference position；
When obtaining the target train and passing through first transponder, the beacon locating signals are driven high by low level
For the first moment of high level, and the beacon locating signals are pulled low as low level second moment by high level, and are obtained
The reader corresponding to first transponder on the target train is taken to enter first transponder radiation model
The time interval into the moment to first moment enclosed；
The corrected time and the corresponding speed are obtained, passes through formulaCalculate the reader warp
The first alignment moment of the transponder center is spent, and according to the corresponding moment, the corresponding speed and described first
The moment is directed at, passes through formula s=(tCa-tC)×VtrainIt is distance travelled to calculate described first；
Wherein, tCFor the described first alignment moment, tFFor second moment, tRFor first moment, Δ t is described
Time interval, tCaFor the corrected time, VtrainIt is distance travelled for described first for the corresponding speed, s.
Alternatively, it is described according to the current point in time, the present speed and the alignment moment, pass through formula s=
(tCa-tC)×VtrainCalculate it is described first distance travelled, including：
Obtain the time delay that the beacon locating signals are transmitted to the MPU of the target vehicle VOBC by the transponder
Δ t', according to the current point in time, the present speed, the alignment moment and the time delay, will pass through formula s=
(tCa-tC+Δt')×VtrainThe distance of calculating, it is distance travelled as described first.
Alternatively, the positional information for the newest addition of target train that the judgement receives the first flag information is
It is no effective, further include：
If the positional information is invalid, the target train is obtained before by first transponder, last
The transponder of secondary process, as the second transponder；
According to the corresponding second identifier information of second transponder and the first flag information, pass through the onboard line
Circuit-switched data determines the travel direction of the train, and obtains first transponder and described second from the onboard track data
The second spacing distance between transponder；
Second alignment moment of reader when by the center of second transponder is obtained, and it is described
First average speed of the target train at the described second alignment moment to the described first alignment moment；
The target column is calculated according to the described first alignment moment, the second alignment moment and first average speed
Operating range of the car at the described second alignment moment to the described first alignment moment；
Judge whether the range difference of the operating range and second spacing distance is less than the second pre-determined distance, if so,
The then initial position using the correction position as the target train, added in the positional information, otherwise, by the school
Positive position is labeled as disarmed state, added in the positional information.
Alternatively, further include：
During the target column car traveling, circulation execution position renewal operation, obtains until from the positional information
Most newly added position is disarmed state；
Wherein, the location update operations include：
Most newly added position is obtained from the positional information, as position to be updated, and obtain will be described to be updated
Position is added to the 3rd moment in the positional information；
Obtain it is current at the time of carry out location updating as renewable time, and obtain the target train from the described 3rd when
Traveling is carved to the second average speed of the renewable time；
The target train is calculated from described according to the 3rd moment, the renewable time and second average speed
3rd moment is second distance travelled to the renewable time；
According to the travel direction, the position to be updated and described second distance travelled, determine that the target train is worked as
The position at preceding place, as more new position, using the more new position as the target train where the renewable time
Position, added in the positional information.
Alternatively, whether first spacing distance judged between the correction position and the position undetermined is less than the
One pre-determined distance, further includes：
If first spacing distance is greater than or equal to the first pre-determined distance, the correction position is labeled as invalid shape
State, added in the positional information.
Alternatively, further include：
The 3rd spacing distance between the tailstock of the reader and the target train on the target train is obtained, and
Most newly added position is obtained from the positional information, as tailstock reference position；
According to the travel direction, the opposite direction of tailstock reference position along the travel direction is withdrawn described
Three spacing distances, obtain the tailstock position where the tailstock of the target train.
Alternatively, further include every time into the positional information during point of addition, carry out error update operation；
Wherein, the error update operation includes：
Judge whether this point of addition being added in the positional information is effective status, if so, acquisition is newest more
New error obtains this and calculates the range error introduced during the point of addition as initial error, and the ranging is missed
Difference adds up to obtain last updated error to the initial error；
If this point of addition being added in the positional information is disarmed state or this is added to the position
Point of addition in information is the correction position, then using default error as last updated error；
Wherein, when the range error is equal to this calculating described point of addition, the distance of the traveling of the target train
With the product of the range error rate corresponding to this calculating point of addition.
Alternatively, first pre-determined distance is equal to radiation length and corresponds to described first the first distance travelled ranging
The sum of error；
Wherein, the radiation length is the distance of the covering of the radiation scope of first transponder on the track；
First range error is distance travelled and range error rate corresponding to first travel distance equal to described first to be multiplied
Product.
Alternatively, second pre-determined distance is equal to the radiation length, first range error and the second ranging and misses
The sum of difference；
Wherein, second range error is distance travelled equal to described second and corresponding to the described second distance travelled survey
Product away from error rate.
The embodiment provides a kind of train position correction method, target train in the process of running, constantly
According to self-position more new location information.When target train passes through the first transponder, the reader on target train
When rolling the radiation scope away from target train into the radiation scope and reader of the first transponder, the level of beacon locating signals
Change.The school being corrected according to the change information of the level change of beacon locating signals, to the position of target train
Positive moment, target train calculate train in the corresponding speed of corrected time and currently walk line-spacing relative to the first of the first transponder
From.Then according to the reference position where the first transponder and this first it is distance travelled i.e. can determine that target column car where position
Put, using the position as correction position.If the first interval between correction position and the last updated position undetermined of target train
Distance is less than the first pre-determined distance, then the current location using the correction position as target train, is added in positional information.Should
Method is by the change by beacon locating signals during the first transponder, and based on the first transponder, the position of itself is realized to mesh
The positioning of train is marked, the position that the correction position of positioning and train itself update is contrasted, ensure that the standard of correction position
True property.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the method flow schematic diagram of train position correction provided by one embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provide target train enter APR radiation scopes after TLS signals level
Change schematic diagram；
Fig. 3 is the distance travelled schematic diagram of the calculating first of another embodiment of the present invention offer；
Fig. 4 is the interface relationship schematic diagram of the VOBC that another embodiment of the present invention provides and reader；
Fig. 5 is that the target train that another embodiment of the present invention provides enters each signal during APR radiation scopes
Sequential relationship schematic diagram.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Fig. 1 is a kind of flow diagram of the method for train position correction provided in this embodiment, referring to Fig. 1, this method
Including：
101：After the first flag information of installation the first transponder in orbit is received, judge described in receiving
Whether the positional information of the newest addition of target train of first flag information is effective, if so, then obtaining most newly added position, makees
For position undetermined；
102：According to the position where the first transponder described in the first flag acquisition of information, as with reference to position, and
When passing through first transponder according to the target train, the change letter for the beacon locating signals that the target train is sent
Breath, the corrected time being corrected to the position undetermined and the corresponding speed corresponding to the corrected time, calculate the mesh
The distance that mark train is travelled relative to first transponder, it is distance travelled as first；
103：According to the reference position and described first distance travelled, the position that the target train is currently located is obtained
Put, as correction position, judge whether the first spacing distance between the correction position and the position undetermined is less than first
Pre-determined distance, if so, the position for being then currently located the correction position as the target train, is added to the position letter
In breath.
Method provided in this embodiment is used to solve vehicle positioning equipment (for example, reader) and ground installation (for example, should
Answer device) or vehicle-mounted peripheral hardware between it is incompatible so that can not to the vehicle of traveling carry out precise positioning the problem of.For example, it is desired to
During location equipment is changed to Europe superscript APR by current American Standard APR (transponder), first by vehicle-mounted VOBC equipment replacements
For Europe superscript equipment, then ground installation APR and vehicle-mounted peripheral hardware reader are replaced accordingly again.So in mobile unit
Through being changed to Europe superscript equipment, and when ground installation and vehicle-mounted peripheral hardware or American Standard, Europe superscript mobile unit and the vehicle-mounted peripheral hardware of American Standard it
Between there are compatibility issue.The method provided through this embodiment can solve the compatibility issue, realize to the accurate of train
Positioning.
It should be noted that the set for the position that positional information updates in the process of moving for target train.Positional information
In position can be that target train passes through the position that updates or target train travelling process during transponder
In, the position that is periodically calculated according to operating range, the present embodiment is not particularly limited this.Most newly added position is
Renewal time position the latest.When most newly added position mark is disarmed state, then the position is invalid, and otherwise position is effective.
Beacon locating signals (TLS) are the signal that reader is sent to VOBC, and TLS can be sent out in the radiation scope for entering APR
The change of raw level, which can be as one of foundation positioned to target train.For example, Fig. 2 shows mesh
The reader (Reader) on train is marked in transponder (APR) on passing through track, the change procedure schematic diagram of TLS.Such as Fig. 2
Shown, after APR enters the field areas Δ t times of Reader induction coils, Reader renewal TLS signals (are become by low level
For high level).And when APR leaves Reader induction field scopes, TLS will change its state (being changed into low level from high level).
First pre-determined distance distance set in advance, according to the corresponding radiation length of the radiation scope of the first transponder, meter
Depending on calculating the first distance travelled range error, for example, the first pre-determined distance is equal to radiation length with being walked corresponding to described first
The sum of first range error of row distance, the present embodiment is not particularly limited this.
Further, according to the reference position and described first distance travelled, obtain the target train and be currently located
Position, as correction position, including：
Using the reference position as starting point, the correction is obtained along travel direction advance described first is distance travelled
Position.
A kind of method of train position correction is present embodiments provided, target train is in the process of running, continuous according to certainly
Body location updating positional information.When target train passes through the first transponder, reader on target train enters the
When the radiation scope and reader of one transponder roll the radiation scope away from target train, the level of beacon locating signals occurs
Change.The corrected time that is corrected according to the change information of the level change of beacon locating signals, to the position of target train,
It is currently distance travelled relative to the first of the first transponder that target train in the corresponding speed of corrected time calculates train.Then
According to the reference position where the first transponder and this first it is distance travelled i.e. can determine that target column car where position, by the position
Put as correction position.If the first spacing distance between correction position and the last updated position undetermined of target train is less than the
One pre-determined distance, then the current location using the correction position as target train, is added in positional information.This method pass through through
The change of beacon locating signals when crossing the first transponder, is realized based on the first transponder position of itself and target train is determined
Position, the position that the correction position of positioning and train itself update is contrasted, ensure that the accuracy of correction position.
Further, it is described first according to the first flag acquisition of information on the basis of above-described embodiment
Position where transponder, as with reference to position, and when passing through first transponder according to the target train, the target
The change information for the beacon locating signals that train is sent, the corrected time being corrected to the position undetermined and the target column
Car calculates the distance that the target train is travelled relative to first transponder in the corresponding speed of the corrected time, makees
It is distance travelled for first, including：
According to the first flag information, obtaining the first flag information corresponding first by onboard track data should
The position of device is answered, as the reference position；
When obtaining the target train and passing through first transponder, the beacon locating signals are driven high by low level
For the first moment of high level, and the beacon locating signals are pulled low as low level second moment by high level, and are obtained
The reader corresponding to first transponder on the target train is taken to enter first transponder radiation model
The time interval into the moment to first moment enclosed；
The corrected time and the corresponding speed are obtained, passes through formulaCalculate the reader warp
The first alignment moment of the transponder center is spent, and according to the corresponding moment, the corresponding speed and described first
The moment is directed at, passes through formula s=(tCa-tC)×VtrainIt is distance travelled to calculate described first；
Wherein, tCFor the described first alignment moment, tFFor second moment, tRFor first moment, Δ t is described
Time interval, tCaFor the corrected time, VtrainIt is distance travelled for described first for the corresponding speed, s.
It should be noted that include the position of each transponder in onboard track data, by onboard track data and
The identification information of some transponder can obtain the geographical location that the transponder is sitting in.
Fig. 3 shows the schematic diagram of the provided in this embodiment first distance travelled calculating process, referring to Fig. 3, sets VOBC
Main Processor Unit (MPU) to receive time of TLS rising edges be tR, the time for receiving TLS trailing edges is tF, APR entrance
The field areas of Reader induction coils to the Reader time delays for drawing high TLS are that (Δ t is constant to Δ t, can be from the first transponder
Obtained in Technical specification), in the case of without considering symmetry, Reader centers be aligned with APR centers first alignment when
Carve as tC,
Wherein, tFAnd tRObtained by the trailing edge and rising edge combination its temporal counter of MPU collections TLS.Set MPU
The corrected time being corrected to train position is tCa, this corrected time by MPU read itself time counter obtain, MPU
Corresponding speed at the time of being corrected to train position is Vtrain, then receive first after APR it is distance travelled be s=
(tCa-tC)×Vtrain。
A kind of method of train position correction is present embodiments provided, this method provide a kind of calculate to target train
When carrying out position correction, corrected time target train is calculated relative to the first distance travelled of the center of the first transponder
Time, so by first is distance travelled and the first transponder where the position that is presently in the target train of reference position
Positioned.
Further, it is described according to the current point in time, the present speed on the basis of the various embodiments described above
With the alignment moment, pass through formula s=(tCa-tC)×VtrainCalculate it is described first distance travelled, including：
Obtain the time delay that the beacon locating signals are transmitted to the MPU of the target vehicle VOBC by the transponder
Δ t', according to the current point in time, the present speed, the alignment moment and the time delay, will pass through formula s=
(tCa-tC+Δt')×VtrainThe distance of calculating, it is distance travelled as described first.
Time delay, Δ t' was not particularly limited this according to the different and different of hardware configuration, the present embodiment.
A kind of method of train position correction is present embodiments provided, this method considers the signal transmission of hardware system
Delay, it is distance travelled to the first of calculating to be modified, add the accuracy that position calculating is corrected to target train.
Further, on the basis of the various embodiments described above, the judgement receives the first flag information
Whether the positional information of the newest addition of target train is effective, further includes：
If the positional information is invalid, the target train is obtained before by first transponder, last
The transponder of secondary process, as the second transponder；
According to the corresponding second identifier information of second transponder and the first flag information, pass through the onboard line
Circuit-switched data determines the travel direction of the train, and obtains first transponder and described second from the onboard track data
The second spacing distance between transponder；
Second alignment moment of reader when by the center of second transponder is obtained, and it is described
First average speed of the target train at the described second alignment moment to the described first alignment moment；
The target column is calculated according to the described first alignment moment, the second alignment moment and first average speed
Operating range of the car at the described second alignment moment to the described first alignment moment；
Judge whether the range difference of the operating range and second spacing distance is less than the second pre-determined distance, if so,
The then initial position using the correction position as the target train, added in the positional information, otherwise, by the school
Positive position is labeled as disarmed state, added in the positional information.
If most newly added positional information is invalid, target train need to be positioned again, embodiment defines determine
The method of position where target train is initial, i.e., the method that " initial position acquisition " is carried out to target train.
First passed through using the second transponder and the first transponder as target train and second transponder are (i.e.
Target train passes through the order of first, second APR), according to the second transponder and the first transponder in onboard track data
On position and target train pass through the two transponders sequencing, it may be determined that the travel direction of target train.Meanwhile
The second spacing distance of the two transponders is obtained from onboard track data.
It should be noted that the second alignment moment can be according to the level change of beacon locating signals, according to above-mentioned implementation
The method that example provides determines, or is obtained by other methods, and the present embodiment is not specifically limited this.Target train driving
During, the speed at target train each moment can be obtained by VOBC, can also be calculated according to the speed at each moment any
The average speed of period, alternatively, first average speed is directly obtained by the velocity sensor being arranged on target train,
The present embodiment is not particularly limited this.
Further, it is described according to the described first alignment moment, the second alignment moment and the first average speed meter
Operating range of the target train at the described second alignment moment to the described first alignment moment is calculated, including：
The time difference at the first alignment moment and the second alignment moment is calculated, calculates the product of the time difference and the first average speed
Obtain operating range.
Operating range is the distance between the first transponder that target train measurement obtains and second transponder, if the row
The range difference for sailing distance and the second spacing distance is less than the second pre-determined distance, then the initial alignment carried out to the target train has
Effect.Wherein, the second pre-determined distance, which considers factor, includes the ranging of distance between initial range error amount, APR radiation scopes, two APR
Error.
For example, when reader is installed at the train head of target train, by " (i.e. first should for the position of second APR
Answer the corresponding reference position of device) and distance travelled (i.e. first distance travelled) of the target train after second APR " determine mesh
Track section numbering, the offset of track section of train head are marked, so as to be demarcated to the position of target train.
A kind of method of train position correction is present embodiments provided, this method provide and carve definite target column at the beginning
The method of truck position, this method by target train successively by the second transponder and the first transponder the second alignment moment and
First alignment moment calculated the time by two APR, with reference to the first average speed of the target train in the time, calculated
Go out operating range of the train in this time, judged by the range difference of the operating range and the second spacing distance to target train
The positioning that carries out of initial position it is whether effective, and the position in the case of effective using correction position as target train carries
The method for having supplied in positional information that in the case that last updated position is invalid, target train is accurately positioned.
Further, on the basis of the various embodiments described above, further include：
During the target column car traveling, circulation execution position renewal operation, obtains until from the positional information
Most newly added position is disarmed state；
Wherein, the location update operations include：
Most newly added position is obtained from the positional information, as position to be updated, and obtain will be described to be updated
Position is added to the 3rd moment in the positional information；
Obtain it is current at the time of carry out location updating as renewable time, and obtain the target train from the described 3rd when
Traveling is carved to the second average speed of the renewable time；
The target train is calculated from described according to the 3rd moment, the renewable time and second average speed
3rd moment is second distance travelled to the renewable time；
According to the travel direction, the position to be updated and described second distance travelled, determine that the target train is worked as
The position at preceding place, as more new position, using the more new position as the target train where the renewable time
Position, added in the positional information.
The method that " location updating " is carried out to train position is present embodiments provided, during train driving, as long as position
Last updated position is effective in confidence breath, then periodicity execution position renewal operation so that last updated in positional information
The position of position and the currently practical place of target train coincide.The renewal operation of location updating execution position is carried out every time, can
Understand, the usual location update operations cycle performs, i.e. the period between the 3rd moment and renewable time is what is updated
Cycle.Second average speed can be obtained by VOBC to be obtained by the velocity sensor installed ON TRAINS, the present embodiment
This is not particularly limited.
Further, it is described according to calculating the 3rd moment, the renewable time and second average speed
Target train is second distance travelled from the 3rd moment to the renewable time, including：
The time difference between the renewable time and the 3rd moment is calculated, calculates the time difference and the second average speed
Product to obtain described second distance travelled.
It is described according to the travel direction, the position to be updated and described second distance travelled, determine the target column
The position that car is currently located, as more new position, including：
Using the position to be updated as starting point, along the travel direction advance second distance travelled obtained position
For the more new position.
A kind of method of train position correction is present embodiments provided, this method provide week during target column car traveling
The method of phase property more new position, by this method ensure that last updated position is currently located with target train in positional information
Physical location coincide, ensure that to last updated position is corrected in positional information accuracy.
Further, on the basis of the various embodiments described above, the judgement correction position and the position undetermined
Between the first spacing distance whether be less than the first pre-determined distance, further include：
If first spacing distance is greater than or equal to the first pre-determined distance, the correction position is labeled as invalid shape
State, added in the positional information.
Further, if there is the position of the marker bit disarmed state of default quantity in the positional information, to work
Personnel send prompt message.
A kind of method of train position correction is present embodiments provided, this method is corrected in the position to target train
During, if the first spacing distance between correction position and last updated position undetermined be greater than or equal to first it is default away from
From, then the correction position marker bit disarmed state is added in positional information, with prevent target column car carry out location updating
During operation, using the position of disarmed state as the basis of positioning, so as to make invalid positioning to target train.
Further, on the basis of the various embodiments described above, further include：
The 3rd spacing distance between the tailstock of the reader and the target train on the target train is obtained, and
Most newly added position is obtained from the positional information, as tailstock reference position；
According to the travel direction, the opposite direction of tailstock reference position along the travel direction is withdrawn described
Three spacing distances, obtain the tailstock position where the tailstock of the target train.
Position usually where the operational process of train needs the headstock and the tailstock of positioning train, according to reader in mesh
The installation site on train is marked, obtains the 4th spacing distance of headstock of the reader away from target train, and away from target train
3rd spacing distance of the tailstock.Then the position of headstock is most newly added position, along travel direction the 4th spacing distance of advance
The position at place；The position of the tailstock is most newly added position, i.e. tailstock reference position, is withdrawn along the opposite direction of travel direction
Position where 3rd spacing distance.
If reader is installed at the headstock of target train, most newly added position is the position of headstock in positional information
Put (cycle of usual location updating is very short).If reader is installed at the headstock of target train, when calculating the position of the tailstock,
3rd spacing distance is length of wagon.Length of wagon is then withdrawn i.e. by the opposite direction of most newly added position along travel direction
Tailstock position is obtained, i.e., train tailstock position is obtained by " train head position-length of wagon ".
A kind of method of train position correction is present embodiments provided, this method provide and the tailstock is determined according to positional information
The method of position, realizes headstock, the precise positioning of the tailstock to target train.
Further, on the basis of the various embodiments described above, the point of addition into the positional information every time is further included
When, carry out error update operation；
Wherein, the error update operation includes：
Judge whether this point of addition being added in the positional information is effective status, if so, acquisition is newest more
New error obtains this and calculates the range error introduced during the point of addition as initial error, and the ranging is missed
Difference adds up to obtain last updated error to the initial error；
If this point of addition being added in the positional information is disarmed state or this is added to the position
Point of addition in information is the correction position, then using default error as last updated error；
Wherein, when the range error is equal to this calculating described point of addition, the distance of the traveling of the target train
With the product of the range error rate corresponding to this calculating point of addition.
It should be noted that default error is the initial value of setting, it is a less value.Range error rate is acquisition in advance
Value, it is whether related in empty sliding state with train.For example, this point of addition is obtained by location update operations, then
Range error rate corresponding to this calculating point of addition is to be travelled according to train to renewable time process from the 3rd moment
In whether the error rate determined in empty sliding state.
If the point of addition of this addition is disarmed state, need using the second transponder and the first transponder as train
Two transponders passed through first, determine the initial position of train.Due to redefining initial position, then using default error as
Last updated error (error is set to minimum value).If this point of addition being added in positional information is correction bit
Put, i.e., this position to train is corrected, then after correcting, it is also desirable to by error update be default error.
A kind of method of train position correction is present embodiments provided, this method is in each point of addition into positional information
When, error update operation is carried out, to pass through the accuracy of last updated position in last updated error judgment positional information.
Further, on the basis of the various embodiments described above, first pre-determined distance be equal to radiation length with it is corresponding
In the sum of described first first distance travelled range error；
Wherein, the radiation length is the distance of the covering of the radiation scope of first transponder on the track；
First range error is distance travelled and range error rate corresponding to first travel distance equal to described first to be multiplied
Product.
Further, on the basis of the various embodiments described above, second pre-determined distance is equal to the radiation length, institute
State the sum of the first range error and the second range error；
Wherein, second range error is distance travelled equal to described second and corresponding to the described second distance travelled survey
Product away from error rate.
APR radiation scopes represent that it can be obtained by inquiring about corresponding technical manual, be a fixation by radiation length
Value.
It should be noted that corresponding to the range error rate of first travel distance, i.e., it is directed at the moment extremely according to first
Corrected time, target train whether the error rate that the transport condition in empty sliding state and target train determines.
Corresponding to the described second distance travelled range error rate, i.e., the moment is directed at according to the second alignment moment to first,
Target train whether the error rate that the transport condition in empty sliding state and target train determines.
The method for present embodiments providing a kind of correction of train position, this method it is default to the first pre-determined distance and second away from
From it is definite be defined, the reasonable of the first pre-determined distance and the second pre-determined distance is limited so that the position of target train is more
Newly in rational error range.
For a further understanding of the above method, it is American Standard transponder to present embodiments provide transponder, vehicle-mounted reader
Under background for Europe superscript equipment, the method that is positioned to target train.Fig. 4 is shown between VOBC and the reader of transponder
Interface relationship schematic diagram, referring to Fig. 4, the APR readers (Reader) of American Standard are the peripheral hardwares of cab signal system, installed in row
Car bottom, is mainly used for receiving APR messages, the beacon locating signals (TLS) of the transponder for being arranged in ground.And by APR information
VOBC is sent to TLS, so that VOBC completes the correction of train position.Wherein, external power supply is used to power for Reader, response
Pass through RF transmission of radio links information between device and reader.
As shown in figure 4, VOBC passes through 1 string formation mouth RS-485 and 2 string formation mouth RS-422 and Reader interfaces respectively.Wherein,
1., for Reader to VOBC transmission APR messages (Data), which is standard RS-485 differential signals by RS-485, Fig. 4.
2., for VOBC RS-422, Fig. 4 send self-test enable signal (Check_EN) to Reader.The signal is mark
Quasi- RS-422 signals, Main Processor Unit (MPU) the output TTL signal of VOBC, switch to RS-422 signals through interface board (IFB), defeated
Go out to Reader.VOBC is according to logic needs, and after exporting self-test enable signal to Reader, Reader carries out built in self testing, and
It is as shown in Figure 5 to VOBC output beacon locating signals (TLS) and self-test message (Data), self-test sequential relationship.
3., for Reader RS-422, Fig. 4 transmit beacon position signal (TLS) to VOBC；The beacon position signal is
Standard RS-422 signals, into VOBC after through interface board (IFB) be converted to TTL signal, adopted for Main Processor Unit (MPU)
Collection.
As shown in figure 5, the radiation scope moment that self-test enable signal enters transponder from reader is changed into high level, high electricity
The flat duration is more than 10ms, and TLS is changed into high level after entering the radiation scope after the Δ t times, and usual Δ t is less than
2.4ms.Self-test message Data launches once after reader enters the radiation scope Δ T time of transponder, per 5ms.Wherein, Δ
T is more than 4.1ms, less than 6.5ms.
Reader passes through APR in being moved with train, when APR enters the field areas (radiation scope) of Reader induction coils
When, the power supply of APR is activated, and the circuit of APR enters stable state in ensuing 500us, its synchronous clock, then APR is anti-
To scattering relevant information (APR messages), including the ID of APR, message data and CRC.Until APR leaves the read area of Reader
Domain.
After APR enters the field areas Δ t times of Reader induction coils, Reader renewal TLS signals, and work as APR
When leaving Reader induction field scopes, TLS will change its state.The TLS signals of Reader outputs are RS-422 differential signals, into
Enter and be converted to TTL signal through interface board (IFB) after VOBC, Fig. 2 shows transformed Transistor-Transistor Logic level signal, the pulse width of TLS
Depending on Reader passes through the time of APR, when Reader is rested on above APR, i.e. Reader, which is constantly in, detects APR's
Under state, then TLS signals are high level state always.
Based on above-mentioned APR and VOBC, a kind of method that position correction is carried out to train, this method are present embodiments provided
In, after APR enters the field areas Δ t times of Reader induction coils, TLS signals will be set to high level by Reader, when
When APR leaves the field areas of Reader induction coils, TLS signals will be put back into low level by Reader, and VOBC is added using the Δ t times
The high level time of upper TLS signals, at the time of extrapolating when APR centers are overlapped with Reader centers (first is directed at the moment), knot
The speed of train at that time is closed, so as to complete correction to the position of train.
Specifically, the method that train position is corrected is included：
(1) initial position obtains
Initial position obtains refer to that train is invalid in position in the case of, by two continuous APR (the second transponder and the
One transponder) when, obtain train initial position.
First, the order according to train by first APR (the second transponder), second APR (the first transponder), is looked into
Onboard track data is ask, obtains the travel direction of train head.Wherein, it is necessary to continuously pass through only at train initial decision position
Two APR are crossed, are only needed when other by an APR i.e. position of recoverable train.
Obtained by " position (onboard track data acquisition)+train of second APR is distance travelled after second APR "
The track section of train head is taken to number, the offset of track section.Wherein, add computing cumulative in logic, i.e., according to car
Head travel direction, onboard track data obtain final accumulation result.Wherein, the position of the 2nd APR is reference position, train warp
Cross after second APR it is distance travelled be first distance travelled.
Then, by " train head position (and in the present embodiment by TLS position position be headstock position)-vehicle body length
Degree " obtains train tailstock position.Wherein, computing is subtracted to withdraw in logic, i.e., according to the travel direction of train head, to opposite direction
Length of wagon is withdrawn, withdraws result according to inquiry track data to obtain.
Finally, if distance between obtained two APR for initial alignment of measurement, with onboard track data this two
Distance difference is allowing to open a window in scope (the first pre-determined distance) between APR, then position (position of initial alignment, i.e. correction position)
Validity be it is effective, it is otherwise invalid.Windowing size (value range of the first pre-determined distance) needs Consideration to include initial ranging
(the second ranging misses the range error of distance between the margin of error (the first range error), the radiation length of APR radiation scopes, two APR
Difference).
Wherein, after obtaining train head's initial position (correction position), range error is initialized, initial ranging
Error is setting.
(2) location updating (location update operations)
First, in the case of train position is effective, train is according to cycle distance travelled renewal train position, including headstock
Location updating and tailstock location updating.
Headstock location updating：System according to cycle headstock position on train (last updated position in positional information), OK
It is distance travelled to sail direction, cycle, calculates the position of headstock, carries out location updating.Wherein, there are 2 kinds of representations in the position of train,
One kind is absolute kilometer post, such as 1000 meters.Another kind is the link+offset (logic block+offset) that electronic map represents
Mode, such as A+90 meters of link.The train position calculated represented by information trunk Unit for Data Acquisition its link+offset, i.e., with
The mode of electronic map is shown.
Tailstock location updating：Train tailstock position is obtained by " train head position-length of wagon ", wherein, subtracting computing is
Withdraw in logic, i.e., according to the travel direction of train head, length of wagon is withdrawn to opposite direction, withdraws result queries track data
Obtain.
Cycle distance travelled (second is distance travelled) refer to the periodic duty time (between renewable time and the 3rd moment when
Between it is poor) be multiplied by this period velocity (the second average speed).
Then, range error updates：Add up this cycle range error on the basis of original range error.Wherein, this cycle
Range error for the cycle it is distance travelled be multiplied by range error rate, wherein whether range error rate in empty slides shape according to current test the speed
State and it is different.
(3) position correction
When train position correction refers to the ID for receiving APR, the position (reference of the APR is obtained by onboard track data
Position), the position of the APR is added up distance travelled (first distance travelled) of the train after the APR, obtains correction position, if
The difference (the first spacing distance) of correction position and current train position (position undetermined) allow correcting range (first it is default away from
From) in, then it is correction position to update train position, and otherwise train position is invalid.
Wherein, correction position=APR positions (reference position)+receives distance travelled (first is distance travelled) after APR.
Wherein, APR positions are obtained by inquiring about onboard track data, and APR radiation scopes can pass through inquiring technology handbook
Obtain, be usually a fixed value.
Allow correcting range (the first pre-determined distance) be：APR radiation scopes (radiation length)+range error.
If meet | correction position-train current location |<Allow correcting range, then it is correction position to update train position,
Otherwise it is invalid to put train position.
It should be noted that after position correction each time is completed, range error need to be set to initial value.
The above-mentioned distance travelled method received after APR is calculated, as shown in figure 3, the Main Processor Unit of setting VOBC
(MPU) time for receiving TLS rising edges is tR, the time for receiving TLS trailing edges is tF, APR enters Reader induction coils
Field areas to the Reader time delays for drawing high TLS be that (Δ t is constant to Δ t, can be obtained from the first transponder technology specifications
Take), in the case of without considering symmetry, the first alignment moment that Reader centers are aligned with APR centers is tC,
Wherein, Δ t is constant, can be obtained from American Standard transponder technology specifications.
tFAnd tRObtained by the trailing edge and rising edge combination its temporal counter of MPU collections TLS.MPU is set to train
The corrected time that position is corrected is tCa, this corrected time by MPU read itself time counter obtain, MPU is to train
Corresponding speed at the time of position is corrected is Vtrain, then receive first after APR it is distance travelled be s=(tCa-tC)
×Vtrain。
Method proposed by the present invention has been carried out and has passed through sufficient debugging test and validation, will be in Beijing Metro
The rolling stock section of swallow room line project realizes engineer application, for solving the problems, such as track circuit shunting badness, effectively avoids safety hidden
Suffer from, improve railroad embankment efficiency.
Finally it should be noted that：Various embodiments above is rather than right only illustrating the technical solution of the embodiment of the present invention
It is limited；Although the embodiment of the present invention is described in detail with reference to foregoing embodiments, the ordinary skill of this area
Personnel should be understood：It can still modify the technical solution described in foregoing embodiments, or to which part
Or all technical characteristic carries out equivalent substitution；And these modifications or replacement, do not make the essence disengaging of appropriate technical solution
The scope of each embodiment technical solution of the embodiment of the present invention.
Claims (10)
- A kind of 1. method of train position correction, it is characterised in that including：After the first flag information of installation the first transponder in orbit is received, judge to receive the first flag Whether the positional information of the newest addition of target train of information is effective, if so, most newly added position is then obtained, as to be positioned Put；According to the position where the first transponder described in the first flag acquisition of information, as with reference to position, and according to described When target train passes through first transponder, the change information for the beacon locating signals that the target train is sent, to described The corrected time and the corresponding speed corresponding to the corrected time that position undetermined is corrected, it is opposite to calculate the target train It is distance travelled as first in the distance of first transponder traveling；According to the reference position and described first distance travelled, the position that the target train is currently located is obtained, as school Positive position, judges whether the first spacing distance between the correction position and the position undetermined is less than the first pre-determined distance, If so, the position for being then currently located the correction position as the target train, is added in the positional information.
- It is 2. according to the method described in claim 1, it is characterized in that, described first according to the first flag acquisition of information Position where transponder, as with reference to position, and when passing through first transponder according to the target train, the target The change information for the beacon locating signals that train is sent, the corrected time being corrected to the position undetermined and the target column Car calculates the distance that the target train is travelled relative to first transponder in the corresponding speed of the corrected time, makees It is distance travelled for first, including：According to the first flag information, corresponding first transponder of the first flag information is obtained by onboard track data Position, as the reference position；When obtaining the target train and passing through first transponder, the beacon locating signals are driven high as height by low level First moment of level, and the beacon locating signals are pulled low as low level second moment by high level, and obtain peace The reader corresponding to first transponder on the target train enters the first transponder radiation scope Time interval into the moment to first moment；The corrected time and the corresponding speed are obtained, passes through formulaCalculate the reader and pass through institute The first alignment moment of transponder center is stated, and according to the corresponding moment, the corresponding speed and first alignment At the moment, pass through formula s=(tCa-tC)×VtrainIt is distance travelled to calculate described first；Wherein, tCFor the described first alignment moment, tFFor second moment, tRFor first moment, Δ t is the time Interval, tCaFor the corrected time, VtrainIt is distance travelled for described first for the corresponding speed, s.
- It is 3. according to the method described in claim 2, it is characterized in that, described according to the current point in time, the present speed With the alignment moment, pass through formula s=(tCa-tC)×VtrainCalculate it is described first distance travelled, including：Obtain the time delay Δ that the beacon locating signals are transmitted to the MPU of the target vehicle VOBC by the transponder T', according to the current point in time, the present speed, the alignment moment and the time delay, will pass through formula s= (tCa-tC+Δt')×VtrainThe distance of calculating, it is distance travelled as described first.
- 4. according to the method described in claim 3, it is characterized in that, the judgement receives the mesh of the first flag information Whether effective mark the most newly added positional information of train, further include：If the positional information is invalid, the target train is obtained before by first transponder, is passed through for the last time The transponder crossed, as the second transponder；According to the corresponding second identifier information of second transponder and the first flag information, pass through the onboard circuit number First transponder and second response are obtained according to the travel direction for determining the train, and from the onboard track data The second spacing distance between device；Obtain second alignment moment of reader when by the center of second transponder, and the target First average speed of the train at the described second alignment moment to the described first alignment moment；The target train is calculated according to the described first alignment moment, the second alignment moment and first average speed to exist The operating range at the second alignment moment to the described first alignment moment；Judge whether the range difference of the operating range and second spacing distance is less than the second pre-determined distance, if so, then will Initial position of the correction position as the target train, added in the positional information, otherwise, by the correction bit Tagging is disarmed state, added in the positional information.
- 5. according to the method described in claim 4, it is characterized in that, further include：During the target column car traveling, circulation execution position renewal operation is newest until being obtained from the positional information The position of addition is disarmed state；Wherein, the location update operations include：Most newly added position is obtained from the positional information, as position to be updated, and is obtained the position to be updated Added to the 3rd moment in the positional information；As renewable time at the time of obtaining current progress location updating, and the target train is obtained from the 3rd moment row Sail to the second average speed of the renewable time；The target train is calculated from the described 3rd according to the 3rd moment, the renewable time and second average speed Moment is second distance travelled to the renewable time；According to the travel direction, the position to be updated and described second distance travelled, the current institute of the target train is determined Position, as more new position, using the more new position as the target train in the position where the renewable time, Added in the positional information.
- 6. according to the method described in claim 1, it is characterized in that, it is described judgement the correction position and the position undetermined it Between the first spacing distance whether be less than the first pre-determined distance, further include：If first spacing distance is greater than or equal to the first pre-determined distance, the correction position is labeled as disarmed state, Added in the positional information.
- 7. according to the method described in claim 5, it is characterized in that, further include：Obtain the 3rd spacing distance between the tailstock of the reader and the target train on the target train, and from institute State and most newly added position is obtained in positional information, as tailstock reference position；According to the travel direction, the opposite direction of tailstock reference position along the travel direction is withdrawn between the described 3rd Gauge is from obtaining the tailstock position where the tailstock of the target train.
- 8. the method according to the description of claim 7 is characterized in that further include the point of addition into the positional information every time When, carry out error update operation；Wherein, the error update operation includes：Judge whether this point of addition being added in the positional information is effective status, if so, obtaining last updated Error obtains this and calculates the range error introduced during the point of addition as initial error, and the range error is tired out Meter to the initial error obtains last updated error；If this point of addition being added in the positional information is disarmed state or this is added to the positional information In point of addition be the correction position, then using default error as last updated error；Wherein, the range error be equal to this calculating described point of addition when, the distance of the traveling of the target train with it is right Should be in the product of the range error rate of this calculating point of addition.
- 9. according to the method described in claim 8, it is characterized in that, first pre-determined distance is equal to radiation length with corresponding to The sum of described first first distance travelled range error；Wherein, the radiation length is the distance of the covering of the radiation scope of first transponder on the track；It is described First range error is equal to the product of the described first range error rate distance travelled and corresponding to first travel distance.
- 10. according to the method described in claim 9, it is characterized in that, second pre-determined distance is equal to the radiation length, institute State the sum of the first range error and the second range error；Wherein, second range error is distance travelled equal to described second and is missed corresponding to the described second distance travelled ranging The product of rate.
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