CN108860224A - Based on pinpoint train automatic controlling system - Google Patents
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- CN108860224A CN108860224A CN201810427127.XA CN201810427127A CN108860224A CN 108860224 A CN108860224 A CN 108860224A CN 201810427127 A CN201810427127 A CN 201810427127A CN 108860224 A CN108860224 A CN 108860224A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention proposes one kind to be based on pinpoint train automatic controlling system, including：Train-installed management system, railway trains monitoring center system, satellite are accurately positioned subsystem and orbit information management system, wherein, the train-installed management system is used for satellite data and train status data, in conjunction with train id information, data are exported in real time to neighbouring train and the railway trains monitoring center system by wireless network；For the railway trains monitoring center system for handling the received data, the railway trains monitoring center system is also used to information transmission, train safety monitoring, train tracking, data record, status early warning between vehicle ground；It includes satellite data system, satellite difference base station and Train Dynamic position solving unit that the satellite, which is accurately positioned subsystem, wherein, the satellite difference base station in real time it will be observed that satellite data, by network system by the way of wired or wireless.
Description
Technical field
The present invention relates to train auto-matic control technical fields, are based on pinpoint train certainly in particular to one kind
Autocontrol system.
Background technique
Currently, being to be adopted according to the scene Railway Bureau TDCS to the method for the dynamically track of running train in the railway system now
The occupancy of the signalling arrangement track circuit of collection and out clear state judge that the position of train is tracked, and are checked using wireless running number
System carries out running number automatic Check and obtains train number number, and realizes that carrying out tracking to the orientation and trend of train in operation sentences
It is disconnected.
Automatic Control Systems for train operation system (ATC) or high-speed rail train operation either in railway track traffic system
It is severe meeting in the systems such as control system (CTCS) and track circuit therein, wired, wireless and radio block center (RBC)
The geological disasters such as meteorological condition, thunder and lightning impacting with high pressure or mud-rock flow, easily cause block system to break down, make track circuit without
Method correctly transmits the information of semaphore, and current train-installed control equipment is only capable of by track circuit, ground transponder, rail
The information for the signal acquisition current line that the ground installations such as other cable, terrestrial wireless communication base station provide, once these ground arrange
Vehicle operation control breaks down or vehicle scheduling mistake occurs, cannot timely and effectively obtain other side between train close to each other
Driving status, the block section that train operator not can guarantee the safe distance between train, and enter front, which will will appear, to be closed
A possibility that running, this is possible to cause train colliding two trains that plug section has same direction, same station track to run
Serious accident.
Since positioning accuracy of the existing train positioning system to train is low, so as to will lead to serious accident,
And prior art operation cost is higher, and the needs such as later maintenance, technology, spare part persistently put into a large amount of fund, therefore are badly in need of
A kind of higher system of positioning accuracy solves the deficiencies in the prior art.Meanwhile the control of automatic control system in the prior art
Precision processed is lower, and operation cost is higher.
Summary of the invention
In consideration of it, the invention proposes one kind to be based on pinpoint train automatic controlling system, it is intended to solve to improve column
The problem of control accuracy and control efficiency of vehicle automatic control system, reduction automatic control system operation cost.
On one side, the invention proposes one kind to be based on pinpoint train automatic controlling system, including：It is train-installed
Management system, railway trains monitoring center system, satellite are accurately positioned subsystem and orbit information management system, wherein described
Train-installed management system by wireless network for that will count satellite data and train status data in conjunction with train id information
It is exported when factually to neighbouring train and the railway trains monitoring center system；The railway trains monitoring center system is for locating
The received data are managed, the railway trains monitoring center system is also used to information transmission, train safety monitoring, column between vehicle ground
Vehicle tracking, data record, status early warning；It includes satellite data system, satellite difference benchmark that the satellite, which is accurately positioned subsystem,
It stands and Train Dynamic position solving unit, wherein satellite data of the satellite difference base station for will be observed that in real time,
By network system by the way that in the way of wired or wireless, satellite difference data are exported to ground-based server and the satellite difference
Train-installed mobile terminal in base station coverage area carries out the accurate fixed of train to complete the correction of train location data
Position；Train Dynamic position solving unit is used for the speed to the train, wheel footpath carries out real-time monitoring, thus real time calibration
The position of the train；The orbit information management system is used to carry out platform screen by Che-vehicle, car-ground communication system
Door, track switch status monitoring, to realize the intelligent management of orbit information；The train-installed management system, for merging
Railway trains monitoring center system is stated, after the data that satellite is accurately positioned subsystem and orbit information management system acquires, to institute
Train, track switch and platform screen door is stated to carry out automatically controlling.
Further, the railway trains monitoring center system includes monitoring central server and train supervision terminal,
In, the monitoring central server is for receiving satellite location data, satellite difference data, yard microcomputer interlocking data and train
Dynamic data, and according to the accurate train positioning result of the data acquisition；The train supervision terminal, for locomotive, vehicle
, track, route carry out tracing management.
Further, it further includes high-precision electronic map that the satellite, which is accurately positioned subsystem, the high-precision electronic
Figure is for train positioning result described in real-time display.
Further, the railway trains monitoring center system, for generating the high-precision electronic map.
Further, the railway trains monitoring center system, be also used to information transmission between vehicle ground, train safety monitoring,
Train tracking, data record, status early warning.
Further, the railway trains monitoring center system, is also used to database maintenance, user management, network security
Management.
The beneficial effects of the present invention are, by be arranged train-installed management system, railway trains monitoring center system and
Satellite is accurately positioned subsystem, carries out the acquisition of train status data, satellite location data, and combined high precision electronic map is believed
Breath resolves train operation state, yard switch status information, and it is accurate in real time fixed to carry out in conjunction with satellite data to train position
Position, while by setting Train Dynamic position solving unit, real-time monitoring, real time calibration column are carried out to speed, the wheel footpath of train
Truck position, to realize that the train of Centimeter Level is accurately positioned.This system not only realizes the accurate positioning to train, and this system
Structure is simple, and operational efficiency is high, and operating cost is low.Also, this system is by output train control command, to train, track switch and
Platform screen door carries out automatically controlling, and automatic control and intelligence to train can also be realized on the basis of being accurately positioned to train
Operation management can be changed, greatly improve the control efficiency of automatic control system, reduce the operation cost of automatic control system.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the first structure signal provided in an embodiment of the present invention based on pinpoint train automatic controlling system
Figure；
Fig. 2 is the second structural representation provided in an embodiment of the present invention based on pinpoint train automatic controlling system
Figure；
Fig. 3 is the orbit information management system provided in an embodiment of the present invention based on pinpoint train automatic controlling system
System processing flow schematic diagram.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.It should be noted that in the absence of conflict, embodiment in the present invention and
Feature in embodiment can be combined with each other.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig.1, it is the based on pinpoint train automatic controlling system provided in an embodiment of the present invention
One structural schematic diagram.The embodiment of the invention provides one kind to be based on pinpoint train automatic controlling system, including：Train vehicle
It carries management system, railway trains monitoring center system and satellite and is accurately positioned subsystem.
Specifically, train-installed management system is used for satellite data and train status data, in conjunction with train id information,
Data are exported in real time to neighbouring train and the railway trains monitoring center system by wireless network.
Specifically, train-installed management system is mounted on train driving room, led to by Train-navigation system, speech talkback
News, vehicle-vehicle communication system, vehicle-earth communication system, data communication monitoring, satellite communication, gsm communication, train control system etc.
Composition.Onboard system is real-time by data using wireless network in conjunction with train ID number mainly by satellite data and train status data
It is sent to neighbouring train and railway trains monitoring center.Result after being resolved by system graphically illustrates, signal shows again, voice is broadcast
The forms such as report, warning alarm, order control are accordingly exported, and make running train can be with automatic sensing yard route, road
Trouble, yard state, range ability, hauling operation plan etc. realize the automatic control of train, track switch, platform screen door.
Specifically, railway trains monitoring center system is for handling the received data, the railway trains monitoring
Centring system is also used to information transmission, train safety monitoring, train tracking, data record, status early warning between vehicle ground；Railway trains
Monitoring center system includes monitoring central server and train supervision terminal, wherein the monitoring central server is for receiving
Satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data, and according to the data acquisition essence
True train positioning result；The train supervision terminal, for carrying out tracing management to locomotive, vehicle, track, route.It is described
Railway trains monitoring center system, for generating the high-precision electronic map.Railway trains monitoring center system, is also used to vehicle
Information transmission, train safety monitoring, train tracking, data record, status early warning between ground.Railway trains monitoring center system, also
For database maintenance, user management, network security management.
Specifically, railway trains monitoring center management system is by server, monitor terminal (PC computer) and ground monitoring
The composition such as software.
(1) monitoring central server
In yard region, satellite location data is received by wireless network or landline network, satellite difference data, is stood
After field microcomputer interlocking data and Train Dynamic data, server background software is resolved by decoding, obtains accurate train positioning
As a result, the result goes out train position, motion track and operating status by yard high-precision electronic map (GIS) real-time display,
Positioning accuracy is up to Centimeter Level.For section without track switch section track, moved towards by satellite One-Point Location and track, in conjunction with train
Operating status and own dynamic push algorithm software correction, can be effectively ensured locomotive any time is accurately positioned in real time.
(2) train supervision terminal
Train supervision terminal refers to the administrative staff's desktop computer being connected in ground network system, mainly for easily
Tracing management of each professional in face to management essentials such as locomotive, vehicle, track, routes.
Railway trains monitoring center system mainly completes data processing, high-precision electronic map (GIS) generates, vehicle-ground letter
Transmission, train safety monitoring, train tracking, data record, status early warning etc. are ceased, database maintenance, user management, net are also completed
The functions such as network safety management.
Specifically, it includes satellite data system, satellite difference base station and Train Dynamic that satellite, which is accurately positioned subsystem,
Position solving unit, wherein satellite data of the satellite difference base station for will be observed that in real time utilizes network system
By wired or wireless mode, satellite difference data are exported to ground-based server and the satellite difference base station and cover model
Train-installed mobile terminal in enclosing carries out the accurate positioning of train to complete the correction of train location data；The train is dynamic
State position solving unit is used for the speed to the train, wheel footpath carries out real-time monitoring, thus the position of train described in real time calibration
It sets.It further includes high-precision electronic map that satellite, which is accurately positioned subsystem, and the high-precision electronic map is for described in real-time display
Train positioning result.
Specifically, satellite-based " vehicle-ground ", " vehicle-vehicle " communication system, by acquiring train operation state number
The real-time accurate positioning that train Centimeter Level is realized according to, yard track switch detection data is calculated in conjunction with the software of entirely autonomous intellectual property
Method, high-precision electronic map realize train, track, platform, scheduling holographyization intelligent operation control system.
Satellite be accurately positioned subsystem by satellite data system, satellite difference base station, high-precision electronic map (GIS) and
Train Dynamic position solving unit composition.
Satellite difference base station, as dynamic difference positioning reference station, are built upon railroad track or yard region can be real
When receive satellite system data, and the information work station that seek difference can be calculated opposite observation point.When satellite difference base station works,
In real time it will be observed that satellite data, by network system by the way of wired or wireless, by satellite difference data transmission
To the train-installed mobile terminal in ground-based server and this base station coverage area, to complete the correction of train location data,
Realize the accurate positioning of train.
Simultaneously by Train Dynamic position solving unit, real-time monitoring, real time calibration column are carried out to speed, the wheel footpath of train
Truck position, to realize that the train of Centimeter Level is accurately positioned.
It is understood that the present embodiment by be arranged train-installed management system, railway trains monitoring center system and
Satellite is accurately positioned subsystem, carries out the acquisition of train status data, satellite location data, and combined high precision electronic map is believed
Breath resolves train operation state, yard switch status information, and it is accurate in real time fixed to carry out in conjunction with satellite data to train position
Position, while by setting Train Dynamic position solving unit, real-time monitoring, real time calibration column are carried out to speed, the wheel footpath of train
Truck position, to realize that the train of Centimeter Level is accurately positioned.This system not only realizes the accurate positioning to train, and this system
Structure is simple, and operational efficiency is high, and operating cost is low.Also, this system can also output train control command, accurate to train
The automatic control and intelligent operation management to train can also be realized on the basis of positioning.
In alternatively possible implementation based on the above embodiment, as shown in fig.2, it is mentioned for the embodiment of the present invention
The second structural schematic diagram based on pinpoint train automatic controlling system supplied.It is unlike the embodiments above, this reality
The satellite Precise Position System for applying mode further includes orbit information management system, and the orbit information management system is for passing through
Che-vehicle, car-ground communication system carry out the status monitoring of platform screen door and track switch.It is real by Che-vehicle, car-ground communication system
The status monitoring for showing platform screen door, track switch, realizes the intelligent management of orbit information.
It as shown in connection with fig. 3, is the rail provided in an embodiment of the present invention based on pinpoint train automatic controlling system
Road information management system processing flow schematic diagram.Orbit information management system process flow is：Pass through satellite positioning reference data
It stands and obtains the other information of observation data and locomotive positioning flowing terminal output, observation data and other information are packaged into number
Transmitted according to packet, after being resolved by decoding, respectively will decoding resolve after data transmission to map operation tracing and monitoring unit,
And coordinate transformation projection transformation unit；Coordinate transformation projection transformation unit is by received map reference data and map phase
Match, after map match units match coordinate, data are exported to map operation tracing and monitoring unit, map operation tracing and monitoring
Output data after unit combination precise electronic map and spatial geographic information, the data combination actual job requirement of output, train
Track and other data outputs manage traffic order to locomotive and position flowing terminal.
This system is in information source points such as acquisition locomotive status data, satellite location data, track high-precision electronic maps
On the basis of, train operation state, yard switch status information are resolved, train position is carried out in conjunction with satellite data accurate in real time
Positioning, output train control command realize the automatic control and intelligent operation management of train.
Specifically, 1, train intelligent navigation and automatic control function：
(1) by automatically controlling adding for train by intelligent guidance system and operational plan with train controller interface
The Function for Automatic Pilot such as speed, braking, speed limit, parking.
(2) distance of the train away from front and back route (track switch), blind siding etc., and settable safe distance are determined automatically
Alarm, by with train controller interface, occurred with the accidents such as preventing from rushing, squeezing, take off, hit.
(3) in the form of line map or operation figure, real-time display train is in the exact position of current orbit.
(4) operating status (speed, direction etc.) of real-time display current train.
(5) real-time display train front, rear yard, adjacent vehicle, switch status, and show at a distance from current location.
(6) in a manner of voice broadcast, yard in front of locomotive, adjacent vehicle, switch status and distance are reminded；Remind track operation
Protect point, route particular point, speed limit point etc..
(7) by with train controller interface, controlling train, (such as overrun a signal is in violation of rules and regulations driven in abnormal operational conditions
Sail, line fault etc.) automatic stopping.
(8) distance of the train away from front locomotive is determined automatically, is realized close to alarm, speed limit or parking, is avoided rear-end collision.
(9) determine train in the simultaneously speed limit of driving over the speed limit of predetermined region automatically.
(10) by car-ground communication system, interface is carried out with track switch, platform screen door, realization automatically controls it.
(11) by with train controller interface, the automatic whistling of train in/out station, safe early warning.
(12) in special circumstances manual intervention speed limit, parking and artificial adapter tube.
2, intelligent operation management function
The management of basic information
(1) Train Conductors, operation management personnel's basic information management function are provided
(2) train (vehicle), yard, track switch, track section information management function
(3) yard and section high-precision electronic mapping and adjustment function
(4) yard and interval orbit route particular point geographical coordinate calibrating function
Vehicle-vehicle, vehicle-ground, vehicle-people dynamic management
(1) train position state, the real time monitoring of operating status
(2) the automatic of train operation plan issues and executes
(3) train running information automatically recording and reports
(4) train arrival, storage information automatically recording and report
(5) it the transmission of the information of interim dynamic monitoring point and is reported (containing provisional maintenance, geological disaster or other danger along
Dangerous situation condition), and pass through the speed limit or parking of train automatic controlling system realization train.
(6) Che-vehicle, car-ground, vehicle-people real-time voice intercommunication function
Data record and historical data recovering and analysis
(1) in ground-based server system, the total data of all locomotives and line status can whole be recorded.
(2) according to condition recovering and analysis can be carried out by the travelling data to any train or arbitrary period.
Specifically, this system hardware, which takes 2 × 2, takes the double hot standby independent design thinkings of more than 2 redundancies, system work ensure that
The high reliability and high stability of work.System backup power supply uses the power adaptation interface of adaptive train environment, built-in intelligence
Charge-discharge circuit, to guarantee system normal power supply or the battery backup in dispatch from foreign news agency missing；
(1) all using double unit redundancy designs, i.e. system data occurs, detection, communicates, place the key equipment of this system
Reason and result output and power supply verify according to equipment room reliability all using double unit configurations, guarantee system in a certain unit
When equipment fault, the normal work of system will not influence；
(2) this system uses modularized design to unit, can the working condition of automatic checkout equipment itself and real-time
Tracking equipment operating condition, related monitoring result may be automatically transferred to external equipment or monitoring center by ad-hoc network, once
Discovering device failure, system is by real-time prompting or alarm.
Also, this system guarantees the real-time and standard of data using the train monitoring of multiple software algorithm and verification scheme
True property.
It is understood that the present embodiment by be arranged train-installed management system, railway trains monitoring center system and
Satellite is accurately positioned subsystem, carries out the acquisition of train status data, satellite location data, and combined high precision electronic map is believed
Breath resolves train operation state, yard switch status information, and it is accurate in real time fixed to carry out in conjunction with satellite data to train position
Position, while by setting Train Dynamic position solving unit, real-time monitoring, real time calibration column are carried out to speed, the wheel footpath of train
Truck position, to realize that the train of Centimeter Level is accurately positioned.This system not only realizes the accurate positioning to train, and this system
Structure is simple, and operational efficiency is high, and operating cost is low.Also, this system is by output train control command, to train, track switch and
Platform screen door carries out automatically controlling, and automatic control and intelligence to train can also be realized on the basis of being accurately positioned to train
Operation management can be changed, greatly improve the control efficiency of automatic control system, reduce the operation cost of automatic control system.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. one kind is based on pinpoint train automatic controlling system, which is characterized in that including：Train-installed management system,
Face train supervision centring system, satellite are accurately positioned subsystem and orbit information management system, wherein
The train-installed management system is used for by satellite data and train status data, in conjunction with train id information, by wireless
Network exports data in real time to neighbouring train and the railway trains monitoring center system；
The railway trains monitoring center system is for handling the received data, and the railway trains monitoring center system is also
For information transmission, train safety monitoring, train tracking, data record, status early warning between vehicle ground；
It includes that satellite data system, satellite difference base station and Train Dynamic position resolve list that the satellite, which is accurately positioned subsystem,
Member, wherein the satellite difference base station in real time it will be observed that satellite data, using network system by wired or
Wirelessly, satellite difference data are exported to the train in ground-based server and the satellite difference base station coverage area
Vehicle mobile terminals carry out the accurate positioning of train to complete the correction of train location data；The Train Dynamic position resolves
Unit is used for the speed to the train, wheel footpath carries out real-time monitoring, thus the position of train described in real time calibration；
The orbit information management system is used to carry out the state of platform screen door, track switch by Che-vehicle, car-ground communication system
Monitoring, to realize the intelligent management of orbit information；
The train-installed management system, for merging the railway trains monitoring center system, satellite is accurately positioned subsystem
After the data of orbit information management system acquisition, the train, track switch and platform screen door are carried out automatically controlling.
2. according to claim 1 be based on pinpoint train automatic controlling system, which is characterized in that the ground column
Vehicle monitoring center system includes monitoring central server and train supervision terminal, wherein the monitoring central server is for connecing
Satellite location data, satellite difference data, yard microcomputer interlocking data and Train Dynamic data are received, and according to the data acquisition
Accurate train positioning result；
The train supervision terminal, for carrying out tracing management to locomotive, vehicle, track, route.
3. according to claim 2 be based on pinpoint train automatic controlling system, which is characterized in that
It further includes high-precision electronic map that the satellite, which is accurately positioned subsystem, and the high-precision electronic map is used for real-time display
The train positioning result.
4. according to claim 3 be based on pinpoint train automatic controlling system, which is characterized in that
The railway trains monitoring center system, for generating the high-precision electronic map.
5. according to claim 1 or 4 be based on pinpoint train automatic controlling system, which is characterized in that describedly
It is pre- to be also used to information transmission between vehicle ground, train safety monitoring, train tracking, data record, state for face train supervision centring system
It is alert.
6. according to claim 1 be based on pinpoint train automatic controlling system, which is characterized in that
The railway trains monitoring center system, is also used to database maintenance, user management, network security management.
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| CN201810427127.XA CN108860224A (en) | 2018-05-07 | 2018-05-07 | Based on pinpoint train automatic controlling system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407850A (en) * | 2018-05-09 | 2018-08-17 | 成都九壹通智能科技股份有限公司 | train satellite positioning differential data processing method |
| CN108609033A (en) * | 2018-05-09 | 2018-10-02 | 成都九壹通智能科技股份有限公司 | Train based on satellite difference positioning monitors system |
| CN108622139A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard and locomotive real-time information interaction method |
| CN108622141A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard satellite positioning difference information acquisition system |
| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| CN110466565A (en) * | 2018-05-10 | 2019-11-19 | 成都九壹通智能科技股份有限公司 | Satellite Precise Position System for train |
| CN110667651A (en) * | 2019-09-04 | 2020-01-10 | 成都九壹通智能科技股份有限公司 | Train autonomous operation management system based on high-precision position |
| CN110758488A (en) * | 2019-11-07 | 2020-02-07 | 中国铁建重工集团股份有限公司 | Control method and system of magnetic levitation rail train and magnetic levitation rail train |
| CN111267912A (en) * | 2020-03-12 | 2020-06-12 | 兰州交通大学 | Train positioning method and system based on multi-source information fusion |
| CN114460607A (en) * | 2021-06-16 | 2022-05-10 | 北京大成国测科技有限公司 | GNSS railway control network system based on CORS reference station |
| CN116811971A (en) * | 2023-07-27 | 2023-09-29 | 江苏飞梭智行设备有限公司 | Safety control system for railway car |
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| CN108622139A (en) * | 2018-05-10 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Yard and locomotive real-time information interaction method |
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| CN109677466B (en) * | 2019-01-18 | 2024-04-16 | 卡斯柯信号有限公司 | Automatic control system of light train for China heavy haul railway |
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| CN110667651A (en) * | 2019-09-04 | 2020-01-10 | 成都九壹通智能科技股份有限公司 | Train autonomous operation management system based on high-precision position |
| CN110758488A (en) * | 2019-11-07 | 2020-02-07 | 中国铁建重工集团股份有限公司 | Control method and system of magnetic levitation rail train and magnetic levitation rail train |
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| CN114460607A (en) * | 2021-06-16 | 2022-05-10 | 北京大成国测科技有限公司 | GNSS railway control network system based on CORS reference station |
| CN116811971A (en) * | 2023-07-27 | 2023-09-29 | 江苏飞梭智行设备有限公司 | Safety control system for railway car |
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Application publication date: 20181123 |