CN109229158A - A kind of train method for rapidly positioning and system - Google Patents
A kind of train method for rapidly positioning and system Download PDFInfo
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- CN109229158A CN109229158A CN201811072165.4A CN201811072165A CN109229158A CN 109229158 A CN109229158 A CN 109229158A CN 201811072165 A CN201811072165 A CN 201811072165A CN 109229158 A CN109229158 A CN 109229158A
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- 238000000034 method Methods 0.000 title claims abstract description 134
- 238000010295 mobile communication Methods 0.000 claims abstract description 37
- 238000013507 mapping Methods 0.000 claims description 36
- 230000004807 localization Effects 0.000 claims description 26
- 230000011664 signaling Effects 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 230000006855 networking Effects 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 4
- 230000006854 communication Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
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- 238000010276 construction Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
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- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of train method for rapidly positioning and systems, the method comprise the steps that data are stored in advance, obtain the track circuit data of train operation, mobile communication base station obtains cell information data by the track run using mobile terminal from current train, search of satellite signal, satellite signal data is obtained, is resolved based on track circuit data, cell information data and satellite signal data, train position is obtained.Method and system of the invention are few without additional infrastructure, dependence number of satellite, can fast implement the high-precision positioning of train.
Description
Technical field
The present invention relates to the vehicle positioning technology of field of track traffic more particularly to a kind of train method for rapidly positioning and it is
System.
Background technique
In field of track traffic, grasping train position information in real time is an important demand, is related to train operation control
System, train operation state monitor, train tracks the normal operations of system functions such as early warning and other based on train position service
(LBS) basis developed.It the use of the Global Navigation Satellite System (GNSS) based on satellite positioning is one of train locating method, it is existing
Have GNSS system mainly and include the global positioning system (GPS) in the U.S., the GLONASS system of Russia, European Union Galileo system
System, Beidou satellite navigation system of China etc..Their positioning principle is essentially identical, i.e., user terminal receives satellite-signal, leads to
The signal transmission time crossed between measurement user terminal and multi-satellite calculates distance, then in conjunction with geometry does three-dimensional position
Calculating coordinate, and try to eliminate the influence of clocking error bring.
In order to improve satellite positioning precision or speed, there are mainly two types of thinkings at present:
First is that enhancing global position system itself, such as: positioning difference enhances system, additionally builds difference ground on ground
It stands, satellite positioning is assisted and is enhanced, provide the signal of enhancing for periphery user and position resolves service, improve positioning accurate
Degree.
Second is that other auxiliary systems or supplementary means are introduced, and such as: (1) assisted global positioning system (AGPS): additionally draw
Mobile communication system is entered, user is first passed through the base station near mobile communication terminal access, done using base station and just slightly positioned, then
Some server is sent by base station location position by network, server will pass through the satellite in user overhead according to position at this time
Parameter feedback then shares to the ICBM SHF satellite terminal of user to the mobile communication terminal of user, to improve its search of satellite signal
Speed.(2) Beidou generation satellite navigation system: basic ideas are that Digital Topographic Map ', user is stored in advance in ground central station
ICBM SHF satellite terminal provides its absolute elevation, and central station increases the dimension to user's positioning by way of map match, to will search
The demand of rope number of satellite is reduced to 2.
But existing several technical solutions have the disadvantage in that (1) practicability problem: positioning difference enhancing system is only
The neighboring area of difference earth station is serviced, if to cover rail traffic completely, high construction cost, therefore it is not suitable for track
Traffic train positioning field, and Beidou generation satellite navigation system also has its inherent defect, for example user capacity is limited, it is desirable that
Subscriber computer will also have high power transmitter energy power in addition to there is reception ability, and positioning time delay is larger etc., at present gradually by Beidou II
Replaced system；(2) locating speed problem: the GPS system in the U.S., the GLONASS system of Russia, European Union Galileo system
System, China Beidou II satellite navigation system etc., their positioning principles are essentially identical, its main feature is that need at the same receive to
The signal of few 4 satellites could complete three-dimensional position resolving and clock error correction.To the factors influencing demand of search of satellite number
Its locating speed.Such as GPS system, the time of search of satellite generally requires 2 minutes or so after cold start-up, and thermal starting is also required to 1
Minute.In addition to this, the premise of AGPS system is that user can first pass through mobile terminal networking, and access preset is in mobile communications network
Core net in and the AGPS server of respective service is provided, these additional conditions affect locating speed, also affect this
The availability of service.When rail traffic encounters tunnel etc. and blocks scene, train is from blocking when unobstructed location is reentried in location
Positioning resume speed is a difficult point；(3) positioning accuracy problem: existing commercial satellite positioning system signal accuracy itself is inadequate
Height is applied in train positioning, often occur position location not on railway line road, even deviate from the feelings of tens to up to a hundred meters
Condition.In uplink and downlink track scene arranged side by side, it is even more impossible to for distinguishing train be run in uplink or downing track.
Summary of the invention
In order to solve in the prior art the technical problem that the practicability is poor, locating speed is slow and positioning accuracy is low, the present invention
Propose a kind of train method for rapidly positioning and system.
A kind of train method for rapidly positioning, which comprises
Data are stored in advance；
Obtain the track circuit data of train operation；
Mobile communication base station obtains cell information data by the track run using mobile terminal from current train；
Search of satellite signal；
Obtain satellite signal data；
It is resolved based on track circuit data, cell information data and satellite signal data；
Obtain train position.
Further, the data that are stored in advance include: the geographical letter that uplink/downlink track and its branched line is stored in advance
Cease system data.
Further, the GIS data includes: all track circuit data, trackside mobile communication base station position
Set at least one of the position data of data and trackside cell data.
Further, the track circuit data are by using every on the track circuit three-dimensional seat under space coordinates
Mark the interval L forming position mapping relations of (x, y, z) and its origination data arranged on track circuitThat is interval L takes any value, according to corresponding relationship f, have be spaced the corresponding three-dimensional coordinate of L (x, y,
Z), pass through the position mapping relationsIndicate all uplink/downlink tracks and its branched line position.
Further, the trackside mobile communication base station, subdistrict position data are by recording each base station BSxPosition and
The track section that cell is covered indicates.
Further, the base station BSxPosition base station ID number and corresponding position kilometer post LBSIt indicates, wherein LBS
For the interval for the origination data that base station point is arranged apart from track circuit.
Further, the track section that the cell is covered is corresponding at corresponding covering section start-stop with cell ID number
Kilometer post (Lx1,Lx2) indicate, wherein Lx1The interval of origination data for MPS process section start point distance from agreement, Lx2For cell
The interval for the origination data that area of coverage segment endpoint is arranged apart from track circuit.
Further, the acquisition train running information method includes one or more below:
The operational plan of train is obtained from scheduling system and is judged in conjunction with current time；
The orbital number of the current shared pressure track of train is obtained from ground operation management system；
The orbital number that train is presently in track is obtained from mobile unit.
Further, the cell information data include obtaining cell ID number and obtaining between mobile communication terminal and base station
Distance ST2BSAt least one of data.
Further, the acquisition cell ID number includes one or more of following methods:
Cell ID number is obtained in active networking process or other signalling interactive process；
The cell ID number in base station broadcast signal is passively listened to obtain.
Further, described search satellite-signal includes:
When obtaining the satellite standard time from trackside base station using mobile terminal, at least one satellite-signal is searched for；
When the satellite standard time has not been obtained from trackside base station using mobile terminal, at least two satellite-signals are searched for.
Further, described to include: broadcast, believe from the method that trackside base station obtains the satellite standard time using mobile terminal
Enable at least one of interactive process and data exchange process.
Further, the acquisition satellite signal data include satellite-signal arrival time interval, satellite known location and
At least one of satellite and the known clock jitter of standard time data.
Further, it is described based on track circuit data, cell information data and satellite signal data carry out resolve include:
When obtaining satellite standard time, search at least 1 satellite-signal, the exact position of train on the line is resolved
Method are as follows:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Train user terminal location L is solved, it is made to meet following equation group:
Wherein, (x1,y1,z1) be satellite known location, c is the light velocity, Δ T1It is satellite and satellite system standard time
Known clock jitter, TOA1It is satellite-signal arrival time interval, L, which is substituted into position mapping relationship f, can simultaneously obtain train
The three-dimensional coordinate position (x, y, z) of user terminal；
When satellite standard time, search at least 2 satellite-signals has not been obtained, the exact position of train on the line is resolved
Method are as follows:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Train user terminal location L is solved, it is made to meet following equation group:
Wherein, (x1,y1,z1) and (x2,y2,z2) be satellite known location, c is the light velocity, Δ T1With Δ T2It is satellite and defend
The known clock jitter of star system standard time, Δ t are the clock jitter of user terminal Yu satellite system standard time, TOA1With
TOA2It is the time of arrival (toa) interval of two satellites, L, which is substituted into position mapping relationship f, can simultaneously obtain train user terminal
Three-dimensional coordinate position (x, y, z).
Further, the position mapping relationship f approaches actual track using piecewise function, and actual location precision is
c·ΔTOA+ΔLf, wherein c is the light velocity, and Δ TOA is satellite TOA precision, Δ LfRoute is approached for position mapping relationship f
Precision.
Further, the position mapping relationship f is dis-crete sample values, and actual location precision is c Δ TOA+ Δ Ls+Δ
Lp, wherein c is the light velocity, and Δ TOA is satellite TOA precision, Δ LsIt is position mapping relationship f to the sampling interval of route, Δ LpFor
The precision of its sample point coordinate itself.
Further, the position mapping relationship f is dis-crete sample values, solves two most approached in error range respectively
A solution L+And L-, position mapping relations are Take its average value
As solution:The three-dimensional coordinate position of train isWherein, L+
The solution most approached in the error range that is positive, L+Coordinate according to position mapping relationship f be (x+, y+, z+), L-It is negative in error range
The solution most approached, L-Coordinate according to position mapping relationship f be (x-, y-, z-)。
Further, the method for solving train user terminal location L includes one or more of following methods:
To Lx1≤L≤Lx2Range carries out traverse scanning, obtains from the solution most approached for meeting equation group；
To Lx1≤L≤Lx2Range carries out dichotomizing search, obtains from the solution most approached for meeting equation group, wherein Lx1For
Train user terminal is presently in the interval of origination data of the trackside MPS process section start point distance from agreement, Lx2For train user
Terminal is presently in the interval for the origination data that trackside cell footprint segment endpoint is arranged apart from track circuit.
Further, user's mobile communication terminal distance S between current base station is being obtainedT2BSAfterwards, described to be based on track
Track data, cell information data and satellite signal data resolved in equation group increase equation: | L-LBS|=ST2BS, and make
It is resolved with the method for approximate solution is sought, wherein L is train user terminal location, LBSFor base station point apart from track circuit about
The interval of fixed origination data.
Further, N satellite-signal is searched, wherein N > 2, it is described to be based on track circuit data, cell information number
It is as follows according to the equation group resolved with satellite signal data:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Solve train user terminal location L:
Equation group is resolved using the method for approximate solution is sought, wherein (x1,y1,z1)、(x2,y2,z2)、…、
(xn,yn,zn) be satellite known location, c is the light velocity, Δ T1、ΔT2、…、ΔTnIt is satellite and satellite system standard time
Known clock jitter, Δ t are the clock jitter of user terminal Yu satellite system standard time, TOA1、TOA2、…、TOAnIt is N
The time of arrival (toa) interval of satellite, it is the three-dimensional coordinate that can simultaneously obtain train user terminal that L, which is substituted into position mapping relationship f,
Position (x, y, z).
Further, the method is using one or more kinds of in following satellite standard:
The GPS system in the U.S.；
The GLONASS system of Russia；
The Galileo system of European Union；
The Beidou II satellite navigation system of China.
A kind of system that train quickly positions, the system comprises:
Localization process unit, the information for using the other units of system to provide, perform claim require 1-22 any described
The computer program of method；
Vehicular satellite receiver for receiving satellite positioning signal and satellite other signals, and is transferred to localization process list
Member；
Vehicle radio station for monitoring trackside mobile communication base station signal, and is transferred to localization process unit；
As a result interface unit is transferred to positioning for obtaining train running information from train control system or operation management system
Processing unit；
Storage unit, for the GIS number of uplink/downlink track and its branched line to be stored in advance according to positioning accuracy request
According to, trackside mobile communication base station subdistrict position data, it is supplied to use when localization process unit is handled.
Further, the localization process unit is FPGA, ASIC, DSP, PC, industrial personal computer, server, embedded system
In one or more equipment that can run algorithm.
Further, the satellite positioning signal includes time of arrival (toa) interval, that is, when passing through Vehicular satellite receiver
Clock extraction signal time stamp subtracts satellite transmitted signal timestamp and obtains.
Further, the satellite other signals include satellite known location and satellite and satellite standard time it is known when
At least one of clock deviation signal.
Further, vehicle mobile communication base station signal includes that current area ID number, satellite standard time or clock are same
Walk at least one of signal signal.
Further, the satellite standard time or clock sync signal by broadcast between vehicle radio station and base station,
At least one of Signalling exchange or data exchange process method obtain.
The present invention stores mobile communication base station subdistrict position data by railway line circuit-switched data and track in advance, then using a variety of
Method obtains train running information from train control system or operation management system, and searches for and receive satellite signal data, base
The position of train on the line is resolved in track circuit data, cell information data and satellite signal data, it can be fast
Speed realizes the positioning of train predetermined accuracy.Compared with prior art, the present invention includes practicability height, that is, does not need additionally to build
Cost can apply this method and system；Locating speed is fast, it is only necessary to receive 1 to 2 positioning satellite signal, can position to train
Equation group is resolved；Positioning accuracy is high, can be accurately located at train on uplink, downing track and its branched line, full
The application demand of sufficient field of track traffic.Other features and advantages of the present invention will be illustrated in the following description, also, portion
Divide ground as will become apparent from the description, or understand through the implementation of the invention.The objectives and other advantages of the invention can
It is achieved and obtained by structure pointed in the specification, claims and drawings.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some 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 shows the basic flow chart of train method for rapidly positioning according to an embodiment of the present invention；
Fig. 2 shows the further flow diagrams of train method for rapidly positioning according to an embodiment of the present invention；
Fig. 3 shows the first system construction drawing of train quick positioning system according to an embodiment of the present invention；
Fig. 4 shows second of system construction drawing of train quick positioning system according to an embodiment of the present invention；
Fig. 5 shows the third system construction drawing of train quick positioning system according to an embodiment of the present invention；
Fig. 6 shows the 4th kind of system construction drawing of train quick positioning system according to an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention clearly and completely illustrated, it is clear that described embodiment is
A 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
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The embodiment of the present invention then provides a kind of train method for rapidly positioning, and Fig. 1 shows column according to an embodiment of the present invention
The basic flow chart of vehicle method for rapidly positioning.As shown, the embodiment of the present invention is firstly the need of being stored in advance data；Then it obtains
The track circuit data of train operation；Then base station by track is presently in from train using mobile terminal and obtains cell information；
Search again for satellite-signal；Based on the satellite-signal searched, satellite signal data is obtained；Believed based on track circuit data, cell
Breath data and satellite signal data are resolved；Finally obtain train position.The present invention carries out exemplary by taking track train as an example
Illustrate, but be not only limited to track train, the present invention may be applicable to for the location requirement of other vehicles.
Fig. 2 shows the further flow diagrams of train method for rapidly positioning according to an embodiment of the present invention, using this
The specific steps that inventive embodiments position train position are as shown in the figure:
Step 1: the GIS data of uplink/downlink track and its branched line being stored in advance according to positioning accuracy request, trackside is moved
Dynamic communication base station subdistrict position data.According to the linear feature of rail line, every bit can both use certain sky on route
Between three-dimensional coordinate (x, y, z) under coordinate system indicate, the point origination data apart from some agreement on the line can also be used
Interval L indicate.It is to accumulate to calculate completely along route when being spaced described in after computation, this method is also that track is handed over
Common a kind of position representation in logical, referred to as " kilometer post ".The GIS number of the signified pre-stored track circuit of this step
According to being to combine above two position representation, that is, form one group of position mapping relations Upper,
Downing track and other branched lines can have respective positions mapping relationship f.Trackside base station cell position data is then mainly remembered
Record each base station BSxPosition and the track section that is covered of cell, the former is with base station cell ID number and the kilometer of corresponding position
Mark LBSIt indicates, corresponding kilometer post (L at the latter's base station cell ID number and corresponding covering section start-stopx1,Lx2) indicate,
Wherein, Lx1The interval of origination data for MPS process section start point distance from agreement, Lx2It is cell footprint segment endpoint apart from rail
The interval of the origination data of road route agreement；
Step 2: obtaining train running information from the systems such as train control system or operation management, the purpose is to obtain train to work as
Anteposition is on which track.Optional method includes: to obtain the operational plan of train from scheduling system and current time is combined to carry out
Judgement, the orbital number that the current shared pressure track of train is obtained from ground operation management system obtain train from mobile unit
It is presently in the orbital number etc. of track.After determining that train is currently located at which track, including branched line track
Determine that subsequent location Calculation is the position mapping relationship f specifically prestored using which group；
Step 3: in train-side, user obtains cell from trackside mobile communication base station is presently in using mobile communication terminal
Information.Wherein, cell ID number is primarily obtained.It should be noted that present invention method is to mobile communication base station and terminal
Type and standard there is no limit, can be used and be not limited to Types Below or standard: 2G (GSM, CDMA-One), 3G (WCDMA,
CDMA2000, TD-CDMA), LTE (TD-LTE, LTE FDD), 4G, GSM-R, LTE-R etc..In the above standard, base station can
Broadcast its cell ID.When user obtains cell ID using mobile communication terminal, it can be handed in active networking process or other signalings
Cell ID is obtained during mutually, can also passively listen the cell ID in base station broadcast signal only to obtain.In addition to this, in item
When part allows, mobile communication terminal distance S between base station can be obtainedT2BS。
Step 4: for this step there are two types of selection, can the foundation of selection is user from being presently in using mobile communication terminal
Mobile communication base station obtains the satellite standard time, and step 5 is selected if "Yes", searches at least 1 satellite-signal；If "No"
Step 6 is then selected, at least 2 satellite-signals are searched for.It include the synchronous dress of satellite clock in a part of mobile communication base station
It sets, the satellite standard time can be obtained.If satellite standard time or clock sync signal can be passed through broadcast, signaling by this kind of base station
Interactive or data exchange process shares to user's mobile communication terminal, then can satisfy the judgment condition of this step.
Step 5: in train-side, user has obtained the satellite standard time, only needs search at least 1 satellite-signal to obtain at this time
Take TOA, satellite known location, satellite and the known clock jitter of standard time, and prestore in conjunction with abovementioned steps track data,
Subdistrict position data, current area ID can resolve the exact position of train on the line.Method particularly includes:
A) according to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)。
B) train user terminal location L is solved, it is made to meet following condition:
Wherein, (x1,y1,z1) be satellite known location, c is the light velocity, Δ T1It is satellite and satellite system standard time
Known clock jitter, TOA1It is satellite-signal arrival time interval.L, which is substituted into position mapping relationship f, can simultaneously obtain train
The three-dimensional coordinate position (x, y, z) of user terminal.
Step 6: in train-side, user does not obtain the satellite standard time, need to consider the clock between user terminal and satellite
Deviation delta t needs search at least 2 satellite-signals to obtain known to TOA, satellite known location, satellite and standard time at this time
Clock jitter, and in conjunction with track data, subdistrict position data, the current area ID that abovementioned steps prestore, train can be resolved and existed
Exact position and clock jitter on route.Method particularly includes:
A) according to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)。
B) train user terminal location is solvedIt is set to meet following condition:
Wherein, (x1,y1,z1) and (x2,y2,z2) be satellite known location, c is the light velocity, Δ T1With Δ T2It is satellite and defend
The known clock jitter of star system standard time, Δ t are the clock jitter of user terminal Yu satellite system standard time, TOA1With
TOA2It is the time of arrival (toa) interval of two satellites.L, which is substituted into position mapping relationship f, can simultaneously obtain train user terminal
Three-dimensional coordinate position (x, y, z).
It is resolved by the equation group to be solved of step 5 or step 6, it is accurate on railway line road that train can be obtained
Position and clock jitter.Wherein, for Lx1≤L≤Lx2A kind of adoptable method for solving of the determination of range is: carrying out traversal and sweeps
It retouches, obtains from the solution most approached for meeting above-mentioned condition；Another method for solving is: to Lx1≤L≤Lx2Range carries out dichotomy
Search, obtains from the solution most approached for meeting above-mentioned condition；In addition to this, however not excluded that problem is asked using other methods
Solution.
The embodiment of the present invention can utilize multicore or multi-disc in the case where computing resource allows for above-mentioned a variety of solutions
CPU, DSP, FPGA etc. realize that algorithm accelerates, and carry out parallelization calculating；And satellite system and its phase described in the embodiment of the present invention
Equipment, term are closed, can be used following but is not limited to following several satellite standards: the GPS system in the U.S., Russian GLONASS
System, the Galileo system of European Union, the Beidou II satellite navigation system of China.
Step described above is needed to add explanation:
Actual track, the essence of piecewise approximation are approached in view of piecewise function can be used in position step 1 mapping relationship f
Degree will affect the precision of final position L, therefore the precision of position mapping relationship f should be determined by the required precision positioned.Assuming that
Satellite TOA precision is Δ TOA, and position mapping relationship f is Δ L to the approximation accuracy of routef, then actual location precision will be
c·ΔTOA+ΔLf；
In view of the position mapping relationship f prestored may not be successive value but dis-crete sample values, sampling precision can shadow
Ring final positionPrecision, therefore the precision of position mapping relationship f should be determined by the required precision positioned.Assuming that satellite TOA
Precision is Δ TOA, and position mapping relationship f is Δ L to the sampling interval of routes, the precision of sample point coordinate itself is Δ Lp,
So actual location precision will be c Δ TOA+ Δ Ls+ΔLp；
In view of the position mapping relationship f prestored may not be successive value but dis-crete sample values, can also solve respectively
The two solution L most approached in positive and negative error range out+And L-, then interpolation takes its average value as solution:It is similar
, it is assumed thatThen the three-dimensional coordinate position of train is
User's mobile communication terminal distance S between current base station is also obtained in step 3T2BSWhen, then can to
Expand following equation in the equation group of Solve problems: | L-LBS|=ST2BS, and resolved using the method for approximate solution is sought, it is such as minimum
Square law etc. can be further improved positioning calculation precision；
When searcher receiver is to the signal for being more than 1 satellite in steps of 5, or in step 6 searcher receiver to more
When the signal of 2 satellites, the quantity for expanding equation in problem to be solved can be continued, and solve using the method for approximate solution is sought
It calculates, such as: least square method etc. can be further improved positioning accuracy.
Present invention method can be by computer or the system of embedded program control and realize.Therefore, with
Correspondingly, the embodiment of the present invention also provides a kind of system that train quickly positions, and the system comprises localization process units
And Vehicular satellite receiver, vehicle radio station, interface unit and the storage unit of data connection are realized with localization process unit.Its
In:
The localization process unit, the information for using the other units of system to provide, can be FPGA, ASIC, DSP,
The equipment that PC, industrial personal computer, server, embedded system etc. can run algorithm executes the above any embodiment of that present invention method
Computer program；
The Vehicular satellite receiver, as user's ICBM SHF satellite terminal on train, for receiving satellite-signal, comprising: connect
Satellite positioning signal, i.e. time of arrival (toa) interval are received, the timestamp of signal can be extracted by Vehicular satellite receiver clock
The timestamp for subtracting satellite transmitted signal obtains；Satellite other signals are received, including extracts satellite known location and satellite and defends
The known clock jitter of star standard time；And above-mentioned signal data is transferred to localization process unit；
The vehicle radio station, as user's mobile communication terminal on train, for monitoring trackside mobile communication base station letter
Number, it is interacted when having ready conditions with base station.Vehicle radio station is first responsible for obtaining current area ID number by base station, is transferred to positioning
Processing unit.Cell ID can be obtained in active networking process or other signalling interactive process, can also only passively listen base
The cell ID that stands in broadcast singal is obtained；Secondly, vehicle radio station is also responsible for through base station broadcast, Signalling exchange when having ready conditions
Or data exchange process obtains base station shared satellite standard time or clock sync signal, when realizing this system and satellite standard
Between synchronization；And the above results are transferred to localization process unit；
The interface unit is used to obtain train operation from train control system or operation management system with external system interface
Information, it is therefore an objective to obtain train and be currently located on which track.Optional method has: the operation meter of train is obtained from scheduling system
It draws and current time is combined to be judged；The orbital number of the current shared pressure track of train is obtained from ground operation management system；
The orbital number etc. that train is presently in track is obtained from mobile unit；And the above results are transferred to localization process unit；
Storage unit, for the GIS number of uplink/downlink track and other branched lines to be stored in advance according to positioning accuracy request
According to, trackside mobile communication base station subdistrict position data, it is supplied to use when localization process unit is handled.
In the specific embodiment of train quick positioning system of the present invention, system structure can be with one of flowering structure or
Person is a variety of:
Interface unit, storage unit, localization process unit can be mutually indepedent unit, system construction drawing such as Fig. 3 institute
Show；
Localization process unit can also realize in the equipment of included storage capacity, then localization process unit and storage unit
It is integrated in together, system construction drawing is as shown in Figure 4；
Localization process unit can also realize in included storage capacity, the equipment of interface capability, then localization process unit,
Storage unit and interface unit are integrated in together, and system construction drawing is as shown in Figure 5.
Vehicular satellite receiver, vehicle radio station can also be realized in same module or same board, referred to as vehicle-mounted logical
Believe that all-in-one machine, system construction drawing are as shown in Figure 6.
The train quick positioning system of the embodiment of the present invention is in addition to for realizing quick positioning side described in above-described embodiment
Method can also be compatible with and realize other localization methods, such as: when not against vehicle radio station, use the routine for only relying on satellite-signal
Satellite positioning method；Or when ground has similar AGPS server to provide service, the auxiliary positioning side of similar AGPS can be used
Method.
Compared with the prior art, the practicability of the embodiment of the present invention is high, and the external information that system is relied on is current rail
The condition that road field of traffic has usually had, comprising: satellite-signal covering, can provide train at the covering of trackside mobile communication base station
The systems such as the train control system of operation information or operation management.This method and system can be applied by not needing additional construction cost.
User's ICBM SHF satellite terminal only receives satellite-signal, is not required to not need configuration high power transmitter part to satellite emission signal.This is
System is also equipped with the ability of compatible other localization methods, conventional satellite localization method, similar AGPS including only relying on satellite-signal
Assisted location method；Meanwhile the locating speed of the embodiment of the present invention is fast, system only needs to receive 1 to 2 positioning satellite signal,
Train positioning equation group can be resolved.And most popular satellite positioning method, such as GPS system etc. need together at present
When receive at least 4 positioning satellite signals just can be carried out positioning, speed is slower than this method and system.It is even this fixed with AGPS
The faster system of bit rate compares, such as the scene when train just leaves tunnel, and the locating speed of AGPS is limited to move again
Mobile communication terminal networks and the delay of AGPS server communication process, therefore its speed is still slower than this method and system.In addition,
This method and system are applied also for when carrying out orientation problem resolving by being carried out using multicore or multi-disc CPU, DSP, FPGA etc.
Parallelization, which calculates, realizes that algorithm accelerates, and larger raising resolves efficiency；And the positioning accuracy of the embodiment of the present invention is high, due to wired
The auxiliary such as road GIS information, trackside base station information, this method and system train can be accurately located at uplink, downing track or its
On its branched line, positioning accuracy is improved, and is able to satisfy the application demand of field of track traffic.
The embodiment of the present invention stores mobile communication base station subdistrict position data by railway line circuit-switched data and track in advance, then adopts
Train running information is obtained from the systems such as train control system or operation management with a variety of methods, and searches for and receive satellite-signal
Data resolve the position of train on the line based on track circuit data, cell information data and satellite signal data,
It is final to obtain train positioning.Embodiment be based on the above method, by it is existing do not seriously affect system feasibility, availability it is auxiliary
Equipment is helped, and enhances satellite positioning capability by way of comprehensive multisystem ability, tunnel etc. can be left in train one and blocked
Scene, quickly regains positioning, and locating speed meets rail traffic demand；And guarantee train be accurately positioned in uplink, under
On capable and its branch's track, positioning accuracy is high, realizes all fronts train and is quickly accurately positioned.
Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should manage
Solution: it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (27)
1. a kind of train method for rapidly positioning, which comprises
Data are stored in advance；
Obtain the track circuit data of train operation；
Mobile communication base station obtains cell information data by the track run using mobile terminal from current train；
Search of satellite signal；
Obtain satellite signal data；
It is resolved based on track circuit data, cell information data and satellite signal data；
Obtain train position.
2. a kind of train method for rapidly positioning according to claim 1, which is characterized in that described that data packet is stored in advance
It includes: the GIS data of uplink/downlink track and its branched line is stored in advance.
3. a kind of train method for rapidly positioning according to claim 2, which is characterized in that the GIS data
It include: at least one of all track circuit data, trackside mobile communication base station position data and position data of trackside cell
Data.
4. a kind of train method for rapidly positioning according to claim 3, which is characterized in that the track circuit data pass through
Using every on track circuit three-dimensional coordinate (x, y, z) under space coordinates and its arrange on track circuit it is original
The interval L forming position mapping relations of starting point That is interval L takes any value, according to corresponding relationship f, has
Three-dimensional coordinate (x, y, z) corresponding with interval L, passes through the position mapping relationsIndicate all uplink/downlinks
Track and its branched line position.
5. a kind of train method for rapidly positioning according to claim 3, which is characterized in that the trackside mobile communication base
It stands, subdistrict position data are by recording each base station BSxPosition and the track section that is covered of cell indicate.
6. a kind of train method for rapidly positioning according to claim 5, which is characterized in that the base station BSxPosition base
The kilometer post L of ID number of standing and corresponding positionBSIt indicates, wherein LBSThe origination data arranged for base station point apart from track circuit
Interval.
7. a kind of train method for rapidly positioning according to claim 5, which is characterized in that the route that the cell is covered
Section cell ID number and corresponding kilometer post (L at corresponding covering section start-stopx1,Lx2) indicate, wherein Lx1For MPS process
The interval of the origination data of section starting point distance agreement, Lx2Original arranged for cell footprint segment endpoint apart from track circuit
The interval of point.
8. a kind of train method for rapidly positioning according to claim 1, which is characterized in that the acquisition train running information
Method includes one or more below:
The operational plan of train is obtained from scheduling system and is judged in conjunction with current time；
The orbital number of the current shared pressure track of train is obtained from ground operation management system；
The orbital number that train is presently in track is obtained from mobile unit.
9. a kind of train method for rapidly positioning according to claim 1, which is characterized in that the cell information data include
It obtains cell ID number and obtains mobile communication terminal distance S between base stationT2BSAt least one of data.
10. a kind of train method for rapidly positioning according to claim 9, which is characterized in that the acquisition cell ID number packet
Include one or more of following methods:
Cell ID number is obtained in active networking process or other signalling interactive process；
The cell ID number in base station broadcast signal is passively listened to obtain.
11. a kind of train method for rapidly positioning according to claim 1, which is characterized in that described search satellite-signal packet
It includes:
When obtaining the satellite standard time from trackside base station using mobile terminal, at least one satellite-signal is searched for；
When the satellite standard time has not been obtained from trackside base station using mobile terminal, at least two satellite-signals are searched for.
12. a kind of train method for rapidly positioning according to claim 11, which is characterized in that it is described using mobile terminal from
The method that trackside base station obtains the satellite standard time includes: at least one of broadcast, signalling interactive process and data exchange process.
13. a kind of train method for rapidly positioning according to claim 1, which is characterized in that the acquisition satellite-signal number
According to including in satellite-signal arrival time interval, satellite known location and satellite and the known clock jitter of standard time at least one
Kind data.
14. a kind of train method for rapidly positioning according to claim 1, which is characterized in that described to be based on railway line number
Resolve according to, cell information data and satellite signal data and includes:
When obtaining satellite standard time, search at least 1 satellite-signal, the side of the exact position of train on the line is resolved
Method are as follows:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Train user terminal location L is solved, it is made to meet following equation group:
Wherein, (x1,y1,z1) be satellite known location, c is the light velocity, Δ T1It is satellite known with the satellite system standard time
Clock jitter, TOA1It is satellite-signal arrival time interval, L, which is substituted into position mapping relationship f, can simultaneously obtain train user
The three-dimensional coordinate position (x, y, z) of terminal；
When satellite standard time, search at least 2 satellite-signals has not been obtained, the side of the exact position of train on the line is resolved
Method are as follows:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Train user terminal location L is solved, it is made to meet following equation group:
Wherein, (x1,y1,z1) and (x2,y2,z2) be satellite known location, c is the light velocity, Δ T1With Δ T2It is satellite and satellite system
The known clock jitter of system standard time, Δ t is the clock jitter of user terminal Yu satellite system standard time, TOA1And TOA2
It is the time of arrival (toa) interval of two satellites, L, which is substituted into position mapping relationship f, can simultaneously obtain the three of train user terminal
It ties up coordinate position (x, y, z).
15. according to a kind of any train method for rapidly positioning of claim 4 or 14, which is characterized in that the position is reflected
It penetrates relationship f and approaches actual track using piecewise function, actual location precision is c Δ TOA+ Δ Lf, wherein c is the light velocity, Δ
TOA is satellite TOA precision, Δ LfIt is position mapping relationship f to the approximation accuracy of route.
16. according to a kind of any train method for rapidly positioning of claim 4 or 14, which is characterized in that the position is reflected
The relationship f of penetrating is dis-crete sample values, and actual location precision is c Δ TOA+ Δ Ls+ΔLp, wherein c is the light velocity, and Δ TOA is satellite
TOA precision, Δ LsIt is position mapping relationship f to the sampling interval of route, Δ LpFor the precision of its sample point coordinate itself.
17. 4 any a kind of train method for rapidly positioning according to claim 1, which is characterized in that the position mapping is closed
Be f it is dis-crete sample values, solves the two solution L most approached in error range respectively+And L-, position mapping relations areTake its average value as solution:The three of train
Tieing up coordinate position isWherein, L+The solution most approached in the error range that is positive, L+
Coordinate according to position mapping relationship f be (x+, y+, z+), L_The solution most approached in the error range that is negative, L_Coordinate according to position
Mapping relationship f is (x-, y-, z-)。
18. a kind of train method for rapidly positioning according to claim 14, which is characterized in that the solution train user is whole
The method of end position L includes one or more of following methods:
To Lx1≤L≤Lx2Range carries out traverse scanning, obtains from the solution most approached for meeting equation group；
To Lx1≤L≤Lx2Range carries out dichotomizing search, obtains from the solution most approached for meeting equation group, wherein Lx1For train
User terminal is presently in the interval of origination data of the trackside MPS process section start point distance from agreement, Lx2For train user terminal
It is presently in the interval for the origination data that trackside cell footprint segment endpoint is arranged apart from track circuit.
19. a kind of train method for rapidly positioning according to claim 9 or 14, which is characterized in that mobile obtaining user
Communication terminal distance S between current base stationT2BSAfterwards, described to be based on track circuit data, cell information data and satellite-signal
Data resolved in equation group increase equation: | L-LBS|=ST2BS, and resolved using the method for approximate solution is sought, wherein L is
Train user terminal location, LBSFor the interval for the origination data that base station point is arranged apart from track circuit.
20. a kind of train method for rapidly positioning described in 1 or 14 according to claim 1, which is characterized in that search N satellite
Signal, wherein N > 2, the equation resolved based on track circuit data, cell information data and satellite signal data
Group is as follows:
According to current area ID, corresponding kilometer post (L at corresponding covering section start-stop is obtainedx1,Lx2)；
Solve train user terminal location L:
Equation group is resolved using the method for approximate solution is sought, wherein (x1,y1,z1)、(x2,y2,z2)、…、(xn,yn,
zn) be satellite known location, c is the light velocity, Δ T1、ΔT2、…、ΔTnBe satellite and satellite system standard time it is known when
Clock deviation, Δ t are the clock jitter of user terminal Yu satellite system standard time, TOA1、TOA2、…、TOAnIt is N satellite
Time of arrival (toa) interval, it is that can simultaneously obtain the three-dimensional coordinate position of train user terminal that L, which is substituted into position mapping relationship f,
(x, y, z).
21. a kind of train method for rapidly positioning according to claim 1, which is characterized in that the method is defended using following
It is one or more kinds of in star standard:
The GPS system in the U.S.；
The GLONASS system of Russia；
The Galileo system of European Union；
The Beidou II satellite navigation system of China.
22. a kind of system that train quickly positions, the system comprises:
Localization process unit, the information for using the other units of system to provide, perform claim require any the method for 1-21
Computer program；
Vehicular satellite receiver for receiving satellite positioning signal and satellite other signals, and is transferred to localization process unit；
Vehicle radio station for monitoring trackside mobile communication base station signal, and is transferred to localization process unit；
As a result interface unit is transferred to localization process for obtaining train running information from train control system or operation management system
Unit；
Storage unit, for GIS data, the rail of uplink/downlink track and its branched line to be stored in advance according to positioning accuracy request
Other mobile communication base station subdistrict position data are supplied to use when localization process unit is handled.
23. the system that a kind of train according to claim 22 quickly positions, which is characterized in that the localization process unit
It is FPGA, ASIC, DSP, PC, industrial personal computer, server, one or more equipment that can run algorithm in embedded system.
24. the system that a kind of train according to claim 22 quickly positions, which is characterized in that the satellite positioning signal
Including time of arrival (toa) interval, i.e., when subtracting satellite transmitted signal by Vehicular satellite receiver clock extraction signal time stamp
Between stab and obtain.
25. the system that a kind of train according to claim 22 quickly positions, which is characterized in that the satellite other signals
At least one of known clock jitter including satellite known location and satellite and satellite standard time signal.
26. the system that a kind of train according to claim 22 quickly positions, which is characterized in that the vehicle mobile communication base
Signal of standing includes at least one of current area ID number, satellite standard time or clock sync signal signal.
27. the system that a kind of train according to claim 26 quickly positions, which is characterized in that the satellite standard time
Or clock sync signal passes through at least one of broadcast, Signalling exchange or data exchange process between vehicle radio station and base station side
Method obtains.
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