CN109664922A - A kind of fusion speed measurement treatment method and device based on accelerometer - Google Patents
A kind of fusion speed measurement treatment method and device based on accelerometer Download PDFInfo
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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
- B61L25/021—Measuring and recording of train speed
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Abstract
The fusion speed measurement treatment method and device based on accelerometer that the embodiment of the invention discloses a kind of, which comprises three accelerometers are installed as three different angles, and the acceleration of the angle calculation current train according to three accelerometers；The speed at train current time is measured by velocity sensor；Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.By using the judgment mode that tests the speed based on accelerometer, the speed measurement treatment for merging velocity sensor and accelerometer improves the rate accuracy and availability of signalling arrangement, evades unnecessary loss without considering interference of the external environment to velocity-measuring system precision.
Description
Technical field
The present embodiments relate to technical field of rail traffic, and in particular to a kind of fusion based on accelerometer is tested the speed place
Manage method and device.
Background technique
With the rapid development of urban track traffic, the probability that outdoor route occurs is gradually increased, in the open by day
Gas and environment are affected, and since radar installation site is outside car body, directly contact with external environment, rate accuracy is impacted
Larger, testing the speed in inclement weather is easy to happen the deviation that tests the speed system is caused to test the speed failure.
The speed measuring equipment that existing vehicle-mounted ATP subsystem includes has: 2 velocity sensor equipment and 3 accelerometers are set
Standby, at present due to the influence of outdoor ground weather and environmental factor, radar velocity measurement accuracy is affected by environment larger, is easy erroneous judgement and surveys
Fast failure, influences system availability.As subway line is more and more, the complexity of route site type is also being gradually increased, when
There are more outdoor routes for the site type of one route, and in the case where weather condition relatively severe (rain and snow weather), in this section
Under outdoor route scene, it will affect reflection of radar wave face ring border, and then influence the decrease of reflected signal strength, lead to radar equipment
Rate accuracy degradation eventually leads to and tests the speed in vain.Radar equipment is not directed to the safeguard procedures of environmental disturbances at present, due to
Radar velocity measurement accuracy tests the speed in vain caused by declining has large effect to traffic safety, increases operations risks.
Summary of the invention
Since existing method is there are the above problem, the embodiment of the present invention proposes that a kind of fusion based on accelerometer is tested the speed place
Manage method and device, comprising:
In a first aspect, the embodiment of the present invention proposes a kind of fusion speed measurement treatment method based on accelerometer, comprising:
Three accelerometers are installed as three different angles, and according to the angle calculation current train of three accelerometers
Acceleration；
The speed at train current time is measured by velocity sensor；
Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
Optionally, the acceleration of the angle calculation current train according to three accelerometers, specifically includes:
Work as according to value of slope locating for the angle calculation current train of three accelerometers, and according to value of slope correction
The acceleration of preceding train.
Optionally, the method also includes:
If judgement knows that three accelerometers are normal, the gradient is carried out by accelerometer two-by-two when train is without position
Information is averaged to obtain grade information after calculating, and is averaged after calculating separately true train acceleration by each accelerometer
Train actual acceleration is obtained for judgement of dallying and skid；
If single accelerometer failure is known in judgement, carried out when train is without position by normal two accelerometers
Grade information obtains grade information after calculating, and obtains train reality after calculating true train acceleration by normal accelerometer
Border acceleration judges for slipping；
If judgement know two accelerometer failures, when train is without position without grade information calculate, also not into
The judgement of row slipping obtains train reality after calculating true train acceleration using normal accelerometer when train has position
Border acceleration is for judgement of dallying and skid；
If three equal failures of accelerometer are known in judgement, calculates without grade information, also sentence without slipping
It is disconnected.
Optionally, the method also includes:
When velocity sensor is in normal condition, the acceleration comparison result of train actual acceleration and velocity sensor
When absolute value slides into threshold value greater than sky, determine that speed passes if the acceleration that train actual acceleration is greater than velocity sensor
Sensor skids, and thinks that velocity sensor dallies if the acceleration that train actual acceleration is less than velocity sensor；
When velocity sensor is in idle running or slipping state, if the acceleration of train actual acceleration and velocity sensor
The absolute value of comparison result is less than empty cunning and exits threshold value, it is determined that train wheel restores normal condition；
If two velocity sensors restore normal simultaneously, host is transferred to normal condition；
If the empty sliding time-out of two velocity sensors, host are transferred to empty sliding timeout mode.
Optionally, the method also includes:
After host collects the data of accelerometer, the data of each accelerometer, which meet preset condition, to be known to judgement, then
Think that the data reasonability judgement of accelerometer passes through.
Optionally, the velocity sensor carries out the measurement of current time acceleration based on spring model, works as accelerometer
When install with angle with car body,
If train operation, on flat slope, the acceleration value of accelerometer output is consistent with train body actual acceleration；
If slope, the acceleration value of accelerometer output indicate weight component over/under for train operation.
Optionally, the initial measured error of the accelerometer is determined according to the installation error of accelerometer, when the gradient is believed
Breath is invalid, train zero-speed when, calibrated without zero-speed.
Optionally, the method also includes:
When the gradient that three accelerometers calculate is more than or equal to preset value, if being calculated according to three accelerometers
The gradient direction come is changed within the monocycle, it is determined that slope change, gradient direction has occurred in the position where train
Maintain the last period；
When the gradient that three accelerometers calculate is less than or equal to preset value, if being calculated according to three accelerometers
The gradient direction come is changed within the monocycle, then uses descending processing mode.
Optionally, the fault mode of accelerometer includes any combination below: serial ports failure can not outgoing message, weekly
Phase receives message amount and is unsatisfactory for requiring, continues 5 periods output steady state value, measurement absolute value greater than theoretical train acceleration+slope
Degree jumps；
Wherein, the fault mode is identified by inquiring and comparing accelerometer message.
Second aspect, the embodiment of the present invention propose a kind of fusion speed measurement treatment device based on accelerometer, comprising: three
Accelerometer and velocity sensor；
Three accelerometer setting angles are respectively updip, level and have a down dip, according to the angle of three accelerometers
Calculate the acceleration of current train；
The velocity sensor is used to measure the speed at train current time；
Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
As shown from the above technical solution, the embodiment of the present invention is melted by using the judgment mode that tests the speed based on accelerometer
The speed measurement treatment for closing velocity sensor and accelerometer, without considering interference of the external environment to velocity-measuring system precision, safety is
Number is high, be avoided that when meeting with rain and snow weather radar velocity measurement test the speed deviation the problem of, improve the rate accuracy of signalling arrangement with
Availability evades unnecessary loss.
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 only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is a kind of process signal for fusion speed measurement treatment method based on accelerometer that one embodiment of the invention provides
Figure；
Fig. 2 is the signal that the value of slope of accelerometer position is measured under a certain gradient that one embodiment of the invention provides
Figure；
Fig. 3 is the signal that the value of slope of accelerometer position is measured under another gradient that one embodiment of the invention provides
Figure；
Fig. 4 is the schematic diagram that the acceleration value that one embodiment of the invention provides calculates；
Fig. 5 is the scheme of installation of the accelerometer for the different angle that one embodiment of the invention provides；
Fig. 6 is that the vertical curve upgrade situation of change that one embodiment of the invention provides analyzes schematic diagram；
Fig. 7 is the state transition diagram for the train that one embodiment of the invention provides；
Certain situation schematic diagram of worst error when the step-by-step counting that Fig. 8 provides for one embodiment of the invention；
Another situation schematic diagram of worst error when the step-by-step counting that Fig. 9 provides for one embodiment of the invention.
Specific embodiment
With reference to the accompanying drawing, further description of the specific embodiments of the present invention.Following embodiment is only used for more
Technical solution of the present invention is clearly demonstrated, and not intended to limit the protection scope of the present invention.
Fig. 1 shows a kind of process signal of fusion speed measurement treatment method based on accelerometer provided in this embodiment
Figure, comprising:
S101, three accelerometers are installed as three different angles, and are worked as according to the angle calculation of three accelerometers
The acceleration of preceding train.
Wherein, it is specifically included according to the acceleration of the angle calculation current train of three accelerometers: being accelerated according to three
Value of slope locating for the angle calculation current train of meter is spent, and corrects the acceleration of current train according to the value of slope.
S102, the speed that train current time is measured by velocity sensor.
S103, fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
Specifically, the present embodiment provides a kind of fusion speed measurement treatment device based on accelerometer, comprising: three acceleration
Meter and velocity sensor.
Three accelerometer setting angles are respectively updip, level and have a down dip, according to the angle of three accelerometers
Calculate the acceleration of current train.
The velocity sensor is used to measure the speed at train current time.
Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
The present embodiment merges velocity sensor and accelerometer by using the judgment mode that tests the speed based on accelerometer
Speed measurement treatment improves the rate accuracy and availability of signalling arrangement without considering interference of the external environment to velocity-measuring system precision,
Evade unnecessary loss.
Further, on the basis of above method embodiment, the method also includes:
If judgement knows that three accelerometers are normal, the gradient is carried out by accelerometer two-by-two when train is without position
Information is averaged to obtain grade information after calculating, and is averaged after calculating separately true train acceleration by each accelerometer
Train actual acceleration is obtained for judgement of dallying and skid.
If single accelerometer failure is known in judgement, carried out when train is without position by normal two accelerometers
Grade information obtains grade information after calculating, and obtains train reality after calculating true train acceleration by normal accelerometer
Border acceleration judges for slipping.
If judgement know two accelerometer failures, when train is without position without grade information calculate, also not into
The judgement of row slipping obtains train reality after calculating true train acceleration using normal accelerometer when train has position
Border acceleration is for judgement of dallying and skid.
If three equal failures of accelerometer are known in judgement, calculates without grade information, also sentence without slipping
It is disconnected.
Wherein, the fault mode of accelerometer includes any combination below: serial ports failure can not outgoing message, each cycle
Receive message amount is unsatisfactory for requiring, continues 5 periods output steady state value, measurement absolute value is greater than theoretical train acceleration+gradient,
It jumps.
Specifically, the only fault mode of accelerometer is as follows:
Serial ports failure, can not outgoing message (communication disruption)；
The reception message amount of each cycle accelerometer is unsatisfactory for requiring, it is believed that accelerometer is abnormal；
Accelerometer continues 5 periods output steady state value, it is believed that accelerometer is abnormal；
Accelerometer measures absolute value is greater than theoretical train acceleration+gradient (240cm/s/s)；
Accelerometer jumps, and two mechanical periodicities are more than 240cm/s/s；
Judge when accelerometer exception without slipping, when accelerometer is more than time-out time extremely, output is surveyed
It is fast invalid.
Above-mentioned fault mode can be identified by inquiring and comparing accelerometer message.
CPU of accelerometer itself has the function of filtering, calibration, memory self-test etc., will be if these functions are abnormal
Embodied in the status word of final output message, therefore, can by inquiry status word come detect accelerometer program operation whether
Normally.
Accelerometer software period (11.11ms) and vehicle-mounted VOBC software cycle (200ms/285ms) are inconsistent, vehicle-mounted
VOBC software cycle is greater than the accelerometer software period, so vehicle-mounted VOBC, when obtaining accelerometer, each cycle obtains complete
The packet of whole accelerometer be it is multiple, it is vehicle-mounted for the interface data that accelerometer provides after obtaining multiple packets
VOBC verifies acceleration evaluation according to interface protocol, obtains the acceleration evaluation that verification passes through and is averaged, it is believed that when
The measured value a of period accelerometer accelerationm.In the case of the non-zero-speed of train by accelerometer information be transferred to two from three platform into
Row interaction voting.
Tri- motherboards of ATP are respectively connected to the accelerometer of three different angles, wherein when single accelerometer state just
Chang Ze thinks that may participate in the gradient calculates and slipping judgement.
It is as follows for the detailed process of mono-/multi- accelerometer failure:
When three accelerometers normally then take after train carries out grade information calculating two-by-two without position brief acceleration meter
Grade information is averagely obtained, each accelerometer is averaged to obtain train actual acceleration after calculating separately true train acceleration
For judgement of dallying and skid；
When single accelerometer failure then carries out grade information using normal two accelerometers when train is without position
Grade information is obtained after calculating, obtains train actual acceleration for sky after normal accelerometer calculating true train acceleration
Turn judgement of skidding；
When two accelerometer failures are then calculated when train is without position without grade information, also without slipping
Judgement obtains train actual acceleration use after calculating true train acceleration using normal accelerometer when train has position
In idle running and judgement of skidding；
It when three equal failures of accelerometer, calculates without grade information, also judges without slipping.
The embodiment of the present invention merges velocity sensor and acceleration by using the judgment mode that tests the speed based on accelerometer
The speed measurement treatment of meter, without considering interference of the external environment to velocity-measuring system precision, safety coefficient is high, is avoided that experience sleet sky
When gas radar velocity measurement test the speed deviation the problem of, improve the rate accuracy and availability of signalling arrangement, evade unnecessary damage
It loses.
Further, on the basis of above method embodiment, the method also includes:
If current location is effective, train current hill grade acceleration is inquired according to train position, and calculate according to accelerometer
Obtain train actual acceleration.
When velocity sensor is in normal condition, the acceleration comparison result of train actual acceleration and velocity sensor
When absolute value slides into threshold value greater than sky, determine that speed passes if the acceleration that train actual acceleration is greater than velocity sensor
Sensor skids, and thinks that velocity sensor dallies if the acceleration that train actual acceleration is less than velocity sensor.
When velocity sensor is in idle running or slipping state, if the acceleration of train actual acceleration and velocity sensor
The absolute value of comparison result is less than empty cunning and exits threshold value, it is determined that train wheel restores normal condition.
If two velocity sensors restore normal simultaneously, host is transferred to normal condition.
If the empty sliding time-out of two velocity sensors, host are transferred to empty sliding timeout mode.
Specifically, if current location is effective, inquiring train current hill grade acceleration according to train position is ag, then work as the period
The actual acceleration value of train are as follows: ar=am+ag+azero；The train actual acceleration a being calculated by accelerometerr, with speed
Spend the acceleration a of sensorodoIt is compared:
When velocity sensor is in normal condition, and the absolute value of comparison result slides into threshold value greater than sky, arIt is greater than
aodoThen think that velocity sensor skids, arLess than aodoThen think that velocity sensor dallies.
When velocity sensor is in idle running or slipping state, the absolute value of comparison result be less than it is empty sliding when exiting threshold value,
Velocity sensor restores normal condition.
If current location is invalid, gradient value information can not be obtained, the acceleration value of accelerometer can not be compensated, because
This needs to measure using accelerometer, velocity sensor to the gradient is presently in.
Further, on the basis of above method embodiment, the method also includes:
After host collects the data of accelerometer, the data of each accelerometer, which meet preset condition, to be known to judgement, then
Think that the data reasonability judgement of accelerometer passes through.
Accelerometer in actual use, using add speedometer carry out safety calculate when, it is necessary first to judge
The data reasonability of accelerometer measures the slope of accelerometer position as shown in Figures 2 and 3 respectively under different gradient
Angle value can take the mode for increasing inclination angle for accelerometer.
In this context, after host collects the data of accelerometer, it is necessary first to the data of multiple accelerometers into
Row reasonability judgement, since mounted angle is fixed value, thus, it is only required to by accelerometer 1 and accelerometer 3 pour angle compensation
Back, compared with normal data being carried out with accelerometer 2.
Whether the accelerometer offset of inclination angle installation is consistent with slope situation in level land situation, needs with practical application field
For scape, formulation does quantitative analysis.Since accelerometer 1 is consistent with the mounting means of accelerometer 3, only inclination angle side
To on the contrary, may recognize that the compensation situation of accelerometer 3 thus, it is only required to analyze accelerometer 1.
If the accelerometer mounting inclination angle in Fig. 3 is 6 degree, the gradient is γ=35 ‰=2 °, acceleration of gravity g=
980cm/s2, vehicle actual acceleration is calculated as a=2m/s/s (=200cm/s/s), and the measurement acceleration of accelerometer 1 is A1, add
The acceleration that speedometer 2 measures is A2, the acceleration that accelerometer 3 measures is A3。
When level land, as shown in Fig. 2, acceleration measuring magnitude situation is as follows:
A1=a+g*sin (6 °)
A2=a
A1-A2=a+g*sin (6 °)-a=g*sin (6 °) ≈ 102.4379cm/s2
When subway maximum slope 35 ‰, as shown in figure 3, acceleration measuring magnitude situation is as follows:
A1=acos (6 °)+g*sin (6 °+2 °)
A2=a+g*sin (2 °)
A1-A2=acos (6 °)+g*sin6 ° of+2 ° of-a-g*sin (2 °) ≈ 101.0925cm/s/s
It can be seen that by above-mentioned two groups of formula, the accelerometer of inclination angle installation is run in subway ruling grade, peak acceleration
The offset of Shi Suoxu, the offset run on level land with accelerometer only put down by poor 1.3454cm/s/s, basic be believed that
Ground and ramp type are to the offset of inclination angle accelerometer close to consistent.
After thering is influence of the gradient to offset to calculate, also need to consider that accelerometer error itself counts different acceleration
According to the influence of reasonable sex determination.
According to databook, accelerometer linearity error is 0.02%, and range 1g=980cm/s/s can be calculated, and is accelerated
The maximum error of measuring of degree meter itself is Δ a=g*0.02%=0.196cm/s2。
To sum up, the accelerometer of inclination angle installation is when doing data reasonability and judge, offset 102.4379cm/s/s, benefit
It, should be in Δ A=± (2*0.196+1.3454)=± 1.7374cm/s with the accelerometer error being horizontally mounted after repaying2Range
It is interior, if meeting this condition, i.e., it is believed that the judgement of accelerometer data reasonability passes through.Before voting, the input of three machine accelerometers is needed
Consider that angle installation influences, eliminate angular deviation, is i.e. voting information are as follows: the angle A1+A, A2, the angle A3-A；Certain is found during voting
Machine accelerometer inputs information far from effective range, then setting the machine is invalid value, and state is failure；Table will be passed through after voting through
Accelerometer information and state transfer certainly gives SDU module.
Further, on the basis of above method embodiment, the velocity sensor is based on spring model and carries out currently
The measurement of moment acceleration, when accelerometer install with angle with car body,
If train operation, on flat slope, the acceleration value of accelerometer output is consistent with train body actual acceleration；
If slope, the acceleration value of accelerometer output indicate weight component over/under for train operation.
Specifically, accelerometer carries out the measurement of current time acceleration based on spring model, it is assumed that accelerometer and vehicle
Body install with angle, then:
On flat slope, the acceleration value of accelerometer output is consistent with train body actual acceleration for train operation；
Slope, the acceleration value of accelerometer output embody weight component, formula such as Fig. 4 over/under for train operation
It is shown.
(1) assume that accelerometer and car body install with angle:
Train operation is being gone up a slope, and accelerometer formula is aT=± aM+gsinα；
In descending, accelerometer formula is a for train operationT=± aM-gsinα；
(2) it due to α > 0 gsin, can obtain:
aT±aM> 0, train operation is being gone up a slope；
aT±aM< 0, train operation is in descending；
(3) speed is used to pass multiple periods (using 6 periods at present) smoothed out acceleration as train acceleration aM, knot
Resultant acceleration meter input acceleration measured value aT, the numerical value and positive and negative (α=arcsin ((a of α can be calculatedT-(±aM))/g)),
But its positive negative information is used only as climb and fall judgment basis in the accuracy for considering data at present, and value of slope uses different angle
The accelerometer of installation is combined and is calculated, and increases the accuracy that accelerometer information calculates.
During solving the unknown gradient, when train is without position, the accelerometer by installing different angle calculates angle
Degree, as shown in figure 5, setting the gradient as α, acceleration of gravity g, accelerometer 1 is horizontally installed to car body, the measurement of accelerometer 1
Acceleration is a1, for accelerometer 2 compared with the installation of tilting of car body β angle, the acceleration that accelerometer 2 measures is a2If train is in the gradient
Upper actual acceleration is a.
Then, for accelerometer 1,
a1=a*cos γ+g*sin (α+γ)
For acceleration 2, a2=a*cos β+g*sin (alpha+beta), then:
To sum up, to obtain value of slope locating for current train, three velocity sensors can be installed as three different angles.
Further, on the basis of above method embodiment, the initial measured error of the accelerometer is according to acceleration
The installation error of degree meter determines, when grade information is invalid, train zero-speed when, calibrated without zero-speed.
Specifically, due to the installation error of accelerometer, will lead to accelerometer, there are an intrinsic initial measured errors.
Therefore for the accelerometer being horizontally mounted, whenever train zero-speed, accelerometer measures a at this time is acquiredm0, looked into according to train position
Ask the current grade acceleration a of traing0, then the zero-speed calibration parameter of accelerometer are as follows: azero=am0+ag0。
When grade information is invalid, when train zero-speed, calibrated without zero-speed.
When grade information is invalid, when train zero-speed, the integral of acceleration should remain continuously 0.
For the accelerometer of inclination installation, whenever train zero-speed, if mounted angle is β, the measurement of the accelerometer
Value is aβ, acceleration of gravity g, then sin β=(aβ-am0)/g。
Further, on the basis of above method embodiment, the method also includes:
When train is without position, three velocity sensors are installed as three different angles, and according to three velocity pick-ups
Value of slope locating for the angle calculation current train of device.
When the gradient that three accelerometers calculate is more than or equal to preset value, if being calculated according to three accelerometers
The gradient direction come is changed within the monocycle, it is determined that slope change, gradient direction has occurred in the position where train
Maintain the last period；
When the gradient that three accelerometers calculate is less than or equal to preset value, if being calculated according to three accelerometers
The gradient direction come is changed within the monocycle, then uses descending processing mode.
In the case where train has gradient state, the state for considering to change to descending by upward slope is also needed.By taking the line of Changping as an example,
The minimal vertical curve radius R of known Changping line gradient is 2000m, and change rate is most fast when gradient radius minimum, is illustrated in figure 6 perpendicular
Curve upgrade situation of change analysis figure, in case where 35 ‰ go up a slope and change to 0 degree of level ground, 35 ‰ gradients are corresponding
Angle value be 2 °, and 2 ° radius of vertical curve be R be 2000m represent arc length are as follows: 2000 ≈ of L=(2/180) * 2* π *
139.6264m=13962.64cm.
The arc length of slope change point processing such as is subjected to by 35 parts, is equivalent to the every variation 1 ‰ of the gradient, train need to pass by away from
From are as follows: L1/35=13962.64/35 ≈ 398.9326cm
The speed limit of subway under known RM mode are as follows: VlimitThe period of=25km/h ≈ 694.44cm/s, VOBC equipment is
The distance out of shape of 200ms, monocycle train are maximum are as follows: L1=694.44*0.2=138.888cm, therefore, ATP system control vehicle
In the case of, slope change that train RM mode each cycle can at most be undergone are as follows:
Δ monocycle ruling grade variation=138.888/398.9326 ≈ 0.3482 ‰.
The measurement error of known accelerometer is up to 0.196cm/s/s, is equivalent to 0.196 ‰ gradient deviation, therefore,
Monocycle ruling grade variation when being acquired using accelerometer should be 0.3482 ‰+0.196 ‰=0.5442 ‰.
To sum up, when train has been in 0.5442 ‰ upward slope, it is impossible to change to descending state in a period.
Therefore, when the gradient that combination accelerometer calculates is more than or equal to 0.5442 ‰, if being calculated according to speed biography
Variation (change to descending by upward slope, change to upward slope by descending) has occurred in the gradient direction come within the monocycle, at this point, being not considered as
Slope change has occurred in position where train, and gradient direction maintains the last period.
When the gradient that combination accelerometer calculates is less than or equal to 0.5442 ‰, if the slope calculated according to speed biography
Variation (change to descending by upward slope, change to upward slope by descending) has occurred in degree direction within the monocycle, at this point, cannot determine whether true
Slope change has occurred, due to safety concerns, as descending processing (slipping thresholding is smaller when descending).
The state of train is converted as shown in fig. 7, being described in detail below:
Switch condition 1 (normal to empty sliding)
When velocity sensor is in normal condition, if train actual acceleration and velocity sensor acceleration comparison result
Absolute value be greater than sky when sliding into threshold value, if arGreater than aodoThen think that velocity sensor skids, arLess than aodoThen recognize
It dallies for velocity sensor.Idle running or slipping state are then transferred to space-time cunning when two speed are passed.
Switch condition 2 (sky slides to normally)
Velocity sensor is in idle running or when slipping state, if train actual acceleration and velocity sensor acceleration ratio compared with
As a result when absolute value exits threshold value less than empty cunning, velocity sensor restores normal condition.
When two speed pass while restoring normally then to be transferred to normal condition.
Switch condition 3 (sky slides to empty sliding time-out)
Empty sliding timeout mode is then transferred to when two speed pass empty sliding time-out.
Malfunction truth table
| ODO1 | ODO2 | Merge speed |
| Normally | Normally | (ODO1+ODO2)/2 |
| Normally | Sky is sliding | ODO1 |
| Normally | The sliding time-out of sky | ODO1 |
| Sky is sliding | Normally | ODO2 |
| Sky is sliding | Sky is sliding | Accelerometer speed |
| Sky is sliding | The sliding time-out of sky | Accelerometer speed |
| The sliding time-out of sky | Normally | ODO2 |
| The sliding time-out of sky | Sky is sliding | Accelerometer speed |
| The sliding time-out of sky | The sliding time-out of sky | Accelerometer speed |
Under normal circumstances, speed fusion is carried out using normal velocity sensor；
Under the sliding state of sky, the speed of accelerometer can be obtained by following equation are as follows: Va=V0+∑ar* t, wherein t is
The VOBC cycle of operation.
If the upper period, two velocity sensors had more than one to be continuously in normal condition, two speed were judged when the period
Sensor occurs to dally simultaneously or skid, then V0Take the fusion speed in period.When two velocity sensors dally simultaneously
After skidding, with VaIt is exported as fusion speed.
Selection for the empty sliding duration, takes complete section operation data as calculation basis, with radar velocity measurement side
The time and range error that the scene persistently uses in case are reference: in a complete section, to acceleration since any time
Degree meter is integrated, and the time parameter of integral is 15 seconds, and obtained range error is no more than 3%.It is concluded that accelerometer
The duration for using accelerometer progress speed output in the scheme that tests the speed under the scene is 15 seconds.
Under fault condition, after two velocity sensor skies sliding time-out, output is tested the speed invalid.
Inquiring train current hill grade acceleration according to train position is ag, then when the actual acceleration value of period train are as follows: ar
=am+ag+azero；The train actual acceleration a being calculated by accelerometerr, acceleration a with velocity sensorodoInto
Row compares；The train actual acceleration a being calculated by accelerometerr, acceleration a with velocity sensorodoCompared
Compared with.
Selection for empty slide limit, two kinds of situations that monocycle impulse acquires nominal error are as shown in FIG. 8 and 9.
In one case, as shown in figure 8, when carrying out pulse collection, under theoretical case, the previous period be possible to because
Failing edge for the last one pulse does not collect and misses a pulse, the then more pulses at the very start of latter period, such as
This just causes 2 pulse collection errors under limiting case.
In another case, as shown in figure 9, previous cycle more acquire a pulse, leaked in the case of latter cycles limit
Fall a failing edge and lacked a pulse, so equally causes 2 pulse collection errors under limiting case.With upper one kind
Unlike situation, the former be the subsequent period than front period more than two pulses, the latter is to compare previous cycle in the latter period
Few two pulses.
The following formula of acceleration calculation error brought by two pulses:
A error=(2*pi*840/200)/0.04/10=65.97345cm/s/s
Through calculation formula it is found that under the premise of wheel footpath value is 840mm, the patient axle sensor normal burst of institute
Acceleration error when acquisition is 65.97345cm/s/s, because the step-by-step counting in the case of this kind can't generate shadow to ranging
It rings.Therefore, once error is big theoretically, it can be said that the acceleration that calculates of axle sensor is compared with actual acceleration
In 65.97345cm/s/s, wheel must be dallied or skidded, which is that the theory of wheel shaft slipping is sentenced
Determine threshold value.
Due to consider theoretical value it is excessively harsh, therefore the program judge slipping thresholding be extended to 3 pulses bring into it is above-mentioned
Formula show that empty sliding decision threshold is 98.96017cm/s/s.
For the sliding duration of sky, accelerometer experimental data is analyzed, accelerometer merges speed and speed passes radar fusion speed
Difference variance 1.305716304cm/s (average), be in conjunction with the accelerometer ability tolerable acceleration deviation that tests the speed
98.96017 (being limited to if judging thresholding with empty slide) can adhere to that the period is (98.96017/ after obtaining empty cunning
1.305716304)=75 period, Shi Changwei 75*200ms=15s.
In practical engineering applications, the present embodiment is able to achieve the speed measurement treatment of fusion velocity sensor and accelerometer, nothing
It need to consider interference of the external environment to velocity-measuring system precision, safety coefficient is high, can be widely applied in underground railway track traffic, mentions
The rate accuracy and availability of high RST equipment, evade unnecessary loss, and application prospect is extensive.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
It is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although reference
Invention is explained in detail for previous embodiment, those skilled in the art should understand that: it still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features；And this
It modifies or replaces, the spirit and model of technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
1. a kind of fusion speed measurement treatment method based on accelerometer characterized by comprising
Three accelerometers are installed as three different angles, and adding according to the angle calculation current train of three accelerometers
Speed；
The speed at train current time is measured by velocity sensor；
Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
2. the method according to claim 1, wherein the angle calculation according to three accelerometers works as forefront
The acceleration of vehicle, specifically includes:
Work as forefront according to value of slope locating for the angle calculation current train of three accelerometers, and according to value of slope correction
The acceleration of vehicle.
3. the method according to claim 1, wherein the method also includes:
If judgement knows that three accelerometers are normal, grade information is carried out by accelerometer two-by-two when train is without position
It is averaged to obtain grade information after calculating, and is averaged to obtain after calculating separately true train acceleration by each accelerometer
Train actual acceleration is for judgement of dallying and skid；
If single accelerometer failure is known in judgement, the gradient is carried out by normal two accelerometers when train is without position
Information obtains grade information after calculating, and train is practical to be added by obtaining after normal accelerometer calculating true train acceleration
Speed judges for slipping；
If two accelerometer failures are known in judgement, calculated when train is without position without grade information, also without sky
Turn judgement of skidding, train is practical to be added using obtaining after normal accelerometer calculating true train acceleration when train has position
Speed is for judgement of dallying and skid；
If three equal failures of accelerometer are known in judgement, calculate without grade information, also judges without slipping.
4. the method according to claim 1, wherein the method also includes:
When velocity sensor is in normal condition, the acceleration comparison result of train actual acceleration and velocity sensor it is absolute
When value slides into threshold value greater than sky, velocity sensor is determined if the acceleration that train actual acceleration is greater than velocity sensor
It skids, thinks that velocity sensor dallies if the acceleration that train actual acceleration is less than velocity sensor；
When velocity sensor is in idle running or when slipping state, if the acceleration ratio of train actual acceleration and velocity sensor compared with
As a result absolute value is less than empty cunning and exits threshold value, it is determined that train wheel restores normal condition；
If two velocity sensors restore normal simultaneously, host is transferred to normal condition；
If the empty sliding time-out of two velocity sensors, host are transferred to empty sliding timeout mode.
5. the method according to claim 1, wherein the method also includes:
After host collects the data of accelerometer, the data of each accelerometer, which meet preset condition, to be known to judgement, then it is assumed that
The data reasonability judgement of accelerometer passes through.
6. the method according to claim 1, wherein when the velocity sensor carries out current based on spring model
The measurement for carving acceleration, when accelerometer install with angle with car body,
If train operation, on flat slope, the acceleration value of accelerometer output is consistent with train body actual acceleration；
If slope, the acceleration value of accelerometer output indicate weight component over/under for train operation.
7. the method according to claim 1, wherein the initial measured error of the accelerometer is according to acceleration
The installation error of meter determines, when grade information is invalid, train zero-speed when, calibrated without zero-speed.
8. the method according to the description of claim 7 is characterized in that the method also includes:
When the gradient that three accelerometers calculate is more than or equal to preset value, if calculated according to three accelerometers
Gradient direction is changed within the monocycle, it is determined that slope change has occurred in the position where train, and gradient direction maintains
The last period；
When the gradient that three accelerometers calculate is less than or equal to preset value, if calculated according to three accelerometers
Gradient direction is changed within the monocycle, then uses descending processing mode.
9. -8 any method according to claim 1, which is characterized in that the fault mode of accelerometer includes below
Meaning combination: serial ports failure can not outgoing message, each cycle receive message amount be unsatisfactory for requiring, continue 5 periods output steady state value,
Measurement absolute value is greater than theoretical train acceleration+gradient, jumps；
Wherein, the fault mode is identified by inquiring and comparing accelerometer message.
10. a kind of fusion speed measurement treatment device based on accelerometer characterized by comprising three accelerometers and speed
Sensor；
Three accelerometer setting angles are respectively updip, level and have a down dip, according to the angle calculation of three accelerometers
The acceleration of current train；
The velocity sensor is used to measure the speed at train current time；
Fusion calculation is carried out to the acceleration and speed, obtains the target velocity of current train.
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