CN110254477A - A kind of train automatic benchmarking's method and system based on satellite difference positioning - Google Patents
A kind of train automatic benchmarking's method and system based on satellite difference positioning Download PDFInfo
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- CN110254477A CN110254477A CN201910555208.2A CN201910555208A CN110254477A CN 110254477 A CN110254477 A CN 110254477A CN 201910555208 A CN201910555208 A CN 201910555208A CN 110254477 A CN110254477 A CN 110254477A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003860 storage Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 6
- 230000000977 initiatory effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000037361 pathway Effects 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 230000003137 locomotive effect Effects 0.000 abstract description 16
- 230000008569 process Effects 0.000 description 7
- 238000012937 correction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of train automatic benchmarking's method and systems based on satellite difference positioning, promote automation and intelligence, operation risk caused by can be avoided because of the defeated parameter of dispatching a car of driver's mistake, it avoids occurring setting wrong phenomenon to mark semaphore in continuous departure yard, eliminate manually to range error caused by marking.Its technical solution are as follows: whether automatically confirm that the accurate coordinates of locomotive accurate to check driver's input parameter of dispatching a car, operation risk caused by avoiding because of the defeated parameter of dispatching a car of driver's mistake, confirm the signal serial number in front, it avoids occurring setting wrong phenomenon to mark semaphore in continuous departure yard, it reaches to automatic benchmarking behind mark semaphore position, eliminates manually to range error caused by marking.
Description
Technical field
The present invention relates to train to mark technology, and in particular to based on satellite difference positioning train automatic benchmarking method and be
System.
Background technique
Existing train operation monitoring device LKJ uses artificial drive to target mode substantially.Train operator is before dispatching a car
Set parameter of dispatching a car, including initiating station, the information such as station track and operation pathway of dispatching a car.Usually using the exit signal of initiating station as
It drives, when train operation to exit signal position, to enter vehicle-mounted data control model by driver's manual operation to punctuate
(normal mode) completes mark process to this artificial driving.Into after normal mode, LKJ can indicate the current institute of locomotive
Locate the speed limit of route, the gradient and away from information such as semaphore distances, so that driver instructor completes driver behavior.But if LKJ refers to
Show that the position physical location current with locomotive is inconsistent or range error is larger, will lead to current speed limit, the gradient and front
The information such as semaphore distance are incorrect, influence operational efficiency and even cause serious consequence.
The reason of generating problems mainly has the following:
1, driver's input dispatch a car parameter and actually located station track of dispatching a car it is inconsistent, or station track of dispatching a car is correct, but sets
It is fixed not conform to the actual conditions to mark semaphore, it is driven in this way to will lead to control the complete mistake of car data after mark.
2, in addition manually inherently there is manual operation error to mark process, it is also possible to due to weather visibility it is more low because
The influence of element can not confirm front to mark signal serial number and accurate location, cause in advance or lag is to mark, so as to cause presence
Range error.
In conclusion it is desired that locomotive orientation, automatic identification can be automatically determined to mark semaphore and complete by obtaining one kind
It drives at automatic to calibration method, so as to greatly improve the automation and intelligent level of train operation monitoring device.
Current driving mainly includes following manner to mark method:
1, driven according to station track to mark: this mode is existing train to mark mode, and current most of road bureaus all use this
To mark, this mode can not be eliminated manually to target error for kind of mode, also can not automatic identification driver input dispatch a car parameter and locomotive
Whether actual position of dispatching a car meets, including front signal machine whether be dispatch a car set in parameter to mark semaphore.
2, it is driven according to transponder to mark: needing to drive to be laid with transponder point type equipment to target position, when train passes through
It is out-of-date that corresponding operating is executed according to transponder message content.Which is generally used on the route of CTCS-2 rank, and CTCS-0
Section does not have the condition of which, and this method automatic identification driver can not input dispatch a car parameter and locomotive reality before dispatching a car
Whether the position of dispatching a car on border meets, can not also confirm front signal machine whether be dispatch a car set in parameter to mark semaphore.
Summary of the invention
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
The purpose of the present invention is to solve the above problem, provides a kind of train automatic benchmarking based on satellite difference positioning
Method and system promotes automation and intelligence, and operation risk caused by can be avoided because of the defeated parameter of dispatching a car of driver's mistake avoids
Occur setting wrong phenomenon to mark semaphore when continuous departure yard, eliminate manually to range error caused by marking.
The technical solution of the present invention is as follows: present invention discloses a kind of train automatic benchmarking sides based on satellite difference positioning
Method, comprising:
Step 1:LKJ reads the satellite positioning information when anterior approach according to the parameter of dispatching a car of setting from vehicle-mounted data；
Step 2: judging whether satellite positioning information is stable, the satellite positioning information stabilization to be positioned based on satellite difference is had
Enter next step after effect；
Step 3: whether judgement matches when the satellite positioning information of anterior approach with target route track, holds after the two matching
Row next step:；
Step 4: carrying out automatic benchmarking, display front is to mark semaphore title and train apart from front to mark semaphore
Distance；
Step 5: judging whether train reaches front to mark semaphore, automatically switched to enter usual mould by LKJ if reaching
Formula.
One embodiment of train automatic benchmarking's method according to the present invention based on satellite difference positioning, in step 3, if
Whether mismatch then prompts driver to check parameter of dispatching a car correct.
One embodiment of train automatic benchmarking's method according to the present invention based on satellite difference positioning, LKJ normal mode
It is the mode of vehicle-mounted data control vehicle.
One embodiment of train automatic benchmarking's method according to the present invention based on satellite difference positioning, parameter of dispatching a car include
But it is not limited to initiating station, dispatch a car station track and operation pathway.
It is according to the present invention based on satellite difference positioning train automatic benchmarking's method an embodiment, step 1 it is vehicle-mounted
Part station increases satellite positioning information in data, is extracted by field data acquisition, interior industry and data import three step completions and defend
The positioning vehicle-carried data creating of star, wherein satellite positioning information is divided into miscellaneous function satellite positioning information and to mark semaphore satellite
Position information.
Present invention further teaches a kind of train automatic benchmarking's systems based on satellite difference positioning, comprising:
Processor；And
Memory, the memory be configured as the executable instruction of storage series of computation machine and with it is described a series of
The executable associated computer-accessible data of instruction of computer,
Wherein, when the instruction that the series of computation machine can be performed is executed by the processor, so that the processor
Carry out method as described above.
Present invention further teaches a kind of non-transitorycomputer readable storage medium, the non-transitory is computer-readable to be deposited
The executable instruction of series of computation machine is stored on storage media, when a series of executable instructions are executed by a computing apparatus
When, so that computing device carries out method as described above.
The present invention, which compares the prior art, to be had following the utility model has the advantages that method of the invention mainly realizes automation (true
Recognize arrival to automatically into normal mode, being not necessarily to driver operation after cursor position) and intelligence (can with automatic identification departure yard,
It dispatches a car station track and to mark semaphore, driver only needs to carry out confirmation work).Relative to traditional train to mark scheme, originally
Whether invention can automatically confirm that the accurate coordinates of locomotive accurate to check driver's input parameter of dispatching a car, and avoid because driver misses
Defeated operation risk caused by parameter of dispatching a car is able to confirm that the signal serial number in front, avoids the appearance in continuous departure yard
Wrong phenomenon is set to mark semaphore, can reach to automatic benchmarking behind mark semaphore position, eliminate manually to caused by mark
Range error.
Detailed description of the invention
After the detailed description for reading embodiment of the disclosure in conjunction with the following drawings, it better understood when of the invention
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar appended drawing reference.
Fig. 1 shows the schematic diagram of Differential positioning.
Fig. 2 shows the schematic diagrames of the satellite positioning point data of station track production.
Fig. 3 shows the process of an embodiment of train automatic benchmarking's method of the invention based on satellite difference positioning
Figure.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
Fig. 3 shows the process of an embodiment of train automatic benchmarking's method of the invention based on satellite difference positioning.
Details are as follows for the implementation steps of the method for the present embodiment.
Step S1: parameter of dispatching a car is set, LKJ according to parameter of dispatching a car (believe by yard name and station track of dispatching a car including input etc.
Breath) satellite positioning information for working as anterior approach is read from vehicle-mounted data.
Train operator sets parameter of dispatching a car before dispatching a car, and parameter of dispatching a car includes initiating station, dispatch a car station track and operation pathway etc.
Information.
Part station increases satellite positioning information in vehicle-mounted data, is extracted by field data acquisition, interior industry and data import three
A step completes the production of satellite positioning vehicle-mounted data, and wherein satellite positioning information is divided into miscellaneous function satellite positioning information and to mark
Semaphore satellite positioning information.
It in the present embodiment, is to obtain locomotive coordinate according to differential position.Fig. 1 shows Differential positioning principle,
As shown in Figure 1, installing differential reference station (base station) in major yard, base station passes through its observation in 3G/4G or railway
Net is sent to ground data center in real time, and data center calculates according to the known coordinate of the observation and base station that receive to work as
Correction value under preceding environment, while correction value is sent to every locomotive (movement station), every locomotive by 3G/4G wireless network
Coordinate modification value is received by radio receiver, the original machine obtained using this correction value to satellite receiver on locomotive
Vehicle coordinate is modified, to obtain more accurate locomotive coordinate.
Station track data acquisition includes field data acquisition, interior industry is extracted and data integrating documents three parts.Field data acquisition master
The mobile knapsack of the laser based on GPS+INS auxiliary positioning+panorama is used to complete.Interior industry is extracted uses fusion software first, leads to
It crosses fusion GPS, INS and laser data and original field operation surveying and mapping data is generated to the yard three-dimensional scenic with true Geographic Reference
(point cloud and panorama), is extracted for interior industry data.Data file integration, according to the one-to-one correspondence of control title, by the ground of mapping
Reason geological information (true geographical coordinate) is added in existing LKJ vehicle-mounted data, drives for subsequent locomotive to mark.
Vehicle-mounted data production is that collected satellite location data is fabricated into vehicle-mounted data.Satellite location data point minute
For two classes: miscellaneous function satellite siteWith to mark semaphore satellite siteAs shown in Figure 2.According to station track
Length and curvature are different, and the quantity in miscellaneous function satellite site is different on each station track, but at least want to guarantee accidentally
The variation tendency of the station track can be described, the coordinate for same locomotive is matched in poor allowed band.
Step S2: judging whether satellite positioning information is stable, in satellite positioning information (i.e. locomotive Differential positioning coordinate)
As a result stable effectively rear into next step.
Step S3: whether judgement matches when the satellite positioning information of anterior approach with target route track.It is executed if matching
Step S4 (i.e. progress automatic benchmarking's process), thens follow the steps S7 if mismatched.
Step S4: carry out automatic benchmarking, display front to mark semaphore title and apart from front to mark semaphore away from
From.
Step S5: meter is fallen away from whether being 0 after judging train, is performed the next step if 0 rapid.That is, display after motor-car
Distance value successively decreases with the distance travelled of train, indicates that locomotive has been running for mark semaphore when distance is 0, at this time should
Mark is operated.
Step S6:LKJ automatically switches to enter normal mode (i.e. the mode of vehicle-mounted data control vehicle), and process terminates.
Step S7: prompt driver's verification is dispatched a car, and whether parameter is correct, and process terminates.
In addition, the invention also discloses a kind of train automatic benchmarking's system based on satellite difference positioning, including processor
And memory.Memory is configured as the executable instruction of storage series of computation machine and can be performed with this family computer
The associated computer-accessible data of instruction.When the instruction that this family computer can be performed is executed by processor,
So that processor carries out the method as described in Fig. 3 embodiment.Since embodiment of the method has been described in detail in foregoing teachings, herein not
It repeats again.
Present invention further teaches a kind of non-transitorycomputer readable storage medium, non-transitory computer-readable storage mediums
The executable instruction of series of computation machine is stored in matter to be made when a series of this executable instruction is executed by a computing apparatus
Obtain method of the computing device progress as described in Fig. 3 embodiment.Since embodiment of the method has been described in detail in foregoing teachings, herein not
It repeats again.
In addition, there are one alternative solutions by the present invention: using dot-mode transponder mode automatic benchmarking, dispatch a car in each station track
Position is laid with ground transponder, and train automatically drive to mark after transponder, according to the message information received.This is replaced
It can also be eliminated manually to target error for scheme, but due to only just will receive location information when train passes through transponder,
Parameter of dispatching a car can not be inputted to driver before departure to check, therefore there is parameter of dispatching a car and miss defeated hidden danger.
Although for simplify explain the above method is illustrated to and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some movements can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Movement concomitantly occurs.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize every kind of specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
General place can be used in conjunction with various illustrative logic plates, module and the circuit that presently disclosed embodiment describes
Reason device, digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) other are compiled
Journey logical device, discrete door or transistor logic, discrete hardware component or its be designed to carry out function described herein
Any combination is realized or is executed.General processor can be microprocessor, but in alternative, which, which can be, appoints
What conventional processor, controller, microcontroller or state machine.Processor is also implemented as calculating the combination of equipment, example
As DSP and the combination of microprocessor, multi-microprocessor, the one or more microprocessors to cooperate with DSP core or it is any its
His such configuration.
The step of method or algorithm for describing in conjunction with embodiment disclosed herein, can be embodied directly in hardware, in by processor
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as one or more item instructions or generation
Code may be stored on the computer-readable medium or be transmitted by it.Computer-readable medium includes computer storage medium and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium of computer access.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or data structure form desirable program code and any other medium that can be accessed by a computer.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted pair, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted pair, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is to make any person skilled in the art all and can make or use this public affairs to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to other variants without departing from the spirit or scope of the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (7)
1. a kind of train automatic benchmarking's method based on satellite difference positioning characterized by comprising
Step 1:LKJ reads the satellite positioning information when anterior approach according to the parameter of dispatching a car of setting from vehicle-mounted data；
Step 2: judging whether satellite positioning information is stable, after the satellite positioning information after be positioned based on satellite difference is stablized effectively
Into next step；
Step 3: whether judgement matches when the satellite positioning information of anterior approach with target route track, under executing after the two matching
One step:；
Step 4: carry out automatic benchmarking, display front to mark semaphore title and train apart from front to mark semaphore away from
From；
Step 5: judging whether train reaches front to mark semaphore, automatically switched to enter normal mode by LKJ if reaching.
2. train automatic benchmarking's method according to claim 1 based on satellite difference positioning, which is characterized in that in step
In 3, whether correct driver is prompted to check parameter of dispatching a car if mismatching.
3. train automatic benchmarking's method according to claim 1 based on satellite difference positioning, which is characterized in that LKJ is logical
Norm formula is the mode of vehicle-mounted data control vehicle.
4. train automatic benchmarking's method according to claim 1 based on satellite difference positioning, which is characterized in that ginseng of dispatching a car
Number includes but is not limited to initiating station, dispatch a car station track and operation pathway.
5. train automatic benchmarking's method according to claim 1 based on satellite difference positioning, which is characterized in that step 1
Vehicle-mounted data in part station increase satellite positioning information, pass through field data acquisition, interior industry extract and data import three steps
The production of satellite positioning vehicle-mounted data is completed, wherein satellite positioning information is divided into miscellaneous function satellite positioning information and to mark semaphore
Satellite positioning information.
6. a kind of train automatic benchmarking's system based on satellite difference positioning characterized by comprising
Processor；And
Memory, the memory be configured as the executable instruction of storage series of computation machine and with the series of computation
The executable associated computer-accessible data of instruction of machine,
Wherein, when the instruction that the series of computation machine can be performed is executed by the processor, so that the processor carries out
Method as described in any one of claims 1 to 5.
7. a kind of non-transitorycomputer readable storage medium, which is characterized in that the non-transitory computer-readable storage medium
The executable instruction of series of computation machine is stored in matter, when a series of executable instructions are executed by a computing apparatus,
So that computing device carries out the method as described in any one of claims 1 to 5.
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| CN110254477B (en) | 2021-07-23 |
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