CN113911173A - Rail train speed measuring method and device - Google Patents
Rail train speed measuring method and device Download PDFInfo
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
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Abstract
The invention relates to the technical field of speed measurement, and provides a rail train speed measurement method and a device, wherein the method comprises the following steps: clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs; screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame; and determining the final speed of the train in the current frame according to the relative speed in the screened groups. The invention improves the accuracy and reliability of train speed measurement and is convenient for maintenance.
Description
Technical Field
The invention relates to the technical field of speed measurement, in particular to a rail train speed measurement method and device.
Background
The existing train mainly depends on a speed sensor, namely an encoder to obtain the speed of the train, and a part of the train also uses the speed sensor and a millimeter wave radar in a mixed mode. As shown in fig. 1, the speed sensor is mounted on the wheel axle, the millimeter wave radar is mounted on the vehicle head, and the vehicle speed is obtained by calculating the measured values of the speed sensor and the millimeter wave radar through the vehicle-mounted computer.
The speed measurement scheme based on the speed sensor is directly related to the diameter of the train wheel, and the deviation of speed measurement is larger and larger along with the aggravation of wheel abrasion in the running process of the train. In addition, the encoder that speed sensor relied on must be installed on the axletree, and the bogie of vehicle and wheel set often need polish and the maintenance work of changing, just need frequently to get up the car, be about to the automobile body and hoist, with the bogie separation, the cable between encoder and the automobile body also need frequently plug, is not convenient for vehicle maintenance, has also reduced speed sensor's reliability.
In order to make up for the deficiency of the speed sensor, some vehicles use millimeter wave radars which are easily interfered by moving objects in front of the vehicles, so that large speed deviation occurs.
Disclosure of Invention
The invention provides a method and a device for measuring the speed of a rail train, which are used for solving the defects of inaccurate speed measurement, inconvenient maintenance and low speed measurement reliability of the train in the prior art, and can improve the accuracy and the reliability of the speed measurement of the train and facilitate the maintenance.
The invention provides a rail train speed measuring method, which comprises the following steps:
clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs;
screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame;
and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
According to the rail train speed measurement method provided by the invention, all groups are screened according to the acceleration of the train measured by an accelerometer on the train from the previous frame to the current frame and the final speed of the previous frame, and the method comprises the following steps:
integrating the acceleration of the train measured for multiple times between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame;
adding the final speed of the train in the previous frame to the speed increment to obtain the predicted speed of the train in the current frame;
and screening all the groups according to the predicted speed.
According to the method for measuring the speed of the rail train provided by the invention, the method for integrating the acceleration of the train measured for multiple times between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame further comprises the following steps:
correcting the acceleration of the train measured between the previous frame and the current frame according to the track gradient and the gravity acceleration of the train at the position of the current frame;
and integrating the corrected acceleration of the train between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame.
According to the rail train speed measurement method provided by the invention, all the groups are screened according to the predicted speed, and the method comprises the following steps:
counting the average value and the number of the relative speeds in each group;
calculating a difference between the predicted speed and an average of the relative speeds in each group;
and screening out the packet corresponding to the minimum difference value from the packets with the relative speed number larger than a preset threshold value.
According to the method for measuring the speed of the rail train provided by the invention, the step of screening all the groups according to the acceleration of the train measured by an accelerometer on the train from the previous frame to the current frame and the final speed of the previous frame comprises the following steps:
calculating an average value of the acceleration of the train measured between the previous frame and the current frame and an average value of the relative speed in each group;
calculating a speed change rate of the train between the final speed of the previous frame and an average value of the relative speeds in each packet;
calculating the track gradient of the train corresponding to each group at the position of the current frame according to the average value of the acceleration, the speed change rate corresponding to each group and the gravitational acceleration of the train at the current frame;
and screening out the groups corresponding to the track gradient smaller than or equal to the preset maximum track gradient.
According to the rail train speed measurement method provided by the invention, the step of determining the final speed of the train in the current frame according to the relative speed in the screened group comprises the following steps:
if the number of the screened groups is 1, taking the average value of the relative speeds in the screened groups as the final speed of the train in the current frame;
if the number of the screened packets is larger than 1, screening out the packets with the largest number of the relative speeds again from the screened packets, or screening out the packets with the smallest difference between the average value of the relative speeds and the final speed of the previous frame;
and taking the average value of the relative speeds in the groups screened out again as the final speed of the train in the current frame.
The invention also provides a speed measuring device for the rail train, which comprises a millimeter wave radar, an accelerometer and an on-board computer;
the millimeter wave radar, the accelerometer and the vehicle-mounted computer are positioned on the train;
the millimeter wave radar is used for measuring the relative speed between the train and each target point;
the accelerometer is used for measuring the acceleration of the train;
the vehicle-mounted computer is used for clustering the relative speed of the millimeter wave radar on the train between the train measured by the current frame and each target point to obtain the group to which each relative speed belongs;
screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame;
and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the rail train speed measuring method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for measuring rail train speed as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for measuring speed of a rail train as described in any one of the above.
According to the rail train speed measuring method and device provided by the invention, the reliable measurement of the train speed is realized only by two sensors, namely the millimeter wave radar and the accelerometer, and a speed sensor arranged on a wheel axle is not used, so that the accuracy of the train speed measurement is improved; all sensors are installed on the train body, and a connecting cable does not need to be plugged in and pulled out in the maintenance process of the train, so that the maintenance cost is reduced, and the speed measurement reliability of the train is improved.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a rail train speed measurement scene in the prior art;
FIG. 2 is a schematic flow chart of a method for measuring speed of a rail train according to the present invention;
FIG. 3 is one of the scene diagrams of the method for measuring the speed of the rail train according to the present invention;
fig. 4 is a second schematic view of a rail train speed measurement method according to the present invention;
FIG. 5 is a schematic view illustrating a gravity acceleration decomposition in the method for measuring a speed of a rail train according to the present invention;
FIG. 6 is a schematic flow chart of gravitational acceleration elimination in the case where the train is positioned according to the method for measuring speed of a rail train of the present invention;
FIG. 7 is a schematic flow chart of gravitational acceleration elimination in the case where the train is not positioned in the method for measuring speed of a rail train according to the present invention;
fig. 8 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for measuring the speed of the rail train according to the invention is described below with reference to fig. 2, and comprises the following steps: step 201, clustering relative speeds of millimeter wave radars on a train between the train measured at a current frame and each target point, and acquiring a group to which each relative speed belongs;
as shown in fig. 3, the rail train speed measurement method provided by this embodiment uses an accelerometer, a millimeter wave radar, and an on-board computer, which are all located on a train. The accelerometer has one, two or three axes. The accelerometer and the millimeter wave radar are connected with the vehicle-mounted computer, and the measured data are sent to the vehicle-mounted computer for processing.
The execution subject in this embodiment is an on-vehicle computer.
The millimeter wave radar realizes speed measurement relative to a target point in front of the train based on the Doppler effect, and each frame returns a plurality of target points. The specific target point number is different from dozens to hundreds depending on the model of the millimeter wave radar.
Each target point corresponds to a target scanned in front of the radar, and each target point corresponds to the relative speed between the target point and the millimeter wave radar. If no moving object exists in front of the train and only static objects such as tunnel walls exist, the relative speeds between all target points in the current frame data returned by the millimeter wave radar and the train are the same, namely the advancing speed of the train.
But in some open air scenes, meeting with adjacent rail vehicles occurs, as shown in fig. 4. At this time, the speed of a part of target points in each frame of data returned by the millimeter wave radar is the speed of the front vehicle relative to the vehicle, but not the real running speed of the vehicle. In addition, animals, pedestrians, trackside roads or automobiles on viaducts can cause the data returned by the millimeter wave radar to contain abnormal speed. It is necessary to try to eliminate this part of the abnormal data from the current frame to obtain the correct train speed.
In order to reduce the interference of a moving target in front of a train on a millimeter wave radar to the maximum extent, the requirements for installing the millimeter wave radar are as follows:
(1) if the line executes a left-going principle, namely the train leans to the left, the millimeter wave radar is installed on the left side of the train, and interference caused by the adjacent rail train on the right side is avoided. And conversely, the millimeter wave radar is arranged on the right side of the train under the right-going principle.
(2) The millimeter wave radar should be installed as close to the ground as possible to the train and be tilted down appropriately. Optionally, an included angle between the downward inclination angle of the millimeter wave radar and the horizontal direction is between 0 and 25 degrees, and the height from the ground is between 1 and 2 meters.
And the vehicle-mounted computer groups the measured relative speeds corresponding to the multiple target points according to the numerical values of the relative speeds corresponding to the multiple target points measured by the millimeter-wave radar in the current frame, such as the (k + 1) th frame.
Alternatively, the same relative speeds are grouped into one group. It is also possible to group relative velocities having similar magnitudes, for example, relative velocities having a difference between the magnitudes smaller than a preset threshold value.
the acceleration of the train is measured using an accelerometer, and the rate of change of the train speed at each moment, i.e., the acceleration, is output at a relatively high frequency.
The method for calculating the final speed of the train in the previous frame is the same as the method for calculating the final speed of the train in the current frame.
Optionally, based on the acceleration output by the accelerometer at the (k + 1) th frame, determining a predicted speed value of the train at the (k + 1) th frame by combining the final speed of the train at the (k) th frame, and removing abnormal packet data according to the predicted speed value to screen out normal packet data.
Or determining the track gradient of the train at the (k + 1) th frame by combining the final speed of the train at the (k + 1) th frame based on the relative speed of the (k + 1) th frame in each group, and removing the abnormal grouped data according to the track gradient to screen out the normal grouped data.
The present embodiment does not limit the specific method for performing the group screening using the train acceleration and the historical speed.
And 203, determining the final speed of the train in the current frame according to the screened relative speed in the group.
And the target point corresponding to the relative speed in the screened group is a point on the stationary target, and the relative speed is the speed of the train.
Optionally, the average value of the relative speeds in the screened-out groups is used as the final speed of the current frame.
The embodiment realizes reliable measurement of the train speed by only depending on two sensors, namely the millimeter wave radar and the accelerometer, and does not use a speed sensor arranged on a wheel axle, so that the accuracy of train speed measurement is improved; all sensors are installed on the train body, and a connecting cable does not need to be plugged in and pulled out in the maintenance process of the train, so that the maintenance cost is reduced, and the speed measurement reliability of the train is improved.
On the basis of the above embodiment, in this embodiment, the screening all the packets according to the acceleration of the train measured by the accelerometer on the train from the previous frame of the current frame to the current frame and the final speed of the previous frame includes: integrating the acceleration of the train measured for multiple times between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame;
because the frame rate of the accelerometer is usually much higher than that of the millimeter-wave radar, and the measurement data of one frame of millimeter-wave radar usually corresponds to the measurement data of a multi-frame accelerometer, the measurement values of a plurality of frames of accelerometers between the kth frame and the (k + 1) th frame of the millimeter-wave radar are integrated to obtain the corresponding speed increment delta v of the millimeter-wave radar from the kth frame to the (k + 1) th framek+1。
Adding the final speed of the train in the previous frame to the speed increment to obtain the predicted speed of the train in the current frame;
the final velocity v of the k frame to be calculated in advancekPlus an incremental speed Δ vk+1Obtaining the corresponding speed predicted value of the millimeter wave radar in the k +1 th frame
Namely:
and screening all the groups according to the predicted speed.
Optionally, a group with the average value of the relative speeds in the group closest to the predicted speed value is selected from all the groups according to the obtained predicted speed value, and the average value of the relative speeds in the group is used as the final speed of the train, namely the measured real speed value v of the millimeter wave radar in the (k + 1) th framek+1。
V is to bek+1And is output as the final speed of the train at the (k + 1) th frame and is updated into the historical speed,as input for the next frame to make a speed estimate of the train.
On the basis of the foregoing embodiment, in this embodiment, the integrating the acceleration of the train measured multiple times between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame further includes: correcting the acceleration of the train measured between the previous frame and the current frame according to the track gradient and the gravity acceleration of the train at the position of the current frame;
the accelerometer is subject to gravitational acceleration, and the acceleration output by the accelerometer is usually called specific force, i.e. a measurement containing gravitational acceleration.
When the train runs on a horizontal rail, the gravity acceleration is vertical to the ground, namely the direction of the Z axis, and only the acceleration of the advancing direction of the train, namely the direction of the Y axis, is needed. However, when the train is on a slope, the acceleration in the Y-axis direction includes a component of the gravitational acceleration.
As shown in FIG. 5, the component of the vertical downward gravitational acceleration g resolved into the Y-axis and Z-axis in the ramp region is gyAnd gzWherein g isyCoinciding with the acceleration in the forward direction of the vehicle, it needs to be removed.
For a slope with a slope of 3%, the inclination degree is about 1.7 °, and the component g of the acceleration of gravity in the forward direction of the vehicle, i.e., in the direction of the Y-axisyThe maximum is 0.29m/s2Relative to 1.4m/s2For the emergency braking rates of the train, gyThe value of (A) is large and must be eliminated.
Optionally, the on-board computer has built in a map of the train's route of travel, with the track slope at each location in the route being recorded in the map. And under the condition that the train is positioned, inquiring a line map according to the position information of the train to obtain the track gradient s of the train at the position of the current frame.
Calculating the component g of the gravity acceleration g in the advancing direction of the train, namely the Y-axis direction according to the track gradient s corresponding to the current framey. Acceleration measurements output by accelerometers
Minus gyObtaining a correction value acc of the acceleration, namely:
gy＝sin(arctan(s))*g；
and integrating the corrected acceleration of the train between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame.
After the acceleration of the train measured between the k frame and the (k + 1) th frame is corrected, the obtained correction value is integrated to obtain the corresponding speed increment delta v of the millimeter wave radar from the k frame to the (k + 1) th framek+1。
In this embodiment, regarding the elimination of the gravitational acceleration, a route map is queried according to the position information of the train when the train is positioned, the gradient of the current road section is found from the map, and the component g of the gravitational acceleration on the Y axis is calculatedy。
In the embodiment, the accelerometer and the line map containing the gradient information are used, so that the interference of the gravity acceleration to the accelerometer is eliminated, the accurate screening of the output speed of the millimeter wave radar is realized, abnormal speed data are eliminated, the correct vehicle speed is output under the condition that the vehicle is positioned, and the reliable measurement of the vehicle speed is realized.
On the basis of the foregoing embodiment, in this embodiment, the screening all the packets according to the predicted speed includes: counting the average value and the number of the relative speeds in each group;
and sequencing all the groups according to the sequence of the number of the relative speeds in each group from small to large. The grouping with the relative speed number less than or equal to the preset threshold value is noise, and is eliminated.
Calculating a difference between the predicted speed and an average of the relative speeds in each group; and screening out the packet corresponding to the minimum difference value from the packets with the relative speed number larger than a preset threshold value.
And screening the grouping with the minimum difference between the average value of the relative speeds and the predicted speed of the train from the grouping without the noise points. And determining the final speed of the train according to the screened groups.
As shown in fig. 6, in the present embodiment, depending on the route map, in the case where the train has been located, the track gradient of the current position of the train is looked up from the route map based on the position information of the train, the component of the gravitational acceleration in the vehicle forward direction is calculated based on the gradient, and then the forward direction acceleration output from the accelerometer is corrected using this component, so as to obtain the acceleration correction value in the vehicle forward direction. And integrating the acceleration correction value corresponding to the previous frame to the current frame to obtain the corresponding speed variation, superposing the speed variation to the final speed of the previous frame to obtain the speed estimation value corresponding to the current frame data of the millimeter wave radar, and screening out the speed value which is closest to the speed estimation value in numerical value from a plurality of speeds output by the millimeter wave radar based on the estimation value, namely the true value of the current train speed.
On the basis of the foregoing embodiment, in this embodiment, the screening all the packets according to the acceleration of the train measured by the accelerometer on the train from the previous frame of the current frame to the current frame and the final speed of the previous frame includes: calculating an average value of the acceleration of the train measured between the previous frame and the current frame and an average value of the relative speed in each group;
when the train is not yet positioned, an accurate track gradient cannot be obtained. The embodiment reversely calculates a plurality of gradients according to a plurality of speed measurement values, historical speeds and acceleration measurement values output by the millimeter wave radar, and filters abnormal values of which the absolute values are larger than the maximum gradient of the line, and which are usually 3%. If only one track slope remains, the corresponding speed measurement for that track slope is the actual value of speed.
The acceleration average is first calculated. The frame rate of the accelerometer is typically much higher than millimetersThe millimeter wave radar data of one frame generally corresponds to the data of a multi-frame accelerometer, so that the measured values of a plurality of frames of acceleration between the (k + 1) th frame and the (k) th frame of the millimeter wave radar are averaged to obtain the average value of the acceleration
And (3) grouping the relative speeds between a plurality of target points and the train measured by the millimeter wave radar in the (k + 1) th frame according to the value, such as grouping the same relative speed. Optionally, all packets are sorted in order of the number of relative speeds in each packet from small to large. The grouping with the relative speed number less than or equal to the preset threshold value is noise, and is eliminated. Calculating the average value v of the relative speed in each group after elimination1、v2、v3、…。
Calculating a speed change rate of the train between the final speed of the previous frame and an average value of the relative speeds in each packet;
the frame period of the millimeter wave radar is fixed according to the final velocity v of the k-th framekAnd calculating a plurality of speed change rates r corresponding to the millimeter wave radar in the (k + 1) th frame by the average value of the relative speed in each group1、r2、r3…
Calculating the track gradient of the train corresponding to each group at the position of the current frame according to the average value of the acceleration, the speed change rate corresponding to each group and the gravitational acceleration of the train at the current frame;
according to a plurality of speed change rates and an acceleration mean value
Calculating several components of gravity acceleration in Y-axis direction, and calculating several gradients s by using component of gravity acceleration in Y-axis and gravity acceleration g1、s2、s3…, namely:
and screening out the groups corresponding to the track gradient smaller than or equal to the preset maximum track gradient.
Rejecting track with absolute value greater than preset maximum track gradient smaxThe track slope of (a). According to the rest of siThe average of the relative speeds of the corresponding packets determines the final speed of the train.
The embodiment reversely calculates the track gradient through the speed change rate and the acceleration measurement value, avoids the interference of the gravity acceleration to the acceleration measurement value, screens the speed output by the millimeter wave radar by depending on the acceleration measurement value of the accelerometer, filters abnormal values and realizes the reliable measurement of the train speed.
On the basis of the foregoing embodiment, in this embodiment, the determining the final speed of the train at the current frame according to the relative speed in the screened packet includes: if the number of the screened groups is 1, taking the average value of the relative speeds in the screened groups as the final speed of the train in the current frame;
rejecting maximum slope s with absolute value greater than current linemaxAfter the track gradient of (1), if s remainsiOnly one, then siCorresponding viAs the final speed of the (k + 1) th frame of the millimeter wave radar.
If the number of the screened packets is larger than 1, screening out the packets with the largest number of the relative speeds again from the screened packets, or screening out the packets with the smallest difference between the average value of the relative speeds and the final speed of the previous frame;
if s remainsiMore than one, then in a plurality of remaining siThe packet with the largest number of relative velocities or the final velocity v of the k-th frame is selected again from the corresponding packetskThe group closest in value.
And taking the average value of the relative speeds in the groups screened out again as the final speed of the train in the current frame.
As shown in fig. 7, the present embodiment does not rely on a route map, and calculates several speed change rates based on several speed measurement values output by the millimeter wave radar and the historical speed in the case where the train does not achieve positioning. And then reversely calculating a plurality of components of the gravity acceleration on the Y axis according to the difference between the acceleration measured value output by the accelerometer and the speed change rate, and calculating a plurality of estimated values of the gradients by using the gravity acceleration and a plurality of Y-axis components of the gravity acceleration. And eliminating the estimated value of which the absolute value is greater than the maximum gradient of the current line in the gradient estimated values, wherein the millimeter wave radar speed measured value corresponding to the remaining gradient estimated value is the true value of the current train speed. If there are a plurality of remaining slope estimation values, the packet having the largest number of relative speeds, or the packet numerically closest to the final speed of the train at the k-th frame is selected from the corresponding millimeter wave radar speed measurement values as the final speed of the train at the k + 1-th frame.
The train speed measuring device provided by the invention is described below, and the train speed measuring device described below and the train speed measuring method described above can be referred to correspondingly.
The invention provides a train speed measuring device, which comprises a millimeter wave radar, an accelerometer and a vehicle-mounted computer; the millimeter wave radar, the accelerometer and the vehicle-mounted computer are positioned on the train;
the millimeter wave radar is used for measuring the relative speed between the train and each target point;
the accelerometer is used for measuring the acceleration of the train;
the vehicle-mounted computer is used for clustering the relative speed of the millimeter wave radar on the train between the train measured by the current frame and each target point to obtain the group to which each relative speed belongs; screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame; and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
The embodiment realizes reliable measurement of the train speed by only depending on two sensors, namely the millimeter wave radar and the accelerometer, and does not use a speed sensor arranged on a wheel axle, so that the accuracy of train speed measurement is improved; all sensors are installed on the train body, and a connecting cable does not need to be plugged in and pulled out in the maintenance process of the train, so that the maintenance cost is reduced, and the speed measurement reliability of the train is improved.
Fig. 8 illustrates a physical structure diagram of an electronic device, and as shown in fig. 8, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a rail train tachometer method comprising: clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs; screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame; and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, where the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, a computer can execute the rail train speed measurement method provided by the above methods, and the method includes: clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs; screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame; and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the method for measuring speed of a rail train provided by the above methods, the method including: clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs; screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame; and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A rail train speed measurement method is characterized by comprising the following steps:
clustering relative speeds of millimeter wave radars on a train between the train measured by a current frame and each target point to obtain a group to which each relative speed belongs;
screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame;
and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
2. The method for measuring rail train speed according to claim 1, wherein the screening all the packets according to the acceleration of the train measured by the accelerometer on the train from the previous frame of the current frame to the current frame and the final speed of the previous frame comprises:
integrating the acceleration of the train measured for multiple times between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame;
adding the final speed of the train in the previous frame to the speed increment to obtain the predicted speed of the train in the current frame;
and screening all the groups according to the predicted speed.
3. The method for measuring the speed of a rail train according to claim 2, wherein said integrating the acceleration of the train measured several times from the previous frame to the current frame to obtain the speed increment of the train from the previous frame to the current frame further comprises:
correcting the acceleration of the train measured between the previous frame and the current frame according to the track gradient and the gravity acceleration of the train at the position of the current frame;
and integrating the corrected acceleration of the train between the previous frame and the current frame to obtain the speed increment of the train from the previous frame to the current frame.
4. The method for measuring rail train speed according to claim 3, wherein said screening all the groups according to the predicted speed comprises:
counting the average value and the number of the relative speeds in each group;
calculating a difference between the predicted speed and an average of the relative speeds in each group;
and screening out the packet corresponding to the minimum difference value from the packets with the relative speed number larger than a preset threshold value.
5. The rail train speed measurement method according to claim 1, wherein the screening all the packets according to the acceleration of the train measured by an accelerometer on the train from a previous frame of the current frame to the current frame and the final speed of the previous frame comprises:
calculating an average value of the acceleration of the train measured between the previous frame and the current frame and an average value of the relative speed in each group;
calculating a speed change rate of the train between the final speed of the previous frame and an average value of the relative speeds in each packet;
calculating the track gradient of the train corresponding to each group at the position of the current frame according to the average value of the acceleration, the speed change rate corresponding to each group and the gravitational acceleration of the train at the current frame;
and screening out the groups corresponding to the track gradient smaller than or equal to the preset maximum track gradient.
6. The rail train speed measurement method according to claim 5, wherein the determining the final speed of the train at the current frame according to the screened relative speed in the group comprises:
if the number of the screened groups is 1, taking the average value of the relative speeds in the screened groups as the final speed of the train in the current frame;
if the number of the screened packets is larger than 1, screening out the packets with the largest number of the relative speeds again from the screened packets, or screening out the packets with the smallest difference between the average value of the relative speeds and the final speed of the previous frame;
and taking the average value of the relative speeds in the groups screened out again as the final speed of the train in the current frame.
7. A rail train speed measuring device is characterized by comprising a millimeter wave radar, an accelerometer and a vehicle-mounted computer;
the millimeter wave radar, the accelerometer and the vehicle-mounted computer are positioned on the train;
the millimeter wave radar is used for measuring the relative speed between the train and each target point;
the accelerometer is used for measuring the acceleration of the train;
the vehicle-mounted computer is used for clustering the relative speed of the millimeter wave radar on the train between the train measured by the current frame and each target point to obtain the group to which each relative speed belongs;
screening all the groups according to the acceleration of the train measured between the previous frame and the current frame by the accelerometer on the train and the final speed of the previous frame;
and determining the final speed of the train in the current frame according to the relative speed in the screened groups.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program performs the steps of the method for measuring rail train speed according to any of claims 1 to 6.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the method for measuring speed of a rail train according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the steps of the method for measuring rail train speed according to any one of claims 1 to 6.
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