CN114325572A - Railway freight vehicle shunting and marshalling method and system based on UWB positioning technology - Google Patents
Railway freight vehicle shunting and marshalling method and system based on UWB positioning technology Download PDFInfo
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Abstract
The invention relates to a railway freight vehicle shunting and marshalling method and system based on UWB positioning technology, wherein the method comprises the following steps: acquiring the time of a pulse signal transmitted by a positioning tag reaching each positioning base station; acquiring coordinates of each positioning base station; obtaining the coordinates of the positioning labels according to the time of the pulse signals transmitted by the positioning labels to reach each positioning base station and the coordinates of each positioning base station; and shunting and grouping according to the coordinates of the positioning tags. The invention can acquire the real-time positions of the locomotive and the vehicle in real time, and feeds back the real-time positions to the locomotive cab when the locomotive and the vehicle to be marshalled approach each other, thereby ensuring that the vehicle attachment speed is lower than a set range and ensuring shunting safety.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a shunting and marshalling method and a shunting and marshalling system for railway freight vehicles based on a UWB positioning technology.
Background
The freight transportation shunting yard marshalling uses the manual plan for a long time, even if the information software is used, the manual arrangement is only carried out, the dispatching list is printed in real time, and the position and track information of the vehicle and the patrol maintainer cannot be obtained in real time. The freight train can stop on the track according to the scheduling, the parking track and the number change at any time according to the scheduling condition, and the inspection personnel can inspect the designated train in the designated time period and route to check the train condition. Therefore, there is a pressing need for the automatic acquisition and management of locomotive and vehicle position information. Meanwhile, a shunting system based on a GPS/Beidou satellite positioning system is adopted, but due to the characteristics of satellite positioning, the defects that a differential positioning station is relied on, a contact net is shielded, the positioning period cannot meet the requirement of vehicle connection and the like exist, and the actual requirement of a freight transportation shunting station cannot be met.
Therefore, how to design a method and a system for shunting and grouping railway freight vehicles based on UWB positioning technology, which can acquire real-time positions of a locomotive and a vehicle in real time, feed back the real-time positions to a locomotive cab when the locomotive and the vehicle to be grouped are close to each other, ensure that the attachment speed of the vehicle is lower than a set range, and guarantee shunting safety, becomes a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a shunting and marshalling method and a shunting and marshalling system of a railway freight vehicle based on a UWB positioning technology.
In order to achieve the purpose, the invention provides the following scheme:
a railway freight vehicle shunting and grouping method based on UWB positioning technology comprises the following steps:
acquiring the time of a pulse signal transmitted by a positioning tag reaching each positioning base station;
acquiring coordinates of each positioning base station;
obtaining the coordinates of the positioning labels according to the time of the pulse signals transmitted by the positioning labels to reach each positioning base station and the coordinates of each positioning base station;
and shunting and grouping according to the coordinates of the positioning tags.
Optionally, the obtaining, according to the time when the pulse signal transmitted by the positioning tag reaches each positioning base station and the coordinates of each positioning base station, the coordinates of the positioning tag specifically includes:
the coordinates of the location tag are obtained according to the following formula:
wherein d isi,1C is the propagation velocity of uwb electromagnetic waves, Δ t, for the distance from the ith positioning base station to the 1 st positioning base stationiTime of arrival of the pulse signal emitted for the positioning tag at the respective positioning base station, diThe distance from the positioning label to the ith positioning base station, i is a positive integer, d1(x) distance of the positioning tag to the 1 st positioning base stationi,yi) For the ith location base station coordinates, (x)1,y1) The coordinates of the 1 st positioning base station are shown, and the (x, y) coordinates of the positioning base station are shown.
Optionally, the method further includes:
correcting the positioning error by using the geometric accuracy factor; the calculation formula of the geometric accuracy factor is as follows:
wherein GDOP is a geometric precision factor,
for the variance in the x-direction of the positioning error,
is the variance in the y direction of the positioning error.
Optionally, the method further includes:
and filtering, smoothing, coordinate transformation, position presentation and data storage are carried out on the time of the pulse signal transmitted by the positioning label reaching each positioning base station and the coordinates of each positioning base station.
Optionally, the method further includes:
screening out positioning information outside the positioning area specifically comprises:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
The invention also provides a railway freight vehicle shunting and marshalling system based on the UWB positioning technology, which comprises:
the system comprises a plurality of positioning base stations, a UWB engine server, positioning tags and a control center;
the positioning base stations are arranged around the freight station and used for receiving pulse signals transmitted by the positioning labels;
the positioning tags are installed on a locomotive head and a vehicle to be marshalled in a matching mode and used for transmitting pulse signals, and the positioning tags have unique ID identification;
the positioning base stations are connected and communicated with a UWB engine server deployed in a control center through communication base stations;
the UWB engine server deploys and configures a running positioning acquisition program and an electronic map program according to positioning data transmitted by a positioning base station through a communication base station, and processes the positioning data through a system service program to obtain coordinates of the positioning tag;
and the control center is connected with the UWB engine server and is used for shunting and grouping according to the coordinates of the positioning tag.
Optionally, the positioning tag is powered by a battery and fixed by a magnetic attraction manner.
Optionally, the method further includes: and the positioning data acquisition/storage server is used for carrying out algorithm filtering, smoothing, coordinate transformation, position presentation and data storage on the positioning data.
Optionally, the method further includes: the module of sifting out for sifting out the positioning information outside the positioning area, specifically include:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a shunting and marshalling method and a system of railway freight vehicles based on a UWB (ultra wide band) positioning technology, which are based on the UWB technology, realize the accurate positioning of shunting locomotives and trailer wagons by depending on two-dimensional accurate distance measurement and a triangulation positioning principle in a coverage range of a plurality of base stations, further determine the position of a target train on a train running track, ensure the accurate stop position of the train at a marshalling station, and further judge whether the target train is complete or not so as to ensure the complete marshalling of the target train. The UWB technology can more accurately provide the track range occupied by the train than other positioning modes, and the multipath and pseudo range problems caused by contact rails, vehicles and the like above a station are avoided, so that the shunting marshalling has a better running environment, and intelligent shunting is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a shunting and grouping method for railway freight cars based on UWB positioning technology according to embodiment 1 of the present invention;
FIG. 2 is a positioning diagram of a positioning base station and a target node;
fig. 3 is a layout diagram of a shunting and grouping system for railway freight cars based on UWB positioning technology according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In order to promote safe production and realize accurate and rapid management of shunting and marshalling, a freight shunting yard station has urgent needs for acquiring real-time position and relative distance information of a locomotive and a freight carriage in real time. The freight train can stop on the station track according to the scheduling, and the station track and the number of the station track are changed at any time according to the scheduling condition. In order to achieve the safety target, the locomotive and each freight carriage need to be accurately positioned in real time, but carriage property rights belong to different units, and positioning devices cannot be installed in all carriages.
Under the condition that a positioning target cannot load a positioning device, the running speed of a moving locomotive (locomotive) and the running speed of a freight carriage and a static freight carriage in marshalling need to be monitored and fed back to the locomotive in real time, and the relative speed is ensured to be lower than a set threshold value when the locomotive is hung.
The invention aims to provide a shunting and marshalling method and a shunting and marshalling system of a railway freight vehicle based on a UWB positioning technology. In addition, the invention uses UWB technology, and arranges a limited number of base stations in railway stations, thereby accurately positioning the vehicle in real time, improving the scientificity of receiving, sending, compiling, vehicle preparing, overhauling and routing inspection of the vehicle, and improving shunting safety and management efficiency. The station track where the locomotive and the train are located can be accurately judged.
The key terms associated with the present invention are explained as follows:
1. UWB (ultra Wide band) -ultra Wide band
2. Track-refers to the track with numbers in the railway station, and is used for determining the specific position of the train stop.
3. Shunting — grouping vehicles into trains or groups of vehicles according to the relevant regulations.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1:
referring to fig. 1, the present invention provides a shunting and grouping method for railway freight cars based on UWB positioning technology, the method comprising the following steps:
s1: when the locomotive and the vehicle to be marshalled enter a positioning area, acquiring the time of a pulse signal transmitted by a positioning tag reaching each positioning base station;
s2: acquiring coordinates of each positioning base station;
s3: obtaining the coordinates of the positioning labels according to the time of the pulse signals transmitted by the positioning labels to reach each positioning base station and the coordinates of each positioning base station;
s4: and shunting and grouping according to the coordinates of the positioning tags.
In step S3, the obtaining the coordinates of the positioning tag according to the time when the pulse signal transmitted by the positioning tag reaches each positioning base station and the coordinates of each positioning base station specifically includes:
the coordinates of the location tag are obtained according to the following formula:
wherein d isi,1For the distance from the ith positioning base station to the 1 st positioning base station, c isPropagation velocity of uwb electromagnetic waves, Δ tiTime of arrival of the pulse signal emitted for the positioning tag at the respective positioning base station, diThe distance from the positioning label to the ith positioning base station, i is a positive integer, d1(x) distance of the positioning tag to the 1 st positioning base stationi,yi) For the ith location base station coordinates, (x)1,y1) The coordinates of the 1 st positioning base station are shown, and the (x, y) coordinates of the positioning base station are shown.
Will be provided with
Shifting is carried out to obtain:
di＝di,1+d1 (2)；
squaring both sides of equation (2) yields:
expanding equation (3) yields:
the main principle of two-dimensional positioning is TDOA, which is to calculate the coordinates of a location tag by measuring the distance difference between the location tag and n base stations with known location coordinates.
The range difference actually draws a hyperbola, and multiple hyperbola equations (at least 3 base stations) are required to determine the solution.
From equation (4):
because the nonlinear equation system is inconvenient to calculate in a program, the formula needs to be further arranged.
Substituting position coordinates of a plurality of base stations installed in a station one by one
Let i equal 1, then d1,1When the ratio is 0, the following:
equation (5) to equation (6), resulting in:
finishing a formula to obtain:
order:
the following equation (10) can be obtained:
since the station area is entirely included in a rectangle formed by base stations, the number of base stations installed in the station is at least 4, and the position is calculated by calculating 3 arrival time differences.
When the value of i is 2,3,
dividing equation (11) by equation (12) yields a linear relationship between the coordinates x and y of the locomotive and the vehicle to be solved:
thus, the following results:
order:
then there are:
y＝a0x+a1 (16)
substituting the formula (16) into the following formula (17),
obtaining:
the transformation becomes:
order:
then there are:
both sides were squared simultaneously to yield:
the equation (22) is developed:
the transformation becomes:
order:
with the above formula, 2 solutions can be obtained, but for the locomotives and the connected vehicles which actually need to be positioned, the real position coordinates are only 1, so that the values beyond the measurement range can be regarded as invalid solutions depending on the geographical information of the known stations. If the two solutions are close and reasonable, take their median value. The resulting valid solution will be taken as the true position of the vehicle to be located.
The positioning result generated based on the above scheme may generate errors due to factors such as distance measurement. The premise of the algorithm is that 4-5 pieces of coordinate information of UWB positioning base stations deployed at a shunting station are obtained, and the positions of 4 base stations are selected, and as a shunting system needs to accurately obtain the positions of a locomotive and a connected vehicle, if a distance deviates, shunting marshalling behaviors are seriously wrong. After the 5 th base station is added, the optimal positioning precision can be obtained by optimizing the optimal solution in a plurality of triangles. Therefore, the method further comprises the following steps:
correcting the positioning error by using the geometric accuracy factor; the calculation formula of the geometric accuracy factor is as follows:
wherein GDOP is a tableWhich of the accuracy factors is that the accuracy factor,
for the variance in the x-direction of the positioning error,
is the variance in the y direction of the positioning error.
It should be noted that, before deploying the base station, coordinates of key points in the shunting area, such as four corners and a central point of the rectangular area, and a distance between each station track, are accurately measured. And taking the coordinates of the key points as known positions in advance, placing the base stations to be deployed at four preselected corners, and simulating the added base stations through software to obtain the optimal placement position according to the effectiveness of the geometric configuration of the base stations.
As shown in FIG. 2, S is the target node, A, B, O are the base stations, when α is1＝α2＝α3In time, the positions of the base stations are overlapped or close to each other, and the estimation on the target node is not accurate enough; when the target node is farther from the base station1-α3,α3-α2,α1-α2Will be smaller resulting in increased positioning error; if the base station O and the target node S are fixed, the distances between the base station A, the base station B and the base station O are increased, and the positioning error is reduced.
Specifically, the present invention further comprises:
and filtering, smoothing, coordinate transformation, position presentation and data storage are carried out on the time of the pulse signal transmitted by the positioning label reaching each positioning base station and the coordinates of each positioning base station.
In addition, still include:
screening out positioning information outside the positioning area specifically comprises:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
It should be noted that, when UWB is positioned, a rectangular or polygonal area surrounded by a plurality of base stations is generally positioned and covered, and the position information beyond the area is not adopted, but due to the characteristics of wireless signal transmission, vehicle UWB signals outside the boundary can be received by the positioning base stations, if the reflected and refracted equidistant information data output pseudo ranges and the output coordinates are within the area, the data of the part needs to be thrown out, and misjudgment to the shunting system is avoided. The output coordinates are compared with the inside and the outside of the positioning triangular area and the number of the received effective calculated points is judged, so that the positioning information of the locomotive and the vehicle outside the rectangular or polygonal area formed by the plurality of base stations can be effectively screened out.
In addition, in the invention, the coordinates (Xuwb, Yuwb) of the locomotive and the coupled carriages obtained by the UWB ranging are converted into shunting system coordinates (Xobj, Yn), wherein Xobj is the identification distance of the station where the tag is located, and Yn is the number of the station where the tag is located. The number of the tracks and the Y axis of the actual positioning coordinate are realized by a method of setting the center distance of the tracks.
The station positioning system has the advantages that the station center distance is set at the UWB engine server, the number of stations where the locomotives and the carriages are located can be accurately judged according to the station positioning condition, the system can be flexibly deployed at stations with various terrain conditions and station number, and only the station center distance and the judgment threshold value need to be changed at the server.
Example 2:
referring to fig. 3, the present invention provides a shunting and grouping system for railway freight cars based on UWB positioning technology, the system comprising:
the system comprises a plurality of positioning base stations, a UWB engine server, positioning tags and a control center;
the positioning base stations are arranged around the freight station and used for receiving pulse signals transmitted by the positioning labels;
the positioning tags are installed on a locomotive head and a vehicle to be marshalled in a matching mode and used for transmitting pulse signals, and the positioning tags have unique ID identification;
the positioning base stations are connected and communicated with a UWB engine server deployed in a control center through communication base stations;
the UWB engine server deploys and configures a running positioning acquisition program and an electronic map program according to positioning data transmitted by a positioning base station through a communication base station, and processes the positioning data through a system service program to obtain coordinates of the positioning tag;
and the control center is connected with the UWB engine server and is used for shunting and grouping according to the coordinates of the positioning tag.
Specifically, the positioning label is powered by a battery and fixed in a magnetic attraction mode.
Specifically, still include: and the positioning data acquisition/storage server is used for carrying out algorithm filtering, smoothing, coordinate transformation, position presentation and data storage on the positioning data.
Specifically, still include: the module of sifting out for sifting out the positioning information outside the positioning area, specifically include:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
As shown in fig. 3, the data of the positioning base station is connected through the ethernet of the field station, and the data is gathered into the positioning collection server. The vehicle positioning card and the base station realize real-time accurate positioning through UWB radio frequency pulse. Because the positioning data needs to be filtered by an algorithm, smoothed, transformed by coordinates, presented by positions, stored by data and the like, the control center places a positioning data acquisition/storage server, and uploads the data to a background system according to an agreed format and field after the data is processed in real time.
The invention realizes the accurate real-time positioning system of the parking lot by arranging the UWB positioning base station around the parking lot, can position the vehicles entering the station in real time and transmit the vehicles back to the monitoring center, and has the capability of monitoring the whole station. If two base stations with known coordinate points receive signals, the distance interval between the label and the base stations is different, so that the two time nodes of the received signals are different, and the two points which are known to be constant are located on a hyperbolic curve taking the two points as focuses according to a mathematical relationship.
The positioning target sends signals to a plurality of base stations, timing is started from the first base station which receives the signals, and the time when the signals reach the rest base stations is recorded respectively. These time instants are the time differences between the arrival of the signal at the first node receiving the signal and the arrival of the signal at the other nodes, and a hyperbolic equation set can be listed according to these time differences. The target location will be located on one branch of a hyperbola that is focused on two receiving base stations. Two or more hyperbolic equations are needed for determining the two-dimensional coordinates of the target, and the intersection point of the two hyperbolic equations is the two-dimensional position coordinates of the positioning target. A minimum of 3 base stations are required for a localization point. In the usual case, two hyperbolas will typically intersect at two points, but with a known geographical location one can eliminate one of them that is unsatisfactory.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A shunting and grouping method of railway freight vehicles based on UWB positioning technology is characterized by comprising the following steps:
acquiring the time of a pulse signal transmitted by a positioning tag reaching each positioning base station;
acquiring coordinates of each positioning base station;
obtaining the coordinates of the positioning labels according to the time of the pulse signals transmitted by the positioning labels to reach each positioning base station and the coordinates of each positioning base station;
and shunting and grouping according to the coordinates of the positioning tags.
2. The method for shunting and grouping railway freight cars based on UWB positioning technology according to claim 1, wherein the obtaining of the coordinates of the positioning tag according to the arrival time of the pulse signal transmitted by the positioning tag at each positioning base station and the coordinates of each positioning base station specifically comprises:
the coordinates of the location tag are obtained according to the following formula:
wherein d isi,1C is the propagation velocity of uwb electromagnetic waves, Δ t, for the distance from the ith positioning base station to the 1 st positioning base stationiTime of arrival of the pulse signal emitted for the positioning tag at the respective positioning base station, diThe distance from the positioning label to the ith positioning base station, i is a positive integer, d1(x) distance of the positioning tag to the 1 st positioning base stationi,yi) For the ith location base station coordinates, (x)1,y1) The coordinates of the 1 st positioning base station are shown, and the (x, y) coordinates of the positioning base station are shown.
3. The method for shunting and grouping rail freight vehicles based on UWB positioning technology as set forth in claim 1, further comprising:
correcting the positioning error by using the geometric accuracy factor; the calculation formula of the geometric accuracy factor is as follows:
wherein GDOP is geometric accuracyThe factor(s) is (are),
for the variance in the x-direction of the positioning error,
is the variance in the y direction of the positioning error.
4. The method for shunting and grouping rail freight vehicles based on UWB positioning technology as set forth in claim 1, further comprising:
and filtering, smoothing, coordinate transformation, position presentation and data storage are carried out on the time of the pulse signal transmitted by the positioning label reaching each positioning base station and the coordinates of each positioning base station.
5. The method for shunting and grouping rail freight vehicles based on UWB positioning technology as set forth in claim 1, further comprising:
screening out positioning information outside the positioning area specifically comprises:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
6. A railway freight car shunting and grouping system based on UWB location technology, comprising:
the system comprises a plurality of positioning base stations, a UWB engine server, positioning tags and a control center;
the positioning base stations are arranged around the freight station and used for receiving pulse signals transmitted by the positioning labels;
the positioning tags are installed on a locomotive head and a vehicle to be marshalled in a matching mode and used for transmitting pulse signals, and the positioning tags have unique ID identification;
the positioning base stations are connected and communicated with a UWB engine server deployed in a control center through communication base stations;
the UWB engine server deploys and configures a running positioning acquisition program and an electronic map program according to positioning data transmitted by a positioning base station through a communication base station, and processes the positioning data through a system service program to obtain coordinates of the positioning tag;
and the control center is connected with the UWB engine server and is used for shunting and grouping according to the coordinates of the positioning tag.
7. The railway freight vehicle shunting grouping system based on the UWB positioning technology of claim 6, wherein the positioning tag is battery powered and fixed using magnetic attraction.
8. The UWB location based railway freight car shunting grouping system of claim 6, further comprising: and the positioning data acquisition/storage server is used for carrying out algorithm filtering, smoothing, coordinate transformation, position presentation and data storage on the positioning data.
9. The UWB location based railway freight car shunting grouping system of claim 6, further comprising: the module of sifting out for sifting out the positioning information outside the positioning area, specifically include:
judging whether the reflection and refraction equidistant information data of the position of the positioning label outputs pseudo range or not, and outputting a coordinate to be in a positioning area;
if yes, screening out positioning information;
if not, reserving.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116062008A (en) * | 2023-03-09 | 2023-05-05 | 北京全路通信信号研究设计院集团有限公司 | Railway dispatching positioning method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116062008A (en) * | 2023-03-09 | 2023-05-05 | 北京全路通信信号研究设计院集团有限公司 | Railway dispatching positioning method and system |
| CN116062008B (en) * | 2023-03-09 | 2023-06-30 | 北京全路通信信号研究设计院集团有限公司 | Railway dispatching positioning method and system |
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