CN114559988A - Method, device and system for measuring speed, mileage, station and motion state of train - Google Patents
Method, device and system for measuring speed, mileage, station and motion state of train Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract
The invention provides a method, a device and a system for measuring the speed, mileage, station and motion state of a train. The testing method of the invention obtains the data collected by the acceleration sensor with high contact line pull-out lead value and high precision; judging all positioning points according to the pull-out value of the contact line pull-out lead high value, and calculating the speed and mileage of the train according to the X-axis acceleration and the inclination angle in the data collected by the high-precision acceleration sensor and judging the motion state of the train according to the positioning point confirmation station information; correcting the calculated train speed and mileage; and storing the obtained train speed, mileage, station information and motion state. The train running state can be monitored in an online non-contact mode in the operation process, the obtained train information can be used for monitoring other pantograph-catenary relations to position problematic points, accordingly manual work, high cost and high workload are reduced, and important basic information is provided for other measurement projects.
Description
Technical Field
The invention relates to the technical field of train speed measurement, in particular to a method, a device and a system for measuring train speed, mileage, station and motion state.
Background
In the electrified track, measuring the displacement and the speed of the vehicle is a basic measurement item which is important in the industry. The current measurement methods are classified into contact measurement and non-contact measurement. The contact measurement adopts a method of measuring wheel set information and measuring train motion information according to the rotation of the wheel set, so that the measurement reliability is high during contact, and the method is almost a main measurement means. However, this measurement method has a great disadvantage that the measurement is unreliable when there is relative sliding between the train and the rail. The non-contact measurement is influenced by the track gradient when an accelerometer is used for measuring, and the radar measurement method has higher requirements on the track bed. Because both of the above methods have certain drawbacks, a method, an apparatus and a system for measuring the speed, the mileage, the station and the motion status of a train are needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a method, a device and a system for measuring the speed, the mileage, the station and the motion state of a train, which are used for solving the problems that the measurement of an accelerometer used in the existing non-contact measurement is influenced by the gradient of a track, and the radar measurement method has higher requirement on a track bed and cannot obtain the speed, the mileage, the station and the motion state of the train with higher precision.
In a first aspect, the invention provides a method for measuring train speed, mileage, station and motion state, comprising the following steps:
acquiring a contact line pull-out height value and high-precision acceleration sensor acquisition data, wherein the contact line pull-out height value is acquired by a pull-out height module positioned at the top of a train, the contact line pull-out height value is used for judging and assisting a train stop station, the high-precision acceleration sensor acquisition data is acquired by an acceleration acquisition module positioned in a train compartment, and the high-precision acceleration sensor is horizontally arranged in the middle;
judging all positioning points according to the pull-out value of the contact line pull-out lead-out height value, and confirming station information according to the positioning points;
calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor;
correcting the calculated train speed and mileage;
and storing the obtained train speed, mileage, station information and motion state.
Further, determining all positioning points according to the pull-out value of the contact line pull-out lead-out height value, and confirming station information according to the positioning points, including: if the pull value of the current acquisition point is L1, the pull value of the previous acquisition point is L0, the pull value of the next acquisition point is L2, and (L1-L0) × (L2-L1) <0, L1-L0> Δ L, L2-L1> Δ L, the current acquisition point is an anchor point, the timestamp values of all anchor points are recorded, and the station information is confirmed according to the recorded anchor point data.
Further, the Δ L indicates a preset pull-out value minimum variation.
Further, the high-precision acceleration sensor collects data including X, Y, Z acceleration in three axial directions and inclination angles.
Further, calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data collected by the high-precision acceleration sensor, and the method comprises the following steps:
calculating the speed of the train according to the acceleration and the inclination angle of the X axis, specifically:
the motion of the train is regarded as uniform variable speed motion and uniform motion, and then the instantaneous speed calculation formula of the train is formula 1: v (T) + a Δ T, where a is the X-axis acceleration measured by the high-precision sensor, and Δ T is the timestamp difference of the front and rear sampling points;
calculating the mileage, wherein the formula of the uniform acceleration section is shown as formula 2: Δ s ═ v (T) Δ T +1/2a ^ Δ T2; the formula of the uniform motion segment is formula 3: Δ s ═ v (T) Δ T, Δ T being the difference in time stamps of preceding and following sample points;
judging the motion state of the train, wherein the train is in a static state when the absolute value of the X-axis speed is less than or equal to Vthres, and the train is in a motion state when the absolute value of the X-axis speed is greater than the Vthres; under the normal operation condition, the train is in a static state when arriving at the stations, and is in a moving state between the stations; meanwhile, according to the contact line height conducting value H, the current position is judged to be in an elevated road section or a tunnel section, and the method specifically comprises the following steps: if H > Hthres and H-Hthres >0, the current location is considered to be in the elevated section, otherwise in the tunnel section.
Further, correcting the calculated train speed and mileage includes:
correcting the speed, specifically: the method comprises the steps that the driving distance delta S between two positioning points in front and back is judged by combining positioning point data and a basic information database, the average speed between the two positioning points is obtained by calculation according to the time stamp difference delta T corresponding to the positioning points, v is delta S/delta T, the calculated speed is corrected according to the speed value, the speed is calculated according to the acceleration, the average speed between the two positioning points is obtained by calculation according to the distance between the two positioning points in front and back and the time stamp difference corresponding to the positioning points in front and back at the positioning points, and the average speed is used for replacing the calculated value to serve as the current real-time calculated speed;
the mileage calculation value is corrected, and one method is as follows: the driving distance delta S between the front positioning point and the rear positioning point is judged by combining the positioning point data and the basic information database, and the mileage delta S obtained by calculation is corrected according to the driving distance delta S; and the second method is that when the train is in a static state and arrives at a station, the current mileage calculation value is corrected by combining the mileage value of the corresponding station in the basic information database.
In a second aspect, the present invention also provides a train speed, mileage, station and motion state measuring device, including:
The system comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring a contact line pull-out height value and data acquired by a high-precision acceleration sensor, the contact line pull-out height value is acquired by a pull-out height module positioned at the top of a train, the contact line pull-out height value is used for judging and assisting a train stop station, the data acquired by the high-precision acceleration sensor is acquired by an acceleration acquisition module positioned in a train compartment, and the high-precision acceleration sensor is horizontally arranged in the middle;
the judging unit is used for judging all positioning points according to the pull-out values of the contact line pull-out lead-out height values and confirming the station information according to the positioning points;
the calculating unit is used for calculating the speed and the mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor;
a correction unit for correcting the calculated train speed and mileage;
and the storage unit is used for storing the obtained train speed, mileage, station information and motion state.
In a third aspect, the present invention further provides a system for measuring train speed, mileage, station and motion status, comprising: a monitoring system and a computing processing system;
The monitoring system includes: the device comprises a pull-out height guiding module and an acceleration acquisition module; the pull-out height guide module is positioned at the top of the train and is mainly used for acquiring and measuring a pull-out value and a height guide value of a contact line; the acceleration acquisition module is positioned in a train carriage, the high-precision acceleration sensor is horizontally arranged in the middle, and after the acceleration acquisition module is arranged, when a train is static, the inclination angle in the horizontal direction is not more than a specific value;
the computing processing system comprises: the industrial personal computer module and the wireless transmission module; the industrial personal computer module is a high-function industrial personal computer; the wireless transmission module is a 4G router and an antenna; the high-function industrial personal computer is connected with the 4G router through the Ethernet;
the pull-out height leading module is used for acquiring a pull-out value and a height leading value of a measured contact line, transmitting the acquired picture to a computing processing system through Ethernet, and judging and assisting a train stop station through the calculated pull-out and height leading values of the real-time contact line;
the acceleration acquisition module is used for acquiring X, Y, Z accelerations and inclination angles in three axial directions, transmitting the accelerations and inclination angles to the computing processing system through an RS485 bus, and judging the speed, mileage and motion state of the train;
The industrial personal computer module is used for acquiring a contact wire pull-out height value and data acquired by the high-precision acceleration sensor, judging all positioning points according to the pull-out value of the contact wire pull-out height value and confirming station information according to the positioning points; calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor; correcting the calculated train speed and mileage; storing the obtained train speed, mileage, station information and motion state;
and the wireless transmission module is used for uploading train speed, mileage, station information and motion state data to the cloud.
The invention has the following beneficial effects: according to the method and the system for measuring the speed, the mileage, the station information and the motion state of the train, provided by the invention, the speed, the mileage, the station information and the motion state of the train are dynamically detected in a non-contact manner, the running state of the train can be monitored in an online non-contact manner in the operation process, and the obtained train information can be used for monitoring other pantograph-catenary relations and positioning the problem points, so that manual work, high cost and high workload are reduced, and important basic information is provided for other measurement projects.
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 schematic flow chart of a method for measuring train speed, mileage, station and motion state according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a train speed, mileage, station and motion status measuring device provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a train speed, mileage, station and motion status measurement system provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of the distribution of a train speed, mileage, station and motion status measurement system provided by an embodiment of the invention;
fig. 5 is a schematic diagram of a computing processing system of a train speed, mileage, station and motion state measuring system according to an embodiment of the present invention.
Illustration of the drawings: 1-RS485 bus; 2-high precision acceleration sensor; 3-ethernet network lines; 4-contact line; 5-an industrial personal computer; a 6-4G module; 7-antenna.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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 technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a method for measuring train speed, mileage, station and motion status, including:
s101, acquiring data acquired by the acceleration sensor with a high contact line pull-out lead value and high precision.
In this embodiment, the contact line pull-out height value is acquired by a pull-out height module located at the top of the train, the contact line pull-out height value is used for assisting in judging a train stop, the data acquired by the high-precision acceleration sensor is acquired by an acceleration acquisition module located inside a train compartment, and the high-precision acceleration sensor 2 is horizontally installed in the middle; the high-precision acceleration sensor collects data comprising X, Y, Z acceleration in three axial directions and inclination angles.
S102, judging all positioning points according to the drawing values of the contact line drawing height values, and confirming the station information according to the positioning points.
In this embodiment, if the pull-out value of the current acquisition point is L1, the pull-out value of the previous acquisition point is L0, the pull-out value of the next acquisition point is L2, and (L1-L0) x (L2-L1) <0, L1-L0> Δ L, and L2-L1> Δ L (Δ L indicates a preset minimum change in the pull-out values, and avoids influence of interference factors on the determination), the current acquisition point is an anchor point, time stamp values of all anchor points are recorded, and station information is confirmed according to the recorded anchor point data.
S103, calculating the speed and the mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor.
In this embodiment, the train speed is calculated according to the X-axis acceleration and the inclination angle, specifically:
the motion of the train is regarded as uniform variable speed motion and uniform motion, and then the instantaneous speed calculation formula of the train is formula 1: v (T) + a Δ T, where a is the X-axis acceleration measured by the high-precision sensor, and Δ T is the timestamp difference of the front and rear sampling points;
in this embodiment, the mileage is calculated, and the formula of the uniform acceleration segment is formula 2: Δ s ═ v (T) Δ T +1/2a ^ Δ T2; the formula of the uniform motion segment is formula 3: Δ s ═ v (T) Δ T, Δ T being the difference in time stamps of preceding and following sample points;
In this embodiment, the train moving state is determined, and when the absolute value of the X-axis speed is less than or equal to Vthres, the train is in a stationary state, and when the absolute value of the X-axis speed is greater than Vthres, the train is in a moving state; under the condition of normal operation, the train is in a static state when arriving at the stations, and is in a moving state between the stations; meanwhile, according to the contact line height value H, it is determined that the current position is in an elevated road section or a tunnel section, specifically: if H > Hthres and H-Hthres >0, the current location is considered to be in the elevated section, otherwise in the tunnel section.
And S104, correcting the calculated train speed and mileage.
In this embodiment, the speed is corrected specifically by: the method comprises the steps of determining a driving distance delta S between two positioning points in front and at the back by combining positioning point data and a basic information database, calculating to obtain an average speed between the two positioning points according to a timestamp difference delta T corresponding to the positioning points, wherein v is delta S/delta T, correcting the calculated speed by the speed value, and calculating the speed according to acceleration.
In this embodiment, the mileage calculation value is corrected by one of the following methods: the driving distance delta S between the front positioning point and the rear positioning point can be judged by combining the positioning point data and the basic information database, and the calculated mileage delta S is corrected according to the driving distance delta S. From the foregoing, Δ s is estimated from the speed. After the anchor point is reached, since the serial number of the anchor point is known (for example, the 10 th anchor point after the XX station), the actual travel of the anchor point from the station is a fixed value in the database according to the basic information database. Mean replacing the estimated mileage as with the fixed value.
And the second method is that when the train is in a static state, namely the train arrives at a station, the current mileage calculation value is corrected by combining the mileage value of the corresponding station in the basic information database. And after the vehicle arrives at a certain station, according to the basic information database, the journey of the certain station corresponding to the initial departure point is a given value in the database. Means that the estimated mileage Δ s is replaced with the given value.
And S105, storing the obtained train speed, mileage, station information and motion state.
Referring to fig. 2, an embodiment of the present invention provides a device for measuring train speed, mileage, station and motion status, including:
The acquiring unit 201 is configured to acquire a contact line pull-out height value and high-precision acceleration sensor data, where the contact line pull-out height value is acquired by a pull-out height module located at the top of a train, the contact line pull-out height value is used for assisting in judging a train stop station, the high-precision acceleration sensor data is acquired by an acceleration acquisition module located inside a train carriage, and the high-precision acceleration sensor 2 is horizontally installed in the middle;
a judging unit 202, configured to judge all location points according to the pull-out value of the contact line pull-out height value, and confirm station information according to the location points;
the calculating unit 203 is used for calculating the speed and the mileage of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor and judging the motion state of the train;
a correction unit 204 for correcting the calculated train speed and mileage;
and the storage unit 205 is used for storing the obtained train speed, mileage, station information and motion state.
Referring to fig. 3 to 5, an embodiment of the present invention provides a system for measuring train speed, mileage, station and motion status, including: a monitoring system 301 and a computational processing system 302.
The monitoring system 301 includes: a pull-out height module 3011 and an acceleration acquisition module 3012; the pull-out height guide module 3011 is located at the top of the train and is mainly used for collecting and measuring a pull-out value and a height guide value of the contact line 4; the acceleration acquisition module 3012 is located inside a train carriage, the high-precision acceleration sensor 2 is installed horizontally in the middle, and after installation, when a train is static, an inclination angle in the horizontal direction is not larger than a specific value.
The computing processing system 302 includes: an industrial personal computer module 3021 and a wireless transmission module 3022; the industrial personal computer module 3021 is a high-function industrial personal computer 5; the wireless transmission module 3022 is a 4G router 6 and an antenna 7; and the high-function industrial personal computer 5 is connected with the 4G router 6 through the Ethernet cable 3.
In this embodiment, the monitoring system 301 is used for acquiring and transmitting train motion information; the computing processing system 302 is configured to perform processing, analyzing and calculating on the pictures and data acquired by the monitoring system 301, store the values, and upload the values to the cloud;
the pull-out height leading module 3011 is configured to collect a pull-out value and a height leading value of the measurement contact line 4, transmit the collected pictures to the calculation processing system 302 through the ethernet cable 3, and use the calculated pull-out and height leading values of the real-time contact line 4 to assist in determining a train stop;
The acceleration acquisition module 3012 is configured to acquire X, Y, Z accelerations and inclinations in three axial directions, transmit the accelerations and inclinations to the computing processing system 301 through the RS485 bus 1, and determine train speed, mileage and motion state;
the industrial personal computer module 3021 is configured to obtain a contact line pull-out height value and high-precision data acquired by the acceleration sensor, determine all positioning points according to the pull-out value of the contact line pull-out height value, and confirm station information according to the positioning points; calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor; correcting the calculated train speed and mileage; and storing the obtained train speed, mileage, station information and motion state.
The wireless transmission module 3022 is configured to upload the obtained train speed, mileage, station information, and motion state data to the cloud.
The working principle of the train speed, mileage, station and motion state measuring system provided by the invention is as follows: the pull-out height module 3011 obtains the data collected by the contact line pull-out height value and high-precision acceleration sensor; the contact line pull-out height value obtained by the pull-out height module 3011 and the data acquired by the acceleration sensor are transmitted to an industrial personal computer module 3021 in the computing processing system 302 through an ethernet network cable 3 and an RS485 bus 1; the industrial personal computer module 3021 calculates the speed and the mileage of the train by drawing out the data obtained by the high-value-derived auxiliary high-precision acceleration sensor 2 through the contact line of the industrial personal computer 5 and judges the station information and the train state; the wireless transmission module 3022 uploads data transmitted by the industrial personal computer 5 through the 4G router 6 by using the ethernet to the cloud.
An embodiment of the present invention further provides a storage medium, and the embodiment of the present invention further provides a storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the computer program implements part or all of steps in each embodiment of the train speed, mileage, station and motion state measurement method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented using software plus any required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be substantially or partially embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts among the various embodiments in this specification may be referred to each other. In particular, as for an embodiment of the device for measuring the speed, the mileage, the station point and the motion state of the train, since the embodiment is basically similar to the embodiment of the method, the description is simple, and the relevant points can be referred to the description in the embodiment of the method.
The above-described embodiments of the present invention do not limit the scope of the present invention.
Claims (8)
1. A method for measuring train speed, mileage, station and motion state is characterized by comprising the following steps:
acquiring a contact line pull-out height value and high-precision acceleration sensor acquisition data, wherein the contact line pull-out height value is acquired by a pull-out height module positioned at the top of a train, the contact line pull-out height value is used for judging and assisting a train stop station, the high-precision acceleration sensor acquisition data is acquired by an acceleration acquisition module positioned in a train compartment, and the high-precision acceleration sensor is horizontally arranged in the middle;
judging all positioning points according to the pull-out value of the contact line pull-out lead-out height value, and confirming station information according to the positioning points;
calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor;
Correcting the calculated train speed and mileage;
and storing the obtained train speed, mileage, station information and motion state.
2. The method of claim 1, wherein the determining all the positioning points according to the drawing values of the contact line drawing height values and the confirming the station information according to the positioning points comprises: if the pull value of the current acquisition point is L1, the pull value of the previous acquisition point is L0, the pull value of the next acquisition point is L2, and (L1-L0) × (L2-L1) <0, L1-L0> Δ L, L2-L1> Δ L, the current acquisition point is an anchor point, the timestamp values of all anchor points are recorded, and the station information is confirmed according to the recorded anchor point data.
3. The method of train speed, distance, station and motion status measurement according to claim 2, wherein said Δ L is indicative of a preset pull-out value minimum change.
4. The method of claim 1, wherein the high-precision acceleration sensor collects data including X, Y, Z acceleration in three axes and inclination.
5. The method for measuring the speed, mileage, station point and motion state of a train according to claim 1, wherein the steps of calculating the speed and mileage of the train and determining the motion state of the train according to the X-axis acceleration and inclination angle in the data collected by the high-precision acceleration sensor comprise:
calculating the speed of the train according to the acceleration and the inclination angle of the X axis, specifically:
the motion of the train is regarded as uniform variable speed motion and uniform motion, and then the instantaneous speed calculation formula of the train is formula 1: v (T) is v (T-1) + a Δ T, wherein a is the X-axis acceleration measured by the high-precision sensor, and Δ T is the time stamp difference of the front and rear sampling points;
calculating the mileage, wherein the formula of the uniform acceleration section is shown as formula 2: Δ s ═ v (T) Δ T +1/2a ^ Δ T ^ 2; the formula of the uniform motion segment is formula 3: Δ s ═ v (T) Δ T, Δ T being the difference in time stamps of preceding and following sample points;
judging the motion state of the train, wherein the train is in a static state when the absolute value of the X-axis speed is less than or equal to Vthres, and the train is in a motion state when the absolute value of the X-axis speed is greater than the Vthres; under the normal operation condition, the train is in a static state when arriving at the stations, and is in a moving state between the stations; meanwhile, according to the contact line height conducting value H, the current position is judged to be in an elevated road section or a tunnel section, and the method specifically comprises the following steps: if H > Hthres and H-Hthres >0, the current location is considered to be in the elevated section, otherwise in the tunnel section.
6. The method of train speed, mileage, station and movement state measurement according to claim 1, wherein the correcting the calculated train speed and mileage comprises:
correcting the speed, specifically: the method comprises the steps that the driving distance delta S between two positioning points in front and back is judged by combining positioning point data and a basic information database, the average speed between the two positioning points is obtained by calculation according to the time stamp difference delta T corresponding to the positioning points, v is delta S/delta T, the calculated speed is corrected according to the speed value, the speed is calculated according to the acceleration, the average speed between the two positioning points is obtained by calculation according to the distance between the two positioning points in front and back and the time stamp difference corresponding to the positioning points in front and back at the positioning points, and the average speed is used for replacing the calculated value to serve as the current real-time calculated speed;
the mileage calculation value is corrected, and one method is as follows: the driving distance delta S between the front positioning point and the rear positioning point is judged by combining the positioning point data and the basic information database, and the mileage delta S obtained by calculation is corrected according to the driving distance delta S; and the second method is that when the train is in a static state and arrives at the station, the current mileage calculation value is corrected by combining the mileage value of the corresponding station in the basic information database.
7. A train speed, mileage, station and motion status measuring device comprising:
the system comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring a contact line pull-out height value and data acquired by a high-precision acceleration sensor, the contact line pull-out height value is acquired by a pull-out height module positioned at the top of a train, the contact line pull-out height value is used for judging and assisting a train stop station, the data acquired by the high-precision acceleration sensor is acquired by an acceleration acquisition module positioned in a train compartment, and the high-precision acceleration sensor is horizontally arranged in the middle;
the judging unit is used for judging all positioning points according to the pull-out values of the contact line pull-out lead-out height values and confirming the station information according to the positioning points;
the calculating unit is used for calculating the speed and the mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor;
a correction unit for correcting the calculated train speed and mileage;
and the storage unit is used for storing the obtained train speed, mileage, station information and motion state.
8. A train speed, mileage, station and motion status measurement system comprising: a monitoring system and a computing processing system;
The monitoring system includes: the device comprises a pull-out height-guiding module and an acceleration acquisition module; the pull-out height-guiding module is positioned at the top of the train and is mainly used for acquiring and measuring a pull-out value and a height-guiding value of a contact line; the acceleration acquisition module is positioned in a train carriage, the high-precision acceleration sensor is horizontally arranged in the middle, and after the acceleration acquisition module is arranged, when a train is static, the inclination angle in the horizontal direction is not more than a specific value;
the computing processing system includes: the industrial personal computer module and the wireless transmission module; the industrial personal computer module is a high-function industrial personal computer; the wireless transmission module is a 4G router and an antenna; the high-function industrial personal computer is connected with the 4G router through the Ethernet;
the pull-out height leading module is used for acquiring a pull-out value and a height leading value of a measured contact line, transmitting the acquired picture to a computing processing system through Ethernet, and judging and assisting a train stop station through the calculated pull-out and height leading values of the real-time contact line;
the acceleration acquisition module is used for acquiring X, Y, Z accelerations and inclination angles in three axial directions, transmitting the accelerations and inclination angles to the computing processing system through an RS485 bus, and judging the speed, mileage and motion state of the train;
The industrial personal computer module is used for acquiring a contact line pull-out height value and data acquired by the high-precision acceleration sensor, judging all positioning points according to the pull-out value of the contact line pull-out height value and confirming station information according to the positioning points; calculating the speed and mileage of the train and judging the motion state of the train according to the X-axis acceleration and the inclination angle in the data acquired by the high-precision acceleration sensor; correcting the calculated train speed and mileage; storing the obtained train speed, mileage, station information and motion state;
and the wireless transmission module is used for uploading train speed, mileage, station information and motion state data to the cloud.
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