CN211205323U - Railway tunnel accurate positioning device - Google Patents
Railway tunnel accurate positioning device Download PDFInfo
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- CN211205323U CN211205323U CN201921868441.8U CN201921868441U CN211205323U CN 211205323 U CN211205323 U CN 211205323U CN 201921868441 U CN201921868441 U CN 201921868441U CN 211205323 U CN211205323 U CN 211205323U
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Abstract
The utility model provides a railway tunnel accurate positioning device, the device include tunnel location server T L BS, tunnel location server T L BS is connected to a plurality of location base station controller TBC through ethernet, and every location base station controller TBC is connected with a plurality of location base station UBS, and a plurality of location base station UBS and a positioning terminal UBE under this location base station controller TBC control are interacted and are fixed a position, wherein carry out remote management to location base station UBS, location base station UBS realize accurate synchronization between the basic station, the UWB module answers with ground location base station, the utility model discloses can satisfy under the qinghai-tibet line plateau environment ITCS in the continuous accurate positioning demand in regions such as tunnel and station.
Description
Technical Field
The utility model relates to a tunnel positioning system field specifically is a railway tunnel accurate positioning device.
Background
The Beidou satellite navigation system is a global satellite navigation system which is independently implemented and independently operated in China, has high safety and accuracy, and is popularized to realize important work of the Beidou satellite positioning in railway application and incorporated into a railway head office to realize intelligent railway.
In railway tunnels, stations and other shielded and interfered areas, trains cannot normally receive satellite signals to realize train positioning, so that the development of Beidou satellite signal coverage and train accurate positioning in the tunnels is a problem to be solved urgently in Beidou satellite railway application and is also important research content of a new generation train ITCS control system of the Qinghai-Tibet railway.
The traditional positioning technology (such as WiFi positioning and Bluetooth positioning) is to judge the position of an object according to the strength of a signal, the strength of the signal is greatly influenced by the outside, so that the error between the positioned position of the object and the actual position is large, a UWB (ultra wideband) high-precision indoor positioning system is an ultra wideband positioning technology, a wideband pulse communication technology is adopted, signal transmission between vehicle-mounted equipment and a base station is shown in figure 1, nanosecond-level non-sine wave narrow pulses are used for transmitting data, the occupied frequency spectrum range is wide, the high-precision ultra wideband positioning system has high anti-interference capability, and the high-precision ultra wideband positioning system is insensitive to channel fading, low in power spectral density of transmitted signals, capable of providing centimeter-level positioning precision and the like.
With the rapid development of the ICT technology of the high-speed railway, the next generation of high-speed train control system technology and equipment based on the satellite positioning technology are rapidly developing and testing, the accurate positioning system of the train in the tunnel is still in the research stage at home and abroad, no application case exists, the accurate positioning system of the tunnel train developed by the research project in this department has certain innovativeness at home and abroad, and has wide application prospects in the railway and rail transit industries.
① corrects physical layer, adds AFT high speed moving self-adapting algorithm and improved synchronous algorithm to adapt Doppler frequency measurement and phase tracking process, ② improves synchronization and tracking precision of extremely narrow pulse in UWB base station circuit to improve positioning error caused by time delay, ③ adopts high speed processing circuit and device to output positioning data frequency not less than 50Hz per second to ensure positioning precision of high speed object.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve prior art's problem, provide a railway tunnel accurate positioning device, satisfy under the blue and green line plateau environment ITCS in the regional continuous accurate positioning demand such as tunnel and station.
The utility model provides a railway tunnel accurate positioning device includes tunnel location server T L BS, tunnel location server T L BS is connected to a plurality of location base station controller TBC through the ethernet, every location base station controller TBC is connected with a plurality of location base station UBS, a plurality of location base station UBS and a positioning terminal UBE under this location base station controller TBC control are interacted location, wherein carry out remote management to location base station UBS, receive the location data of location base station controller TBC and positioning terminal UBE, and carry out data processing and precision optimization, data storage and management, location base station UBS realize accurate synchronization between the base station, realize the data communication with base station UBS through optic fibre or UWB network cable, export and show the locating information at UBE terminal, the module answers with ground location base station, accomplish range finding and data communication work
Further improved, the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundancy hot backup.
The positioning base station UBS is further improved and comprises a base station system and a V-shaped shield arranged on the surface of the base station system, a triangular prism structure is formed between the base station system and the V-shaped shield, a base station antenna is arranged on each inner surface of the V-shaped shield, the double antennas are arranged back to back, and each base station antenna is connected with a positioning module.
The positioning base station UBS is further improved to comprise a data communication and signal processing module, wherein the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a Beidou RTK positioning module, a communication module, a column control interface and a display terminal, and accurate positioning data is mainly provided outdoors by the Beidou RTK; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected. The three positioning data need to be subjected to optimization and collaborative algorithms such as data screening and comparison by the positioning data signal processing module, and finally accurate and reliable positioning data are output.
The utility model also provides a railway tunnel accurate positioning method, including following step:
1) the electric wave flight time Tpr can be calculated through the transmission-reception period Tround and the response period Treply measured by the base station and the terminal:
tx transmit timestamp; rx receive timestamp;
and (3) Tround: local transmit-receive round trip time;
treply: local receive-forward time delay;
tpr: a time of flight in space;
2) calculating the distance Dt from the train to a certain fixed kilometer post according to the flight time of the electric waves, and determining the position DK of the train:
when Dt (t +1) > Dt (t), the train kilometer post: DK DKn + Dt;
when Dt (t +1) < Dt (t), the train kilometer scale: DK is DKn-Dt.
The utility model has the advantages that:
1. the continuous accurate positioning requirement of the ITCS in the areas such as tunnels, stations and the like under the Qinghai-Tibet line plateau environment is met.
2. Under the condition of high-speed train movement, the positioning precision of the train tunnel and the station reaches 1 meter.
3. The whole machine hot standby ring network of the positioning base station and the whole machine hot standby of the vehicle-mounted equipment meet the requirements of safety and reliability of the ITCS train control.
4. And positioning the special directional narrow beam antenna for the base station tunnel, wherein the coverage distance is more than 300 m.
5. The vehicle-mounted equipment is compatible with the appearance, the interface and the communication protocol of the existing satellite positioning module through the integrated design of the Beidou receiving module and the UWB tunnel positioning module, and the consistency of an ITCS system is kept.
6. The base station is designed with low power consumption, and the photoelectric composite cable is used for centralized power supply, so that the system engineering cost is reduced.
7. The Beidou satellite and GPS satellite signal coverage in the tunnel is realized, and the train satellite signal is kept from being lost.
8. The system network manager remotely manages the base station and the terminal, and realizes the functions of login management, query setting, fault management, data storage, remote data updating, terminal positioning management and the like.
Drawings
Fig. 1 is a schematic diagram of signal transmission between an on-board device and a base station.
Fig. 2 is a schematic diagram of two-way two-sided ranging.
Fig. 3 is a schematic structural diagram of a railway tunnel precise positioning device.
FIG. 4 is a schematic diagram of a multi-mode redundant hot backup.
Fig. 5 is a schematic diagram of a positioning base station antenna.
Fig. 6 is a schematic diagram of a positioning base station.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
The utility model provides a railway tunnel accurate positioning device structure is shown in figure 3, including tunnel positioning server T L BS, tunnel positioning server T L BS is connected to a plurality of location base station controller TBC through Ethernet, every location base station controller TBC is connected with a plurality of location base station UBS, a plurality of location base station UBS and a location terminal UBE under this location base station controller TBC control are interacted and are fixed a position, wherein carry out remote management to location base station UBS, receive the location data of location base station controller TBC and location terminal UBE, and carry out data processing and precision optimization, data storage and management, location base station UBS realize accurate synchronization between the base station, realize through optic fibre or net twine and base station UBS's data communication, export and show the locating information at UBE terminal, the UWB module answers with ground location base station, accomplish range finding and data communication work
Further improved, the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundancy hot backup, and the structure is shown in fig. 4:
1) the base station UBS is annularly connected with the base station controller TBC through an optical fiber;
2) the distance between the base stations is 500m, and PoE power supply can be adopted;
3) the TBC and the UBS can be in a ring network or in a chain or star networking mode;
4) the ground UBS base station adopts dual-machine hot standby to ensure the system safety;
5) the farthest distance of the optical fiber is 10 km;
6) one TBC can control 20 UBS, 10 each left and right, i.e., one TBC every 5 km.
In a further improvement, the positioning base station UBS is as shown in fig. 5, and includes a base station system and a V-shaped shield installed on the surface of the base station system, the base station system and the V-shaped shield form a triangular prism structure therebetween, each inner surface of the V-shaped shield is installed with a base station antenna, the double antennas are installed back to back, and each base station antenna is connected with the positioning module.
The working parameters of the base station antenna are as follows:
each base station can manage 128 UBE terminals, and simultaneously position and communicate;
the working frequency of the base station is 4500MHz, and the working bandwidth is 500 MHz;
the power consumption of the base station is less than 5W, and the base station is suitable for remote power supply;
the outdoor design meets the protection requirement of IP 65;
the antenna and the base station are integrally designed;
the external dimension is as follows: 450X260X 180.
In a further improvement, the positioning base station UBS is shown in fig. 6 and comprises a data communication and signal processing module, the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a big dipper RTK positioning module, a communication module, a train control interface and a display terminal, wherein the big dipper RTK mainly provides accurate positioning data outdoors; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected. The three positioning data need to be subjected to optimization and collaborative algorithms such as data screening and comparison by the positioning data signal processing module, and finally accurate and reliable positioning data are output. And the UWB module responds to the ground positioning base station to complete the ranging and data communication work.
The UBS working parameters of the positioning base station are as follows:
the working frequency is as follows: 4243.2-4742.4 MHz.
Emission power: 41 dBm/MHz.
Reception sensitivity: -106 dBm.
The positioning mode is as follows: TDOA/TOF.
The range measurement range is as follows: 1-500 m.
Positioning accuracy: 15 cm.
Communication rate: 110 kbps.
A data interface: SPI, UART, USB.
Working voltage: DC 5V.
Rated power: < 5W.
Working temperature: -40 to 75 ℃.
Storage temperature: -45 to 85 ℃.
Working humidity: 0 to 90 percent of the water-soluble polymer has no coagulation.
Size: 50x 15 x 8 mm.
The Beidou RTK module provides accurate positioning of an outdoor Beidou satellite/GPS/G L ONASS and provides an inertial guidance function, and the main technical indexes of the Beidou RTK module are as follows:
the utility model also provides a railway tunnel accurate positioning method, including following step:
1) the electric wave flight time Tpr can be calculated through the transmission-reception period Tround and the response period Treply measured by the base station and the terminal:
tx transmit timestamp; rx receive timestamp;
and (3) Tround: local transmit-receive round trip time;
treply: local receive-forward time delay;
tpr: a time of flight in space;
2) calculating the distance Dt from the train to a certain fixed kilometer post according to the flight time of the electric waves, and determining the position DK of the train:
when Dt (t +1) > Dt (t), the train kilometer post: DK DKn + Dt;
when Dt (t +1) < Dt (t), the train kilometer scale: DK is DKn-Dt.
The utility model discloses technical innovation point is as follows:
UWB extremely narrow pulse positioning base station and high-speed adaptability technique:
according to railway train tunnel and station application environment, UWB ultra-wideband extremely-narrow pulse forming and synchronous ranging base station equipment which is suitable for high-speed movement conditions with train speed greater than 200km/h and outputs 50-time positioning data per second is developed.
2. The tunnel station positioning base station cooperative computing and networking technology comprises the following steps:
the large tunnel and the large station need to be covered by a plurality of groups of positioning base stations, a plurality of base station positioning protocol stacks (comprising a physical layer, a data link layer and an MAC layer) need to be formulated, and the functional requirements of the plurality of groups of positioning base stations on networking, data interaction, data cooperation, accurate positioning algorithm realization and the like are met.
3. The vehicle-ground high-speed data communication technology comprises the following steps:
the mobile data communication and the positioning information transmission between the train and the tunnel positioning base station are provided, the transmission rate can reach 6Mbps, and the information transmission between the train and the base station is met.
4. Vehicle-mounted positioning terminal and multimode positioning data processing technology:
train positioning terminal contains a plurality of orientation module such as big dipper accurate positioning, indoor accurate positioning, high accuracy inertial navigation location, need carry out automatic selection, mutual coprocessing and provide accurate positioning data for train and management center to the multiunit positioning data stream.
5. The system safety and reliability technology meeting the train control requirement is as follows:
firstly, a multimode redundant hot backup technology is adopted in a base station and vehicle-mounted equipment, so that the normal work of the equipment is not influenced by the single-node fault; secondly, in a positioning network framework, three groups of positioning links are adopted simultaneously according to a time division multiplexing principle, so that the positioning data can be determined by taking two out of three, and the safety and reliability of the system are ensured.
6. Tunnel covering antenna technology
In order to adapt to the one-dimensional use environment of the railway tunnel and increase the coverage distance, a micro-strip antenna array technology is adopted to develop a small high-gain narrow-beam antenna, the beam angle is less than 5 degrees, and the gain is more than 20 dB.
7. A tunnel positioning base station low power consumption technology and a POE centralized power supply technology.
The utility model discloses main technical index:
1. the positioning precision of the train in the tunnel is not more than 1 meter.
2. Positioning the data refresh rate: 50 Hz.
3. The highest communication rate is 6.8 Mbps.
4. The maximum range is greater than 400 meters.
5. Support 6 frequency bands, the central frequency is between 3.5GHz and 6.5 GHz.
6. The transmitted power density was-41.3 dBm/MHz.
7. The base station antenna gain is more than 20 dB.
8. A data interface: ethernet IP, fiber optic or network cable.
9. A power interface: AC 170V-240V.
10. Rated power of base station: < 5W.
11. Base station cell capacity: 128 users.
12. Working temperature: -25 to 55 ℃.
13. Working humidity: 0 to 90 percent of the water-soluble polymer has no coagulation.
14. Protection grade: IP 65.
At present, 13 kilometers of railways, 2 kilometers of tunnels and more than ten thousand kilometers of tunnels are in a planning and designing stage in China, the market scale of the Beidou satellite tunnel positioning system in five years in the future is 10-16 million yuan according to 5 million yuan of cost analysis per kilometer, and the market scale is more than 1 million yuan due to the fact that vehicle-mounted equipment of one million locomotives is improved.
The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.
Claims (4)
1. A railway tunnel accurate positioning device is characterized by comprising a tunnel positioning server T L BS, wherein the tunnel positioning server T L BS is connected to a plurality of positioning base station controllers TBC through Ethernet, each positioning base station controller TBC is connected with a plurality of positioning base stations UBS, the plurality of positioning base stations UBS under the control of the positioning base station controller TBC and a positioning terminal UBE are interactively positioned, the positioning base stations UBS are remotely managed, positioning data of the positioning base station controllers TBC and the positioning terminal UBE are received, data processing, accuracy optimization and data storage and management are carried out, the positioning base stations UBS achieve accurate synchronization, data communication with the base stations UBS is achieved through optical fibers or network cables, positioning information of UBE terminals is output and displayed, and a module responds to a ground positioning base station to complete distance measurement and data communication work.
2. The railway tunnel accurate positioning device of claim 1, wherein: and the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundant hot backup.
3. The railway tunnel accurate positioning device of claim 1, wherein: the positioning base station UBS comprises a base station system and a V-shaped shield arranged on the surface of the base station system, a triangular prism structure is formed between the base station system and the V-shaped shield, a base station antenna is arranged on each inner surface of the V-shaped shield, the double antennas are arranged back to back, and each base station antenna is connected with a positioning module.
4. The railway tunnel accurate positioning device of claim 1, wherein: the positioning base station UBS comprises a data communication and signal processing module, wherein the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a Beidou RTK positioning module, a communication module, a train control interface and a display terminal, and accurate positioning data is mainly provided outdoors by the Beidou RTK; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected.
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| CN201921868441.8U CN211205323U (en) | 2019-11-01 | 2019-11-01 | Railway tunnel accurate positioning device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504270A (en) * | 2020-12-08 | 2021-03-16 | 特路（北京）科技有限公司 | Facility and method for assisting vehicle positioning in tunnel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504270A (en) * | 2020-12-08 | 2021-03-16 | 特路（北京）科技有限公司 | Facility and method for assisting vehicle positioning in tunnel |
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