JPH06284518A - Moving-body acceleration detector and moving-body position detector - Google Patents
Moving-body acceleration detector and moving-body position detectorInfo
- Publication number
- JPH06284518A JPH06284518A JP5092181A JP9218193A JPH06284518A JP H06284518 A JPH06284518 A JP H06284518A JP 5092181 A JP5092181 A JP 5092181A JP 9218193 A JP9218193 A JP 9218193A JP H06284518 A JPH06284518 A JP H06284518A
- Authority
- JP
- Japan
- Prior art keywords
- acceleration
- moving body
- moving
- detecting
- train
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 90
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 20
- 230000000750 progressive effect Effects 0.000 abstract 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は陸上移動体の進行方向に
向かう、重力の影響を含む加速度計の指示値により移動
体の進行方向の加速度を検出するものであり、さらにそ
の検出値により、移動体の滑走空転時に車軸により出力
する異常加速度を補正し正確な加速度や位置を検出する
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the acceleration in the traveling direction of a moving body based on an instruction value of an accelerometer including the influence of gravity, which is directed in the traveling direction of a land moving body. The present invention relates to a device that corrects abnormal acceleration output by an axle when a moving body slips and slips to detect accurate acceleration and position.
【０００２】[0002]
【従来の技術】本発明は航空機等の慣性航法装置を陸上
移動体用に改良するものである。従来の慣性航法装置は
プラットホームと称する回転ジャイロ上で３次元方向の
加速度を計測しこれを２重積分して位置を求めるものが
あった。最近では加速度計は機体に固定し、光ファイバ
ージャイロ等によりその姿勢（変位）を計測して３次元
固定座標上の移動距離を求めるものが実用されている。
これらの装置を２次元平面上の移動体に適用する場合で
も走行路の前後左右の勾配、曲線等のため、３次元移動
体のものと同様のものが使用されていた。BACKGROUND OF THE INVENTION The present invention is an improvement of an inertial navigation system for an aircraft or the like for land vehicles. Some conventional inertial navigation systems measure acceleration in a three-dimensional direction on a rotary gyro called a platform and double-integrate the acceleration to obtain a position. Recently, an accelerometer is fixed to the machine body, and the posture (displacement) of the accelerometer is measured by an optical fiber gyro or the like to obtain a moving distance on a three-dimensional fixed coordinate.
Even when these devices are applied to a moving body on a two-dimensional plane, the same ones as those of the three-dimensional moving body have been used because of the gradients of front, rear, left and right of the traveling path, curves and the like.
【０００３】[0003]
【発明が解決しようとする課題】陸上移動体は一般に回
転車輪を備えている。通常の場合車輪回転により加速
度、速度、移動距離は簡単に算出できる。しかし、鉄道
においては滑走や空転がかなり頻繁に発生しており、そ
の都度速度や移動距離に誤差を生じる。最近個々の列車
の存在位置を検出して列車相互の距離をコントロール
し、異常に接近したときは自動的にブレーキのかかるシ
ステムが開発され、信頼できる高精度の列車位置検出が
求められており、滑走、空転を発生したときは車輪によ
らない位置検出が必要とされる。従来技術では、３次元
の変化に対応するため回転変位を計測するジャイロおよ
び加速度をそれぞれ３組必要とし、単に高価であるばか
りでなく複雑な演算処理が必要であった。Land vehicles are generally equipped with rotating wheels. Normally, the acceleration, speed and moving distance can be easily calculated by rotating the wheels. However, on railways, gliding and idling occur quite frequently, and each time there is an error in speed and travel distance. Recently, a system has been developed that detects the position of each train and controls the distance between trains, and automatically brakes when it approaches abnormally, and reliable and highly accurate train position detection is required. When slipping or slipping occurs, position detection without wheels is required. In the prior art, three sets of gyros and accelerations for measuring rotational displacement are required to cope with three-dimensional changes, which is not only expensive but also requires complicated arithmetic processing.
【０００４】[0004]
【課題を解決するための手段】請求項１については、進
行方向のみに対応する１組のジャイロおよび加速度計を
用いて、移動体の進行方向のみの、勾配等における重力
の影響を排した真の加速度を検出するものである。すな
わち、移動体の進行方向に向かう重力の影響を含む加速
度検出手段と、水平面となす移動体の仰角検出手段とに
より、移動体の進行方向加速度を検出する。According to a first aspect of the present invention, a set of gyros and accelerometers corresponding to only the traveling direction is used to eliminate the influence of gravity on the gradient in the traveling direction of the moving body. The acceleration of is detected. That is, the acceleration of the moving body in the traveling direction is detected by the acceleration detecting means including the influence of gravity moving in the traveling direction of the moving body and the elevation angle detecting means of the moving body which forms a horizontal plane.
【０００５】請求項２については、前記仰角検出手段に
替えて、移動体進路上の任意位置における進行方向の勾
配のデータを予め記憶することにより、移動体の進行方
向加速度を検出するものである。According to a second aspect of the present invention, instead of the elevation angle detecting means, data of a gradient in the traveling direction at an arbitrary position on the traveling path of the moving body is stored in advance to detect the traveling direction acceleration of the moving body. .
【０００６】請求項３と請求項４については、移動体の
進行方向に向かう重力の影響を含む加速度検出手段と、
水平面となす移動体の仰角検出手段または予め記憶した
移動体進路上の任意位置における進行方向の線路勾配デ
ータにより、移動体の進行方向加速度を検出し、この検
出した加速度より移動体速度または移動***置を検出す
るものである。According to claims 3 and 4, acceleration detecting means including the influence of gravity toward the traveling direction of the moving body,
The traveling direction acceleration of the moving body is detected by means of elevation angle detection means of the moving body which forms a horizontal plane or the previously stored line gradient data of the traveling direction at an arbitrary position on the moving body course, and the moving body speed or the moving body is detected from the detected acceleration. The position is detected.
【０００７】請求項５については、前記諸手段に加え、
通常は車輪回転に基づき移動体の進行方向の加速度を精
度良く検出し、位置を検出する移動体、特に列車におい
て、滑走、空転の発生時に前記の進行方向加速度を用い
てその位置を補正するものである。すなわち、車軸回転
により得られる加速度または速度により、前記加速度検
出手段及び仰角検出手段、または前記加速度検出手段の
検出値を補正し、車輪の滑走空転時に前記補正を中断す
ると共に、前記移動体加速度検出装置の出力する進行方
向加速度を移動体の加速度であるとして移動***置を補
正するものである。According to claim 5, in addition to the above-mentioned means,
Normally, a moving body that accurately detects the acceleration in the traveling direction of the moving body based on wheel rotation and detects the position, especially in a train, when the sliding or slipping occurs, corrects the position using the traveling direction acceleration. Is. That is, the acceleration or speed obtained by the rotation of the axle corrects the detection values of the acceleration detection means and the elevation angle detection means, or the acceleration detection means, interrupts the correction when the wheel is slipping, and detects the moving body acceleration. The moving body position is corrected by regarding the acceleration in the traveling direction output from the device as the acceleration of the moving body.
【０００８】[0008]
【作用】移動体の進行方向に向けて加速度計を設置した
場合、水平に移動する限りにおいては加速度計は移動体
の加速度を指示する。しかしながら坂道を上下する場合
は重力の影響を強く受ける。例えば列車の加速度は通常
０．５ｍ／ｓ2程度であるが、３０／１０００の上り坂
では重力により０．３ｍ／ｓ2相当の影響を受け６０％
の誤差を生じる。位置は加速度の２重積分で表わされる
ためほんの数秒で全く使用できない誤差となる。そこで
勾配を、ジャイロで測定するか或はデータとして予め記
憶しておき、計算により重力の影響を取り除く。When the accelerometer is installed in the traveling direction of the moving body, the accelerometer indicates the acceleration of the moving body as long as it moves horizontally. However, when going up and down a slope, it is strongly affected by gravity. For example, the acceleration of a train is usually about 0.5 m / s 2 , but on the uphill of 30/1000, it is affected by gravity of 0.3 m / s 2 and is 60%.
Error of. Since the position is represented by the double integral of acceleration, it becomes an unusable error in just a few seconds. Therefore, the gradient is measured with a gyro or stored in advance as data, and the influence of gravity is removed by calculation.
【０００９】安価な加速度計やジャイロは無視できない
ドリフトを持つものが多い。滑走や空転は散発的に生じ
るもので、通常、つまり滑走空転のないときは車軸の回
転によりきわめて精度の高い加速度が得られる。そこで
このときの加速度によりこれらのドリフトを補正する。
逆に言えば、常に高精度でドリフトを補正できることか
ら安価で精度の幾分低いものが使用できることになる。Many inexpensive accelerometers and gyros have drift that cannot be ignored. Glides and slips occur sporadically, and normally, that is, when there is no slip, the rotation of the axle provides extremely accurate acceleration. Therefore, these drifts are corrected by the acceleration at this time.
Conversely, since the drift can always be corrected with high accuracy, it is possible to use an inexpensive and somewhat less accurate one.
【００１０】[0010]
【実施例】図１により移動体加速度検出装置の実施例を
説明する。列車５が角度θの上り勾配を加速度αで加速
している。ジャイロ３は角速度を検出する。移動体加速
度検出装置１は、既知である駅停車時の線路勾配を初期
値としてジャイロ３の出力を順次積算し、図１の状態で
の勾配θを算出する。加速度計２の指示値α’は、列車
の加速度αと重力の加速度ｇの勾配を下る分力αgとの
和を示すため、列車５の加速度αは式（１）で表わされ
る。同式のｇは重力の加速度ｇの値で、符号ｇと値ｇを
共用している。以下α、αg、θ、についても同様の用
い方をしている。移動体加速度検出装置１で同式の演算
を行い進行方向加速度を検出する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a moving body acceleration detecting device will be described with reference to FIG. The train 5 is accelerating an uphill gradient of an angle θ with an acceleration α. The gyro 3 detects the angular velocity. The mobile body acceleration detection device 1 sequentially integrates the outputs of the gyro 3 with the known track slope when the train is stopped at the station as an initial value, and calculates the slope θ in the state of FIG. 1. The instruction value α ′ of the accelerometer 2 indicates the sum of the acceleration α of the train and the component force αg that descends the gradient of the acceleration g of gravity, and therefore the acceleration α of the train 5 is expressed by equation (1). G in the equation is the value of the acceleration g of gravity, and the sign g and the value g are shared. The same applies to α, αg, and θ below. The mobile body acceleration detection device 1 performs the same calculation to detect the traveling direction acceleration.
【００１１】[0011]
【数１】 [Equation 1]
【００１２】前記仰角検出手段に替えて、移動体進路上
の任意位置における線路勾配θを予め記憶しておき、こ
の線路勾配θのデータを式（１）に代入して演算をを行
い進行方向加速度を検出することも可能である。In place of the elevation angle detecting means, the track gradient θ at an arbitrary position on the path of the moving body is stored in advance, and the data of the track gradient θ is substituted into the equation (1) to carry out the calculation and the traveling direction. It is also possible to detect acceleration.
【００１３】移動***置検出装置について説明する。移
動体加速度検出装置と同様に検出した加速度αを時間積
分し、移動距離を求め、移動***置を検出するものであ
る。The moving body position detecting device will be described. Similar to the moving body acceleration detecting device, the detected acceleration α is time-integrated, the moving distance is obtained, and the moving body position is detected.
【００１４】図２及び図３により、請求項５について説
明する。図２における移動***置検出装置６は、滑走空
転のないとき車軸回転パルス発生器４からのパルスによ
り加速度、速度、移動距離を算出している。また同時に
ジャイロ３が検出する角加速度のドリフトを計算する。
加速度計２のドリフトの計算は、列車５が駅に停車した
ときのみ行う。ドリフトを考慮した場合の列車の加速度
αは式（２）、同じく角速度ωは式（３）、勾配θは式
（４）で表わされる。これらの式においてΔα、Δωは
ドリフトの値、ωは正しいとみなされる角速度、ω’は
ジャイロ３の指示値、θは現在の線路勾配の仰角、θ1
は駅停車時の既知の線路勾配、ΣωΔｔは駅停車時から
のωの積分値を表わす。The claim 5 will be described with reference to FIGS. 2 and 3. The moving body position detecting device 6 in FIG. 2 calculates the acceleration, the velocity, and the moving distance from the pulse from the axle rotation pulse generator 4 when there is no slipping slip. At the same time, the drift of the angular acceleration detected by the gyro 3 is calculated.
The drift of the accelerometer 2 is calculated only when the train 5 stops at the station. When the drift is taken into consideration, the train acceleration α is expressed by the formula (2), the angular velocity ω is expressed by the formula (3), and the gradient θ is expressed by the formula (4). In these equations, Δα and Δω are drift values, ω is an angular velocity that is considered to be correct, ω ′ is an indication value of the gyro 3, θ is an elevation angle of the current line gradient, and θ1
Represents a known track gradient when the station is stopped, and ΣωΔt represents an integrated value of ω after the station is stopped.
【００１５】[0015]
【数２】 [Equation 2]
【００１６】[0016]
【数３】 [Equation 3]
【００１７】[0017]
【数４】 [Equation 4]
【００１８】駅停車時において、式（２）の進行方向加
速度αは当然ゼロであり、勾配θ（停車時のθをθ1と
する）と重力の加速度ｇが既知であるので、同式から加
速度計のドリフトΔαが求められる。また式（３）にお
いて同じくωがゼロであることから、ジャイロ３の指示
値ω’はそのドリフトΔωを示すことになる。この停車
時の状態は３図のステップ１に示される。When the train is stopped at the station, the acceleration α in the traveling direction of the equation (2) is naturally zero, and the gradient θ (θ when the train is stopped is θ1) and the acceleration g of gravity are known. The total drift Δα is obtained. Further, since ω is also zero in the equation (3), the indicated value ω ′ of the gyro 3 indicates the drift Δω. The state when the vehicle is stopped is shown in step 1 of FIG.
【００１９】列車が走行を開始したときから、式（４）
により刻々の線路勾配θが計算され、このθから式
（２）により列車の進行方向加速度αが計算される。こ
れは図３のステップ２に示される。From the time the train starts running, equation (4)
The train inclination θ is calculated every second, and the traveling direction acceleration α of the train is calculated from this θ according to the equation (2). This is shown in step 2 of FIG.
【００２０】次にステップ３で車軸からの加速度を取り
込み、これを式（２）のαに代入し、加速度計の指示値
α’と当初求めたドリフトΔαとから勾配θを逆算す
る。また前回のθの演算値との差から車軸回転に基づく
角速度を求め、さらにジャイロの指示値ω’と、この角
速度の差、すなわちそのときのドリフト（ここではΔ
ω’とする）を求める。理論的にはこのドリフトを式
（３）のΔωとして良いわけであるが、加速度は不連続
値であるため、車軸による加速度と加速度計による加速
度との検出タイミングのずれにより正確なドリフトを求
めていない可能性もあり、またドリフトは急激に変化し
ない特性からも、角速度のドリフトΔωの補正はその変
化量の一部を修正することとし、式（５）により行う。
但し同式のμは修正率で１以下の値を設定する。Next, in step 3, the acceleration from the axle is taken in, and this is substituted into α in equation (2), and the gradient θ is calculated back from the indicated value α'of the accelerometer and the initially obtained drift Δα. Further, the angular velocity based on the axle rotation is obtained from the difference from the previous calculated value of θ, and the difference between the gyro indicated value ω ′ and this angular velocity, that is, the drift at that time (Δ
ω '). Theoretically, this drift can be used as Δω in equation (3), but since the acceleration is a discontinuous value, an accurate drift is obtained by the deviation of the detection timing between the acceleration due to the axle and the acceleration due to the accelerometer. Since there is a possibility that there is no possibility that the drift does not change abruptly, the angular velocity drift Δω is corrected according to equation (5) by correcting a part of the change amount.
However, μ in the equation is set to a correction factor of 1 or less.
【００２１】[0021]
【数５】 [Equation 5]
【００２２】ステップ４では補正後のΔωを使ってステ
ップ２と同様の演算を行い、勾配θと列車の加速度αを
求める。ステップ５ではαを時間積分し、加速度計とジ
ャイロによる移動距離を求める。In step 4, the same calculation as in step 2 is performed using the corrected Δω to obtain the gradient θ and the train acceleration α. In step 5, α is integrated over time to find the moving distance by the accelerometer and the gyro.
【００２３】ステップ６で車軸からの加速度の異常値、
例えば毎秒４．５km/h以上、または毎秒−６km/h以下の
変化を検出したときに滑走空転があったと判断し、ステ
ップ８において、ステップ５で求めた移動距離を車軸に
よる移動距離に変えて出力する。すなわち位置を補正す
る。この場合Δωの補正を中断しステップ４に戻る。In step 6, an abnormal value of the acceleration from the axle,
For example, when a change of 4.5 km / h or more per second or -6 km / h or less per second is detected, it is determined that slipping slip has occurred, and in step 8, the moving distance obtained in step 5 is changed to the moving distance by the axle. Output. That is, the position is corrected. In this case, the correction of Δω is interrupted and the process returns to step 4.
【００２４】ステップ６で異常のないときステップ７へ
進み、停車したかどうかの判定を行い、停車時はステッ
プ１へ、走行時はステップ３に戻る。これら一連のサイ
クルを０．５秒毎に繰り返す。When there is no abnormality in step 6, the process proceeds to step 7, and it is determined whether or not the vehicle is stopped. When the vehicle is stopped, the process returns to step 1, and when the vehicle is running, the process returns to step 3. These series of cycles are repeated every 0.5 seconds.
【００２５】ステップ３における車軸からの加速度は、
車軸の回転に伴うパルス数に比例する速度変化から求め
るもので、一周期の平均である。従って加速度計からの
加速度αも一周期の平均値をとる。厳密さを要求する場
合はさらに、車軸による、一周期の平均速度から求めた
加速度は、半周期だけ過去のものであることを考慮する
必要がある。The acceleration from the axle in step 3 is
It is obtained from the speed change proportional to the number of pulses accompanying the rotation of the axle, and is the average of one cycle. Therefore, the acceleration α from the accelerometer also takes an average value for one cycle. In the case where strictness is required, it is further necessary to consider that the acceleration obtained from the average speed for one cycle by the axle is past by half a cycle.
【００２６】勾配の記憶データによる手段と仰角検出に
よる手段を併せ持つことも本発明に含まれる。It is also included in the present invention to have both the means for storing the data of the gradient and the means for detecting the elevation angle.
【００２７】加速度検出手段または仰角検出手段の検出
値とは、必ずしも加速度および仰角に限らず、当該検出
手段が加速度および仰角を検出する過程において検出す
るものを含む。例えば仰角検出手段の検出値には角速度
が含まれる。The detection values of the acceleration detecting means or the elevation angle detecting means are not limited to the acceleration and the elevation angle, but include those detected by the detecting means in the process of detecting the acceleration and the elevation angle. For example, the detection value of the elevation angle detecting means includes angular velocity.
【００２８】[0028]
【発明の効果】本発明によれば、従来のように３次元方
向に対する３組のジャイロ、加速度計を用いることな
く、進行方向に対しただ１組のジャイロと加速度計を用
いることで従来と同等の機能が確保でき、経済的である
ほか、加速度演算が簡明で処理速度が向上する。またジ
ャイロは車軸の回転による加速度により常時補正できる
ので精度の低い安価なものが利用できる。According to the present invention, it is possible to use the same gyro and accelerometer in the traveling direction as in the prior art, instead of using the three gyro and accelerometer in the three-dimensional direction as in the prior art. The function of can be secured, it is economical, and the acceleration calculation is simple and the processing speed is improved. Further, since the gyro can be constantly corrected by the acceleration due to the rotation of the axle, a low-precision gyro can be used.
【００２９】[0029]
【図１】本発明に係る移動体加速度検出装置の構成の一
例を示した図である。FIG. 1 is a diagram showing an example of a configuration of a mobile body acceleration detection device according to the present invention.
【図２】本発明に係る移動***置検出装置の構成の一例
を示した図である。FIG. 2 is a diagram showing an example of a configuration of a moving body position detection device according to the present invention.
【図３】本発明に係る移動***置検出装置の補正動作を
示した図である。FIG. 3 is a diagram showing a correction operation of the moving body position detection device according to the present invention.
１ 移動体加速度検出装置 ２ 加速度計 ３ ジャイロ ４ 車軸回転パルス発生器 ５ 列車 ６ 移動***置検出装置 θ 勾配 ｇ 重力の加速度 αg 重力の加速度の勾配を下る分力 α 列車の加速度 α’ 加速度計の指示値 1 Mobile body acceleration detection device 2 Accelerometer 3 Gyro 4 Axle rotation pulse generator 5 Train 6 Mobile body position detection device θ Gradient g Gravity acceleration α g Gravity acceleration gradient down component α Train acceleration α'of accelerometer Indicated value
Claims (5)
含む加速度検出手段と、水平面となす移動体の仰角検出
手段とにより、移動体の進行方向加速度を検出する機能
を備えたことを特徴とする移動体加速度検出装置。1. A function of detecting an acceleration in a moving direction of a moving body by an acceleration detecting means including an influence of gravity toward the moving direction of the moving body and an elevation angle detecting means of the moving body which is a horizontal plane. A mobile body acceleration detection device.
予め記憶した移動体進路上の任意位置における勾配デー
タとにより、移動体の進行方向加速度を検出する機能を
備えたことを特徴とする請求項１記載の移動体加速度検
出装置。2. The elevation angle detecting means according to claim 1,
2. The moving body acceleration detecting device according to claim 1, further comprising a function of detecting acceleration in a traveling direction of the moving body based on previously stored gradient data at an arbitrary position on the moving body path.
含む加速度検出手段と、水平面となす移動体の仰角検出
手段とにより移動体の進行方向加速度を検出し、この検
出した加速度より移動体速度または移動***置を検出す
る手段を備えたことを特徴とする移動***置検出装置。3. A moving body's traveling direction acceleration is detected by an acceleration detecting means including the influence of gravity toward the traveling direction of the moving body and an elevation angle detecting means of the moving body, which is a horizontal plane, and the moving body is detected from the detected acceleration. A moving body position detecting device comprising means for detecting a speed or a moving body position.
予め記憶した移動体進路上の任意位置における勾配デー
タとにより、移動体の進行方向加速度を検出し、この検
出した加速度より移動体速度または移動***置を検出す
る手段を備えたことを特徴とする請求項３記載の移動体
位置検出装置。4. The elevation angle detecting means according to claim 3,
It is characterized by further comprising means for detecting the acceleration in the traveling direction of the moving body based on the previously stored gradient data at an arbitrary position on the moving body path, and detecting the moving body speed or the moving body position from the detected acceleration. The moving body position detection device according to claim 3.
え、車軸の回転により移動体の加速度、速度、位置を検
出する機能を備え、車軸の回転により得られる加速度ま
たは速度により前記加速度検出手段または仰角検出手段
の検出値の補正を行い、車輪の滑走空転時に前記補正を
中断すると共に前記移動体加速度検出装置の出力する進
行方向加速度を移動体の加速度であるとして移動***置
を補完することを特徴とする請求項３または請求項４記
載の移動***置検出装置。5. In addition to the means according to claim 3 or 4, a function of detecting acceleration, speed and position of a moving body by rotation of an axle is provided, and the acceleration is detected by acceleration or speed obtained by rotation of the axle. Means for correcting the detection value of the moving body or the elevation angle detecting means, interrupting the correction when the wheel slips idle, and complementing the moving body position by regarding the traveling direction acceleration output from the moving body acceleration detecting device as the moving body acceleration. The moving body position detecting device according to claim 3 or 4, wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5092181A JPH06284518A (en) | 1993-03-26 | 1993-03-26 | Moving-body acceleration detector and moving-body position detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5092181A JPH06284518A (en) | 1993-03-26 | 1993-03-26 | Moving-body acceleration detector and moving-body position detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06284518A true JPH06284518A (en) | 1994-10-07 |
Family
ID=14047273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5092181A Pending JPH06284518A (en) | 1993-03-26 | 1993-03-26 | Moving-body acceleration detector and moving-body position detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06284518A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0810439A2 (en) * | 1996-04-30 | 1997-12-03 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| JP2005247042A (en) * | 2004-03-02 | 2005-09-15 | Mitsubishi Electric Corp | Operation server for train position detection management, on-vehicle equipment for train position detection management, method for train position detection management, system for train position detection management, and train position display device |
| US7768417B2 (en) | 2006-06-16 | 2010-08-03 | Samsung Electronics Co., Ltd. | Moving apparatus, method, and medium for compensating position of the moving apparatus |
| JP2013205248A (en) * | 2012-03-28 | 2013-10-07 | Railway Technical Research Institute | Velocity detection device, traveling location calculation device and velocity calculation method |
| JP2021002924A (en) * | 2019-06-20 | 2021-01-07 | 株式会社日立製作所 | Train security system, train security control method, and train on-board device |
-
1993
- 1993-03-26 JP JP5092181A patent/JPH06284518A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0810439A2 (en) * | 1996-04-30 | 1997-12-03 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| EP0810439A3 (en) * | 1996-04-30 | 1998-10-07 | Alcatel | Method and device for the detection of the acceleration of an articulated rail vehicle |
| JP2005247042A (en) * | 2004-03-02 | 2005-09-15 | Mitsubishi Electric Corp | Operation server for train position detection management, on-vehicle equipment for train position detection management, method for train position detection management, system for train position detection management, and train position display device |
| US7768417B2 (en) | 2006-06-16 | 2010-08-03 | Samsung Electronics Co., Ltd. | Moving apparatus, method, and medium for compensating position of the moving apparatus |
| JP2013205248A (en) * | 2012-03-28 | 2013-10-07 | Railway Technical Research Institute | Velocity detection device, traveling location calculation device and velocity calculation method |
| JP2021002924A (en) * | 2019-06-20 | 2021-01-07 | 株式会社日立製作所 | Train security system, train security control method, and train on-board device |
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