JPH08179025A - Position detecting method for moving body - Google Patents
Position detecting method for moving bodyInfo
- Publication number
- JPH08179025A JPH08179025A JP6325082A JP32508294A JPH08179025A JP H08179025 A JPH08179025 A JP H08179025A JP 6325082 A JP6325082 A JP 6325082A JP 32508294 A JP32508294 A JP 32508294A JP H08179025 A JPH08179025 A JP H08179025A
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- detected
- moving
- rationality
- address
- 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
- 238000000034 method Methods 0.000 title claims description 10
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 230000001939 inductive effect Effects 0.000 abstract description 6
- 230000002411 adverse Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Classifications
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、列車・クレーン等の移
動体とこの移動体が走行する軌道に沿って布設された誘
導無線線路との間で信号を授受して移動体の位置を検出
する移動体の位置検出方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a position of a moving body by transmitting and receiving a signal between a moving body such as a train and a crane and an induction wireless line laid along a track on which the moving body travels. The present invention relates to a method for detecting the position of a moving body.
【０００２】[0002]
【従来の技術】移動体の位置検出方法は、移動体の走行
軌道に沿って布設された誘導無線線路に地上側または移
動体側から信号を加え、この信号を移動体側又は地上側
で受信し、受信した信号を周波数選択（又は時分割選
択）・検波・位相判定などを行って、前記誘導無線線路
によって予め特定された絶対番地を得て、移動体の絶対
位置を移動体側又は地上側で知ることができる。2. Description of the Related Art A method for detecting the position of a moving body is to add a signal from the ground side or the moving body side to an inductive wireless line laid along the running track of the moving body, and receive this signal on the moving body side or the ground side. Performs frequency selection (or time division selection), detection, phase determination, etc. on the received signal to obtain the absolute address specified in advance by the guided radio line, and knows the absolute position of the moving body on the moving body side or on the ground side. be able to.
【０００３】[0003]
【発明が解決しようとする課題】しかし、誘導無線線路
による位置信号の伝送やアンテナから受信された信号の
処理に際しては、外来ノイズ等による誤りが発生し易
く、その結果、得られた絶対番地の個々の桁の論理が本
来の正しい論理と逆となることがあった。このように正
しい論理と異なる論理を含むコードを検出番地として出
力すると、誤番地出力となり、制御機器に悪影響を与え
ることがあった。However, when transmitting a position signal by an induction wireless line or processing a signal received from an antenna, an error due to an external noise or the like is likely to occur, and as a result, the absolute address obtained is obtained. The logic of each digit was sometimes the opposite of the true logic. When a code including a logic different from the correct logic is output as the detection address, an incorrect address is output, which may adversely affect the control device.
【０００４】本発明の目的は、係る欠点を回避し、検出
された位置が合理性を有するか否かを判断した上で、正
しい位置情報のみを出力して、制御機器等への悪影響を
防止するようにした移動体の位置検出方法を提供するこ
とにある。An object of the present invention is to avoid such drawbacks, determine whether or not the detected position is rational, and then output only correct position information to prevent adverse effects on control equipment and the like. It is to provide a method for detecting the position of a moving body.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記の課題を
解決するために、移動体の走行軌道に沿って布設された
誘導無線線路と移動体との間で信号を授受して移動体の
位置を検出する移動体の位置検出方法において、前記検
出された移動体の検出位置が、その直前に検出された移
動体の位置・移動速度・移動加速度および移動方向とか
ら判断して合理性がない場合に、この検出位置を無視す
ることを特徴とする移動体の位置検出方法を提供するも
のである。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a mobile body by transmitting and receiving signals between a mobile body and an inductive wireless line laid along a traveling track of the mobile body. In the method for detecting the position of a moving body, the detected position of the moving body is rational by judging from the position, moving speed, moving acceleration, and moving direction of the moving body detected immediately before. The present invention provides a method for detecting the position of a moving body, which is characterized in that the detected position is ignored when there is no such problem.
【０００６】[0006]
【作用】このように、検出位置の合理性を直前に検出さ
れた移動体の位置・移動速度・移動加速度および移動方
向とを考慮し、検出された移動体の位置が合理的な範囲
を逸脱している際に、その検出信号は誤信号であること
が充分に推測され、従ってこのような合理性のない検出
番地を誤信号として無視し、制御機器等に出力しないよ
うにすることによって制御機器等への悪影響を防止する
ことができる。As described above, the detected position of the moving body deviates from the reasonable range in consideration of the rationality of the detected position and the position, moving speed, moving acceleration and moving direction of the moving body detected immediately before. The detection signal is suspected to be an erroneous signal during operation, and accordingly, such an unreasonable detection address is ignored as an erroneous signal and controlled by not outputting it to the control device. It is possible to prevent adverse effects on devices and the like.
【０００７】[0007]
〔実施例〕以下、本発明を図示した実施例に基づき詳細
に説明する。図１は本発明に係る位置検出方式に用いら
れる位置検出系統１０を示し、この位置検出系統１０
は、移動体１２の走行軌道に沿って布設された交差式誘
導無線線路１４から成っている。図面では明瞭に示され
ていないが、この誘導無線線路１４は複数対の交差線路
から成っており、これらの複数対の交差線路にそれぞれ
発振周波数の異なる発信器又は同一周波数を時分割にて
分配する発振器が接続されて各対毎に位置信号が送信さ
れる。一方、移動体１２には２つの位置検出アンテナ１
６・１６’が搭載されており、これらのアンテナ１６・
１６’は移動体１２の移動と共にこの誘導無線線路１４
の各対から位置信号を受けるように誘導無線線路１４に
結合される。[Examples] The present invention will be described below in detail based on illustrated examples. FIG. 1 shows a position detection system 10 used in the position detection system according to the present invention.
Is composed of an intersecting guide wireless line 14 laid along the traveling path of the moving body 12. Although not clearly shown in the drawing, the inductive radio line 14 is composed of a plurality of pairs of intersection lines, and transmitters having different oscillation frequencies or the same frequency are distributed in a time division manner to the plurality of pairs of intersection lines. The oscillators are connected to each other and the position signal is transmitted for each pair. On the other hand, the mobile body 12 has two position detection antennas 1
6 ・ 16 'is installed and these antennas 16 ・
Reference numeral 16 ′ indicates the induction wireless line 14 along with the movement of the moving body 12.
Are coupled to the inductive radio line 14 to receive position signals from each pair.
【０００８】位置検出系統１０は、更に、アンテナ１６
・１６’で受信された信号を周波数選択するバンドパス
フィルタ１８と、この信号を周波数毎に又は時分割で検
波する検波回路２０と、各アンテナで受信された位置信
号の位相を判定する位相判定回路２２と、各対毎に信号
をデジタル符号化するデジタル符号化回路２４と、この
デジダル符号の組み合わせからコード変換し絶対番地を
検出する番地検出回路２６とを備えている。The position detection system 10 further includes an antenna 16
A band pass filter 18 for frequency-selecting the signal received at 16 ', a detection circuit 20 for detecting this signal for each frequency or in time division, and a phase determination for determining the phase of the position signal received by each antenna. The circuit 22 includes a digital encoding circuit 24 that digitally encodes a signal for each pair, and an address detection circuit 26 that detects an absolute address by performing code conversion from a combination of the digital codes.
【０００９】本発明の位置検出方法は、このようにして
検出された移動体１２の検出位置を直ちに出力しない
で、移動体１２の検出位置の合理性を判断した上で出力
する。この合理性の判断は、移動体１２の直前位置（前
回出力値）・移動速度・移動加速度および移動方向とを
考慮して行なわれる。もし、検出位置（今回検出値Ｓｄ
＝現在位置）と直前に検出された位置（前回出力値Ｓｐ
＝直前位置）との差（偏差ε）が直前に検出された移動
速度・移動加速度および移動方向とから判断して著しく
逸脱していれば、その検出位置は誤番地であり、従って
その検出位置を出力しないようにする。この場合、図２
に示すように、今回検出値Ｓｄと前回検出値（現在番
地）Ｓｐとの偏差εが合理性有りの判定領域Ａと合理性
なしの判定領域Ｂのいずれにあるかを判定するが、これ
らの判定は不合理性が発生した時からその時点での移動
速度および移動加速度により算出される最大判定時間ｔ
ＭＡＸで打ち切る（図２に示す判定領域Ｃ）。このよう
に判定時間を打ち切るのは、もしこの打ち切りがないと
出力番地が永久にかわらないことがあって表示番地が現
在の実際の番地から著しくかけ離れることがあるためで
ある。なお図２において、ａは移動体１２のその時点で
の予想移動速度を示し、ｂはサンプリング時間内に移動
する移動体１２の最大移動距離を、Ｖ0 は、移動体が極
く低速で移動する際の移動速度を示す。また図２（イ）
は移動方向が番地の大きくなる方向でかつ移動速度Ｖが
所定の移動速度Ｖ0 よりも大きい場合を、図２（ロ）は
移動速度Ｖが所定の移動速度Ｖ0 よりも小さい場合を、
図２（ハ）は移動方向が番地の小さくなる方向でかつ移
動速度Ｖが所定の移動速度Ｖ0 よりも大きい場合をそれ
ぞれ示している。また、予想移動速度ａおよび最大判定
時間ｔＭＡＸはともに移動体のその時点での移動速度と
移動加速度の関数で示され、その関係を図３に示す。The position detecting method of the present invention does not immediately output the detected position of the moving body 12 thus detected, but outputs it after judging the rationality of the detected position of the moving body 12. This rationality is determined in consideration of the immediately preceding position (previous output value), moving speed, moving acceleration, and moving direction of the moving body 12. If the detection position (current detection value Sd
= Current position) and position detected immediately before (previous output value Sp
= If the difference (deviation ε) from the immediately preceding position is significantly deviated from the moving speed / moving acceleration and the moving direction detected immediately before, the detected position is an incorrect address, and therefore the detected position Is not output. In this case,
As shown in, it is determined whether the deviation ε between the current detection value Sd and the previous detection value (current address) Sp is in the judgment area A with rationality or the judgment area B without rationality. The judgment is the maximum judgment time t calculated from the moving speed and the moving acceleration at the time when the irrationality occurs.
It is cut off by MAX (determination area C shown in FIG. 2). The reason for terminating the determination time in this way is that the output address may not be permanently changed without this terminating, and the display address may be significantly different from the current actual address. In FIG. 2, a indicates the expected moving speed of the moving body 12 at that time, b indicates the maximum moving distance of the moving body 12 that moves within the sampling time, and V 0 indicates that the moving body moves at an extremely low speed. Indicates the moving speed when doing. Moreover, FIG.
Indicates the case where the moving direction is the direction in which the address increases and the moving speed V is higher than the predetermined moving speed V 0. FIG. 2B shows the case where the moving speed V is lower than the predetermined moving speed V 0 .
FIG. 2C shows the case where the moving direction is the direction in which the address decreases and the moving speed V is higher than the predetermined moving speed V 0 . The expected moving speed a and the maximum determination time tMAX are both shown as a function of the moving speed and moving acceleration of the moving body at that time, and the relationship is shown in FIG.
【００１０】この検出位置の合理性を判断するため、位
置検出系統１０は合理性判定ブロック２８を備え、この
合理性判定ブロックの詳細は図４に示されているので、
このブロックを参照して検出位置の合理性の判定を述べ
る。なお、この合理性の判定は、デジタル符号化および
番地検出と共にマイクロコンピュータによって行なわれ
る。In order to judge the rationality of this detected position, the position detection system 10 is provided with a rationality judgment block 28, and the details of this rationality judgment block are shown in FIG.
The determination of the reasonableness of the detection position will be described with reference to this block. It should be noted that this determination of rationality is performed by a microcomputer together with digital encoding and address detection.
【００１１】図４に示すように、先ず、前回出力値や前
々回出力値等より移動体の移動速度（Ｖ）・移動加速度
（α）および移動方向を算出する。次に、図３（ロ）に
示す関数を用いて合理性判定打ち切り時間ｔＭＡＸを算
出する。もし、ｔＭＡＸの値が零であれば直ちに検出を
停止し異常表示（異常出力）を行なう。零以外であれば
タイマーの判定打ち切り時間（ｔＭＡＸ) を設定し、タ
イマーの現在値ｔがｔＭＡＸを越えているか否かを判定
する。もし、ｔがｔＭＡＸを越えていれば直ちに検出を
停止し異常表示（異常出力）を行なう。また、もし、ｔ
がｔＭＡＸを越えていなければ、今回検出値Ｓｄと前回
検出値Ｓｐとの偏差εを計算する。この偏差εが零であ
れば、番地検出回路２６からの検出番地である今回検出
値Ｓｄをそのまま出力する。この偏差εが零でなけれ
ば、移動体１２の単位時間当たりの最大移動量、即ち図
３（イ）に示す関数により求められる予想移動速度ａと
サンプリング時間内に移動する移動体の最大移動量ｂと
を設定する。As shown in FIG. 4, first, the moving speed (V), moving acceleration (α), and moving direction of the moving body are calculated from the previous output value, the two-preceding output value, and the like. Next, the rationality determination termination time tMAX is calculated using the function shown in FIG. If the value of tMAX is zero, the detection is immediately stopped and an abnormality is displayed (abnormal output). If it is other than zero, the timer judgment cutoff time (tMAX) is set, and it is judged whether or not the current value t of the timer exceeds tMAX. If t exceeds tMAX, the detection is immediately stopped and an abnormality is displayed (abnormal output). Also, if t
Does not exceed tMAX, the deviation ε between the current detection value Sd and the previous detection value Sp is calculated. If this deviation ε is zero, the current detection value Sd, which is the detection address from the address detection circuit 26, is output as it is. If this deviation ε is not zero, the maximum movement amount of the moving body 12 per unit time, that is, the expected moving speed a obtained by the function shown in FIG. 3A and the maximum moving amount of the moving body that moves within the sampling time. Set b and.
【００１２】その後、前回サンプリング時の不合理性の
有無（Ｙes、Ｎo ）に応じて時間ｔを調整した上、偏差
εがａ・ｂで定まる判定領域Ａ・Ｂ（図２）のいずれに
あるかを判定する。判定領域Ａにあれば、今回検出値Ｓ
ｄをそのまま出力し、また判定領域Ｂにあれば、前回サ
ンプリング時の不合理性の有無に応じて時間ｔを継続す
るか書換えて判定作業を終了する。今回検出値Ｓｄを出
力すると、表示器３０（図１）は前回出力値Ｓｐを今回
検出値Ｓｄに書換え、またタイマーをリセットする。After that, the time t is adjusted according to the presence or absence (Yes, No) of irrationality at the previous sampling, and the deviation ε is in any of the judgment areas A and B (FIG. 2) determined by a and b. To determine. If it is in the judgment area A, the current detection value S
If d is output as it is, or if it is in the judgment area B, the judgment work is ended by continuing or rewriting the time t depending on the presence or absence of irrationality at the previous sampling. When the current detection value Sd is output, the display 30 (FIG. 1) rewrites the previous output value Sp with the current detection value Sd, and resets the timer.
【００１３】このようにして、移動体１２の移動に伴っ
て順次検出される絶対位置の合理性を判定して位置検出
を行なう。なお、上記実施例では、番地出力を表示器３
０に出力したが、この番地出力は制御機器等に出力して
移動体１２を制御することができる。In this way, the position detection is performed by determining the rationality of the absolute positions sequentially detected as the mobile unit 12 moves. In the above embodiment, the address output is displayed on the display unit 3.
However, the address output can be output to a control device or the like to control the moving body 12.
【００１４】[0014]
【発明の効果】本発明によれば、上記のように、移動体
の検出番地の合理性を移動体の直前位置と移動速度・移
動加速度および移動方向とから判断して検出番地の正誤
を推定し、外来ノイズ等による誤番地の出力や位置検出
系統の故障による誤番地の出力を行なわないようにする
ので、検出の信頼性が向上し制御機器への悪影響を防止
することができる効果がある。As described above, according to the present invention, the correctness of the detected address is estimated by judging the rationality of the detected address of the moving object from the position immediately before the moving object, the moving speed / moving acceleration, and the moving direction. However, since the output of the wrong address due to external noise or the output of the wrong address due to the failure of the position detection system is not performed, the reliability of detection is improved and the adverse effect on the control device can be prevented. .
【図１】本発明に係る位置検出方式に用いられる検出系
統の系統図である。FIG. 1 is a system diagram of a detection system used in a position detection system according to the present invention.
【図２】検出番地の合理性の判定領域を示すグラフであ
る。FIG. 2 is a graph showing a rational judgment area of a detected address.
【図３】図２の判定領域を決定する要因の特性グラフで
ある。FIG. 3 is a characteristic graph of factors that determine the determination region of FIG.
【図４】合理性の判定ブロックのフローチャートであ
る。FIG. 4 is a flowchart of a rationality determination block.
１０は位置検出系統 １２は移動体 １４は誘導無線線路 １６はアンテナ １６' はアンテナ ２６は番地検出回路 ２８は合理性判定ブロック 10 is a position detection system 12 is a moving body 14 is an inductive wireless line 16 is an antenna 16 'is an antenna 26 is an address detection circuit 28 is a rationality judgment block
Claims (3)
導無線線路と移動体との間で信号を授受して移動体の位
置を検出する移動体の位置検出方法において、前記検出
された移動体の検出位置が、その直前に検出された移動
体の位置・移動速度・移動加速度および移動方向とから
判断して合理性がない場合に、この検出位置を無視する
ことを特徴とする移動体の位置検出方法。1. A method for detecting a position of a moving body, wherein the position of the moving body is detected by transmitting and receiving a signal between the moving body and a guide wireless line laid along the running track of the moving body. Movement characterized by ignoring the detected position of the moving body when it is not reasonable to judge from the position, moving speed, moving acceleration, and moving direction of the moving body detected immediately before Body position detection method.
とを特徴とする請求項１記載の移動体の位置検出方法。2. The method for detecting the position of a moving body according to claim 1, wherein the position of the moving body is detected on the side of the moving body.
を特徴とする請求項１記載の移動体の位置検出方法。3. The method for detecting the position of a moving body according to claim 1, wherein the position of the moving body is detected on the ground side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6325082A JPH08179025A (en) | 1994-12-27 | 1994-12-27 | Position detecting method for moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6325082A JPH08179025A (en) | 1994-12-27 | 1994-12-27 | Position detecting method for moving body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08179025A true JPH08179025A (en) | 1996-07-12 |
Family
ID=18172953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6325082A Pending JPH08179025A (en) | 1994-12-27 | 1994-12-27 | Position detecting method for moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08179025A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100659706B1 (en) * | 2005-11-22 | 2006-12-21 | 한국철도기술연구원 | Error correction device of cross-induction form position and velocity detection system |
| JP2013023104A (en) * | 2011-07-22 | 2013-02-04 | Hitachi Ltd | Radio train control system |
| JP2016095590A (en) * | 2014-11-12 | 2016-05-26 | 村田機械株式会社 | Movement amount estimation device, autonomous mobile body, and method of estimating movement amount |
| JP2017017491A (en) * | 2015-06-30 | 2017-01-19 | 株式会社野村総合研究所 | Location determination method |
| CN113552602A (en) * | 2021-07-13 | 2021-10-26 | 石再杰 | Vehicle-mounted BD positioning anti-drift filtering method |
-
1994
- 1994-12-27 JP JP6325082A patent/JPH08179025A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100659706B1 (en) * | 2005-11-22 | 2006-12-21 | 한국철도기술연구원 | Error correction device of cross-induction form position and velocity detection system |
| JP2013023104A (en) * | 2011-07-22 | 2013-02-04 | Hitachi Ltd | Radio train control system |
| JP2016095590A (en) * | 2014-11-12 | 2016-05-26 | 村田機械株式会社 | Movement amount estimation device, autonomous mobile body, and method of estimating movement amount |
| US10119804B2 (en) | 2014-11-12 | 2018-11-06 | Murata Machinery, Ltd. | Moving amount estimating apparatus, autonomous mobile body, and moving amount estimating method |
| JP2017017491A (en) * | 2015-06-30 | 2017-01-19 | 株式会社野村総合研究所 | Location determination method |
| CN113552602A (en) * | 2021-07-13 | 2021-10-26 | 石再杰 | Vehicle-mounted BD positioning anti-drift filtering method |
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