Real-time positioning system method of high-precision and high-speed train

A high-speed train, real-time positioning technology, applied in railway signals and safety, etc., can solve the problems of high cost of inertial navigator, increasing positioning error, and inertial navigator unable to eliminate accumulated errors, etc.

Active Publication Date: 2013-11-20
迪比(重庆)智能科技研究院有限公司 +1
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  • Description
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  • Application Information

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Problems solved by technology

The cost of installing an inertial navigator is very high, and the inertial navigator cannot eliminate the cumulative error, and the positioning error of the vehicle will continue to increase with time

Method used

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  • Real-time positioning system method of high-precision and high-speed train
  • Real-time positioning system method of high-precision and high-speed train
  • Real-time positioning system method of high-precision and high-speed train

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Embodiment Construction

[0053] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0054] A high-precision high-speed train real-time positioning system method, the method (such as figure 2As shown) the sensor information is detected by the vehicle lidar, and the environmental feature points (the center of the utility pole, the center of the surrounding trees, the corner of the tunnel wall, etc.). Through the observed environmental feature point information, correct its own position and reduce the cumulative error. In this method, multiple particles are used to estimate the train position, and the weighted average value of the particles is used to obtain the optimal estimation result of the train position.

[0055] The method includes the following steps (such as image 3 shown):

[0056] 1) Initialization steps:

[0057] 1.1) The initial position of the train The initial position of the train is determined b...

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Abstract

The invention discloses a real-time positioning system method of a high-precision and high-speed train. The method comprises the steps as follows: 1), initialization steps: 1.1), a train initial position, 1.2), the number N of particles required to be set in initialization and initialization of a coordinate of each particle and 1.3), initialization system noise Q and observation noise R; 2), collection of speedometer information; 3), prediction of the train position according to a train movement model; 4), recording of positions of new feature points; 5), calculation of particle weights according to the positions of the feature points; and 6), calculation of the train position and a weighted average. According to the method, reflectors (telegraph poles and walls in tunnels) and the like at two sides of a train are detected by laser radar, and the train position is modified by the aid of the positions of the reflectors, so that influences of accumulated errors on train positioning are reduced to the utmost extent.

Description

technical field [0001] The invention relates to a train positioning method, in particular to a high-precision high-speed train real-time positioning system method. Background technique [0002] The running speed of my country's high-speed trains has reached 300Km / h. During train operation, accurate train positioning is of great help to train scheduling and distance control. The train positioning results are directly related to the safety of each train. At present, train positioning mainly depends on GPS, on-board odometer and on-board inertial navigation devices, such as figure 1 shown. However, there are many problems in this positioning method. [0003] GPS can achieve high-precision positioning (<10m) in open places, but if the train enters a tunnel, travels between mountains or between buildings, the GPS signal will be seriously interfered, making the positioning information very inaccurate. In the mountains and tunnels are more dangerous sections of the train, s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61L25/02
Inventor 宋永端康轶非
Owner 迪比(重庆)智能科技研究院有限公司
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