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A high-precision high-speed train real-time positioning system method

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

Active Publication Date: 2015-12-02
迪比(重庆)智能科技研究院有限公司 +1
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  • Abstract
  • Description
  • Claims
  • 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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  • A high-precision high-speed train real-time positioning system method
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  • A high-precision high-speed train real-time positioning system method

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Embodiment Construction

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

[0054] A high-precision high-speed train real-time positioning system method, the method (such as figure 2 Shown) The sensor information is detected by the vehicle-mounted lidar, and the environmental feature points (the center of the telephone 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 cumulative errors. In this method, multiple particles are used to estimate the train position, and the weighted average 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) Initial position of the train The initial position of the train is determined by the train position (x 0 , Y ...

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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 operating speed of high-speed trains in my country has reached 300Km / h. In the process of train operation, accurate train positioning is very helpful for train scheduling and distance control. The positioning result of the train is directly related to the safety of each train. At present, train positioning mainly relies on GPS, vehicle-mounted odometer and vehicle-mounted inertial navigation devices, such as figure 1 Shown. However, this positioning method has many problems. [0003] GPS can achieve high-precision positioning in open places ( <10m), but if the train enters a tunnel, travels between mountains or buildings, the GPS signal will be severely interfered, making the positioning information very inaccurate. In the mountains, tunnels are more dangerous sections in the proc...

Claims

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Application Information

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Patent Type & Authority Patents(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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