Subway train autonomous positioning device, system and method based on multivariate information fusion

An autonomous positioning and multi-information technology, applied in railway signaling and safety, etc., can solve problems such as the inability of subway trains to be interchanged, the cumbersome construction process, the failure rate and the difficulty in maintenance.

Active Publication Date: 2020-05-08
CHINA CREC RAILWAY ELECTRIFICATION BUREAU GRP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] This positioning mode, which relies heavily on trackside equipment, makes the construction of subway trains difficult and cumbersome.
After the train is delivered and operated, the failure rate and maintenance difficulty are high. At the same time, due to the different principles of transponders and messages, the problem that subway trains on different lines in the same city cannot be interchanged

Method used

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  • Subway train autonomous positioning device, system and method based on multivariate information fusion
  • Subway train autonomous positioning device, system and method based on multivariate information fusion
  • Subway train autonomous positioning device, system and method based on multivariate information fusion

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Embodiment 1

[0058] This embodiment discloses a subway train autonomous positioning device based on multivariate information fusion, such as figure 2 As shown, including inertial navigation equipment, visual positioning equipment and data processing equipment installed on subway trains;

[0059] The inertial navigation equipment is used for autonomous navigation and positioning of subway trains, and the calculation of inertial navigation positioning information is reported to the data processing equipment;

[0060] The visual device is used to monitor image beacons arranged at a fixed position beside the subway track, and calculate visual positioning information and report it to the data processing device;

[0061] The data processing device is used to receive the reported information of the inertial navigation device and the visual device, and perform information fusion to obtain the fusion positioning information of the train, which is sent to the ATP system of the subway train through ...

Embodiment 2

[0110] This embodiment discloses a method for autonomous positioning of subway trains based on multivariate information fusion, such as image 3 shown, including the following steps:

[0111] Step S1, in the out-of-warehouse stage, use visual positioning to assist inertial navigation positioning for initialization;

[0112] Specifically include:

[0113] 1) self-inspection after power-on of the autonomous positioning device of the subway train;

[0114] 2) The inertial navigation equipment is powered on and preheated for 30 minutes;

[0115] 3) The visual device detects a two-dimensional code beacon marked as a garage ID, identifies the garage ID number, and reports to the data processing device;

[0116] 4) The data processing device obtains the longitude, latitude, and height parameter information of the setting position of the two-dimensional code beacon by looking up the table, and sends it to the inertial navigation device as the out-of-warehouse position information f...

Embodiment 3

[0142] This embodiment discloses a subway train autonomous positioning system based on multivariate information fusion, such as Figure 4 As shown, it includes a first positioning device, a second positioning device and a third positioning device;

[0143] The first locating device, the second locating device and the third locating device all adopt the subway train autonomous locating device of multi-information fusion described in Embodiment 1;

[0144] The data processing module A, the data processing module B and the data processing module C of the first positioning device, the second positioning device and the third positioning device are connected to each other; the same basic clock is used to share information with each other, and the three data The fusion positioning information obtained by the processing module is processed by "taking two out of three" to obtain the fusion positioning information during the train running, which is sent to the ATP system of the subway t...

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Abstract

The invention relates to a subway train autonomous positioning device, system and method based on multivariate information fusion, belongs to the technical field of railways, and solves the problem that an existing train positioning system depends on trackside equipment. The device comprises inertial navigation equipment used for carrying out autonomous navigation positioning on a subway train andcalculating inertial navigation positioning information; visual equipment used for monitoring an image beacon arranged at a fixed position beside a subway line track and calculating visual positioning information; and data processing equipment used for receiving the reported information of the inertial navigation equipment and the visual equipment, carrying out information fusion to obtain fusedpositioning information, sending the fused positioning information to an ATP system of the subway train, and carrying out auxiliary control on each stage including train leaving, inter-station operation, train pull-in station/garage and train stop-in station/storage. Common-cause failure caused by positioning equipment with the same principle and characteristics is avoided, and the amplification problem in the positioning precision transmission process and the influence of failure of subordinate equipment on the positioning precision of superior equipment are prevented.

Description

technical field [0001] The invention relates to the technical field of railways, in particular to an autonomous positioning device, system and method for subway trains based on multivariate information fusion. Background technique [0002] At present, since the subway cannot use satellite positioning systems such as GPS or Beidou, the positioning system of the subway train mainly relies on on-board equipment and trackside equipment. The block diagram of the existing subway train positioning system is as follows figure 1 Shown: [0003] The on-board equipment mainly includes: transponder receiving equipment, data processing equipment, speed sensor (speed transmission), speed data processing equipment, ATP (automatic train protection, automatic train protection system). [0004] Wayside equipment: transponder. The transponder is installed next to the track and its position is fixed, which is the basis for the absolute positioning of the train. When the train passes by, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61L25/02
CPCB61L25/02
Inventor 林云志周砚南非杨斌唐侃刘骁
Owner CHINA CREC RAILWAY ELECTRIFICATION BUREAU GRP
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