Combined positioning method and device for outdoor intelligent rail car and storage medium
A combined positioning and rail car technology, applied in the field of rail transit, can solve problems such as failure safety principles, uncontrollable positioning errors, etc., and achieve the effect of reducing landmark deployment tasks
Pending Publication Date: 2020-09-18
北京天润海图科技有限公司
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Problems solved by technology
The positioning error of this method is uncontrollable, and it can only be qualitatively located. It is suitable for the intelligent track system running a single vehicle, but in the intelligent track system running multiple vehicles, it can only avoid obstacles through ultrasonic, and cannot rely on positioning to achieve obstacle avoidance. fail-safe principle
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[0017] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0018] see figure 1 , an embodiment of the present invention provides a combined positioning method for an outdoor intelligent rail car, which includes the following steps:
[0019] Step 101, judging whether the current time is the GPS time.
[0020] The outdoor intelligent rail car (hereinafter referred to as the rail car for short) needs to know its position at all times during driving. For this reason, a GPS receiver is configured on the rail car to receive the navigation positioning signal (or GPS positioning signal) transmitted by the GPS satellite. The moment when the GPS receiver receives the GPS positioning signal is called the GPS moment. Since the GPS signal is not a continuous transmission signal, it is usually transmitte...
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The invention belongs to the technical field of rail transit, and discloses a combined positioning method and device for an outdoor intelligent rail car. The method comprises the steps of judging whether the current moment is the GPS moment or not, and the GPS moment being the moment when a GPS positioning signal is received; if not, according to the GPS positioning signal corresponding to a GPS moment adjacent to the current moment, obtaining the reference road network position of the outdoor intelligent rail car, obtaining the advancing distance according to the current moment, the GPS moment adjacent to the current moment and the wheel rotating speed of the outdoor intelligent rail car, and obtaining the current road network position according to the reference road network position andthe advancing distance; and otherwise, obtaining the current road network position according to the GPS positioning signal. The device comprises a judgment module, a first current road network position obtaining module and a second current road network position obtaining module. By means of the scheme, rail car positioning does not need to be initialized, moving is not needed, the car speed is notlimited, the obtained positioning result can be directly used for a movement authorization signal, and an intelligent rail system is safe and reliable.
Description
technical field [0001] The invention belongs to the technical field of rail transit, and in particular relates to a combined positioning method, device and storage medium for an outdoor intelligent rail vehicle. Background technique [0002] The intelligent rail system is used in hospital logistics, prison inspection, construction site transportation, factory material transfer, passenger and cargo transportation and other fields, including intelligent rail cars and tracks. The smart rail car adopts a suspended vehicle and can run automatically. The track has branches. In an intelligent track system, it can carry multiple intelligent rail vehicles that operate independently, and ensure that each vehicle runs safely without collision. The smart rail car has a positioning function, and uses a wireless method to exchange information with roadside equipment (or trackside equipment). Under the coordination of the roadside equipment, the smart rail car has an anti-collision funct...
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Login to View More IPC IPC(8): G01S19/48G01S19/41
CPCG01S19/48G01S19/41
Inventor 邓小军
Owner 北京天润海图科技有限公司