A kind of train positioning track discrimination method
A technology of train positioning and discrimination method, which is applied in the direction of railway signal and safety, can solve the problems of real-time and continuous positioning of difficult trains, and achieve the effect of improving operation efficiency and ensuring operation safety
Active Publication Date: 2022-03-25
BEIJING JIAOTONG UNIV
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Problems solved by technology
[0005] In the process of train operation control, accurate identification of occupied tracks is an important prerequisite for train operation control, but it is difficult to achieve real-time and continuous positioning of trains only by relying on satellite positioning systems. Therefore, multiple sensors are required to achieve information collection and fusion to achieve multiple operations. Higher-precision train positioning in the scene to further obtain accurate track occupancy
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[0054] The embodiment of the present invention provides a method for autonomously locating a train and judging lane occupancy by using multiple sensors such as a vehicle-mounted positioning receiver, an inertial device, and a map database in the scenario of no trackside equipment. Including the following steps:
[0055] S1: Extract positioning information, extract and fuse the position, heading angular velocity, direction, etc. obtained by the satellite receiver and inertial navigation system, and obtain positioning information such as position, heading angle, direction, and time.
[0056] In the embodiment of the present invention, the direction here refers to the up and down direction of the train, which determines whether the train is in the forward or opposite direction when passing the switch; , also called the yaw angle.
[0057] Such as figure 1 As shown in , the output of the satellite receiver and the inertial navigation system is respectively extracted, analyzed an...
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The invention provides a method for judging a train positioning track, which belongs to the technical field of rail transit operation control. First, the train positioning information is extracted; the train operation information of the satellite receiver GNSS and the inertial navigation system INS are respectively extracted, and the Kalman filter algorithm is used to fuse them. GNSS and INS observations are used to obtain train fusion positioning information; then, the line topology model data is extracted; the format of the electronic track map is defined to obtain the logical characteristics of the switch and the associated characteristics of the line; finally, combined with the train positioning information and the line topology model. Track occupation identification; including, parallel track occupation identification and fork area occupation identification. In the case of no trackside equipment, the present invention utilizes on-board positioning receivers, inertial devices and map database trains to realize autonomous positioning and make track occupancy discrimination, obtain track occupancy results in real time and accurately, ensure train operation safety, and improve the performance of trains. Operational efficiency.
Description
technical field [0001] The invention relates to the technical field of rail transit operation control, in particular to a multi-sensor-based train positioning track discrimination method capable of obtaining accurate track occupancy results in real time based on line topological features. Background technique [0002] Train positioning technology is one of the key technologies in the train control system. Real-time and accurate train positioning plays an important role in train collision avoidance, departure interval control, and ensuring train safety. [0003] The existing train positioning technology can be mainly divided into two categories: (1) ground equipment positioning, the ground equipment mainly refers to track circuits and transponders. When the train is running in the section, the track occupancy status is obtained through the track circuit. When the train is running in the station, the ground interlocking is used to realize the positioning in the station, and t...
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IPC IPC(8): B61L25/02
CPCB61L25/025
Inventor 陆德彪杨涛蔡伯根王剑上官伟刘江柴琳果
Owner BEIJING JIAOTONG UNIV