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Self-adaptive adjustment train auxiliary positioning method and system

An auxiliary positioning system and self-adaptive adjustment technology, applied in the field of rail transit, can solve problems such as inability to improve absolute positioning accuracy, dependence on GPS signals, accumulation of accumulated errors over time, etc., to improve positioning reliability, improve disposal efficiency, and improve positioning accuracy. high effect

Pending Publication Date: 2022-04-29
浙江众合科技股份有限公司
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The inertial measurement module IMU can independently provide high-precision train positioning, but there is a problem that the cumulative error accumulates over time, and it cannot improve the absolute positioning accuracy by itself
Now there is a combination of GPS satellite positioning and IMU to enhance the reliability of the system, but this method is highly dependent on GPS signals. For rail transit trains, especially subway trains, most of the line scenarios are underground tunnels, so it is not applicable

Method used

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  • Self-adaptive adjustment train auxiliary positioning method and system
  • Self-adaptive adjustment train auxiliary positioning method and system
  • Self-adaptive adjustment train auxiliary positioning method and system

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Embodiment 1

[0026] Such as figure 1 and figure 2 Shown, a kind of self-adaptive adjustment train combined positioning system, comprises original on-board positioning system and auxiliary positioning system, and described original on-board positioning system includes velocity sensor (OPG) and beacon reading equipment (BTM antenna and BTM main frame), on-board The safety computer of the signal system calculates the train position according to the information obtained from the speed measuring sensor and the beacon reading device. The auxiliary positioning system includes an inertial measurement module (IMU) and an error calibration module. The inertial measurement module uses an inertial calculation algorithm to calculate the train position calculation, the error calibration module compares the train positioning result of the inertial measurement module with the positioning result of the original train positioning system, and performs adaptive optimization and adjustment to the inertia calc...

Embodiment 2

[0030] An adaptive adjustment train positioning method, such as figure 2 As shown, when the original positioning system of the train is available, the IMU calculates the train position in real time, and performs error analysis with the precise position of the train calculated by the original positioning system. The inertia calculation algorithm is adaptively optimized and adjusted through the error calibration module to achieve higher Accurate train position reckoning.

[0031] Such as image 3 As shown, the auxiliary positioning system mainly includes an initialization module, a data acquisition module, an IMU inertia calculation module, and a data processing and calibration module. When used as a backup positioning solution, after the IMU is initialized, it collects the information of the line where the train is located, and independently calculates the position of the train. If the beacon reading module is available, it can be combined with the beacon module for secondary...

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Abstract

The invention discloses a self-adaptive adjustment train auxiliary positioning method and system.The positioning system comprises an original vehicle-mounted positioning system and an auxiliary positioning system, and the original vehicle-mounted positioning system comprises a speed measuring sensor and a beacon reading device; the vehicle-mounted signal system safety computer carries out train position calculation according to information obtained from the speed measurement sensor and the beacon reading device, the auxiliary positioning system comprises an inertia measurement module and an error calibration module, the inertia measurement module carries out train position calculation by adopting an inertia calculation algorithm, and the error calibration module carries out error calibration. And the error calibration module is used for comparing a train positioning result of the inertial measurement module with a positioning result of an original train positioning system, and carrying out self-adaptive optimization adjustment on an inertial calculation algorithm according to a comparison result. According to the invention, the positioning precision is high, the reliability is good, and the positioning reliability of the unmanned train is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of rail transit, and in particular relates to a train positioning technology. Background technique [0002] For rail transit traffic organization and scheduling, real-time and accurate acquisition of the position of the train on the line is a prerequisite for ensuring traffic safety and improving traffic efficiency. At present, commonly used train positioning technologies include speed sensors, beacons, radar, GPS, etc. A single positioning technology has many limitations, for example, the speed sensor has accumulated errors and is easily affected by skidding and idling; the fixed-point characteristics of beacons cannot be realized Continuous positioning; radar has a large error in low-speed operation scenarios; GPS cannot be used in tunnels and other occluded scenarios due to the limitation of receiving satellites. Therefore, a combination of various sensors has gradually emerged, such as "speed sensor + b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61L25/02
CPCB61L25/021B61L25/025B61L25/028
Inventor 严飒珊陈旺斌杨志宇周宇松
Owner 浙江众合科技股份有限公司
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