Satellite navigation redundant positioning method and system

Abstract

The present invention discloses a satellite navigation redundant positioning method and system, the system comprises: three-way satellite navigation module, resource management module and main control module, wherein the three-way satellite navigation module is respectively used to receive first satellite navigation data sent by satellite, and respectively correct the first satellite navigation data to generate second satellite navigation data; the resource management module is used to send an electronic map for comparing the second satellite navigation data; the main control module is used to obtain two-way second satellite navigation data whose consistency parameters reach preset values ​​from the second satellite navigation data, the main control module respectively performs map matching on the two-way second satellite navigation data through the electronic map to obtain target positioning data, and performs positioning control on the train through the target positioning data. The present invention can reduce the difference of input satellite positioning information, and ensure the stability, accuracy and safety of train positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of train positioning, and in particular to a satellite navigation redundant positioning method and system. Background Art

[0002] In the track signal system, obtaining positioning safely and reliably is the basic guarantee for the normal operation of trains. Traditional train positioning updates and corrects the position by continuously receiving information from the transponder. Although this method is highly reliable, it greatly increases the investment cost and the difficulty of subsequent maintenance. With the development of satellite navigation technology and the deployment and construction of the global satellite navigation system, the introduction of satellite positioning in the on-board system to assist in real-time updating of train positions, reduce dependence on trackside equipment, and help improve the degree of autonomy of the on-board system has become a development trend of train positioning.

[0003] In the related art, a satellite redundant positioning solution equipped with redundant satellite antennas and navigation satellite receivers is proposed. However, this solution is difficult to reduce the differences in input satellite positioning information, so when the navigation receiving system is switched, the impact on the train positioning is relatively large, and it is difficult to ensure the stability and accuracy of the train positioning. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first object of the present invention is to provide a satellite navigation redundant positioning system to reduce the difference of input satellite positioning information and ensure the stability, accuracy and safety of train positioning.

[0005] A second object of the present invention is to provide a satellite navigation redundant positioning method.

[0006] To achieve the above object, the present invention is implemented through the following technical solutions:

[0007] A satellite navigation redundant positioning system comprises: three satellite navigation modules 10, each used to receive first satellite navigation data sent by a satellite, and respectively perform correction processing on the first satellite navigation data to generate second satellite navigation data; a resource management module 20, used to send an electronic map for comparison with the second satellite navigation data; a main control module 30, connected to each satellite navigation module 10 and the resource management module 20 respectively, the main control module 30 is used to receive each second satellite navigation data and the electronic map, and obtain two second satellite navigation data whose consistency parameters reach preset values ​​from the second satellite navigation data, the main control module 30 performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is used as target positioning data, and the train is positioned and controlled by the target positioning data.

[0008] Optionally, the resource management module 20 is further used to send differential data for correcting the first satellite navigation data.

[0009] Optionally, each satellite navigation module 10 includes: a satellite signal receiving antenna 11, used to receive first satellite navigation data sent by a satellite; a satellite navigation receiver 12, connected to the satellite signal receiving antenna 11 and the main control module 30 respectively, the satellite navigation receiver 12 is used to decode the first satellite navigation data, and receive the differential data through the main control module 30, and correct the decoded first satellite navigation data through the differential data to generate the second satellite navigation data.

[0010] Optionally, the main control module 30 includes: a data acquisition unit 31, connected to each satellite navigation receiver 12, the data acquisition unit 31 is used to collect each second satellite navigation data, and check each second satellite navigation data twice to obtain at least two valid second satellite navigation data; a navigation data estimation unit 32, connected to the data acquisition unit 31, the navigation data estimation unit 32 is used to receive at least two valid second satellite navigation data, and obtain two second satellite navigation data whose consistency parameters reach a preset value from the valid second satellite navigation data; the navigation data estimation unit 32 performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, determines any one of the two second satellite navigation data as the target positioning data.

[0011] Optionally, when the data acquisition unit 31 performs the first verification on each channel of second satellite navigation data, it is specifically used to: obtain several groups of second satellite navigation data within the same preset period from each satellite navigation receiver 12, and perform data consistency verification and data format verification on each group of second satellite navigation data, and after the verification is passed, obtain a group of preliminarily qualified second satellite navigation data from each channel of second satellite navigation data as data to be verified for the second verification.

[0012] Optionally, when the data acquisition unit 31 performs a second verification on each of the preliminarily qualified second satellite navigation data, it is specifically used to: verify the consistency of the driving speed and position change in each of the preliminarily qualified second satellite navigation data; verify whether the train longitude and latitude, speed, elevation, heading angle, precision factor and differential age in each of the preliminarily qualified second satellite navigation data are within the corresponding valid value range; and verify whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each of the preliminarily qualified second satellite navigation data are normal.

[0013] Optionally, the navigation data estimation unit 32 is specifically used to: compare at least two valid second satellite navigation data in pairs, and when the consistency parameter of the two second satellite navigation data reaches the preset value, stop the comparison and project the two second satellite navigation data onto the electronic map for map matching, and when the matching results of the two second satellite navigation data are obtained, determine whether the difference between the two matching results is less than or equal to a preset positioning difference; if it is less than or equal to the preset positioning difference, determine that the two matching results are consistent, and determine any one of the two second satellite navigation data as target positioning data, otherwise, determine that the two second satellite navigation data are invalid data.

[0014] Optionally, when comparing at least two valid second satellite navigation data in pairs, the navigation data estimation unit 32 is specifically used to: compare whether the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data are respectively less than or equal to the corresponding preset thresholds; if they are less than or equal to the corresponding preset thresholds, determine that the consistency parameters of the two second satellite navigation data reach the preset values.

[0015] To achieve the above-mentioned purpose, the second aspect of the present invention provides a satellite navigation redundant positioning method based on the above-mentioned satellite navigation redundant positioning system, including: three satellite navigation modules respectively receive first satellite navigation data sent by satellites, and respectively correct the first satellite navigation data to generate second satellite navigation data; the resource management module sends an electronic map for comparison with the second satellite navigation data; the main control module receives each second satellite navigation data and the electronic map, and obtains two second satellite navigation data whose consistency parameters reach preset values ​​from the second satellite navigation data, the main control module performs map matching on the two second satellite navigation data through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is used as target positioning data, and the train is positioned and controlled through the target positioning data.

[0016] Optionally, the method further includes: the resource management module further sending differential data for correcting the first satellite navigation data.

[0017] Optionally, each satellite navigation module includes a satellite signal receiving antenna and a satellite navigation receiver, and the three satellite navigation modules respectively receive first satellite navigation data sent by the satellite, and respectively correct the first satellite navigation data. The step of generating second satellite navigation data includes: the satellite signal receiving antenna receives the first satellite navigation data sent by the satellite; the satellite navigation receiver decodes the first satellite navigation data, receives the differential data through the main control module, and corrects the decoded first satellite navigation data through the differential data to generate the second satellite navigation data.

[0018] Optionally, the main control module includes a data acquisition unit. Before determining the target positioning data, the method also includes: the data acquisition unit acquires each channel of second satellite navigation data and performs two checks on each channel of second satellite navigation data to obtain at least two channels of valid second satellite navigation data.

[0019] Optionally, the step of the data acquisition unit performing a first verification on each channel of second satellite navigation data includes: the data acquisition unit obtains several groups of second satellite navigation data within the same preset period from each satellite navigation receiver, and performs data consistency verification and data format verification on each group of second satellite navigation data, and after the verification is passed, obtains a group of preliminarily qualified second satellite navigation data from each channel of second satellite navigation data as data to be verified for a second verification.

[0020] Optionally, the data acquisition unit performs a second verification step on each of the preliminary qualified second satellite navigation data, including: verifying the consistency of the driving speed and position change in each of the preliminary qualified second satellite navigation data; verifying whether the train longitude and latitude, speed, elevation, heading angle, precision factor and differential age in each of the preliminary qualified second satellite navigation data are within the corresponding valid value range; and verifying whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each of the preliminary qualified second satellite navigation data are normal.

[0021] Optionally, the main control module also includes a navigation data estimation unit, through which the main control module receives at least two channels of valid second satellite navigation data, and obtains two channels of second satellite navigation data whose consistency parameters reach preset values ​​from the valid second satellite navigation data; the navigation data estimation unit performs map matching on the two channels of second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, determines any one of the two channels of second satellite navigation data as target positioning data.

[0022] Optionally, the navigation data estimation unit specifically compares at least two valid second satellite navigation data in pairs, and when the consistency parameter of the two second satellite navigation data reaches the preset value, stops the comparison and projects the two second satellite navigation data onto the electronic map for map matching, and when obtaining the matching results of the two second satellite navigation data, determines whether the difference between the two matching results is less than or equal to a preset positioning difference; if it is less than or equal to the preset positioning difference, determines that the two matching results are consistent, and determines any one of the two second satellite navigation data as target positioning data, otherwise, determines that the two second satellite navigation data are invalid data.

[0023] Optionally, when the navigation data estimation unit compares at least two valid second satellite navigation data pairwise, it specifically compares whether the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data are respectively less than or equal to the corresponding preset thresholds; if they are less than or equal to the corresponding preset thresholds, it is determined that the consistency parameters of the two second satellite navigation data reach the preset values.

[0024] The present invention has at least the following technical effects:

[0025] (1) The satellite navigation redundant positioning method and system of the present invention uses the differential data sent by the resource management module to perform multi-source correction on each received satellite navigation data to ensure the reliability of each satellite navigation data, and uses the data acquisition unit to perform two checks on each corrected satellite navigation data to ensure the validity of the satellite navigation data, and outputs at least two valid satellite navigation data; the present invention also uses the navigation data estimation unit to compare the consistency of at least two valid satellite navigation data to perform external comparison on the satellite navigation data, and obtains two satellite navigation data with good consistency, thereby reducing the difference in input data; the navigation data estimation unit also performs map matching on the two satellite navigation data through an electronic map, and when the map matching results are consistent, the two satellite navigation data are used as the valid data for the final positioning of the train, thereby improving the stability, accuracy and safety of train positioning.

[0026] (2) The present invention increases the source of satellite navigation data without changing the existing train positioning system architecture, thereby improving the robustness of the train positioning system with minimal changes to the existing architecture.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A structural block diagram of a satellite navigation redundant positioning system provided by an embodiment of the present invention;

[0029] Figure 2 A working principle diagram of a satellite navigation redundant positioning system provided by an embodiment of the present invention;

[0030] Figure 3 A structural block diagram of a satellite navigation module provided by an embodiment of the present invention;

[0031] Figure 4 A structural block diagram of a satellite navigation redundant positioning system provided by another embodiment of the present invention;

[0032] Figure 5 A flowchart of a data acquisition unit provided in one embodiment of the present invention;

[0033] Figure 6 A flowchart of a navigation data estimation unit provided by an embodiment of the present invention;

[0034] Figure 7 A flowchart of a satellite navigation redundant positioning method provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present embodiment is described in detail below, and examples of the embodiment are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] As described in the background technology, the currently proposed satellite redundant positioning solution equipped with redundant satellite antennas and navigation satellite receivers is not yet complete. It is difficult to ensure the reliability and effectiveness of satellite navigation data, and it is difficult to reduce the difference in input data, thereby making it difficult to ensure the accuracy of data used for train positioning, and it is impossible to ensure the stability and safety of train positioning.

[0037] To this end, the present invention provides a satellite navigation redundant positioning method and system, which receives multiple satellite navigation data by installing three redundant satellite antennas and three corresponding navigation satellite receivers to ensure the continuity and stability of train positioning, and improves the validity and reliability of satellite navigation data by correcting and processing each channel of satellite navigation data collected and performing two internal validity checks, and obtains at least two channels of satellite navigation data and compares them for consistency from the outside, which can reduce the difference of input data, so that the navigation receiving system has less impact on train positioning when switching. The present invention also performs map matching on two channels of satellite navigation data with good consistency through an electronic map, and determines the target positioning data according to the matching results, thereby ensuring the accuracy of the data used for train positioning, and ensuring the stability and safety of train positioning.

[0038] The satellite navigation redundant positioning method and system of this embodiment will be described below with reference to the accompanying drawings.

[0039] Figure 1 This is a structural block diagram of a satellite navigation redundant positioning system provided by an embodiment of the present invention. Figure 1 As shown, the satellite navigation redundant positioning system 1 includes: a three-way satellite navigation module 10 , a resource management module 20 and a main control module 30 .

[0040] Among them, the three satellite navigation modules 10 are respectively used to receive the first satellite navigation data sent by the satellite, and correct the first satellite navigation data respectively to generate second satellite navigation data; the resource management module 20 is used to send an electronic map for comparison with the second satellite navigation data; the main control module 30 is connected to each satellite navigation module 10 and the resource management module 20 respectively, the main control module 30 is used to receive each second satellite navigation data and the electronic map, and obtain two second satellite navigation data whose consistency parameters reach the preset value from the second satellite navigation data, the main control module 30 performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is used as the target positioning data, and the train is positioned and controlled by the target positioning data.

[0041] Specifically, the satellite navigation redundant positioning system in this embodiment adds a redundant satellite navigation module 10. Figure 2 As shown, the system receives the first satellite navigation data for train positioning sent by the satellite through three satellite navigation modules 10, and then corrects each first satellite navigation data to generate second satellite navigation data, and sends it to the main control module 30. The resource management module 20 in this embodiment can be a ground core device RMU (Resource Manage Unit). The resource management module 20 can send an electronic map for map matching the above-mentioned second satellite navigation data. After the main control module 30 receives the second satellite navigation data, it can obtain two second satellite navigation data whose consistency parameters reach the preset value from the second satellite navigation data. For example, the consistency parameter value of the two second satellite navigation data reaches 99%, which is greater than the preset value 95%. After obtaining the two second satellite navigation data with good consistency, the main control module 30 can map match the two second satellite navigation data through the electronic map sent by the resource management module 20, and when the matching results are consistent, any one of the two second satellite navigation data is used as the target positioning data, so as to position and control the train through the target positioning data.

[0042] In one embodiment of the present invention, the resource management module 20 is further configured to send differential data for correcting the first satellite navigation data. Figure 3As shown, each satellite navigation module 10 includes: a satellite signal receiving antenna 11 and a satellite navigation receiver 12. The satellite signal receiving antenna 11 is used to receive first satellite navigation data sent by a satellite; the satellite navigation receiver 12 is connected to the satellite signal receiving antenna 11 and the main control module 30 respectively, and the satellite navigation receiver 12 is used to decode the first satellite navigation data, receive differential data through the main control module 30, and correct the decoded first satellite navigation data through the differential data to generate second satellite navigation data.

[0043] Specifically, Figure 2 As shown, each satellite navigation module 10 is provided with a satellite signal receiving antenna 11 and a satellite navigation receiver 12. Each satellite signal receiving antenna 11 receives first satellite navigation data for train positioning from a satellite, wherein the first satellite navigation data includes the location information of the train (such as latitude and longitude information). After each satellite signal receiving antenna 11 receives the first satellite navigation data, it sends each satellite navigation data to the corresponding satellite navigation receiver 12 through the serial port. Each satellite navigation receiver 12 decodes the received first satellite navigation data, then receives the differential data sent by the resource management module 20 from the main control module 30, and uses the differential data to perform multi-source correction on the decoded first satellite navigation data, and then generates second satellite navigation data, and sends the second satellite navigation data to the main control module 30.

[0044] In one embodiment of the present invention, Figure 4 As shown, the main control module 30 includes: a data acquisition unit 31 and a navigation data estimation unit 32. The data acquisition unit 31 is connected to each satellite navigation receiver 12, and is used to collect each second satellite navigation data, and perform two checks on each second satellite navigation data to obtain at least two valid second satellite navigation data; the navigation data estimation unit 32 is connected to the data acquisition unit 31, and is used to receive at least two valid second satellite navigation data, and obtain two second satellite navigation data whose consistency parameters reach preset values ​​from the valid second satellite navigation data; the navigation data estimation unit 32 performs map matching on the two second satellite navigation data through an electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is determined as the target positioning data.

[0045] Among them, when the data acquisition unit 31 performs the first verification on each channel of second satellite navigation data, it is specifically used to: obtain several groups of second satellite navigation data within the same preset period from each satellite navigation receiver 12, and perform data consistency verification and data format verification on the several groups of second satellite navigation data of each channel, and after the verification is passed, obtain a group of preliminarily qualified second satellite navigation data from each channel of second satellite navigation data as the data to be verified for the second verification.

[0046] like Figure 5 As shown, the data acquisition unit 31 can receive the second satellite navigation data sent by each satellite navigation receiver 12. Taking one of the communication links as an example, the data acquisition unit 31 can receive N groups of latitude and longitude data within the latest preset period T, i.e., N groups of second satellite navigation data, where N is greater than 1 and is an integer. Further, the data acquisition unit 31 verifies the consistency and data format of the N groups of second satellite navigation data, and retains the latest group of second satellite navigation data that has been successfully verified and is deemed to be preliminarily qualified as the data to be verified for the second verification. It should be noted that when the data acquisition unit 31 collects three channels of second satellite navigation data, the preset periods for collection are all the same period, and when the first verification fails, the second satellite navigation data that has failed the verification is discarded, and the other second satellite navigation data other than the data to be verified for the second verification is discarded.

[0047] Please continue to refer to Figure 5 When the data acquisition unit 31 performs a second verification on each of the preliminarily qualified second satellite navigation data, it is specifically used to: verify the consistency of the driving speed and position change in each of the preliminarily qualified second satellite navigation data; verify whether the train longitude and latitude, speed, elevation, heading angle, precision factor and differential age in each of the preliminarily qualified second satellite navigation data are within the corresponding valid value range; and verify whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each of the preliminarily qualified second satellite navigation data are normal.

[0048] In this embodiment, the data acquisition unit 31 can perform a secondary check on the above-mentioned message field in each preliminary qualified second satellite navigation data to ensure the validity and reliability of the second satellite navigation data. It should be noted that the data acquisition unit 31 in this embodiment needs to output at least two valid second satellite navigation data that pass the second check. If only one second satellite navigation data passes the secondary check, the data acquisition unit 31 will output a warning message, such as "There is no available satellite input information in this cycle." When there are at least two valid second satellite navigation data, the data acquisition unit 31 sends the at least two valid second satellite navigation data to the navigation data estimation unit 32.

[0049] In one embodiment of the present invention, the navigation data estimation unit 32 is specifically used to: compare at least two valid second satellite navigation data in pairs, and when the consistency parameter of the two second satellite navigation data reaches a preset value, stop the comparison and project the two second satellite navigation data onto an electronic map for map matching, and when the matching results of the two second satellite navigation data are obtained, determine whether the difference between the two matching results is less than or equal to a preset positioning difference; if it is less than or equal to the preset positioning difference, determine that the two matching results are consistent, and determine any one of the two second satellite navigation data as the target positioning data, otherwise, determine that the two second satellite navigation data are invalid data.

[0050] Among them, when the navigation data estimation unit 32 compares at least two valid second satellite navigation data in pairs, it is specifically used to: compare whether the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data are respectively less than or equal to the corresponding preset thresholds; if they are less than or equal to the corresponding preset thresholds, it is determined that the consistency parameters of the two second satellite navigation data reach the preset values.

[0051] Specifically, to ensure the reliability of satellite positioning information, such as Figure 6 As shown, the navigation data estimation unit 32 compares at least two valid second satellite navigation data in pairs. As an example, if there are three valid second satellite navigation data, they are recorded as the second satellite navigation data of route A, the second satellite navigation data of route B and the second satellite navigation data of route C. The navigation data estimation unit 32 first compares the second satellite navigation data of route A with the second satellite navigation data of route B, such as whether the longitude, latitude, speed and time difference of the train in the comparison data exceed the corresponding preset threshold. If not, it indicates that the second satellite navigation data of route A and the second satellite navigation data of route B are consistent and meet the consistency comparison conditions, and the comparison of the second satellite navigation data of route A and the second satellite navigation data of route C is stopped, and the comparison of the second satellite navigation data of route B and the second satellite navigation data of route C is stopped. If one of the above parameters exceeds the corresponding preset threshold, it is determined that the consistency of the second satellite navigation data of channel A and the second satellite navigation data of channel B is poor, and a comparison is performed between the second satellite navigation data of channel A and the second satellite navigation data of channel C, or between the second satellite navigation data of channel B and the second satellite navigation data of channel C, until two second satellite navigation data with good consistency are compared and obtained.

[0052] It should be noted that if there are no two second satellite navigation data whose consistency parameters reach the preset value, the navigation data estimation unit 32 may output a warning message, such as "no satellite input information is available in this cycle". After screening and obtaining two second satellite navigation data with good consistency, the navigation data estimation unit 32 may use an electronic map to perform map matching on the two second satellite navigation data, and compare the map matching results. If the difference between the two matching results is less than or equal to the preset positioning difference, it is determined that the two matching results are consistent, and any one of the two second satellite navigation data is determined as the target positioning data, otherwise, the above-mentioned warning message is output.

[0053] Further, such as Figure 7 As shown, the present invention also provides a satellite navigation redundant positioning method based on the above satellite navigation redundant positioning system, comprising:

[0054] Step S1: three satellite navigation modules respectively receive first satellite navigation data sent by satellites, and respectively perform correction processing on the first satellite navigation data to generate second satellite navigation data.

[0055] Step S2: The resource management module sends an electronic map for comparison with the second satellite navigation data.

[0056] Step S3: The main control module receives each channel of second satellite navigation data and the electronic map, and obtains two channels of second satellite navigation data whose consistency parameters reach preset values ​​from the second satellite navigation data. The main control module performs map matching on the two channels of second satellite navigation data through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two channels of second satellite navigation data is used as target positioning data, and the train is positioned and controlled through the target positioning data.

[0057] In one embodiment of the present invention, the resource management module also sends differential data for correcting the first satellite navigation data. In this embodiment, each satellite navigation module includes a satellite signal receiving antenna and a satellite navigation receiver, and the three satellite navigation modules respectively receive the first satellite navigation data sent by the satellite, and respectively perform correction processing on the first satellite navigation data to generate the second satellite navigation data, including: the satellite signal receiving antenna receives the first satellite navigation data sent by the satellite; the satellite navigation receiver decodes the first satellite navigation data and receives differential data through the main control module, and corrects the decoded first satellite navigation data through the differential data to generate the second satellite navigation data.

[0058] In one embodiment of the present invention, the main control module includes a data acquisition unit. Before determining the target positioning data, the method also includes: the data acquisition unit acquires each channel of second satellite navigation data and performs two checks on each channel of second satellite navigation data to obtain at least two channels of valid second satellite navigation data.

[0059] Among them, the step of the data acquisition unit performing a first verification on each channel of second satellite navigation data includes: the data acquisition unit obtains several groups of second satellite navigation data within the same preset period from each satellite navigation receiver, and performs data consistency verification and data format verification on the several groups of second satellite navigation data of each channel, and after the verification is passed, obtains a group of preliminarily qualified second satellite navigation data from each channel of second satellite navigation data as data to be verified for the second verification.

[0060] The step of the data acquisition unit performing a second verification on each of the preliminarily qualified second satellite navigation data comprises: verifying the consistency of the travel speed and position change in each of the preliminarily qualified second satellite navigation data; verifying whether the longitude and latitude of the train, speed, elevation, heading angle, precision factor and differential age in each of the preliminarily qualified second satellite navigation data are within the corresponding valid value range; and verifying whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each of the preliminarily qualified second satellite navigation data are normal.

[0061] In one embodiment of the present invention, the main control module also includes a navigation data estimation unit, which receives at least two channels of valid second satellite navigation data through the navigation data estimation unit, and obtains two channels of second satellite navigation data whose consistency parameters reach preset values ​​from the valid second satellite navigation data; the navigation data estimation unit performs map matching on the two channels of second satellite navigation data respectively through an electronic map, and when the matching is successful and the two matching results are consistent, determines any one of the two channels of second satellite navigation data as target positioning data.

[0062] Among them, the navigation data estimation unit specifically compares at least two valid second satellite navigation data in pairs, and when the consistency parameter of the two second satellite navigation data reaches a preset value, stops the comparison and projects the two second satellite navigation data onto an electronic map for map matching, and when obtaining the matching results of the two second satellite navigation data, determines whether the difference between the two matching results is less than or equal to a preset positioning difference; if it is less than or equal to the preset positioning difference, determines that the two matching results are consistent, and determines any one of the two second satellite navigation data as the target positioning data, otherwise, determines that the two second satellite navigation data are invalid data.

[0063] In this embodiment, when the navigation data estimation unit compares at least two valid second satellite navigation data in pairs, it specifically compares whether the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data are respectively less than or equal to the corresponding preset thresholds; if they are less than or equal to the corresponding preset thresholds, it is determined that the consistency parameters of the two second satellite navigation data reach the preset values.

[0064] Therefore, the present invention proposes a satellite navigation redundant positioning method for screening, comparing and fusing received satellite navigation data in a multi-level and multi-dimensional manner, through which effective satellite navigation data can be obtained.

[0065] It should be noted that the specific implementation of the satellite navigation redundant positioning method of this embodiment can refer to the specific implementation of the satellite navigation redundant positioning system mentioned above, and will not be repeated here to avoid redundancy.

[0066] In summary, the satellite navigation redundant positioning method and system of the present invention uses the differential data sent by the resource management module to perform multi-source correction on each received satellite navigation data to ensure the reliability of each satellite navigation data, and uses the data acquisition unit to check each corrected satellite navigation data twice to ensure the internal validity of the satellite navigation data, and outputs at least two valid satellite navigation data; the present invention also uses the navigation data estimation unit to compare the consistency of at least two valid satellite navigation data to perform external comparison on the satellite navigation data, and obtains two satellite navigation data with good consistency, thereby reducing the difference in input data, and the navigation data estimation unit also performs map matching on the two satellite navigation data through an electronic map, and when the map matching results are consistent, the two satellite navigation data are used as the valid data for the final positioning train, thereby improving the stability, accuracy and safety of train positioning; in addition, the present invention increases the source of satellite navigation data without changing the existing train positioning system architecture, thereby improving the robustness of the train positioning system with little change to the existing architecture.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0068] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A satellite navigation redundant positioning system, characterized in that: include: Three satellite navigation modules (10) are respectively used to receive first satellite navigation data sent by satellites, and respectively perform correction processing on the first satellite navigation data to generate second satellite navigation data; A resource management module (20), used for sending an electronic map for comparison with the second satellite navigation data; A main control module (30) is connected to each satellite navigation module (10) and the resource management module (20), respectively. The main control module (30) is used to receive each second satellite navigation data and the electronic map, and obtain two second satellite navigation data whose consistency parameters reach a preset value from the second satellite navigation data. The main control module (30) performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is used as target positioning data, and the train is positioned and controlled by the target positioning data.

2. The satellite navigation redundant positioning system according to claim 1, characterized in that: The resource management module (20) is also used to send differential data for correcting the first satellite navigation data.

3. The satellite navigation redundant positioning system as claimed in claim 2, characterized in that: Each satellite navigation module (10) comprises: A satellite signal receiving antenna (11), used for receiving first satellite navigation data sent by a satellite; A satellite navigation receiver (12) is connected to the satellite signal receiving antenna (11) and the main control module (30) respectively, and the satellite navigation receiver (12) is used to decode the first satellite navigation data, receive the differential data through the main control module (30), and correct the decoded first satellite navigation data through the differential data to generate the second satellite navigation data.

4. The satellite navigation redundant positioning system as claimed in claim 3, characterized in that: The main control module (30) comprises: A data collection unit (31) is connected to each satellite navigation receiver (12), and is used to collect each second satellite navigation data and perform two checks on each second satellite navigation data to obtain at least two valid second satellite navigation data; A navigation data estimation unit (32) is connected to the data acquisition unit (31), and is used to receive at least two valid second satellite navigation data, and obtain two second satellite navigation data whose consistency parameters reach preset values ​​from the valid second satellite navigation data; the navigation data estimation unit (32) performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, determines any one of the two second satellite navigation data as the target positioning data.

5. The satellite navigation redundant positioning system as claimed in claim 4, characterized in that: When the data acquisition unit (31) performs the first verification on each channel of second satellite navigation data, it is specifically used to: A plurality of groups of second satellite navigation data within the same preset period are obtained from each satellite navigation receiver (12), and data consistency verification and data format verification are performed on each plurality of groups of second satellite navigation data; and after the verification is passed, a group of preliminarily qualified second satellite navigation data is obtained from each second satellite navigation data as data to be verified for a second verification.

6. The satellite navigation redundant positioning system as claimed in claim 5, characterized in that: When the data acquisition unit (31) performs a second check on each channel of preliminarily qualified second satellite navigation data, it is specifically used to: Verify the consistency of the travel speed and position change in each preliminary qualified second satellite navigation data; Verify whether the train latitude and longitude, speed, altitude, heading angle, precision factor and differential age in each preliminary qualified second satellite navigation data are within the corresponding valid value range; Furthermore, whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each channel of the preliminarily qualified second satellite navigation data are normal is verified.

7. The satellite navigation redundant positioning system as claimed in claim 4, characterized in that: The navigation data estimation unit (32) is specifically used for: performing pairwise comparison on at least two valid second satellite navigation data, and when the consistency parameter of the two second satellite navigation data reaches the preset value, stopping the comparison and projecting the two second satellite navigation data onto the electronic map for map matching, and upon obtaining the matching results of the two second satellite navigation data, determining whether the difference between the two matching results is less than or equal to the preset positioning difference; If it is less than or equal to the preset positioning difference, it is determined that the two matching results are consistent, and any one of the two second satellite navigation data is determined as the target positioning data; otherwise, the two second satellite navigation data are determined to be invalid data.

8. The satellite navigation redundant positioning system as claimed in claim 7, characterized in that: When performing pairwise comparison on at least two channels of valid second satellite navigation data, the navigation data estimation unit (32) is specifically used to: Compare the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data to see whether they are respectively less than or equal to the corresponding preset thresholds; if they are less than or equal to the corresponding preset thresholds, determine that the consistency parameters of the two second satellite navigation data reach the preset values.

9. A satellite navigation redundant positioning method based on the satellite navigation redundant positioning system according to any one of claims 1 to 8, characterized in that: include: The three satellite navigation modules respectively receive the first satellite navigation data sent by the satellites, and respectively perform correction processing on the first satellite navigation data to generate second satellite navigation data; The resource management module sends an electronic map for comparison with the second satellite navigation data; The main control module receives each second satellite navigation data and the electronic map, and obtains two second satellite navigation data whose consistency parameters reach preset values ​​from the second satellite navigation data. The main control module performs map matching on the two second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, any one of the two second satellite navigation data is used as target positioning data, and the train is positioned and controlled through the target positioning data.

10. The satellite navigation redundant positioning method according to claim 9, characterized in that: Also includes: The resource management module also sends differential data for correcting the first satellite navigation data.

11. The satellite navigation redundant positioning method according to claim 10, characterized in that: Each satellite navigation module includes a satellite signal receiving antenna and a satellite navigation receiver. The three satellite navigation modules respectively receive first satellite navigation data sent by satellites, and respectively perform correction processing on the first satellite navigation data to generate second satellite navigation data, including: The satellite signal receiving antenna receives first satellite navigation data sent by a satellite; The satellite navigation receiver decodes the first satellite navigation data, receives the differential data through the main control module, and corrects the decoded first satellite navigation data through the differential data to generate the second satellite navigation data.

12. The satellite navigation redundant positioning method according to claim 11, characterized in that: The main control module includes a data acquisition unit. Before determining the target positioning data, the method further includes: The data collection unit collects each channel of second satellite navigation data, and performs two checks on each channel of second satellite navigation data to obtain at least two channels of valid second satellite navigation data.

13. The satellite navigation redundant positioning method according to claim 12, characterized in that: The step of the data acquisition unit performing a first check on each channel of second satellite navigation data comprises: The data acquisition unit obtains several groups of second satellite navigation data within the same preset period from each satellite navigation receiver, and performs data consistency check and data format check on each group of second satellite navigation data, and after the check is passed, obtains a group of preliminarily qualified second satellite navigation data from each second satellite navigation data as the data to be checked for the second check.

14. The satellite navigation redundant positioning method according to claim 13, characterized in that: The step of the data acquisition unit performing a second verification on each channel of the preliminarily qualified second satellite navigation data comprises: The consistency of the driving speed and position change in each preliminary qualified second satellite navigation data is verified; whether the train latitude and longitude, speed, elevation, heading angle, precision factor and differential age in each preliminary qualified second satellite navigation data are within the corresponding valid value range is verified; and whether the satellite navigation receiver status information, satellite position solution status information and satellite synchronization clock status information in each preliminary qualified second satellite navigation data are normal is verified.

15. The satellite navigation redundant positioning method according to claim 12, characterized in that: The main control module also includes a navigation data estimation unit, through which the main control module receives at least two channels of valid second satellite navigation data, and obtains two channels of second satellite navigation data whose consistency parameters reach preset values ​​from the valid second satellite navigation data; the navigation data estimation unit performs map matching on the two channels of second satellite navigation data respectively through the electronic map, and when the matching is successful and the two matching results are consistent, determines any one of the two channels of second satellite navigation data as target positioning data.

16. The satellite navigation redundant positioning method according to claim 15, characterized in that: The navigation data estimation unit specifically compares at least two valid second satellite navigation data in pairs, and when the consistency parameter of the two second satellite navigation data reaches the preset value, stops the comparison and projects the two second satellite navigation data onto the electronic map for map matching, and when the matching results of the two second satellite navigation data are obtained, determines whether the difference between the two matching results is less than or equal to the preset positioning difference; If it is less than or equal to the preset positioning difference, it is determined that the two matching results are consistent, and any one of the two second satellite navigation data is determined as the target positioning data; otherwise, the two second satellite navigation data are determined to be invalid data.

17. The satellite navigation redundant positioning method according to claim 16, characterized in that: When the navigation data estimation unit compares at least two valid second satellite navigation data in pairs, it specifically compares whether the longitude, latitude, speed and time difference of the train in the two valid second satellite navigation data are respectively less than or equal to corresponding preset thresholds; If it is less than or equal to the corresponding preset threshold, it is determined that the consistency parameter of the two channels of the second satellite navigation data reaches the preset value.

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