An online real-time freight train vehicle positioning method and device

Abstract

The present application relates to freight train vehicle accurate positioning, specifically relates to a kind of positioning method and device for solving the problem of low carrying efficiency caused by inaccurate positioning when train is loaded with goods and is dispatched, more particularly to a kind of method and device for improving the real-time positioning accuracy of railway freight vehicle.The positioning device includes a Beidou positioning module installed in the cab, a data processing module installed in the cab, a data display module installed in the cab and a data transmission module.The positioning method steps are to establish a geodetic coordinate system and number the vehicle, obtain the coordinates of the locomotive through the Beidou positioning module, convert the latitude and longitude coordinates to geodetic coordinates, use simulated spherical surface and simulated track for multiple calculation and processing, then convert the obtained geodetic coordinates of the vehicle to latitude and longitude coordinates, and repeat the above steps to obtain the real-time latitude and longitude coordinate information of all n vehicles.This can improve the efficiency of freight train loading and transportation, facilitate train dispatching and reduce the loss of manpower and resources.

Description

Technical Field

[0001] This invention relates to the precise positioning of freight train vehicles, specifically to a positioning method and apparatus for solving the problem of low transport efficiency caused by inaccurate positioning during train loading and dispatching, and particularly to a method and apparatus for improving the real-time positioning accuracy of railway freight cars. Background Technology

[0002] Railway freight is the mainstay of my country's railway transportation. During the loading process at stations, the loading area often cannot accommodate all the cars. Therefore, loading is usually done one or more cars at a time. Once the loading area is full, the train driver maneuvers the train a short distance to allow other trains to enter the loading area for further loading. However, because the driver cannot accurately determine the real-time position of the cars, a staff member standing at the rear of the car must manually assess the situation and communicate with the driver via walkie-talkie. This often leads to inaccurate and inefficient information exchange between the driver and staff, resulting in information asymmetry. This necessitates repeated adjustments to the train's position, and some cars may remain unloaded or even empty, leading to resource waste and reduced transportation efficiency. Furthermore, traditional train positioning methods suffer from drawbacks such as high cost and large engineering workload.

[0003] Therefore, there is an urgent need for a method and device that can accurately locate the position of train vehicles, and a way to locate freight trains and all their freight vehicles at the lowest possible cost. Summary of the Invention

[0004] The purpose of this invention is to propose an online real-time freight train vehicle positioning method and device, which improves train transportation efficiency while minimizing costs and solves the problem of low loading and control efficiency of freight trains caused by inaccurate positioning.

[0005] To achieve this objective, the present invention employs the following technical solution. (Appendix) Figure 1 )

[0006] The present invention proposes an online real-time freight train vehicle positioning device, comprising:

[0007] The Beidou positioning module installed in the locomotive driver's cab is connected to the data processing module. It performs real-time dynamic positioning of the locomotive coordinates based on the Beidou positioning system and obtains the locomotive's real-time latitude and longitude coordinates.

[0008] The data processing module installed in the locomotive driver's cab connects to the data display module and the Beidou positioning module. It receives locomotive coordinate data from the Beidou positioning module, calculates the real-time location information of specific vehicles using the vehicle length conversion concept, and outputs it. Vehicle length conversion is expressed in units of 11.5m, representing the distance between the inner sides of the front and rear coupling tongues of the train vehicle. (See attached diagram) Figure 2 The specific processing method is as follows: establish a geodetic coordinate system, number the train vehicles sequentially starting from the locomotive within the system, and calculate the specific vehicle coordinate data using the vehicle length conversion (during this process, the coordinates of the inner side of the coupler tongue on the side of the vehicle away from the locomotive are used as the vehicle coordinates).

[0009] The data display module installed in the locomotive driver's cab is connected to the data processing module and the data display module. It receives the real-time latitude and longitude coordinates of the vehicle from the data processing module and displays the information to the driver.

[0010] Data transmission module: Connected to the data processing module and the data display module, it transmits the processed train vehicle location data to the train dispatching center and uses 5G communication to synchronize the data to the freight station dispatching center to achieve unified dispatching.

[0011] The present invention proposes an online real-time freight train vehicle positioning method, the specific processing steps of which are as follows.

[0012] 1) Establish the geodetic coordinate system O-XYZ (see attached) Figure 3 The coordinate system has its Z-axis pointing to the North Pole of the Earth's reference ellipsoid, its X-axis pointing to the intersection of the initial meridian plane and the equator, and its Y-axis located on the equatorial plane and forming a 90-degree angle with the X-axis according to the right-hand rule.

[0013] 2) Number the train, starting with the first car from the locomotive end, number it as 1 and continue numbering sequentially. The locomotive number is recorded as 0.

[0014] 3) Determine the detailed location information of the track, divide the track into segments of 50m each with the locomotive position as the midpoint, and establish a piecewise function equation (Equation 4) in the geodetic coordinate system based on this to simulate the track location information. Store the simulated track location equation in the data processing module.

[0015] 4) Convert the known locomotive latitude and longitude coordinates into spatial rectangular coordinates using the geodetic coordinate system (Equation 1). To calculate the coordinate information of vehicle number n, use the geodetic coordinates of vehicle number n-1 as the center, and transform the coordinates by the length + (This is the distance from the locomotive driver's cab to the front coupling tongue of car number 1, and only needs to be considered when calculating the coordinates of the first car. When n=1) The value is 0; when n>1 With a radius of 0, a simulated spherical equation (Equation 3) is established in the geodetic coordinate system. Here, the simulated track position equation is expressed by a piecewise linear function equation (Equation 4). By combining the two equations (Equation 4 and Equation 3), the coordinates of the two intersection points A and B are obtained. Based on the train's direction of travel and the locomotive's position, a unique value is obtained (divided into west-to-east or east-to-west, traction or propulsion). This value is then converted into latitude and longitude coordinates (Equation 2) (Appendix). Figure 3 This is the real-time latitude and longitude coordinate of vehicle number n.

[0016] The specific calculation formula is as follows.

[0017] Formula 1:

[0018] in, , , These represent the real-time geodetic coordinates of vehicle number n. This represents the Earth's first eccentricity. Indicates the radius of curvature of the zonal loop. This represents the latitude of the vehicle with the number n. This indicates the longitude of the vehicle with the number n. This represents the elevation of vehicle number n. (Note: When n=0, the geodetic coordinates and latitude / longitude coordinates in the formula are the locomotive position coordinates.)

[0019] Formula 2:

[0020] in, , , These represent the real-time geodetic coordinates of vehicle number n. This represents the latitude of the vehicle with the number n. This indicates the longitude of the vehicle with the number n. This represents the elevation of vehicle number n. Let be the radius of curvature of the y-axis.

[0021] Formula 3:

[0022] in, , , These represent the real-time geodetic coordinates of vehicle number n. , , These are the real-time geodetic coordinates of vehicle number n-1. This indicates that the vehicle has been lengthened. This represents the distance from the driver's cab to the inside of the front coupler of the first car (the value is 0 when n=1). , , for, , , That is, the real-time geodetic coordinates of the locomotive; when n>1 The value is 0).

[0023] Formula 4:

[0024] in, , , These are the coordinates of various points on the track. , , These represent the coordinates of a known point on the track segment (unified as the coordinates of the midpoint of the segment). Indicates the numbering of different track segments. The parameters are a, b, and c, which represent the slopes of the line in the x, y, and z directions, respectively.

[0025] This formula represents the general function expression of a piecewise function within a domain interval, taking the equation of a straight line as an example.

[0026] Specific calculation example: Given the locomotive's latitude and longitude (latitude) longitude (This refers to the method of solving for the specific coordinates of the vehicle in section n).

[0027] First, the coordinate information of the first vehicle is calculated using the known coordinates of vehicle number 0 (locomotive), as shown in Equation 1:

[0028] This yields the real-time geodetic coordinates of vehicle (locomotive) numbered 0. , , ), simulating the equation of a sphere, and denoting the length as 11.5m, denoted as 5m, Equation 3 is applied in the following specific way:

[0029] The trajectory equation for this segment is simulated as Equation 4:

[0030] Simultaneous equations 3 and 4 are noted as follows:

[0031] Substituting the results into Equation 4, we obtain two sets of coordinate data. Substituting these into Equation 1, we obtain coordinate 1. , , Substituting the values, we get coordinates 2 ( ). , , ).

[0032] With attachment Figure 3 Let's take an example for analysis.

[0033] 1. If the train is traveling in the upward direction (let A->B in the diagram represent the upward direction), and the locomotive is in front, using traction, then the coordinates of point A are retained.

[0034] 2. If the train is traveling in the upward direction (let A->B in the diagram represent the upward direction), and the locomotive is behind, using a propulsion method, then the coordinates of point B are retained.

[0035] 3. If the train is traveling in the downward direction (let B->A in the diagram represent the downward direction), and the locomotive is in front, using traction, then the coordinates of point B are retained.

[0036] 4. If the train is traveling in the downward direction (let B->A in the diagram represent the downward direction), and the locomotive is behind, using a propulsion method, then the coordinates of point A are retained.

[0037] The reserved coordinates are the real-time geodetic coordinates of vehicle number 1.

[0038] Using formula 2:

[0039] Convert the geodetic coordinates of vehicle number 1 to latitude and longitude coordinates to obtain the real-time latitude and longitude coordinates of vehicle number 1.

[0040] To obtain the real-time latitude and longitude coordinates of vehicle number n, simply repeat the above steps to obtain the real-time latitude and longitude coordinates of vehicle number n-1, and then perform one more loop calculation. Attached Figure Description

[0041] Figure 1 This is a flowchart of the train vehicle positioning method described in this invention.

[0042] Figure 2 This is a diagram showing the source of train data used by the data processing module described in this invention.

[0043] Figure 3 This is a diagram illustrating the computational approach described in this invention.

[0044] Figure 4 This is a schematic diagram of the device structure described in this invention. Implementation

[0045] The following description, in conjunction with the accompanying drawings, further illustrates examples of the present invention.

[0046] Example 1: Taking a freight train as an example, the positioning device is installed in the locomotive driver's cab. The BeiDou positioning module dynamically positions the locomotive to obtain its real-time latitude and longitude coordinates. Then, a data processing module calculates the real-time position coordinates of other vehicles. When the train enters the station to load cargo, the locomotive moves slowly, pulling the vehicles into the station. The driver, based on the information displayed by the data display module, stops when the first empty vehicle reaches the front of the loading area. The method for determining this is to compare the coordinates of the empty vehicle with the station coordinates (the station loading area coordinates should be known information). After this batch of vehicles is loaded, the train continues forward, repeating the above procedure until the last vehicle is fully loaded. The advantage of this method is that it only requires the locomotive's positioning data to calculate the position of any vehicle on the train, thereby improving the efficiency of freight transport, reducing railway freight pressure, and minimizing the consumption of manpower and resources.

[0047] Example 2: Taking a freight train as an example, the positioning device is installed in the locomotive driver's cab. The BeiDou positioning module dynamically positions the locomotive to obtain its real-time coordinates. Then, a data processing module calculates the real-time position coordinates of other vehicles. When train cars are coupled, the locomotive slowly moves the last car closer to the other cars. Based on the information displayed by the data display module, the driver reaches a certain speed when the last car contacts the front coupling tongue of the car to be coupled. This speed is controlled to ensure the coupling tongues lock together without breaking due to excessive impact. The advantage of this method is that it only requires the locomotive's positioning data to calculate the position of any car on the train, thereby improving freight transport efficiency, reducing railway freight pressure, and minimizing the consumption of manpower and resources.

[0048] This invention aims to achieve real-time positioning of train vehicles while minimizing costs and maximizing railway freight efficiency. The embodiments should not be considered as limitations on the invention, and any improvements made based on the spirit of this invention should be within its protection scope.

Claims

1. A method for online real-time freight train vehicle positioning, characterized in that... The steps are as follows: Step 1) Establish a geodetic coordinate system O-XYZ. The Z-axis of the coordinate system points to the North Pole of the Earth's reference ellipsoid, the X-axis points to the intersection of the initial meridian plane and the equator, and the Y-axis is located on the equatorial plane and forms a 90-degree angle with the X-axis according to the right-hand system. Step 2) Number the freight train cars, starting with the first car from the locomotive end as number 1 and numbering sequentially, with the locomotive number recorded as 0; Step 3) Determine the detailed location information of the track. Divide the track into segments of 50m each, with the locomotive position as the midpoint. Based on this, establish piecewise function equations in the geodetic coordinate system to simulate the track location information. The parametric equations for simulating the track location information are as follows: in, These are the coordinates of points on the track in every 50m segment. These represent the coordinates of the midpoints of the track segments. Indicates the numbering of different track segments. Indicates parameters, The lines are respectively in The slope in the direction is used to store the parametric equations of the simulated orbital position information into the data processing module; Step 4) During the operation of the freight train, the data processing module (2) obtains the real-time latitude and longitude coordinates of the locomotive from the Beidou positioning module (1), and converts the locomotive's latitude and longitude coordinates into geodetic coordinates using the following formula: z 0 = R N ⋅ 1 - e 2 + h 0 ⋅ sin φ 0 in, These represent the real-time geodetic coordinates of locomotive number 0. It has the highest eccentricity on Earth. Let be the radius of curvature of the circle. For the locomotive's latitude, For locomotive longitude, For locomotive elevation; Step 5) Calculate the number as The real-time geodetic coordinates of the vehicle need to be based on the first... The geodetic coordinates of the vehicle are centered on the sphere, and the vehicle length is converted to a different coordinate. The equation for simulating a sphere in a geodetic coordinate system is as follows: in, They represent the numbers respectively. Real-time geodetic coordinates of the vehicle. They are numbered as follows Real-time geodetic coordinates of the vehicle. This indicates that the vehicle has been lengthened. This indicates the distance between the locomotive driver's cab and the front coupling tongue of car number 1. hour The value is 0, at which point for This refers to the locomotive's real-time geodetic coordinates. hour The value is 0; Step 6) During the operation of the freight train, the vehicle must be at a certain position on the track. Solve the spatial straight line represented by the simulated spherical equation and the simulated track position equation simultaneously to obtain two intersection points A and B. Step 7) Selection of coordinate points under different circumstances: (1) If the train travels in the direction of A->B, which is the upward direction, and the locomotive is in front, and traction is adopted, then the coordinates of point A are retained; (2) If the train is traveling in the upward direction from A to B, and the locomotive is behind, and the train is being pushed forward, then the coordinates of point B are retained. (3) If the train travels in the direction B->A, which is the downward direction, and the locomotive is in front, and traction is adopted, then the coordinates of point B are retained; (4) If the train is traveling in the direction of B->A (downward direction), and the locomotive is behind, using a propulsion method, then the coordinates of point A are retained; The retained coordinate points A / B are those numbered as follows. The real-time geodetic coordinates of the vehicle; Step 8) Use the following formula to assign the number as... Convert the vehicle's geodetic coordinates to latitude and longitude coordinates: They represent the numbers respectively. Real-time geodetic coordinates of the vehicle. Indicates the number is The vehicle's latitude, Indicates the number is The longitude of the vehicle Indicates the number is Vehicle elevation, The radius of curvature of the zonal loop is given by the numbering system. The real-time latitude and longitude coordinates of the vehicle; Step 9) The real-time latitude and longitude coordinate data of the vehicle with the obtained number is transmitted to the data display module (3) for output, providing data support for the driver's judgment and control of the train. At the same time, the locomotive coordinate data is transmitted to the station dispatch center through the data transmission module (4) to realize the unified dispatch of the train by the duty officer.

2. An online real-time freight train vehicle positioning device, capable of implementing the method described in claim 1, characterized in that, The device includes: The Beidou positioning module (1) installed in the locomotive driver's cab is connected to the data processing module (2) and performs real-time dynamic positioning of the locomotive based on the Beidou positioning system to obtain the real-time latitude and longitude coordinate information of the locomotive. The data processing module (2) installed in the locomotive driver's cab is connected to the data display module (3) and the Beidou positioning module (1), receives the locomotive coordinate data from the Beidou positioning module (1), and calculates the real-time location information of the specific vehicle in combination with the concept of vehicle length change. The data display module (3) installed in the locomotive driver's cab is connected to the data processing module (2) and the data transmission module (4) to acquire data and display real-time location information; Data transmission module (4): Connected to data display module (3), it transmits the processed train vehicle location data (real-time latitude and longitude) to the train dispatch center and transmits the real-time location data to the freight station dispatch center.

3. The online real-time freight train vehicle positioning device according to claim 2, characterized in that, The train vehicle position coordinate information is calculated by using the concept of changing length. Combined with the positioning function of the Beidou satellite system, the location of each vehicle is calculated in real time at low cost. The Beidou positioning module (1) is installed in the train driver's cab. Each vehicle is numbered sequentially starting from the locomotive. The dynamic positioning data is transmitted to the data processing module (2) and processed to obtain the real-time latitude and longitude coordinates of the train vehicle.

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