GNSS (Global Navigation Satellite System) land-based enhancement system and method for trunk railway

Abstract

The invention discloses a GNSS land-based enhancement system and method for a railway trunk line. The GNSS land-based enhancement system comprises a data processing center, a satellite tracking base station, a pseudo satellite base station and a disaster emergency satellite base station, the satellite tracking base station is used for receiving GNSS satellite signals in real time; the data processing center is used for carrying out differential processing on the GNSS satellite signals, generating corresponding differential navigation data, broadcasting the differential navigation data through a railway broadcasting private network, and starting disaster emergency satellite base stations in a corresponding range when the signal-to-noise ratio and the duration of the GNSS satellite signals do not accord with corresponding threshold values; and transmitting a disaster positioning signal through the disaster emergency satellite base station, starting the pseudo-satellite base station in the corresponding range when the integrity and duration of the GNSS satellite signal do not accord with the corresponding threshold value, and transmitting a pseudo-satellite signal through the pseudo-satellite base station. According to the GNSS land-based augmentation system of the trunk railway, data processing and switching of the normal working mode, the standby working mode and the disaster working mode can be carried out according to different conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of railway systems, and in particular to a GNSS land-based augmentation system and method for railway trunk lines. Background Art

[0002] The existing railway system is positioned by satellite navigation system, but the satellite navigation system has natural vulnerabilities, which are mainly reflected in the dependence and susceptibility to interference of the system. In terms of dependence, many key activities and decisions around the world are highly dependent on the precise position, navigation and time (PNT) services provided by the satellite navigation system (GNSS). This dependence makes the satellite navigation system a potential target of attack. Once interfered or damaged, it will seriously affect the normal operation of various activities and services that rely on the system. In terms of susceptibility to interference, with the development of electronic technology, artificial suppression interference and deceptive interference have gradually become an important threat to the security of satellite navigation systems.

[0003] When the train travels to areas with more complex external environments, the GNSS satellite navigation signals will be blocked by tunnels, station awnings, trees, surrounding buildings, etc. In partial obstruction scenarios, the Beidou navigation system's positioning effect is poor and the positioning accuracy is low. In full obstruction scenarios, the number of available satellites is insufficient or even there are no available satellites. The Beidou navigation system's positioning system will completely fail and the train positioning function cannot be realized. Summary of the invention

[0004] In view of the technical defects and technical drawbacks in the prior art, the embodiments of the present invention provide a GNSS land-based augmentation system for railway trunk lines that overcomes the above problems or at least partially solves the above problems. The specific solution is as follows:

[0005] As a first aspect of the present invention, a GNSS land-based augmentation system for a railway trunk line is provided, the system comprising a data processing center and satellite tracking reference stations, pseudo-satellite base stations and disaster emergency satellite base stations arranged along the railway trunk line;

[0006] The satellite tracking base station is used to receive GNSS satellite signals in real time, the pseudo-satellite base station is used to transmit pseudo-satellite signals when activated, and the disaster emergency satellite base station is used to transmit disaster positioning signals when activated.

[0007] The data processing center is used to perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential positioning data, and broadcast the differential positioning data through the railway broadcasting network. It is also used to determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, the disaster emergency satellite base station within the corresponding range is started, and the disaster positioning signal is transmitted through the disaster emergency satellite base station. If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, it is determined whether the integrity and duration of the GNSS satellite signal meet the corresponding threshold values. If the integrity and duration of the GNSS satellite signal do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

[0008] Furthermore, the system also includes a pseudo-satellite management station, which is used to monitor the operating status of each pseudo-satellite base station within the corresponding area, receive monitoring data of each pseudo-satellite base station, collect outdoor on-orbit satellite ephemeris information, and make the time system within the area consistent through a time synchronization device, and make the external ephemeris and time system consistent. The pseudo-satellite base station is specifically used to simulate the motion trajectory of the on-orbit satellite according to the satellite orbit theory, and transmit a satellite signal consistent with the on-orbit satellite.

[0009] Furthermore, the pseudo-satellite base station is installed in the satellite tracking base station in the open section of the railway in the form of a pseudo-satellite transmitting function module, and is set up in the tunnel section in the form of an independent pseudo-satellite signal transmitting device.

[0010] Furthermore, the pseudo-satellite base station is used to transmit a pseudo-satellite signal in the same frequency band as the GNSS satellite signal when activated.

[0011] Furthermore, the system also includes a disaster emergency satellite management station, which is used to monitor the operating status of each disaster emergency satellite base station within the corresponding area, receive monitoring data of each disaster emergency satellite base station, collect outdoor in-orbit satellite ephemeris information, and make the time system within the area consistent through time synchronization equipment, and make the external ephemeris and time system consistent. The disaster emergency satellite base station is specifically used to simulate the motion trajectory of the in-orbit satellite according to satellite orbit theory, and transmit satellite signals consistent with the in-orbit satellite.

[0012] Furthermore, the disaster emergency satellite base station is arranged in an open section of the railway and is installed in a satellite tracking base station in the form of a transmission function module with a specific frequency.

[0013] Furthermore, the satellite tracking base station is a three-system satellite signal receiver of BDS, GPS and GLONASS.

[0014] Furthermore, the system also includes a communication network subsystem, and the satellite tracking base station communicates with the data processing center through the communication network subsystem, and transmits BDS, GPS and GLONASS observation data and meteorological data to the data processing center through the communication network subsystem.

[0015] Furthermore, the system also includes a data broadcasting subsystem, which is used to broadcast the differential positioning data processed by the data processing center to users through a railway broadcasting network, wherein the railway broadcasting network includes 5G-R and GSM-R.

[0016] As a second aspect of the present invention, a GNSS land-based augmentation method for a railway trunk line is further provided, which is applied to any of the above-mentioned GNSS land-based augmentation systems for the railway trunk line, and the method comprises:

[0017] Acquire the GNSS satellite signals received in real time by each satellite tracking base station, perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential positioning data, and broadcast the differential positioning data through the railway broadcasting network;

[0018] Determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, activate the disaster emergency satellite base station within the corresponding range and transmit the disaster positioning signal through the disaster emergency satellite base station;

[0019] If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, it is determined whether the complete signal and duration of the GNSS satellite signal meet the corresponding threshold values. If the complete signal and duration of the GNSS satellite signal do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

[0020] The present invention has the following beneficial effects:

[0021] On the one hand, the present invention performs differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential navigation data, and provides more accurate positioning navigation for the locomotive receiving station through the differential navigation data. On the other hand, the present invention also tracks the signal-to-noise ratio and integrity of the GNSS satellite signals in real time. When the signal-to-noise ratio and duration of the GNSS satellite signals do not meet the corresponding threshold values, the disaster emergency satellite base station within the corresponding range is activated, and the disaster emergency satellite base station transmits a disaster positioning signal for the receiving station to locate. When the integrity and duration of the GNSS satellite signals do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is activated, and the pseudo-satellite signal is transmitted by the pseudo-satellite base station for the receiving station to locate.

[0022] The present invention provides a GNSS land-based augmentation system and method for railway trunk lines, which can perform data processing and switching of three working modes: normal, standby, and disaster, according to different situations, to ensure that railway locomotives can receive positioning and navigation signals in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A system framework diagram of a GNSS land-based augmentation system for a railway trunk line provided by an embodiment of the present invention;

[0024] Figure 2 A flow chart of a GNSS land-based augmentation method for a railway trunk line provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Figure 1 A system framework diagram of a GNSS land-based augmentation system for a railway trunk line provided by an embodiment of the present invention, see Figure 1 As shown, the system includes a data processing center and satellite tracking reference stations, pseudo-satellite base stations and disaster emergency satellite base stations arranged along the railway trunk line;

[0027] The satellite tracking reference station is used to receive GNSS satellite signals in real time, the pseudo-satellite base station is used to transmit pseudo-satellite signals when activated, and the disaster emergency satellite base station is used to transmit disaster positioning signals when activated;

[0028] The data processing center is used to perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential navigation data, and broadcast the differential navigation data through the railway broadcasting network. It is also used to determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, the disaster emergency satellite base station within the corresponding range is started, and the disaster positioning signal is transmitted through the disaster emergency satellite base station. If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, it is determined whether the complete signal and duration of the GNSS satellite signal meet the corresponding threshold values. If the complete signal and duration of the GNSS satellite signal do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

[0029] In some embodiments, the system further includes a communication network subsystem, a data broadcasting subsystem, and an application subsystem.

[0030] Among them, the satellite tracking base station is the data source of the GNSS land-based augmentation system along the railway, which is used to realize the capture (the satellite signals include Beidou + GPS + GLONASS), tracking, recording and transmission of satellite signals. Each satellite tracking base station establishes a local LAN, sets up routers, firewalls and other equipment to connect with the communication terminals of the satellite tracking base station, and transmits the original observation data to the data center through the railway dedicated network interface. According to the influence of the atmosphere on the satellite navigation signal, the deviation fluctuation is very small within 25km, so the spacing of the satellite tracking base stations along the line is roughly 45 to 50km; the data processing center is the core of the entire service system. On the one hand, it obtains the original observation data from the satellite base station through the railway dedicated network interface, performs data verification, processing and classification storage, and establishes error models such as tropospheric delay and ionospheric delay based on the necessary data of the Beidou Resource Center, settles the differential data, and pushes it to the management center. On the other hand, according to the needs of the application subsystem, the classification storage and management of basic data are completed; the data broadcasting subsystem is responsible for converting the differential data obtained from the data processing center and broadcasting it in the form of transparent data transmission. Each broadcasting base station (5G-R and GSM-R) is uniformly managed and data distributed by the railway management center; the application subsystem is mainly based on the information private network interface, and provides and manages data according to different functional requirements.

[0031] On the one hand, the present invention performs differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential positioning data, and broadcasts the data through a railway broadcasting network, thereby providing a locomotive receiving station with more accurate positioning navigation. On the other hand, the present invention also tracks the signal-to-noise ratio and integrity of the GNSS satellite signals in real time. When the signal-to-noise ratio and duration of the GNSS satellite signals do not meet the corresponding threshold values, the disaster emergency satellite base station within the corresponding range is activated, and the disaster positioning signal is transmitted through the disaster emergency satellite base station for the receiving station to locate. When the integrity and duration of the GNSS satellite signals do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is activated, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station for the receiving station to locate.

[0032] In some embodiments, the pseudo-satellite base station is installed on the satellite tracking base station in the open section of the railway in the form of a pseudo-satellite transmitting functional module, and is set up in the tunnel section in the form of an independent pseudo-satellite signal transmitting device. The pseudo-satellite base station is used to transmit the same radio navigation signal as GNSS to the user, so that the user can use the GNSS antenna and receiver to directly receive the pseudo-satellite signal without hardware modification, thereby realizing enhanced navigation positioning.

[0033] In some embodiments, the system also includes a pseudo-satellite management station, which monitors the operating status of pseudo-satellite base stations within the corresponding range, receives monitoring data of each pseudo-satellite base station, collects outdoor on-orbit satellite ephemeris information, ensures that the time system within the regional range remains consistent through time synchronization equipment, ensures that the external ephemeris and time system remain consistent, and the pseudo-satellite base station simulates the motion trajectory of the on-orbit satellite according to satellite orbit theory, transmits satellite signals consistent with the on-orbit satellite, and correctly calculates its location.

[0034] In the above embodiment, the pseudo-satellite base station and the pseudo-satellite management station constitute a pseudo-satellite positioning system, which can fully reuse the railway GNSS land-based augmentation system and its subsystems. What needs to be modified or upgraded is: adding a pseudo-satellite transmission function module to the satellite tracking base station. The frequency used is the same as the GNSS. According to the application needs of the railway tunnel section scenario, a pseudo-satellite base station for tunnel positioning can be added in the tunnel. Compared with the land-based pseudo-satellite base station in the open section, the base station in the tunnel only needs to be equipped with a pseudo-satellite signal transmission unit.

[0035] In some embodiments, the disaster emergency satellite base station is set up in an open section of the railway and is installed in a satellite tracking base station in the form of a transmission function module with a specific frequency. The disaster emergency satellite base station transmits radio signals of a specific frequency to users, and the user receiver uses an antenna and receiver adapted to the specific frequency to measure the distance and phase of the radio signal to achieve disaster emergency positioning.

[0036] In some embodiments, the system also includes a disaster emergency satellite management station, which is used to monitor the operating status of each disaster emergency satellite base station within the corresponding area, receive monitoring data of each disaster emergency satellite base station, collect outdoor in-orbit satellite ephemeris information, and make the time system within the area consistent through time synchronization equipment, and make the external ephemeris and time system consistent. The disaster emergency satellite base station is specifically used to simulate the motion trajectory of the in-orbit satellite according to satellite orbit theory, transmit satellite signals consistent with the in-orbit satellite, and correctly calculate the location.

[0037] In the above embodiment, the disaster emergency satellite base station and the disaster emergency satellite management station constitute a disaster emergency positioning system. The system can fully reuse the railway GNSS land-based augmentation system and its subsystems. What needs to be modified or upgraded is: adding a transmission function module of a specific frequency to the satellite tracking base station. The system is only used in open sections of the railway.

[0038] An embodiment of the present invention further provides a GNSS land-based augmentation method for a railway trunk line, the method comprising:

[0039] Acquire the GNSS satellite signals received in real time by each satellite tracking base station, perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential positioning data, and broadcast the differential positioning data through the railway broadcasting network;

[0040] Determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, activate the disaster emergency satellite base station within the corresponding range and transmit the disaster positioning signal through the disaster emergency satellite base station;

[0041] If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, then it is determined whether the integrity and duration of the GNSS satellite signal meet the corresponding threshold values. If the integrity and duration of the GNSS satellite signal do not meet the corresponding threshold values, then the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

[0042] The specific flow chart is as follows Figure 2 shown.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A GNSS land-based augmentation system for railway trunk lines, characterized in that: The system includes a data processing center and satellite tracking reference stations, pseudo-satellite base stations and disaster emergency satellite base stations arranged along the railway trunk line; The satellite tracking reference station is used to receive GNSS satellite signals in real time, the pseudo-satellite base station is used to transmit pseudo-satellite signals when activated, and the disaster emergency satellite base station is used to transmit disaster positioning signals when activated; The data processing center is used to perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential positioning data, and broadcast the differential positioning data through the railway broadcasting network. It is also used to determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, the disaster emergency satellite base station within the corresponding range is started, and the disaster positioning signal is transmitted through the disaster emergency satellite base station. If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, it is determined whether the complete signal and duration of the GNSS satellite signal meet the corresponding threshold values. If the complete signal and duration of the GNSS satellite signal do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

2. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The system also includes a pseudo-satellite management station, which is used to monitor the operating status of each pseudo-satellite base station within the corresponding area, receive monitoring data of each pseudo-satellite base station, collect outdoor on-orbit satellite ephemeris information, and make the time system within the area consistent through a time synchronization device, and make the external ephemeris and time system consistent. The pseudo-satellite base station is specifically used to simulate the motion trajectory of the on-orbit satellite according to the satellite orbit theory, and transmit a satellite signal consistent with the on-orbit satellite.

3. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The pseudo-satellite base station is installed in the satellite tracking base station in the open section of the railway in the form of a pseudo-satellite transmitting function module, and is set in the tunnel section in the form of an independent pseudo-satellite signal transmitting device.

4. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The pseudo-satellite base station is used to transmit a pseudo-satellite signal in the same frequency band as a GNSS satellite signal when activated.

5. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The system also includes a disaster emergency satellite management station, which is used to monitor the operating status of each disaster emergency satellite base station within the corresponding area, receive monitoring data of each disaster emergency satellite base station, collect outdoor on-orbit satellite ephemeris information, and make the time system within the area consistent through time synchronization equipment, and make the external ephemeris and time system consistent. The disaster emergency satellite base station is specifically used to simulate the motion trajectory of the on-orbit satellite according to satellite orbit theory, and transmit satellite signals consistent with the on-orbit satellite.

6. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The disaster emergency satellite base station is arranged in an open section of the railway and is installed in a satellite tracking base station in the form of a transmitting function module with a specific frequency.

7. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The satellite tracking base station is a three-system satellite signal receiver of BDS, GPS and GLONASS.

8. The GNSS land-based augmentation system for railway trunk lines according to claim 7, characterized in that: The system also includes a communication network subsystem, through which the satellite tracking base station communicates with the data processing center, and transmits BDS, GPS and GLONASS observation data and meteorological data to the data processing center.

9. The GNSS land-based augmentation system for railway trunk lines according to claim 1, characterized in that: The system also includes a data broadcasting subsystem, which is used to broadcast the differential navigation data processed by the data processing center to users through a railway broadcasting dedicated network, wherein the railway broadcasting dedicated network includes 5G-R and GSM-R.

10. A GNSS land-based augmentation method for a railway trunk line, applied to the GNSS land-based augmentation system for a railway trunk line according to any one of claims 1 to 9, characterized in that: The method comprises: Acquire the GNSS satellite signals received in real time by each satellite tracking base station, perform differential processing on the GNSS satellite signals received by each satellite tracking base station to generate corresponding differential navigation data, and broadcast the differential positioning data through the railway broadcasting network; Determine whether the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values. If the signal-to-noise ratio and duration of the GNSS satellite signal do not meet the corresponding threshold values, activate the disaster emergency satellite base station within the corresponding range and transmit the disaster positioning signal through the disaster emergency satellite base station; If the signal-to-noise ratio and duration of the GNSS satellite signal meet the corresponding threshold values, it is determined whether the integrity and duration of the GNSS satellite signal meet the corresponding threshold values. If the integrity and duration of the GNSS satellite signal do not meet the corresponding threshold values, the pseudo-satellite base station within the corresponding range is started, and the pseudo-satellite signal is transmitted through the pseudo-satellite base station.

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