High-speed laser positioning speed measurement method and high-reliability redundant system

Abstract

The invention discloses a high-speed laser positioning speed measurement method and a high-reliability redundant system, and the method comprises the steps that first positioning speed measurement equipment collects a first sampling signal, and the first sampling signal is used for indicating the positioning speed measurement data of a moving target; the second positioning speed measurement equipment collects a second sampling signal, and the second sampling signal is used for indicating the positioning speed measurement data of the moving target; the first master control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target; and the second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target. According to the invention, when the collected data is abnormal, correct position data and speed data of the moving target are obtained through hardware composition of a redundant system and data compensation of the abnormal data.

Description

Technical Field

[0001] The present application relates to the field of laser speed measurement technology, and in particular to a high-speed laser positioning speed measurement method and a high-reliability redundant system. Background Art

[0002] Laser positioning and speed measurement systems achieve positioning by installing laser transmitters and receivers on the vehicle and on the ground. Traditional laser positioning and speed measurement systems rely primarily on hardware redundancy. To ensure the reliability of laser transmission and reception signals, backup power supplies and laser transmitters are typically used to provide redundancy for two laser transmission channels. On the receiving side, backup power supplies and receivers are also used to provide redundancy for two laser receivers.

[0003] In the controller at the receiving end of the positioning and speed measurement system, both received positioning and speed measurement signals are usually processed, and one of the two is used to obtain and use the signal that meets the situation, thereby realizing redundant use of the positioning and speed measurement signals.

[0004] All of these existing application measures are based on the condition that at least one of the collected signals is not lost. However, a reliable redundant system, in addition to hardware redundancy conditions, should also have relatively reliable software redundancy measures, so that in the event of a hardware failure, software redundancy can be used to complete short-term executable data compensation, thereby improving the safety and reliability of the system while ensuring the safe and reliable operation of the entire system. Summary of the Invention

[0005] In view of this, the present application provides a high-speed laser positioning and speed measurement method and a high-reliability redundant system.

[0006] The present application discloses a high-speed laser positioning and speed measurement method, which includes:

[0007] The first positioning and speed measurement device collects a first sampling signal, where the first sampling signal is used to indicate positioning and speed measurement data of a moving target; the moving target includes a train;

[0008] The second positioning and speed measurement device collects a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measurement data of the moving target;

[0009] The first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target;

[0010] The second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target.

[0011] Furthermore, the first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target, including:

[0012] The first main control calculation module uses the first sampling signal as a reference to compare the second sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals.

[0013] If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the first position and the first speed of the moving target are obtained.

[0014] Furthermore, the second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target, including:

[0015] The second main control calculation module uses the second sampling signal as a reference to compare the first sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals.

[0016] If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the second position and the second speed of the moving target are obtained.

[0017] Furthermore, the performing of data compensation on the first sampling signal and / or the second sampling signal having data anomalies to obtain the first sampling signal and / or the second sampling signal within a correct range includes:

[0018] For the first sampling signal and / or the second sampling signal with data anomalies, the possible growth or decrease trend of the entire sampling data is calculated based on the data cached in the previous few beats, and the current data is judged according to the trend. If the current data fluctuation exceeds the possible change trend of the entire sampling data, the current data is considered abnormal. According to the data compensation principle, the current abnormal data is compensated to obtain data within a normal range.

[0019] Furthermore, the compensation for the current abnormal data according to the data compensation principle includes:

[0020] Based on the data cached in the previous few shots, the data of the current shot is compensated according to the calculated data change trend.

[0021] Furthermore, obtaining the first speed of the moving target according to the first sampling signal and the second sampling signal within the correct range includes:

[0022] Performing speed calculation on the normal first position and the second position after data compensation to obtain two speed signals, which are recorded as the first speed signal and the second speed signal;

[0023] Judge the correctness of the two speed signals and obtain the first speed of the moving target.

[0024] Furthermore, the determining of the correctness of the two speed signals to obtain the first speed of the moving target includes:

[0025] Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the first speed.

[0026] If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first main control calculation module, and the correct speed is the first speed.

[0027] Furthermore, obtaining the second speed of the moving target according to the first sampling signal and the second sampling signal within the correct range includes:

[0028] Performing speed calculation on the normal first position and the second position after data compensation to obtain two speed signals, which are recorded as the first speed signal and the second speed signal;

[0029] Judge the correctness of the two speed signals and obtain the second speed of the moving target.

[0030] Furthermore, the determining of the correctness of the two speed signals to obtain the second speed of the moving target includes:

[0031] Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the second speed.

[0032] If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first main control calculation module, and the correct speed is the second speed.

[0033] The present application also discloses a high-speed laser positioning and speed measurement high-reliability redundant system, which includes a first positioning and speed measurement device, a second positioning and speed measurement device, a first main control computing module and a second main control computing module; the first positioning and speed measurement device are respectively connected to the first main control computing module and the second main control computing module; the second positioning and speed measurement device are respectively connected to the first main control computing module and the second main control computing module;

[0034] The first positioning and speed measuring device is used to collect a first sampling signal, and the first sampling signal is used to indicate the positioning and speed measuring data of the moving target; the moving target includes a train; the second positioning and speed measuring device is used to collect a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measuring data of the moving target; the first main control calculation module is used to perform position calculation and speed calculation based on the first sampling signal and the second sampling signal to obtain the first position and first speed of the moving target; the second main control calculation module is used to perform position calculation and speed calculation based on the first sampling signal and the second sampling signal to obtain the second position and second speed of the moving target.

[0035] Due to the adoption of the above technical solution, this application has the following advantages:

[0036] 1. This application adopts software redundancy to reconstruct the data of the positioning and speed measurement system. In addition to the collected sampling signals, the data is processed and reconstructed by software within a reasonable range to obtain more logical position data, assist the actual sampling system in data interpretation, carry out fault data identification, and reconstruct data in the short term, and send the reconstructed data in the short term to different systems for control applications.

[0037] 2. Software redundancy control mainly uses algorithms to post-process and reconstruct data. It can complete data reconstruction in the short term when the sampling information fails or is lost. The reconstructed data can assist the positioning and speed measurement equipment in carrying out normal control work.

[0038] 3. This application considers both hardware redundancy and software redundancy in the entire process from data acquisition to output, and proposes a high-speed laser positioning and speed measurement high-reliability redundant system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0040] Figure 1 A schematic flow chart of a high-speed laser positioning and speed measurement method according to an embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of the hardware redundancy solution design for a high-speed laser positioning and speed measurement high-reliability redundant system in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The present application is further described with reference to the accompanying drawings and embodiments. The embodiments described are only a part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0043] The laser positioning speed measurement system mainly adopts the positioning method of starting point position recognition + laser ranging. Under normal circumstances, the positioning speed measurement system can obtain the current position point based on the sampling device. When individual data points fail, data compensation can be used to compensate for the position data. In the non-fault state, hardware redundancy is used to ensure the redundant reliability of the equipment. Figure 1 The present application provides an embodiment of a high-speed laser positioning and speed measurement method, which includes:

[0044] The first positioning and speed measurement device collects a first sampling signal, where the first sampling signal is used to indicate positioning and speed measurement data of a moving target; the moving target includes a train;

[0045] The second positioning and speed measurement device collects a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measurement data of the moving target;

[0046] The first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target;

[0047] The second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target.

[0048] Optionally, the first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target, including:

[0049] The first main control calculation module uses the first sampling signal as a reference to compare the second sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals.

[0050] If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the first position and the first speed of the moving target are obtained.

[0051] Optionally, the second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target, including:

[0052] The second main control calculation module uses the second sampling signal as a reference to compare the first sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals.

[0053] If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the second position and the second speed of the moving target are obtained.

[0054] Optionally, performing data compensation on the first sampling signal and / or the second sampling signal having data anomalies to obtain the first sampling signal and / or the second sampling signal within a correct range includes:

[0055] For the first sampling signal and / or the second sampling signal with data anomalies, the possible growth or decrease trend of the entire sampling data is calculated based on the data cached in the previous few beats, and the current data is judged according to the trend. If the current data fluctuation exceeds the possible change trend of the entire sampling data, the current data is considered abnormal. According to the data compensation principle, the current abnormal data is compensated to obtain data within a normal range.

[0056] Optionally, compensating the current abnormal data according to the data compensation principle includes:

[0057] Based on the data cached in the previous few shots, the data of the current shot is compensated according to the calculated data change trend.

[0058] Optionally, obtaining the first position and the first speed of the moving target according to the first sampling signal and the second sampling signal within the correct range includes:

[0059] Velocity calculations are performed on the normal or normal first and second sampling signals after data compensation, respectively, to obtain two velocity signals, recorded as the first velocity signal and the second velocity signal. The accuracy of the two velocity signals is determined to obtain the first velocity of the moving target. Specifically, the first master control unit (the first master control calculation module) determines the accuracy of the two velocity signals based on the two velocity signals to obtain the first velocity of the moving target. Similarly, the second master control unit (the second master control calculation module) obtains the second position and second velocity of the moving target.

[0060] Optionally, obtaining the first speed of the moving target according to the two speed signals includes:

[0061] Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the first speed.

[0062] If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first master position calculation module, and the correct speed is the first speed.

[0063] Optionally, obtaining the second position and the second speed of the moving target according to the first sampling signal and the second sampling signal within the correct range includes:

[0064] Performing speed calculation on the normal first position and the second position after data compensation to obtain two speed signals, which are recorded as the first speed signal and the second speed signal;

[0065] Judge the correctness of the two speed signals and obtain the second speed of the moving target.

[0066] The determining of the correctness of the two speed signals to obtain the second speed of the moving target includes:

[0067] Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the second speed.

[0068] If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first master position calculation module, and the correct speed is the second speed.

[0069] See also Figure 2 The hardware redundancy solution shown adopts the 2x2 take 2 approach. Based on the two-channel positioning and speed measurement sampling signals, data analysis and calculation are performed on both sampling signals, and finally two channels of position information and two channels of speed information are output. Both the two channels of position information and the two channels of speed information can be applied to other systems.

[0070] The present application provides an embodiment of a high-speed laser positioning and speed measurement high-reliability redundant system, which includes a first positioning and speed measurement device, a second positioning and speed measurement device, a first main control computing module, and a second main control computing module; the first positioning and speed measurement device is connected to the first main control computing module and the second main control computing module respectively; the second positioning and speed measurement device is connected to the first main control computing module and the second main control computing module respectively;

[0071] The first positioning and speed measuring device is used to collect a first sampling signal, and the first sampling signal is used to indicate the positioning and speed measuring data of the moving target; the moving target includes a train; the second positioning and speed measuring device is used to collect a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measuring data of the moving target; the first master position calculation module is used to perform position calculation and speed calculation based on the first sampling signal and the second sampling signal to obtain the first position and first speed of the moving target; the second master position calculation module is used to perform position calculation and speed calculation based on the first sampling signal and the second sampling signal to obtain the second position and second speed of the moving target.

[0072] Figure 2 A hardware circuit design scheme for a high-reliability redundant system is given in this paper. Based on dual sampling signals and dual master control calculations, two mutually redundant position signals and two mutually redundant speed signals are finally obtained.

[0073] At the same time, in the dual main control part (the first main control calculation module and the second main control calculation module), software redundancy is used to calculate and solve the sampling signals of the two channels, and errors are compared and screened to finally output the correct signal.

[0074] In summary, through the combination of hardware redundancy and software redundancy, the present application achieves the design of a highly reliable redundant system and the output of reliable signals.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present application should be included in the scope of protection of the claims of the present application.

Claims

1. A high-speed laser positioning speed measurement method, characterized in that: include: The first positioning and speed measurement device collects a first sampling signal, where the first sampling signal is used to indicate positioning and speed measurement data of the moving target; Movement targets include trains; The second positioning and speed measurement device collects a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measurement data of the moving target; The first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target; The second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target.

2. The high-speed laser positioning speed measurement method according to claim 1, characterized in that: The first main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target, including: The first main control calculation module uses the first sampling signal as a reference to compare the second sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals. If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the first position and the first speed of the moving target are obtained.

3. The high-speed laser positioning speed measurement method according to claim 1, characterized in that: The second main control calculation module performs position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target, including: The second main control calculation module uses the second sampling signal as a reference to compare the first sampling signal. If the error between the first sampling signal and the second sampling signal is within a preset error range, it is considered that the first sampling signal and the first and second sampling signals are both normal and correct signals. If the error between the first sampling signal and the second sampling signal exceeds a preset error range, the first sampling signal and the second sampling signal are judged separately, and data compensation is performed on the first sampling signal and / or the second sampling signal with data abnormality to obtain the first sampling signal and / or the second sampling signal within the correct range; based on the first sampling signal and the second sampling signal within the correct range, the second position and the second speed of the moving target are obtained.

4. The high-speed laser positioning speed measurement method according to claim 2 or 3, characterized in that: The method of performing data compensation on the first sampling signal and / or the second sampling signal having data anomalies to obtain the first sampling signal and / or the second sampling signal within a correct range includes: For the first sampling signal and / or the second sampling signal with data anomalies, the possible growth or decrease trend of the entire sampling data is calculated based on the data cached in the previous few beats, and the current data is judged according to the trend. If the current data fluctuation exceeds the possible change trend of the entire sampling data, the current data is considered abnormal. According to the data compensation principle, the current abnormal data is compensated to obtain data within a normal range.

5. The high-speed laser positioning speed measurement method according to claim 4, characterized in that: According to the data compensation principle, the current abnormal data is compensated, including: Based on the data cached in the previous few shots, the data of the current shot is compensated according to the calculated data change trend.

6. The high-speed laser positioning speed measurement method according to claim 2, characterized in that: The method of obtaining a first position and a first speed of the moving target according to the first sampling signal and the second sampling signal within a correct range includes: Performing speed calculation on the normal first position and the second position after data compensation to obtain two speed signals, which are recorded as the first speed signal and the second speed signal; Judge the correctness of the two speed signals and obtain the first speed of the moving target.

7. The high-speed laser positioning and speed measurement method according to claim 6, characterized in that: The determining of the correctness of the two velocity signals to obtain the first velocity of the moving target includes: Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the first speed. If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first main control calculation module, and the correct speed is the first speed.

8. The high-speed laser positioning speed measurement method according to claim 3, characterized in that: The method of obtaining a second position and a second speed of the moving target according to the first sampling signal and the second sampling signal within the correct range includes: Performing speed calculation on the normal first position and the second position after data compensation to obtain two speed signals, which are recorded as the first speed signal and the second speed signal; Judge the correctness of the two speed signals and obtain the second speed of the moving target.

9. The high-speed laser positioning and speed measurement method according to claim 8, characterized in that: The determining of the correctness of the two speed signals to obtain the second speed of the moving target includes: Determine whether the error between the first speed signal and the second speed signal is within a preset speed error range. If so, it is considered that both the first speed signal and the second speed signal are correct and can be used normally. Select one of the speed signals for output, and the output speed signal is the second speed. If the speed exceeds the preset error range, the speed values ​​cached in the previous few beats of the first speed signal and the second speed signal are used respectively to obtain the possible speed change ranges of the first speed signal and the second speed signal based on the speed changes in the previous few beats to determine whether the current first speed signal and the second speed signal are correct speeds. The speed determined to be correct is used as the speed output by the first main control calculation module, and the correct speed is the second speed.

10. A high-speed laser positioning and speed measurement high-reliability redundant system, characterized in that: It includes a first positioning and speed measuring device, a second positioning and speed measuring device, a first main control computing module and a second main control computing module; the first positioning and speed measuring device is connected to the first main control computing module and the second main control computing module respectively; the second positioning and speed measuring device is connected to the first main control computing module and the second main control computing module respectively; The first positioning and speed measuring device is used to collect a first sampling signal, and the first sampling signal is used to indicate the positioning and speed measuring data of the moving target; the moving target includes a train; the second positioning and speed measuring device is used to collect a second sampling signal, and the second sampling signal is used to indicate the positioning and speed measuring data of the moving target; The first main control calculation module is used to perform position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a first position and a first speed of the moving target; The second main control calculation module is used to perform position calculation and speed calculation according to the first sampling signal and the second sampling signal to obtain a second position and a second speed of the moving target.

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