Train, formation cooperative train set safety positioning detection method and system

Abstract

The train, the train formation cooperative train set safety positioning detection method and the system provided by the application are characterized in that: a satellite positioning module on a train is used to collect and acquire multi-channel satellite original positioning information; the multi-channel satellite original positioning information is sent to a ground safety positioning module according to a preset communication protocol; the ground safety positioning module receives the multi-channel satellite original positioning information and processes the information by using a multi-channel voting mode to obtain safety positioning data of the train. Compared with the prior art, the satellite original positioning information is converted into positioning information with a safety level, thereby replacing the traditional positioning system of rail transit. After the smart rail is derailed, the safety positioning of the train can also be acquired in time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of train safety positioning technology, in particular to a train and formation cooperative train set safety positioning detection method and system. BACKGROUND

[0002] The satellite positioning system is a technology for accurately positioning an object using satellites. It has developed from the initial low-precision positioning system that cannot provide real-time positioning and timely navigation services to the current high-precision GPS global positioning system, which can simultaneously observe four satellites at any time and any point on the earth to realize navigation, positioning, and timing functions.

[0003] In existing rail transit applications, the satellite positioning system has always played the role of an auxiliary positioning device. However, in smart rail transit, the train uses a virtual track. Therefore, the existing safety positioning device is no longer used. When the train is off the track or not running on the track, the safety positioning of the train cannot be obtained.

[0004] Therefore, it is an urgent problem for those skilled in the art to provide a train and formation cooperative train set safety positioning detection method and system to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a train and formation cooperative train set safety positioning detection method. The method has clear logic, is safe, effective, reliable, and easy to operate, and can obtain the position of the train in a timely manner after the smart rail is off the track.

[0006] To achieve the above purpose, the technical solution provided by the present application is as follows:

[0007] A train safety positioning detection method, comprising the following steps:

[0008] Obtaining multiple satellite raw positioning information through a satellite positioning module;

[0009] Sending the multiple satellite raw positioning information to a ground safety positioning module according to a preset communication protocol;

[0010] Processing the multiple satellite raw positioning information through the ground safety positioning module using a multiple voting method to obtain safety positioning data of the train.

[0011] Preferably, the satellite positioning module comprises a first positioning sub-module and a second positioning sub-module.

[0012] The first positioning sub-module is installed on the train head.

[0013] The second positioning sub-module is installed on the train tail.

[0014] The first positioning sub-module and the second positioning sub-module are of different types of satellite positioning devices.

[0015] Preferably, the ground safety positioning module processes multiple satellite raw positioning information through a multi-path voting method to obtain safety positioning data of the train, including the following steps:

[0016] The ground safety positioning module receives multiple satellite raw positioning information obtained by multiple types of satellite positioning devices;

[0017] According to the multi-path voting method, it is determined whether there are two identical satellite raw positioning information in the multiple satellite raw positioning information;

[0018] If so, the same two satellite raw positioning information is processed as the safety positioning data of the train.

[0019] Preferably, after obtaining multiple satellite raw positioning information, the following steps are further included:

[0020] The parameter information of the train is obtained by the parameter compensation module set in the satellite positioning module, and the parameter information is sent to the ground safety positioning module;

[0021] The parameter information includes acceleration, speed, angular velocity, and time stamp.

[0022] Preferably, after sending multiple satellite raw positioning information to the ground safety positioning module according to a preset communication protocol, the following steps are further included:

[0023] The running direction of the train is calculated according to the angular velocity;

[0024] The data transmission delay of sending multiple satellite raw positioning information is calculated according to the acceleration and the time stamp;

[0025] According to the data transmission delay and the speed, displacement compensation is performed in the running direction of the train.

[0026] A method for detecting the safety positioning of a coordinated train group in a formation, including the following steps:

[0027] Multiple trains are formed in a formation at a preset interval, and adjacent trains communicate with each other;

[0028] When the coordinated train group in the formation enters a tunnel, causing abnormality of the satellite positioning module of the train, the parameter compensation module set in the satellite positioning module of the preset positioning train is used to obtain the parameter information of the positioning train;

[0029] The parameter information of the positioning train is transmitted to the head car and the tail car in the train group through mutual communication between the two adjacent cars.

[0030] When the head car and the tail car have exited the tunnel, the corresponding multi-path satellite raw positioning information is acquired through the satellite positioning modules of the head car and the tail car, and the parameter information of the positioning train and the multi-path satellite raw positioning information are transmitted to the ground safety positioning module.

[0031] The ground safety positioning module processes the multi-path satellite raw positioning information corresponding to the head car and the tail car through a multi-path voting mode to obtain safety positioning data of the head car and the tail car.

[0032] According to the safety positioning data of the head car and the tail car and the preset interval, initial positioning data of each train in the train group is obtained, and the safety positioning data of each train is obtained through displacement compensation of the initial positioning data of each train according to the parameter information of the positioning train and taking the positioning train as a positioning marker.

[0033] A train safety positioning detection system comprises:

[0034] A satellite positioning module is configured to acquire multi-path satellite raw positioning information.

[0035] A communication module is configured to send the multi-path satellite raw positioning information to a ground safety positioning module according to a preset communication protocol.

[0036] The ground safety positioning module is configured to process the multi-path satellite raw positioning information through a multi-path voting mode to obtain safety positioning data of the train.

[0037] The train safety positioning detection method provided by the present application comprises the following steps: acquiring multi-path satellite raw positioning information through a satellite positioning module on a train; sending the multi-path satellite raw positioning information to a ground safety positioning module according to a preset communication protocol; and processing the multi-path satellite raw positioning information received by the ground safety positioning module through a multi-path voting mode to obtain safety positioning data of the train.

[0038] Compared with the prior art, the satellite raw positioning information is converted into positioning information with a safety level, which replaces the traditional positioning system of rail transit. After the smart rail is derailed, the safety positioning of the train can also be obtained in time.

[0039] The present application also provides a train safety positioning detection system and a train group safety positioning method, which belong to the same technical concept, solve the same technical problem, and should have the same beneficial effects, and thus will not be described here. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a train safety positioning detection method provided in an embodiment of the present invention;

[0042] Figure 2 A flowchart of step S3 provided in an embodiment of the present invention;

[0043] Figure 3 A flowchart following step S2 provided in an embodiment of the present invention;

[0044] Figure 4 A flowchart illustrating a safety positioning detection method for platooned cooperative train sets provided in an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of a train safety positioning and detection system provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] The embodiments of this invention are written in a progressive manner.

[0048] This invention provides a method and system for detecting the safe positioning of trains and convoy train sets. It primarily addresses the technical problem in the prior art where the safe positioning of a train cannot be obtained when it derails or is not operating on the track.

[0049] like Figure 1 As shown, a train safety positioning detection method includes the following steps:

[0050] S1. Obtain raw positioning information from multiple satellites through the satellite positioning module;

[0051] S2. Send multiple satellite raw positioning information to the ground safety positioning module according to the preset communication protocol;

[0052] S3. The ground safety positioning module processes the multiple satellite original positioning information by using a multi-path voting mode to obtain the safety positioning data of the train.

[0053] In steps S1-S3, the satellite safety positioning module on the train cooperates with the satellite to collect and obtain multiple satellite original positioning information, and sends the multiple satellite original positioning information to the ground safety positioning module through a preset communication protocol. After the ground safety positioning module receives the satellite original positioning information, it processes the information by using a multi-path voting mode to obtain the safety positioning data of the train.

[0054] In this embodiment, the satellite original positioning information is converted into positioning information with a safety level on the ground, replacing the traditional positioning system of rail transit, thereby improving the universality and safety of positioning.

[0055] Preferably, the satellite positioning module comprises a first positioning sub-module and a second positioning sub-module.

[0056] The first positioning sub-module is installed at the train head.

[0057] The second positioning sub-module is installed at the train tail.

[0058] The first positioning sub-module and the second positioning sub-module each use a different type of satellite positioning device.

[0059] In actual use, the satellite positioning module is provided with a first positioning sub-module and a second positioning sub-module. The first positioning sub-module is installed at the train head, and the second positioning sub-module is installed at the train tail. Different types of satellite positioning devices are used in the first positioning sub-module and the second positioning sub-module.

[0060] In this embodiment, two different types of satellite positioning devices from different manufacturers can be used in the first / second positioning sub-module. The same satellite original positioning signals are collected by the satellite positioning devices from different manufacturers to eliminate the variables of the satellite positioning devices.

[0061] As shown in FIG. 1, preferably, step S3 comprises the following steps: Figure 2

[0062] A1. The ground safety positioning module receives multiple satellite original positioning information obtained by multiple types of satellite positioning devices.

[0063] A2. According to a multi-path voting mode, it is determined whether there are two satellite original positioning information that are the same in the multiple satellite original positioning information.

[0064] A3. If there are, the same two satellite original positioning information is processed as the safety positioning data of the train. ​

[0065] In step A3, the ground safety positioning module, after receiving the multiple types of satellite raw positioning information, judges whether there are two pieces of satellite raw positioning information that are the same according to a multi-voting manner. If there are, the two pieces of satellite raw positioning information that are the same are processed, and the processed satellite raw positioning information is taken as the safety positioning data of the train.

[0066] In this embodiment, the satellite positioning device is an external device of the safety architecture, and the satellite positioning information is not voted on in the platform layer. The four pieces of sampled satellite raw positioning data are simultaneously sent to the A and B processors of the host computing unit. Each processor on the host computing unit votes on the two pieces of satellite raw positioning data in the application layer. The A channel data of the I end is voted on with the B channel data of the I end, and the A channel data of the II end is voted on with the B channel data of the II end. The voted results are used for application logic control. The positioning data of the I end and the positioning data of the II end are not voted on and are used independently. The control output information is transmitted to the execution module after being voted on in the platform layer. The execution module processes the train raw positioning information selected by the voting to obtain the safety positioning data of the train.

[0067] Since the satellite positioning signal has a certain drift, the method of comparing two pieces of raw signals is to draw a circular region centered on one piece of positioning data (within a specified threshold). If each piece of positioning signal overlaps more than half of the positioning signal region of the other piece, it is a correct positioning data. The center point of the overlap is taken as the fused positioning data.

[0068] Preferably, after obtaining the multiple pieces of satellite raw positioning information, the following steps are further included:

[0069] The parameter information of the train is obtained by a parameter compensation module arranged in the satellite positioning module, and is sent to the ground safety positioning module.

[0070] The parameter information includes acceleration, running speed, angular velocity, and time stamp.

[0071] In actual application, after obtaining the multiple pieces of satellite raw positioning information, the satellite raw positioning information collected by the train is sent to the ground for voting processing. There is a delay of different degrees, which leads to a large difference between the multiple pieces of data obtained by the ground. Therefore, the parameter information such as acceleration, running speed, angular velocity, and time stamp of the train is obtained by a parameter compensation module arranged in the satellite positioning module, and is sent to the ground safety positioning module.

[0072] In the embodiment, the acceleration, speed, angular velocity and other information of the train are sent to the ground positioning detection device while the train sends the satellite positioning information. That is, a parameter compensation module is added in the satellite positioning module, which specifically includes an accelerometer, a gyroscope and other functional components.

[0073] As shown in Figure 3 , preferably, after step S2, the following steps are further included:

[0074] B1. Obtain the train running direction according to the angular velocity;

[0075] B2. Obtain the data transmission delay of sending the multi-channel satellite raw positioning information according to the acceleration and the timestamp;

[0076] B3. Perform displacement compensation in the train running direction according to the data transmission delay and the running speed.

[0077] In steps B1 to B3, after the ground safety positioning module receives the parameters such as angular velocity, acceleration, and timestamp, the train running direction is obtained according to the angular velocity, the data transmission delay in the transmission process of sending the multi-channel satellite raw positioning information to the ground safety positioning module is obtained according to the acceleration and the timestamp; and displacement compensation is performed in the train running direction according to the transmission delay and the running speed.

[0078] In the embodiment, the ground safety positioning module calculates the X, Y, and Z running directions of the train running through the information of the gyroscope. Then, the angular velocity, acceleration, and timestamp information are obtained. The delay generated by wireless transmission of the train is calculated, and the delay is supplemented with displacement data. Since the smart rail train adopts a virtual track, displacement compensation of the positioning data in the X and Y axes is required.

[0079] Displacement compensation is that, in the train running, the phase shift will be converted into spatial displacement deviation v is the instantaneous speed of the train. The delay = (the current cycle received data time - the last cycle received data time) - the specified cycle time. The train usually moves along the track direction, and the lateral / vertical speed can be constrained to 0 to back-propagate the heading angle error. By displaying on the electronic map, the running positions of the current cycle and the last cycle are obtained to determine the direction of the train on the electronic map.

[0080] As shown in Figure 4 , a platoon cooperative train group safety positioning detection method includes the following steps:

[0081] C1. A plurality of trains are formed into a platoon at a predetermined interval, and adjacent two trains communicate with each other;

[0082] C2. When the train group enters the tunnel, the satellite positioning module of the train group is abnormal, and the parameter information of the positioning train is obtained by the preset parameter compensation module in the satellite positioning module of the train;

[0083] C3. The parameter information of the positioning train is transmitted to the head car and the tail car in the train group through the communication between the adjacent two cars;

[0084] C4. When the head car and the tail car have exited the tunnel, the satellite positioning module of the head car and the tail car returns to normal, and the corresponding multi-channel satellite raw positioning information is obtained through the satellite positioning module of the head car and the tail car. The parameter information of the positioning train and the multi-channel satellite raw positioning information are transmitted to the ground safety positioning module;

[0085] C5. The ground safety positioning module processes the multi-channel satellite raw positioning information corresponding to the head car and the tail car by using a multi-channel voting method to obtain the safety positioning data of the head car and the tail car;

[0086] C6. According to the safety positioning data of the head car and the tail car and the preset interval, the initial positioning data of each train in the train group is obtained, and the positioning train is taken as a positioning marker point. The initial positioning data of each train is displaced and compensated according to the parameter information of the positioning train to obtain the safety positioning data of each train.

[0087] Because the satellite positioning system is easily disturbed and enters the tunnel and the station, the satellite receiving module on some trains in the train group will not be able to position. The positioning information cannot be obtained. The existing method is to use an inertial navigation system or radar assistance to continuously position. However, these methods have accumulated errors. If the satellite positioning is lost for too long, the positioning information will not be accurate.

[0088] Therefore, in steps C1 to C6, a plurality of trains are first arranged in a train set at a preset interval, and adjacent two trains communicate with each other, when the train set enters a tunnel and causes the satellite positioning module of the train to be abnormal, the parameter compensation module in the satellite positioning module of the positioning train is set to obtain the parameter information of the positioning train; the parameter information of the positioning train is transmitted to the head train and the tail train in the train set through the mutual communication between adjacent two trains; when the head train and the tail train have exited the tunnel and the satellite positioning module installed thereon is restored to normal, the multi-path satellite original positioning information of the head train and the tail train is obtained through the restored satellite positioning module, and the parameters of the positioning train and the multi-path satellite original positioning information of the head train and the tail train are transmitted to the ground safety positioning module; the ground safety positioning module processes the multi-path satellite original positioning information of the head train and the tail train through a multi-path voting manner to obtain the safety positioning data of the head train and the tail train; the initial positioning data of each train in the train set is obtained according to the safety positioning data of the head train and the tail train and the preset interval, the initial positioning data of each train is displacement compensated according to the parameter information of the positioning train with the positioning train as a positioning landmark, and the safety positioning data of each train is obtained.

[0089] As shown in Figure 5 A train safety positioning detection system comprises:

[0090] A satellite positioning module is configured to obtain multi-path satellite original positioning information.

[0091] A communication module is configured to send the multi-path satellite original positioning information to a ground safety positioning module according to a preset communication protocol.

[0092] The ground safety positioning module is configured to process the multi-path satellite original positioning information through a multi-path voting manner to obtain safety positioning data of the train.

[0093] In actual application, the train safety positioning detection system is provided with the satellite positioning module, the communication module and the ground safety positioning module. The communication module is connected with the satellite positioning module and the ground safety positioning module.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed method and system can be implemented in other ways. The system embodiments described above are only schematic. For example, the division of the modules is only a logical function division, and actual implementation can have another division manner, such as: a plurality of modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0095] In addition, each functional module in each embodiment of the present application can be integrated in one processor, or each module can be a separate device, or two or more modules can be integrated in one device. Each functional module in each embodiment of the present application can be implemented in the form of hardware or in the form of a hardware plus software functional unit.

[0096] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by program instructions and related hardware. The aforementioned program instructions can be stored in a computer readable storage medium, and when the program instructions are executed, the steps of the above method embodiments are executed. The aforementioned storage medium includes a mobile storage device, a read only memory (ROM), a magnetic disc or an optical disc, and various storage media that can store program codes.

[0097] It should be understood that, if "system", "device", "unit" and / or "module" are used in the present application, it is only a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0098] As shown in the present application and claims, unless the context clearly indicates otherwise, "one", "a", "an" and / or "the" do not refer to the singular, but can also include the plural. Generally, the terms "comprise" and "include" only indicate that the steps and elements explicitly identified are included, and these steps and elements do not constitute an exclusive list. The method or device can also include other steps or elements. The element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, product or device comprising the element.

[0099] Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0100] If flowcharts are used in the present application, the flowcharts are used to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations do not necessarily be executed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0101] The above describes in detail the train, the train group safety positioning detection method and system provided by the application in coordination. The above description of the disclosed embodiments enables those skilled in the art to implement or use the application. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A train safety positioning detection method, characterized in that, Includes the following steps: The satellite positioning module acquires raw positioning information from multiple satellites. According to the preset communication protocol, multiple channels of the original satellite positioning information are sent to the ground safety positioning module; The ground safety positioning module uses a multi-way voting method to process the raw positioning information of multiple satellites to obtain the train's safety positioning data. The satellite positioning module includes: a first positioning submodule and a second positioning submodule; The first positioning submodule is installed at the front of the train; The second positioning submodule is installed at the rear of the train; The first positioning submodule and the second positioning submodule both use different types of satellite positioning devices; The step of processing multiple satellite raw positioning information through a ground safety positioning module using a multi-way voting method to obtain train safety positioning data includes the following steps: The ground-based safety positioning module receives multiple channels of raw satellite positioning information acquired by various types of satellite positioning devices. According to the multi-way voting method, determine whether there are two identical satellite original positioning information among the multiple channels of the original satellite positioning information; If they exist, the original positioning information of the two identical satellites is processed and used as the train's safety positioning data; The method for comparing the original positioning information of the two satellites is to draw a circular area within a specified threshold, with each positioning data as the center. If the area of ​​each positioning signal overlaps with the positioning signal of the other more than half, the original positioning information of the two satellites is the same, and the center point of the overlap is taken as the fused positioning data, which is used as the safety positioning data of the train.

2. The train safety positioning detection method as described in claim 1, characterized in that, After acquiring the raw positioning information from multiple satellites, the following steps are also included: The parameter information of the train is obtained by the parameter compensation module set in the satellite positioning module, and the parameter information is sent to the ground safety positioning module. The parameter information includes: acceleration, speed, angular velocity, and timestamp.

3. The train safety positioning detection method as described in claim 2, characterized in that, After sending the multiple satellite raw positioning information to the ground safety positioning module according to the preset communication protocol, the following steps are also included: The train's direction of travel is calculated based on the angular velocity. The data transmission delay for sending multiple channels of the original satellite positioning information is calculated based on the acceleration and the timestamp. Displacement compensation is performed in the direction of train travel based on the data transmission delay and the travel speed.

4. A method for safety positioning detection of convoyed train sets, characterized in that, Includes the following steps: Multiple trains are grouped together at preset intervals, and adjacent trains communicate with each other. When a train formation enters a tunnel and causes a malfunction in the satellite positioning module of a train, the parameter information of the positioning train is obtained through the parameter compensation module set in the satellite positioning module of the preset positioning train. The parameter information of the positioning train is transmitted to the head car and tail car of the convoy through communication between adjacent cars. When the lead car and tail car have exited the tunnel and the satellite positioning modules of the lead car and tail car have returned to normal, the corresponding multi-channel original satellite positioning information is obtained through the satellite positioning modules of the lead car and tail car, and the parameter information of the positioning train and the multi-channel original satellite positioning information are transmitted to the ground safety positioning module. The ground safety positioning module uses the multi-way voting method in the train safety positioning detection method as described in claim 1 to process the multiple channels of the original satellite positioning information corresponding to the lead car and the tail car to obtain the safety positioning data of the lead car and the tail car. Based on the safety positioning data of the lead car and the tail car and the preset distance, the initial positioning data of each train in the convoy is obtained. Using the positioning train as the positioning marker, displacement compensation is performed on the initial positioning data of each train according to the parameter information of the positioning train to obtain the safety positioning data of each train.

5. A train safety positioning and detection system, characterized in that, include: The satellite positioning module is used to acquire raw positioning information from multiple satellites. The communication module is used to send multiple channels of the original satellite positioning information to the ground safety positioning module according to a preset communication protocol; The ground safety positioning module is used to process multiple satellite raw positioning information using the multi-way voting method in the train safety positioning detection method as described in claim 1, so as to obtain train safety positioning data.

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