System and method for determining a position of a vehicle

Abstract

A system includes a base station including an RTK base unit and a static RTK flow unit, the RTK base unit and the static RTK flow unit being located at the same fixed location; a GPS antenna corresponding to the base station and located at a first position; and a management center communicating with the base station. The RTK base unit comprises a first GPS receiver coupled to the GPS antenna, the static RTK flow unit comprises a second GPS receiver coupled to the GPS antenna, and the static RTK flow unit is configured to determine a position of the static RTK flow unit as a second position according to GPS information received via the GPS antenna and RTK correction information received from the RTK base unit, and the management center is configured to determine whether the RTK correction information is valid.

Description

Cross-references to related applications

[0001] This application claims priority to U.S. Provisional Application No. 63 / 491,928, filed March 23, 2023, the entire contents of which are incorporated herein by reference. Background Technology

[0002] The location of a vehicle can be determined using transponder interrogators installed on the vehicle and transponder tags installed on tracks, such as paths, guide rails, railway tracks, and carriageways. Ultra-wideband (UWB) wireless tags and anchors, cameras, etc., can be used for positioning. This method may include relatively dense installation of roadside elements along the track, for example, every 100 meters (m), and may include powering a large number of roadside elements. However, the positioning accuracy of this method may be inconsistent and insufficient for certain requirements. Attached Figure Description

[0003] The various aspects of this disclosure can be best understood from the following detailed description when read in conjunction with the accompanying drawings. Note that, in accordance with standard industry practice, the features are not drawn to scale. In fact, the dimensions of the features may be arbitrarily increased or decreased for clarity of explanation.

[0004] Figure 1A This is a schematic diagram of a system architecture based on some embodiments.

[0005] Figure 1B This is a schematic diagram of a vehicle unit according to some embodiments.

[0006] Figure 1C This is a schematic diagram of a base station according to some embodiments.

[0007] Figure 1D This is a schematic diagram of a system architecture based on some embodiments.

[0008] Figure 1E This is a schematic diagram of a system architecture based on some embodiments.

[0009] Figure 1F This is a schematic diagram of a positioning system according to some embodiments.

[0010] Figure 2 This is a management logic diagram for base station health based on some embodiments.

[0011] Figure 3 This is a management logic diagram of the location and speed of an airborne GPS according to some embodiments.

[0012] Figure 4 This is a schematic diagram illustrating the management of locations reported by an airborne GPS receiver using a map, according to some embodiments.

[0013] Figure 5 This is a schematic diagram of the arrangement of redundant base stations according to some embodiments.

[0014] Figure 6 This is a schematic diagram of a processing system according to some embodiments.

[0015] Figure 7 This is a flowchart of a method for determining the location of a vehicle according to some embodiments.

[0016] Figure 8 This is a flowchart of a method for determining the location of a vehicle according to some embodiments. Detailed Implementation

[0017] The following disclosure provides numerous different embodiments or examples for implementing various features of the provided subject matter. Specific examples of components, values, operations, materials, arrangements, etc., are described below to simplify this disclosure. Of course, these are merely examples and are not intended to be limiting. Other components, values, operations, materials, arrangements, etc., are also contemplated. For example, in the following description, forming a first feature above or on a second feature can include embodiments where the first and second features are in direct contact, and can also include embodiments where an additional feature can be formed between the first and second features such that the first and second features are not in direct contact. Furthermore, reference numerals and / or letters may be repeated in various examples. Such repetition is for simplicity and clarity and does not in itself define the relationship between the various embodiments and / or configurations discussed.

[0018] Furthermore, for ease of description, this document uses spatially relative terms (e.g., "below," "under," "lower," "above," "upper," etc.) to describe the relationship of an element or feature to another element (one or more) or feature (one or more) shown in the figures. In addition to the orientations shown in the figures, spatially relative terms are intended to cover different orientations of the device during use or operation. The device may be oriented in other ways (rotated 90 degrees or otherwise), and the spatially relative descriptors used herein can be interpreted accordingly in a similar manner.

[0019] One or more embodiments relate to Communication-Based Train Control (CBTC). CBTC can be applied to vehicles such as rail vehicles (e.g., trains), road vehicles (e.g., cars), etc. These vehicles operate at some level of automation and, in some cases, are autonomous.

[0020] Figure 1A This is a schematic diagram of a system architecture based on some embodiments. Figure 1B This is a schematic diagram of a vehicle unit according to some embodiments. Figure 1C This is a schematic diagram of a base station according to some embodiments. Figure 1D This is a schematic diagram of a system architecture based on some embodiments. Figure 1E This is a schematic diagram of a system architecture based on some embodiments.

[0021] Some embodiments relate to positioning systems for rail-based vehicles. Figure 1A The image illustrates, by way of example, a vehicle 103 on track 105. In some embodiments, the vehicle is a rail vehicle, and the track is a railway track. In some embodiments, a single track is used. In some embodiments, multiple tracks are used, such as two parallel tracks. In some embodiments, the rail vehicle is a single carriage. In some embodiments, the rail vehicle is a series of carriages connected (e.g., mechanically linked) together. In some embodiments, the vehicle is a car, and the track is a highway. In some embodiments, a human driver is in the vehicle and exerts some control over the vehicle. In some embodiments, the human driver is located outside the vehicle, for example, at a remote control center or elsewhere separate from the vehicle, and exerts some control over the vehicle via a remote link such as a wireless network. In some embodiments, the vehicle operates autonomously, i.e., without real-time human input. In some embodiments, the vehicle operates autonomously in at least one function (e.g., speed and / or direction). In some embodiments, the vehicle operates fully autonomously. In some embodiments, autonomous operation includes real-time human supervision, for example, supervision of autonomous operation by a person in the vehicle who takes control as desired or needed, or supervision of autonomous operation by a person remote from the vehicle (separated from the vehicle) who takes control as desired or needed. Various embodiments are described using trains as an example of the aforementioned means of transportation.

[0022] In Figure 1, the vehicle 103 includes a first end END_A and a second end END_B. In some embodiments, the direction of travel of the vehicle 103 changes such that the first end END_A leads the second end END_B, or the first end END_A lags behind the second end END_B. In some embodiments, the first end END_A and the second end END_B are the ends of a single carriage of the train. In some embodiments, the first end END_A is one end of a first carriage of the train, and the second end END_B is one end of a second carriage of the train. In some embodiments, one or more carriages are located between the first end END_A and the second end END_B. In some embodiments, the first end END_A and / or the second end END_B are positioned at the physical outermost point away from the vehicle 103, for example, such that one or more carriages of the train are located on either side of the first end END_A and / or the second end END_B.

[0023] Vehicle 103 is equipped with a motorized vehicle unit 110. Figure 1A In this embodiment, the vehicle 103 is equipped with an airborne vehicle unit 110 at each end, such that the vehicle 103 includes a first vehicle unit 110_1 at the first end END_A and a second vehicle unit 110_2 at the second end END_B. Here, the term "airborne" refers to components, devices, etc., that are connected to or attached to the vehicle 103 and travel with it. The airborne components or devices move with the vehicle 103.

[0024] Airborne components or devices differ from fixed, stationary, static, or roadside components or devices that are separate from and do not move with the vehicle 103. As used herein, fixed, stationary, or roadside components or devices may be referred to as non-airborne.

[0025] refer to Figure 1B In some embodiments, the vehicle unit 110 includes an onboard gateway 111. The onboard gateway 111 includes an onboard GPS receiver 114 and is operable to acquire GPS signals (using the onboard GPS receiver 114) and to wirelessly communicate (using the onboard gateway 111) with one or more other elements (onboard and / or offboard) of the train control system (e.g., the CBTC system and / or positioning system 125 according to embodiments described herein). In some embodiments, the vehicle unit 110 or the onboard gateway 111 includes or constitutes a mobile RTK flow unit that receives RTK correction information from a base station.

[0026] Some embodiments described herein use GPS as a form of Global Navigation Satellite System (GNSS). However, GPS is used as an example, and other forms of GNSS are used in other embodiments.

[0027] The airborne GPS receiver 114 is operable to perform real-time kinematic (RTK) positioning operations, either alone or in conjunction with one or more other components of the vehicle unit 110. In some embodiments, the airborne GPS receiver 114 may operate in an RTK rover mode and may be referred to as a vehicle rover or a train rover. In some embodiments, the airborne GPS receiver 114 includes or constitutes a mobile RTK rover unit that receives RTK correction information from a base station.

[0028] The airborne GPS receiver 114 is connected to the airborne GPS antenna 116 using a connector 117 (such as a coaxial cable). Figure 1AIn the first vehicle unit 110_1, a first airborne GPS antenna 116_1 is included, and the second vehicle unit 110_2 includes a second airborne GPS antenna 116_2. The two airborne GPS antennas 116_1 and 116_2 are spaced apart by a known distance. L .

[0029] Airborne gateway 111 includes a communication radio module 112. Communication radio module 112 communicates with another airborne radio module and / or a non-airborne radio module using one or more of 4G, 5G, LTE, Wi-Fi, Bluetooth, etc. Airborne gateway 111 is operable to perform one or more of the following: communication operations, RTK positioning operations, management operations, supervisory operations, and / or configuration operations, one or more of which can be implemented as code, instructions, or software, such as software, hardware, and / or firmware stack, that executes on airborne gateway 111. Airborne gateway 111 is coupled to an airborne communication antenna.

[0030] The vehicle unit 110 performs a positioning operation. In some embodiments, the positioning operation is performed on the onboard gateway 111, while in other embodiments, the positioning operation is performed on a separate onboard computer.

[0031] According to the embodiments described herein, vehicle unit 110 communicates with another vehicle unit 110 (e.g., first vehicle unit 110_1 communicates with second vehicle unit 110_2) and / or positioning system 125. Airborne network 118 in... Figure 1A The diagram shows a connection between the first vehicle unit 110_1 and the second vehicle unit 110_2. In other embodiments, a common airborne system (e.g., a common airborne radio system) is used for communication to and from the first vehicle unit 110_1, the second vehicle unit 110_2, and the positioning system 125.

[0032] In some embodiments, the positioning system 125 is included in a CBTC system. In some embodiments, the positioning system 125 is a standalone system. The positioning system 125 includes a management center 130 and one or more base stations 150 supporting RTK (e.g., first base station 150_1, second base station 150_2, ..., nth base station 150_n). Figure 1A In this system, the management center 130 communicates with the base station 150 via a wireless link (such as a radio link). Figure 1A In this configuration, the management center 130 includes a radio module 132 for communication. In some embodiments, the management center 130 communicates with the base station 150 via a physical link (e.g., a wired link) or a combination of a wireless link, a physical link, an optical link, etc.

[0033] In some embodiments, the management center 130 communicates directly with each of the plurality of base stations 150. In some embodiments, such as Figure 1D As shown, several base stations 150 (e.g., first base station 150_1, second base station 150_2, ..., nth base station 150_n) are interconnected through a roadside communication network 135, and the management center 130 communicates with the roadside communication network 135.

[0034] The management center 130 also communicates with the vehicle unit 110 via a wireless link. In some embodiments, the management center 130 communicates with the vehicle unit 110 via a combination of wireless links, physical links, optical links, etc. In some embodiments, the positioning system 125 communicates with the first vehicle unit 110_1 and the second vehicle unit 110_2. In some embodiments, the positioning system 125 preferentially communicates with one of the vehicle units 110 or only with one of the vehicle units 110, such as communicating with the first vehicle unit 110_1 or the second vehicle unit 110_2.

[0035] Base station 150 is stationary at a known location POS1. Here, the known location (e.g., known location POS1) is established by a system outside of positioning system 125; for example, known location POS1 is established during the initial installation of the base station via surveying (i.e., land surveying). In some embodiments, there are multiple base stations 150 (e.g., first base station 150_1, second base station 150_2, ..., nth base station 150_n), each with a corresponding known location (e.g., POS1_1 for the first base station 150_1, POS1_2 for the second base station 150_2, ..., POS1_n for the nth base station 150_n), which are established via surveying during the initial installation of the base station. In some embodiments, base station 150 is located at a roadside location along track 105, on which vehicle 103 can operate, such as... Figure 1A As shown schematically.

[0036] exist Figure 1C In this system, base station 150 includes a static (i.e., fixed-location) RTK basic unit 152, which includes a first GPS receiver 153. The RTK basic unit 152 is stationary at a known location POS1 of base station 150. The RTK basic unit 152 provides RTK correction information.

[0037] Base station 150 also includes a static (i.e., fixed-location) RTK mobile unit 154, which includes a second GPS receiver 155. The co-located static RTK mobile unit 154 is stationary at a known location POS1 of base station 150. The co-located static RTK mobile unit 154 may be referred to herein as a local RTK mobile station.

[0038] The RTK basic unit 152 and the static RTK mobile unit 154 are co-located at the known position POS1 of the base station 150. Figure 1C In this configuration, the RTK base unit 152 and the co-located static RTK mobile unit 154 share the same physical GPS antenna 156. In some embodiments, establishing a known location POS1 for the base station 150 includes establishing the location of the GPS antenna 156 (by means other than the positioning system 125, for example, by surveying the GPS antenna 156 during the initial installation of the base station, i.e., land surveying), such that the known location POS1 is the established location of the GPS antenna 156. That is, in some embodiments, the location of the base station 150 is more accurately described as the location of the GPS antenna 156, and correspondingly, the locations of the RTK base unit 152 and the co-located static RTK mobile unit 154 are more accurately described as the location of the shared GPS antenna 156. Therefore, ideally (i.e., without measurement error), the RTK base unit 152 and the co-located static RTK mobile unit 154, sharing the GPS antenna 156, will report the same location, both equal to the known location POS1.

[0039] The static RTK mobile unit 154, which is configured to use GPS data and RTK correction data, determines its position as a second position POS2, where both the GPS data and RTK correction data correspond to a known position POS1. The static RTK mobile unit 154 is configured to receive RTK correction data from the RTK base unit 152.

[0040] exist Figure 1C In this configuration, a static RTK mobile unit 154 and an RTK basic unit 152, both co-located within the same base station 150, share the same GPS antenna 156. This ensures that, under normal circumstances, the co-located static RTK mobile unit 154 should resolve its own position POS2 to be equal to the known position POS1 of the base station 150. The management center 130 is configured to compare the known position POS1 with the second position POS2.

[0041] Base station 150 includes computer 157. In some embodiments, computer 157 may function as a communication gateway.

[0042] In some embodiments, the positioning system 125 is under closed-loop control of a dedicated management system, such as a management center 130, which ensures a high degree of integrity of the positioning results along the track. In some embodiments, the method for determining the location (i.e., positioning) of the vehicle 103 uses an onboard GPS receiver 114 mounted on the vehicle 103, a co-located static RTK mobile unit 154 mounted on the roadside at a known location POS1, an RTK basic unit mounted on the roadside at the known location POS1, and a map. Some embodiments provide important (high safety integrity) and high-accuracy train positioning without the need for densely installed roadside or trackside equipment.

[0043] Safety-critical applications or systems are rated as Safety Integrity Level 4 (SIL4). For a SIL4 system, it provides demonstrable, on-demand reliability, as well as the techniques and measurements for detecting and responding to failures that may compromise the system's safety characteristics. SIL4 is based on the International Electrotechnical Commission (IEC) standard IEC 61508 and EN standards 50126 and 50129. For a SIL4 system, the probability of failure per hour is 10. -8 Up to 10 -9 Within the scope of SIL. Security systems that do not need to meet security integrity level standards are referred to as non-SIL. In one or more embodiments described herein, the disclosed systems meet SIL4.

[0044] In some embodiments, regardless of the communication type (e.g., 4G, 5G, LTE, WiFi, Bluetooth, etc.), communication links in the system will use a Virtual Private Network (VPN) tunneling approach to ensure the authenticity and integrity of all service flows present in the system. In some embodiments, such VPN tunnels use IPSec, OpenVPN, WireGuard, TLS, DTLS, or other suitable forms of secure and encrypted communication links between airborne and roadside system components.

[0045] In some embodiments, the location function is performed by the airborne gateway 111, such as Figure 1B As shown. In some embodiments, location functionality is performed by a separate computer (e.g., location computer 119), as... Figure 1E As shown. When the location function is performed by the location computer 119, the location computer 119 communicates with the airborne gateway 111 (e.g., via Ethernet or other wired or wireless networks).

[0046] In cases where the location function resides within the airborne gateway 111, and in order to ensure proper separation (isolation) from other functions of the airborne gateway 111, in some embodiments, the location function is implemented in a different process and / or a different container than the gateway process and / or container.

[0047] exist Figures 1A to 1E In the illustrated embodiment, vehicle 103 is equipped with two sets (one set each for END_A and END_B) of airborne gateways 111. Each airborne gateway 111 includes: (a) an airborne GPS receiver 114, which operates in RTK rover mode and is connected to an airborne GPS antenna 116; and (b) a communication radio module 112, which can operate via a communication antenna through one or more of, for example, 4G, 5G, LTE, WiFi, Bluetooth, etc. The airborne gateway 111 runs communication protocols, an RTK stack, and a management, monitoring, and configuration stack. Positioning processing functions are implemented on a separate computer (e.g., Figure 1E (as shown), or run on the onboard gateway 111 itself (e.g., as a separate process, container, or VM) (as shown). Figure 1A and Figure 1D (As shown).

[0048] exist Figure 1A In this configuration, base stations 150 are distributed along track 105. In some embodiments, track 105 is a guide rail or railway track. Figure 1A In this configuration, each base station 150 includes: (a) a computer 157, (b) an RTK base unit 152 (including a GPS receiver 153 and operating in RTK base station mode), (c) a co-located static RTK mobile unit 154 (including a GPS receiver 155 and operating as a local RTK mobile station) located in the same location as the RTK base unit 152, and (d) a GPS antenna 156 shared by the RTK base unit 152 and the co-located static RTK mobile unit 154. In some embodiments, the GPS antenna 156 is a high-quality antenna. In some embodiments, the arrangement of the GPS receivers 153 and 155 is varied, for example, inside or outside the base station 150, while still sharing the GPS antenna 156.

[0049] In some embodiments, the computer 157 of the base station 150 is responsible for configuring, managing, and monitoring the RTK basic unit 152 and the co-located static RTK mobile unit 154. In some embodiments, the computer 157 of the base station 150 provides RTK correction messages to the onboard GPS receiver 114 (vehicle mobile station).

[0050] The RTK basic unit 152 and the co-located static RTK mobile unit 154, both located within the same base station 150, share the same GPS antenna 156. This ensures that, under normal circumstances, the co-located static RTK mobile unit 154 should resolve its own position POS2 to be equal to the surveyed position POS1 of the base station 150 obtained during the initial installation of the base station.

[0051] The computer 157 of base station 150 sends an alarm to management center 130 in the following events: (a) GPS is not locked for base station GPS receiver 153, (b) GPS and RTK errors occur for co-located static RTK mobile unit 154 (local rover), (c) temperature, voltage, and / or antenna voltage standing wave ratio (VSWR) exceeds the limit, and / or (d) spoofing and / or interference is detected. In some embodiments, the alarm will prevent RTK correction messages from RTK base unit 152 from being transmitted to any static or mobile RTK rover.

[0052] Figure 1F This is a schematic diagram of a positioning system according to some embodiments.

[0053] exist Figure 1F In this system, positioning system 125 includes a plurality of non-co-located (independent) static RTK mobile units 160 (shown as first independent static RTK mobile unit 160_1, second independent static RTK mobile unit 160_2, ..., and nth independent static RTK mobile unit 160_n) disposed along track 105. The second independent static RTK mobile unit 160 is not part of base station 150 or is not located at the same location as base station 150. Independent static RTK mobile units 160 communicate with management center 130. In some embodiments, independent static RTK mobile units 160 communicate via roadside communication network 135.

[0054] In some embodiments, the standalone static RTK mobile unit 160 includes a gateway or computer that operates as a gateway or performs gateway functions, which in some embodiments is identical to the onboard gateway 111 or computer 157 of the base station 150. In some embodiments, a GPS mobile receiver is integrated into the gateway of the standalone static RTK mobile unit 160. In some embodiments, the GPS mobile receiver is externally connected to the gateway of the standalone static RTK mobile unit 160. In some embodiments, the standalone static RTK mobile unit 160 includes a GPS antenna and another communication link for 4G, 5G, LTE, WiFi, Bluetooth, etc.

[0055] In some embodiments, the independent static RTK streaming unit 160 is exactly the same as the co-located static RTK streaming unit 154, except that it is not part of the base station 150 or is not co-located with the base station 150.

[0056] In some embodiments, stand-alone static RTK mobile units 160 are installed at key locations along track 105, and their known locations are stored in a map or database. In some embodiments, the known locations of the stand-alone static RTK mobile units 160 are determined through land surveying during initial installation. The stand-alone static RTK mobile units 160 report their locations based on RTK correction information (e.g., from RTK base unit 152), and integrity is checked by comparing the reported locations with corresponding known locations stored in a map or database. In some embodiments, the integrity of the locations reported by the stand-alone static RTK mobile units 160 is checked by a management center 130.

[0057] exist Figure 1A , Figure 1D , Figure 1E and Figure 1F In this system, all components of the positioning system 125 are connected to or communicate with the management center 130, and the management center 130 has a complete view and status of all GPS components in the positioning system 125.

[0058] In some embodiments, position and velocity values ​​from RTK base unit 152 and static RTK mobile unit 154 (which are co-located within the same base station 150) are sent to management center 130, which performs one or more of the following regulatory actions for a given base station 150: 1. For base station 150, check that the position reported by RTK basic unit 152 is consistent with the position reported by co-located static RTK mobile unit 154 within the defined tolerance.

[0059] 2. For base station 150, check RTK basic unit 152 to see if its speed is reported as zero (0) within the defined tolerance.

[0060] 3. For base station 150, check the static RTK mobile unit 154 and report its speed as zero (0) within the defined tolerance.

[0061] 4. For base station 150, check that the location reported by RTK base unit 152 and the location reported by co-located static RTK mobile unit 154 are the same as the known (i.e., measured or reference) location of the GPS antenna shared by RTK base unit 152 and static RTK mobile unit 154 within the defined tolerance.

[0062] 5. If all of the above checks 1, 2, 3 and 4 pass successfully, the health status of base station 150 is set to 'healthy'; otherwise, the health status of base station 150 is set to 'unhealthy'.

[0063] 6. Report the health status of base station 150 to vehicles (one or more) 103 and other connected systems.

[0064] In some embodiments, the defined tolerance for GPS-reported locations is ±5 cm in latitude, longitude, and altitude. In some embodiments, a comparison of two locations is considered within the defined tolerance if the difference in latitude, longitude, and altitude between them is equal to or less than ±10 cm. In some embodiments, the defined tolerance for GPS-reported speed is ±2 cm / s for fixed or static GPS antennas.

[0065] In some embodiments, vehicle unit 110 is configured to receive correction information from base station 150 and use the correction information from base station 150 only when the health status of base station 150 is "healthy". In some embodiments, when the health status of a base station is "unhealthy", management center 130 instructs vehicle unit 110 not to use the correction information from base station 150. In some embodiments, vehicle unit 110 is configured to receive correction information from base station 150 via management center 130, and management center is configured to send correction information to vehicle unit 110 only when the health status of base station 150 is "healthy". In some embodiments, vehicle unit 110 is simultaneously located within the coverage area of ​​two base stations 150 (i.e., first base station 150_1 and second base station 150_2), and when the health status of first base station 150_1 is "unhealthy", vehicle unit 110 uses the correction information from second base station 150_2 to determine its location.

[0066] Independent static RTK mobile unit 160 receives RTK correction messages from one or more base stations 150 and applies corrections to GPS receiver 155. Independent static RTK mobile unit 160 monitors RTK status and one or more key performance indicators (KPIs) of GPS and compares its parsed location with its known location.

[0067] Independent static RTK mobile unit 160 reports status and KPIs (one or more) to management center 130, and sends alarms or notifications to management center 130 in the following events: 1. GPS is not locked. 2. The GPS error and / or RTK error of the independent static RTK mobile unit 160 exceeds the defined tolerance. 3. The difference between the analyzed location and the known location exceeds the defined tolerance. 4. Temperature, voltage, antenna VSWR, and / or other health indicators exceed defined tolerances, and / or 5. Deception and / or interference were detected.

[0068] Similarly, for vehicle 103, in some embodiments, the airborne gateway 111 is a device with a complete management and configuration plane. In some embodiments, the airborne gateway implements NETCONF using a security protocol over SSH or TLS. In some embodiments, the airborne gateway 111 supports different forms of wireless communication, such as one or more radio modems with integrated radio module capabilities or external connectivity. In some embodiments, regardless of the type of wireless link, the wireless link is always under the full configuration, management, and operational oversight of the airborne gateway 111. In some embodiments, the wireless link is not a standalone and unmanaged connectivity scheme.

[0069] Airborne gateway 111 communicates with base stations (one or more) 150 and receives RTK correction messages from base stations 150 (e.g., from RTK base unit 152), which are then input to airborne GPS receiver 114 (airborne RTK rover). In some embodiments, airborne gateway 111 includes a built-in GPS RTK receiver or has an external GPS RTK receiver connected thereto. Airborne gateway 111 monitors GPS status and reports status, KPIs, and resolved location (which is RTK corrected), which are input to a location function (which operates on, for example, airborne gateway 111 (e.g., as a standalone process, container, VM, etc.) or location computer 119).

[0070] In some embodiments, the location function accepts the resolved location from the onboard GPS receiver 114 if one, some, or all of the following conditions are met: 1. The base station 150 used to correct GPS location estimation is in a "healthy" (or "trusted") state; 2. The airborne GPS receiver 114 provides a position that aligns with the map spline (representing the centerline between two operating tracks) within a defined tolerance; 3. The speed provided by the airborne GPS receiver 114 is consistent with the speed estimated by the position computer based on a non-GPS speed sensor (e.g., an inertial measurement unit (IMU)) within a defined tolerance; 4. The onboard GPS receiver 114 provides a position consistent with one or more previous positions and speeds of the vehicle 103 within defined tolerances; 5. The onboard GPS receiver 114 of the first vehicle unit 110_1 provides a position for a first end END_A of the vehicle 103, which is a known distance away from the position provided by the onboard GPS receiver 114 of the second vehicle unit 110_1 for a second end END_B of the vehicle 103. L (Within the defined tolerance).

[0071] Regarding condition 5 above (involving the location of ends END_A and END_B), as described above, the corresponding airborne GPS receiver 114 can be located on the vehicle 103 at a location that is not at the outermost end of the vehicle 103.

[0072] In some embodiments, the location function requires that condition 5 above be met only for cold start location initialization (the location of vehicle 103 is unknown), and that condition 5 is not required to be met once the location of vehicle 103 has been established.

[0073] In some embodiments, base station 150 (including co-located RTK basic unit 152 and static RTK mobile unit 154 sharing the same GPS antenna) and maps are used to enhance the integrity of GPS-based location and / or speed of vehicle 103.

[0074] In some embodiments, the management center 130 checks whether the speed reported by the RTK basic unit 152 matches the speed reported by the co-located static RTK mobile unit 154 (within defined tolerances), and / or checks whether both speeds are zero (0) (within defined tolerances). This helps ensure the full health and operational condition of base stations(s) 150 and helps ensure that RTK corrections from base stations(s) 150 are valid and acceptable for determining the location and / or speed of vehicle 103. In some embodiments, when RTK correction information from base station 150 is determined to be invalid, the management center 130 sets the health status of base station 150 to "unhealthy". In some embodiments, the management center 130 determines whether RTK correction information from base station 150 is valid or invalid.

[0075] In some embodiments, if the speed reported by the RTK base unit 152 does not match the speed reported by the co-located static RTK flow unit 154 (within a defined tolerance), the management center 130 determines that the RTK correction information is invalid. In some embodiments, if the speed reported by the RTK base unit 152 is greater than zero (0) by more than a defined tolerance, the management center 130 determines that the RTK correction information is invalid. In some embodiments, if the speed reported by the static RTK flow unit 154 is greater than zero (0) by more than a defined tolerance, the management center 130 determines that the RTK correction information is invalid.

[0076] In some embodiments, a roadside communication network 135 using co-located static RTK mobile units 154 and / or independent static RTK mobile units 160 enhances the integrity of the GPS-based position and / or speed of the vehicle 103. The independent static RTK mobile units 160 are mounted along track 105 at predefined static coordinates, i.e., known (surveyed) locations. In some embodiments, if the reported location matches (within defined tolerances) the predefined static coordinates (i.e., known (measured) locations), the location reported by the co-located static RTK mobile units 154 and / or the independent static RTK mobile units 160 is only accepted (e.g., accepted by the management center 130), which helps ensure the health and accuracy of the positioning system 125.

[0077] In some embodiments, the positioning system 125 operates in a closed-loop control mode, wherein each node (e.g., each base station 150 or independent static RTK mobile unit 160) uses available information from the respective GPS receivers 153, 155 to perform internal checks and balancing, and verifies the currently resolved GPS position against predefined static coordinates (i.e., known (measured) positions).

[0078] In some embodiments, an onboard location function (operated by, for example, an onboard gateway 111 and / or a location computer 119) checks whether the resolved location reported by the onboard GPS receiver 114 matches a spline on a map of track 105 (within defined tolerances).

[0079] In some embodiments, the onboard location function checks whether the resolved location reported by the onboard GPS receiver 114 is consistent with the vehicle 103's previous resolved location and GPS derived speed. In other embodiments, the onboard location function checks whether the resolved location reported by the onboard GPS receiver 114 is consistent with the vehicle 103's previous resolved location and non-GPS derived speed, which is derived from a non-GPS derived speed measurement (e.g., a speed measurement from an IMU).

[0080] In some embodiments, for a cold start in which the location of vehicle 103 is unknown, the onboard location function checks two (independent) onboard GPS receivers 114 (e.g., in the first vehicle unit 110_1 and the second vehicle unit 110_2) to provide known distances between their associated GPS antennas (e.g., onboard GPS antennas 116_1 and 116_2). L Consistent (within the defined tolerance) analytical position.

[0081] In some embodiments, the system and method for determining the position and / or speed of vehicle 103 uses vehicle unit 110, base station 150, independent static RTK mobile unit 160, and a map. Vehicle unit 110 has an onboard (mobile) GPS receiver 114 operable to perform real-time dynamic (RTK) positioning operations. The system and method check whether RTK base unit 152 and co-located static RTK mobile unit 154 (co-located within the same base station 150 and sharing a common GPS antenna 156) provide consistent speed (zero (0) speed) and position (within the corresponding defined speed and position tolerances), and check whether the reported position is consistent with a known position (or reference position) (within the defined tolerances), such as a position established by surveying (i.e., land surveying) during the initial installation of the base station.

[0082] In some embodiments, the system uses management center monitoring and / or airborne monitoring, as described below.

[0083] Figure 2 This is a logic diagram for monitoring the health of base stations according to some embodiments.

[0084] In some embodiments, management center oversight is implemented in management center 130. In some embodiments, management center 130 performs oversight by checking whether the position estimates and velocity estimates of RTK base unit 152 and static RTK mobile unit 154 (which are located within the same base station 150) are consistent within defined tolerances. In some embodiments, if it is determined that the position estimates and velocity estimates of RTK base unit 152 and co-located static RTK mobile unit 154 are consistent within defined tolerances, management center 130 determines that the state of base station 150 is healthy (and therefore trustworthy); conversely, if it is determined that the position estimates and velocity estimates of RTK base unit 152 and co-located static RTK mobile unit 154 are inconsistent within defined tolerances, management center 130 determines that the state of base station 150 is unhealthy (and therefore untrustworthy).

[0085] In addition to the above, please refer to Figure 2 In some embodiments, the positioning system 125 monitors (e.g., using a management center 130) the location and velocity values ​​reported by the base stations 150. In some embodiments, the positioning system 125 includes multiple base stations 150, and monitoring is performed on each base station 150. In some embodiments, each base station 150 is assigned a healthy or unhealthy (or trusted or untrustworthy) state. In some embodiments, the state of the base station 150 is set by the management center 130. In some embodiments, the management center 130 performs monitoring of the base stations 150 by performing one or more of the following two checks: 1. The speeds reported by the RTK basic unit 152 and the static RTK mobile unit 154 (which are located within the same base station 150) are consistent within the defined tolerance (e.g., Figure 2 (as shown in (a)).

[0086] 2. The locations reported by RTK basic unit 152 and static RTK mobile unit 154 (which are located within the same base station 150) are consistent within the defined tolerance (e.g., Figure 2 (as shown in (b)).

[0087] In some embodiments, if one or more of the above two checks are true, the management center 130 trusts (e.g., assigns a healthy or trusted status, indicating that, for example, base station 150 is available for vehicle control) the speed and location reported by base station 150. In some embodiments, the management center 130 trusts the speed and location reported by base station 150 only if both of the above checks are true.

[0088] In some embodiments, a trusted state indicates that trusted devices, data, systems, etc. will be used to determine the location of vehicle 103 for vehicle control, etc., while an untrusted state indicates that untrusted devices, data, systems, etc. will not be used to determine the location of vehicle 103 for vehicle control, etc.

[0089] Figure 3 This is a logic diagram for monitoring the position and speed of an airborne GPS according to some embodiments.

[0090] In some embodiments, airborne surveillance is implemented in the airborne gateway 111 and / or location computer 119. In some embodiments, the airborne surveillance performed by the airborne gateway 111 and / or location computer 119 is used to determine whether the location and / or speed reported by one or more vehicle units 110 and / or one or more airborne GPS receivers 114 are reliable. In some embodiments, each vehicle unit 110 and / or airborne GPS receiver 114 is assigned a healthy or unhealthy (or reliable or unreliable) state by the airborne gateway 111 and / or location computer 119. In some embodiments, the airborne gateway 111 and / or location computer 119 performs surveillance by performing one or more of the following five checks: 1. One or more vehicle units 110 and / or one or more airborne GPS receivers 114 shall ensure that the base station 150 used to determine location and / or speed is in a "healthy" (or "trusted") state (e.g., Figure 3 As shown in (a) above). In some embodiments, as described above in conjunction with Figure 2 The check is considered true if the management center 130 trusts the speed and location reported by the base station 150.

[0091] 2. The speed reported by vehicle unit(s) 110 and / or onboard GPS receiver(s) 114 is consistent with the speed reported by onboard, non-GPS speed measurement equipment (e.g., IMU) to onboard gateway 111 and / or location computer 119 (within defined tolerances). Figure 3 (as shown in (b)).

[0092] 3. The location reported by (one or more) vehicle units 110 and / or (one or more) onboard GPS receivers 114 and the spline of the trajectory 105 on the map (e.g., Figure 3 Consistent with (c) (within the defined tolerance). The following is in conjunction with... Figure 4 The inspection will be described in further detail.

[0093] 4. Taking into account the speed of vehicle 103, the direction of travel of vehicle 103, and the time (e.g.) Figure 3 As shown in (d) in the figure, the location reported by (one or more) vehicle units 110 and / or (one or more) airborne GPS receivers 114 is consistent with the previous location (within the defined tolerance).

[0094] 5. During cold starts and / or after a predetermined time period (e.g., every hour), the known interval between the position difference reported by the airborne GPS receiver 114 in two independent vehicle units 110 and / or the first vehicle unit 110_1 and the second vehicle unit 110_2 and the associated airborne GPS antennas 116_1 and 116_2. L (like Figure 3 (as shown in (e)) is consistent (within the defined tolerance).

[0095] In some embodiments, if one or more of the above five checks are true, the airborne gateway 111 and / or location computer 119 trusts (e.g., for vehicle control) the location and speed reported by (one or more) vehicle units 110 and / or (one or more) airborne GPS receivers 114. In some embodiments, the airborne gateway 111 and / or location computer 119 trusts the location and speed reported by (one or more) vehicle units 110 and / or (one or more) airborne GPS receivers 114 only if all five of the above five checks are true.

[0096] The various aspects of the third check mentioned above (consistency with the map) will now be described in more detail.

[0097] Figure 4 This is a schematic diagram illustrating the use of maps to monitor the locations reported by an airborne GPS receiver, based on some embodiments.

[0098] Figure 4 A portion of map 400 is shown. In some embodiments, map 400 is stored in a database. Map 400 includes map splines 410. A vehicle (e.g., vehicle 103) moves along map splines 410. In some embodiments, map splines 410 represent the actual or real path of vehicle 103. In some embodiments, map splines 410 are not established by positioning system 125; for example, map splines 410 are established by surveying (i.e., land surveying). In some embodiments, vehicle 103 is a train or other rail transport traveling on a pair of uniformly spaced rails, and map splines 410 represent the centerline between the two rails.

[0099] Map 400 also includes an envelope 420 representing distances or boundary regions. In some embodiments, the edges of the envelope 420 are at predetermined distances from the map spline 410. In some embodiments, map 400 is a three-dimensional (3D) map, and the map spline 410 and envelope 420 have three-dimensional coordinates. In some embodiments, the coordinates of map 400 are represented in a database using Earth-Centered Earth-Fixed (ECEF) data.

[0100] In some embodiments, the onboard gateway 111 and / or location computer 119 checks whether the location reported by one or more vehicle units 110 and / or one or more onboard GPS receivers 114 coincides with map spline 410 (within defined tolerances). In some embodiments, the onboard gateway 111 and / or location computer 119 trusts the location reported by one or more vehicle units 110 and / or one or more onboard GPS receivers 114 only if the location reported by the onboard GPS receivers 114 coincides with map spline 410 (within defined tolerances). In some embodiments, the onboard gateway 111 and / or location computer 119 assigns a "healthy" (or "trusted") status to one or more vehicle units 110 and / or one or more onboard GPS receivers 114 only if the location reported by the onboard GPS receivers 114 coincides with map spline 410 (within defined tolerances). In some embodiments, the airborne gateway 111 and / or the location computer 119 operates a location function that accepts the resolved location from the vehicle unit 110 and / or the airborne GPS receiver 114 only when the vehicle unit 110 and / or the airborne GPS receiver 114 provide a location within the envelope 420.

[0101] For example, in Figure 4In this example, POS4 is the actual, real location of vehicle 103 on the map. POS4_0 is the location outside the envelope 420. That is, POS4_0 is not consistent with the map spline 410 (within the defined tolerance). POS4_1 is the location inside the envelope 420. That is, POS4_1 is consistent with the map spline 410 (within the defined tolerance). In this example, if the location reported by the onboard GPS receiver 114 is POS4_1, the onboard gateway 111 and / or the location computer 119 trusts the location reported by vehicle unit(s) 110 and / or (one or more) onboard GPS receivers 114, while if the location reported by the onboard GPS receiver 114 is POS4_0, the onboard gateway 111 and / or the location computer 119 does not trust the location reported by vehicle unit(s) 110 and / or (one or more) onboard GPS receivers 114.

[0102] Figure 5 This is a schematic diagram of a redundant base station arrangement 500 according to some embodiments.

[0103] exist Figure 5 In the diagram, the redundant base station arrangement 500 includes "n" base stations placed along the map spline 510, shown as base stations 150_1, 150_2, 150_3, 150_4, ..., 150_n-3, 150_n-2, 150_n-1, and 150_n. Figure 5 In this configuration, base station 150_1 is located at location POS1_1, base station 150_2 is located at location POS1_2, base station 150_3 is located at location POS1_3, base station 150_4 is located at location POS1_4, base station 150_n-3 is located at location POS1_n-3, base station 150_n-2 is located at location POS1_n-2, base station 150_n-1 is located at location POS1_n-1, and base station 150_n is located at location POS1_n. In some embodiments, POS1_1, ..., POS1_n are not established by the positioning system 125; for example, locations POS1_1, ..., POS1_n are established during the initial installation of the base stations through surveying (i.e., land surveying). In some embodiments, the base station locations (e.g., locations POS1_1, ..., POS1_n) are stored in a map or database.

[0104] In some embodiments, base stations 150 are placed at regular intervals along map spline 510, the intervals representing half or less of the coverage area provided by each base station 150. In some embodiments, base stations 150 are placed at irregular intervals. In some embodiments, each point along map spline 510 is within the coverage area of ​​at least two base stations 150. In some embodiments, some portions of map spline 510 are within the coverage area of ​​two base stations 150, while other portions of map spline 510 are within the coverage area of ​​a single base station 150 or more than two base stations 150.

[0105] In one example, such as Figure 5 As shown, each base station has a coverage area of ​​at least 20 km, and the base stations are placed at 10 km intervals; for example, the distance between locations POS1_1 and POS1_2 is 10 km. In another example, each base station has a coverage area of ​​at least 40 km, and the base stations are placed at 20 km intervals. In other examples, base station 150 has a zone of coverage (zoc) greater than 40 km or less than 20 km. In other examples, base station 150 is placed at intervals greater than 20 km or less than 10 km.

[0106] Figure 5 Locations POS1_1, ..., POS1_n are shown on map spline 510. However, in some embodiments, base station 150 is placed away from map spline 510, while map spline 510 is still included within the coverage area of ​​base station 150.

[0107] Figure 6 This is a block diagram of a processing system 600 according to some embodiments.

[0108] In some embodiments, the processing system 600 is a general-purpose computing device including a hardware processor 602 and a non-transitory computer-readable storage medium 604. The computer-readable storage medium 604 is encoded (i.e. stores) with computer program code 606, which is a set of executable instructions. Execution of the instructions 606 by the processor 602 (at least partially) represents tools (hereinafter referred to as processes and / or methods) for implementing some or all of the methods described herein according to one or more embodiments.

[0109] Processor 602 is electrically connected to computer-readable storage medium 604 via bus 608. Processor 602 is also electrically connected to I / O interface 610 via bus 608. Network interface 612 is also electrically connected to processor 602 via bus 608. Network interface 612 is connected to network 614, enabling processor 602 and computer-readable storage medium 604 to be connected to external components via network 614. Processor 602 is configured to execute computer program code 606 encoded in computer-readable storage medium 604 so that processing system 600 can be used to perform some or all of the aforementioned processes and / or methods. In one or more embodiments, processor 602 is a central processing unit (CPU), a multiprocessor, a distributed processing system, an application-specific integrated circuit (ASIC), and / or a suitable processing unit.

[0110] In one or more embodiments, the computer-readable storage medium 604 is an electrical, magnetic, optical, electromagnetic, infrared, and / or semiconductor system (or apparatus or device). For example, the computer-readable storage medium 604 includes semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), hard disk, and / or optical disk. In one or more embodiments using optical disk, the computer-readable storage medium 604 includes optical disc read-only memory (CD-ROM), optical disc read / write (CD-R / W), and / or digital video disc (DVD).

[0111] In one or more embodiments, computer-readable storage medium 604 stores computer program code 606 configured to enable processing system 600 (where such execution representation is (at least partially) an EDA tool) to perform some or all of the mentioned processes and / or methods. In one or more embodiments, computer-readable storage medium 604 also stores information including data and / or parameters and / or information 616 that facilitates the execution of some or all of the mentioned processes and / or methods.

[0112] The processing system 600 includes an I / O interface 610. The I / O interface 610 is connected to external circuitry. In one or more embodiments, the I / O interface 610 includes a keyboard, keypad, mouse, trackball, trackpad, touchscreen, and / or cursor arrow keys for transmitting information and commands to the processor 602.

[0113] The processing system 600 also includes a network interface 612 coupled to the processor 602. The network interface 612 allows the processing system 600 to communicate with a network 614, to which one or more other computer systems are connected. The network interface 612 includes a wireless network interface, such as Bluetooth, Wi-Fi, WiMAX, GPRS, or WCDMA, or a wired network interface, such as Ethernet, USB, or IEEE-1364. In one or more embodiments, some or all of the aforementioned processes and / or methods are implemented in two or more processing systems 600.

[0114] Processing system 600 is configured to receive information via I / O interface 610. The information received via I / O interface 610 includes one or more of the following: instructions, data, design rules, standard cell libraries, and / or other parameters processed by processor 602. The information is transmitted to processor 602 via bus 608. Processing system 600 is also configured to receive information related to the user interface (UI) via I / O interface 610. This information is stored as UI 642 in computer-readable storage medium 604.

[0115] In some embodiments, some or all of the mentioned processes and / or methods are implemented as a standalone software application executed by a processor. In some embodiments, some or all of the mentioned processes and / or methods are implemented as a software application that is part of an additional software application. In some embodiments, some or all of the mentioned processes and / or methods are implemented as a plug-in to a software application. In some embodiments, some or all of the mentioned processes and / or methods are implemented as a software application used by the processing system 600.

[0116] In some embodiments, these processes are implemented as the functions of a program stored in a non-transitory computer-readable recording medium. Examples of non-transitory computer-readable recording media include, but are not limited to, one or more of external / removable and / or internal / built-in storage devices or memory units, such as optical discs (e.g., DVDs), magnetic disks (e.g., hard disks), semiconductor memories (e.g., ROMs, RAMs, memory cards), etc.

[0117] Figure 7 This is a flowchart of a method 700 for determining the location of a vehicle according to some embodiments.

[0118] exist Figure 7 In this context, method 700 includes operations 702, 704, and 706.

[0119] In operation 702, the positions of the RTK basic unit and the static RTK mobile unit, which are co-located in the base station, are received. In some embodiments, the positions are received by the aforementioned management center 130. The static RTK mobile unit determines its position based on GPS data from a GPS antenna connected to the base station and RTK correction information received from the RTK basic unit.

[0120] In operation 704, if the locations received from the RTK basic unit and the static RTK mobile unit are consistent within defined tolerances, the base station is determined to be healthy. In some embodiments, the consistency of the two locations is compared in the management center 130.

[0121] In operation 706, if the locations received from the RTK basic unit and the static RTK mobile unit are inconsistent within a defined tolerance, the base station is determined to be unhealthy. In some embodiments, the consistency of the two locations is compared in the management center 130.

[0122] In some embodiments, the management center 130 determines whether a system is healthy or unhealthy.

[0123] Figure 8 This is a flowchart of a method 800 for determining the location of a vehicle according to some embodiments.

[0124] exist Figure 8 In this context, method 800 includes operations 802 and 804 that follow method 700.

[0125] In operation 802, if the speed determined by the RTK basic unit and the static RTK flow unit is inconsistent within a defined tolerance or is not zero within a defined tolerance, the base station is determined to be unhealthy. In some embodiments, the consistency of the speed is compared and / or the speed is compared to zero in the management center 130.

[0126] In operation 804, if the first base station is determined to be unhealthy, RTK correction information from the second base station is used to determine the vehicle's location. In some embodiments, the management center 130 controls whether the first base station or the second base station is used to determine the vehicle's location.

[0127] Abbreviations and terms: CBTC: Communication-Based Train Control DTLS: Datagram Transport Layer Security ECEF: Geocentric-Earth-Fixed Coordinate System GNSS: Global Navigation Satellite System GPS: Global Positioning System, a type of GNSS. IPSec: Internet Protocol Security KPI: Key Performance Indicators RTK: Real-time Kinematics TAP: Thales Autonomous Platform SSH: Secure Shell TLS: Transport Layer Security TTDP: Train Topology Discovery Protocol UWB: Ultra Broadband VM: Virtual Machine VPN: Virtual Private Network VSWR: Voltage Standing Wave Ratio NETCONF: A protocol defined by the Internet Engineering Task Force (IETF) for configuring network devices for installation, operation, and removal.

[0128] OpenVPN: A VPN system that implements technologies to create secure point-to-point or station-to-station connections in routing or bridging configurations and remote access facilities.

[0129] WireGuard: A communication protocol for implementing encrypted VPNs.

[0130] Systems and methods according to some embodiments are operable to place a vehicle in a unique global coordinate system (e.g., latitude, longitude, and altitude) with high positioning integrity, which is impossible using positioning methods that rely on positioning the vehicle relative to surrounding features, such as those detectable by cameras, radar, lidar (light detection and ranging), etc. Thus, systems and methods according to some embodiments can help ensure that the location derived for a vehicle is the only possible location of that vehicle on a map. Systems and methods according to some embodiments are operable to place a vehicle with centimeter-level accuracy (e.g., 10 cm or better) and can be used for vehicle positioning, such as determining the position of a vehicle on a specific track among multiple adjacent tracks, train-to-platform positioning requiring an accuracy of approximately 30 cm, etc. In some embodiments, base station redundancy is provided by a relatively small number of components, e.g., only a relatively small number of base stations are needed to provide equivalent positioning accuracy compared to many roadside components (such as UWB or other dedicated or custom-made roadside components).

[0131] In some embodiments, the system includes a base station comprising an RTK basic unit and a static RTK mobile unit located at the same fixed location; a GPS antenna corresponding to the base station and located at a first location; and a management center communicating with the base station. The RTK basic unit includes a first GPS receiver coupled to the GPS antenna, and the static RTK mobile unit includes a second GPS receiver coupled to the GPS antenna. The static RTK mobile unit is configured to determine its location as a second location based on GPS information received via the GPS antenna and RTK correction information received from the RTK basic unit. The management center is configured to determine whether the RTK correction information is valid.

[0132] In some embodiments, at least one of the base station and the management center is configured to compare a first location and a second location. In some embodiments, the management center determines that the RTK correction information is invalid when the difference between the first location and the second location exceeds a defined tolerance. In some embodiments, the management center determines that the RTK correction information is invalid when the difference between the first location and the second location exceeds approximately 10 cm. In some embodiments, an RTK basic unit is configured to determine its speed as a first speed, and a static RTK flow unit is configured to determine its speed as a second speed. In some embodiments, at least one of the base station and the management center is configured to compare the first speed and the second speed. In some embodiments, the management center determines that the RTK correction information is invalid when the difference between the first speed and the second speed exceeds a defined tolerance. In some embodiments, the management center determines that the RTK correction information is invalid when the difference between the first speed and the second speed exceeds approximately 2 cm / s. In some embodiments, the management center determines that the RTK correction information is invalid when either the first speed or the second speed is greater than zero by a defined tolerance. In some embodiments, the first location is not determined by the base station.

[0133] In some embodiments, the system includes a base station. The base station includes an RTK basic unit and a static RTK mobile unit located at the same fixed position along a track; a GPS antenna corresponding to the base station and located at a first position; a management center communicating with the base station; and a vehicle including a mobile RTK mobile unit and movable along the track. The RTK basic unit includes a first GPS receiver coupled to the GPS antenna, the static RTK mobile unit includes a second GPS receiver coupled to the GPS antenna, and the mobile RTK mobile unit includes a third GPS receiver. The static RTK mobile unit is configured to determine its position as a second position based on GPS information received via the GPS antenna and RTK correction information received from the RTK basic unit, and the management center is configured to determine whether the mobile RTK mobile unit uses RTK correction information to determine the position of the vehicle based on a comparison of the first and second positions.

[0134] In some embodiments, the base station is a first base station at a first location, and the system further includes a second base station at a second location, which is different from the first location. A mobile RTK unit is configured to receive first RTK correction information from the first base station and second RTK correction information from the second base station, and the mobile RTK unit is configured to use the second RTK correction information to determine the location of the vehicle when the management center determines that the first RTK correction information is invalid. In some embodiments, the mobile RTK unit is configured to receive first RTK correction information from the first base station and second RTK correction information from the second base station, and the mobile RTK unit is configured to use the second RTK correction information to determine the location of the vehicle when the management center determines that the first RTK correction information is invalid. In some embodiments, the system further includes a map, the mobile RTK unit is configured to determine the location of the vehicle as a third location, and the management center is configured to compare the third location with the map. In some embodiments, the management center is configured to determine that the third location is invalid if the difference between the spline of the third location and the map exceeds a defined tolerance. In some embodiments, the base station is a first base station at a first location, and the system also includes a second base station at a second location and a third base station at a third location, the second location being between the first location and the third location, the map having a spline portion covered by the coverage area of ​​the second base station, and the entire spline portion also being covered by the coverage area of ​​at least one of the first base station and the third base station.

[0135] In some embodiments, a method is provided, including receiving the locations of an RTK basic unit and a static RTK mobile unit co-located with the RTK basic unit in a base station, wherein the static RTK mobile unit is configured to determine its location based on GPS data received from a GPS antenna and RTK correction information received from the RTK basic unit; if the locations determined by the RTK basic unit and the static RTK mobile unit are consistent within a defined tolerance, the base station is determined to be healthy; and if the locations determined by the RTK basic unit and the static RTK mobile unit are inconsistent within a defined tolerance, the base station is determined to be unhealthy.

[0136] In some embodiments, the method further includes determining that the base station is unhealthy if the speeds determined by the RTK basic unit and the static RTK flow unit are inconsistent within a defined tolerance. In some embodiments, the method further includes determining that the base station is unhealthy if either the speed determined by the RTK basic unit or the speed determined by the static RTK flow unit is not zero within a defined tolerance. In some embodiments, the base station is a first base station located at a first location, and a second base station is located at a second location from the first location, and the method further includes determining the location of the vehicle using RTK correction information received from the second base station if the first base station is determined to be unhealthy.

[0137] The foregoing summary outlines features of several embodiments to enable those skilled in the art to better understand various aspects of this disclosure. Those skilled in the art should understand that they can readily use this disclosure as the basis for designing or modifying other processes and structures to implement the same purposes and / or achieve the same advantages of the embodiments described herein. Those skilled in the art should also recognize that such equivalent constructions do not depart from the spirit and scope of this disclosure, and that various changes, substitutions, and modifications can be made herein without departing from the spirit and scope of this disclosure.

Claims

1. A system comprising: A base station includes an RTK basic unit and a static RTK mobile unit, wherein the RTK basic unit and the static RTK mobile unit are located at the same fixed position. The GPS antenna corresponds to the base station and is located at a first position; and The management center that communicates with the base station, wherein: The RTK basic unit includes a first GPS receiver connected to the GPS antenna. The static RTK mobile unit includes a second GPS receiver connected to the GPS antenna. The static RTK mobile unit is configured to determine its position as a second position based on GPS information received via the GPS antenna and RTK correction information received from the RTK base unit. The management center is configured to determine whether the RTK correction information is valid.

2. The system according to claim 1, wherein, At least one of the base station and the management center is configured to compare the first location and the second location.

3. The system according to claim 2, wherein, The management center determines that the RTK correction information is invalid when the difference between the first position and the second position exceeds a defined tolerance.

4. The system according to claim 2, wherein, The management center determines that the RTK correction information is invalid when the difference between the first position and the second position exceeds approximately 10 cm.

5. The system according to claim 1, wherein: The RTK basic unit is configured to determine its speed as a first speed, and The static RTK flow unit is configured to determine its velocity as a second velocity.

6. The system according to claim 5, wherein, At least one of the base station and the management center is configured to compare the first speed and the second speed.

7. The system according to claim 6, wherein, The management center determines that the RTK correction information is invalid when the difference between the first speed and the second speed exceeds a defined tolerance.

8. The system according to claim 6, wherein, The management center determines that the RTK correction information is invalid when the difference between the first speed and the second speed exceeds approximately 2 cm / s.

9. The system according to claim 6, wherein, The management center determines that the RTK correction information is invalid if either the first speed or the second speed exceeds a defined tolerance greater than zero.

10. The system according to claim 1, wherein, The first location was not determined by the base station.

11. A system comprising: The base station includes an RTK basic unit and a static RTK mobile unit, wherein the RTK basic unit and the static RTK mobile unit are located at the same fixed position along the track; The GPS antenna corresponds to the base station and is located at a first position; The management center that communicates with the base station; and The vehicle, including a mobile RTK unit, is capable of moving along a track, wherein: The RTK basic unit includes a first GPS receiver connected to the GPS antenna. The static RTK mobile unit includes a second GPS receiver connected to the GPS antenna. The mobile RTK unit includes a third GPS receiver. The static RTK mobile unit is configured to determine its position as a second position based on GPS information received via the GPS antenna and RTK correction information received from the RTK base unit. The management center is configured to determine, based on a comparison of the first location and the second location, whether the mobile RTK flow unit uses the RTK correction information to determine the location of the vehicle.

12. The system according to claim 11, wherein: The base station is a first base station located at a first location, and the system also includes a second base station located at a second location, which is different from the first location. The mobile RTK flow unit is configured to receive first RTK correction information from the first base station and second RTK correction information from the second base station, and The mobile RTK unit is configured to use the second RTK correction information to determine the location of the vehicle when the management center determines that the first RTK correction information is invalid.

13. The system according to claim 12, wherein, The mobile RTK flow unit is configured to receive first RTK correction information from the first base station and second RTK correction information from the second base station. The mobile RTK unit is configured to use the second RTK correction information to determine the location of the vehicle when the management center determines that the first RTK correction information is invalid.

14. The system of claim 11, further comprising a map, wherein: The mobile RTK unit is configured to determine the location of the vehicle as a third location, and The management center is configured to compare the third location with the map.

15. The system according to claim 14, wherein, The management center is configured to determine that the third location is invalid when the difference between the third location and the spline of the map exceeds a defined tolerance.

16. The system according to claim 14, wherein: The base station is a first base station at a first location, and the system also includes a second base station at a second location and a third base station at a third location, the second location being located between the first location and the third location. The map has a spline portion covered by the coverage area of ​​the second base station, and The entire spline section is also covered by the coverage area of ​​at least one of the first base station and the third base station.

17. A method comprising: The location of the RTK basic unit and the static RTK mobile unit is received. The static RTK mobile unit is co-located with the RTK basic unit in the base station. The RTK basic unit and the static RTK mobile unit share the same GPS antenna. The static RTK mobile unit is configured to determine its location based on GPS data received from the GPS antenna and RTK correction information received from the RTK basic unit. When the locations determined by the RTK basic unit and the static RTK mobile unit are consistent within a defined tolerance, the base station is determined to be healthy. and When the locations determined by the RTK basic unit and the static RTK mobile unit are inconsistent within the defined tolerance, the base station is determined to be unhealthy.

18. The method of claim 17, further comprising determining that the base station is unhealthy when the speeds determined by the RTK basic unit and the static RTK flow unit are inconsistent within a defined tolerance.

19. The method of claim 17, further comprising determining that the base station is unhealthy when the speed determined by the RTK basic unit or the speed determined by the static RTK flow unit is not zero within a defined tolerance.

20. The method of claim 17, wherein: The base station is a first base station located at a first location, and the second base station is located at a second location different from the first location. The method further includes using RTK correction information received from the second base station to determine the location of the vehicle when the first base station is determined to be unhealthy.

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