A method, unit, and rail vehicle for detecting communication faults in a speed measurement and positioning system.

Abstract

This application discloses a communication fault detection method, unit, and rail vehicle for a speed measurement and positioning system, relating to the field of rail transit technology. This solution is implemented based on a communication fault detection unit for a speed measurement and positioning system that connects to internal and external communication links of multiple speed measurement and positioning systems. Specifically, it collects data from all communication links and parses each data according to the corresponding communication protocol, thereby monitoring the communication status of the speed measurement and positioning system in real time. Subsequently, based on the parsed data, it performs independent fault detection on each speed measurement and positioning system, while simultaneously integrating the parsed data and performing collaborative fault detection on each speed measurement and positioning system based on the integrated data. In other words, it comprehensively detects communication faults in the speed measurement and positioning system through both independent and fusion detection methods, without manual intervention. This allows maintenance personnel to locate fault points more quickly and accurately, reducing maintenance costs and improving the reliability and safety of rail vehicles.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and in particular to a method, unit, and rail vehicle for detecting communication faults in a speed measurement and positioning system. Background Technology

[0002] The speed measurement and positioning system, as a core subsystem of the maglev rail vehicle, consists of a speed measurement and positioning host, relative and absolute position sensors, and track markers. By fusing the absolute encoding of the markers with the cogging periodic signals, it achieves accurate calculation of the real-time speed, position, and direction of the rail vehicle and outputs key information to the onboard control and safety unit. The system adopts a redundant configuration, with two independent devices deployed at each end of the vehicle to jointly ensure the continuous and reliable operation data.

[0003] However, during operation and maintenance, the main challenge faced by speed measurement and positioning systems lies in the potential for intermittent failures in their internal or cross-system communication, such as data packet loss or sensor logic conflicts. These failures are sudden and difficult to reproduce. Relying on traditional manual methods to troubleshoot communication links and equipment status step by step is often time-consuming, seriously affecting operational efficiency and the accuracy and timeliness of fault tracing.

[0004] Given the above, how to solve the problem of the time-consuming and inefficient traditional troubleshooting methods for intermittent communication failures in speed measurement and positioning systems, which affect operation and source tracing, is an urgent issue for technical personnel in this field. Summary of the Invention

[0005] The purpose of this application is to provide a method, unit, and rail vehicle for detecting communication faults in a speed measurement and positioning system, in order to solve the problems of time-consuming and inefficient traditional methods for troubleshooting intermittent communication faults in speed measurement and positioning systems, which affect operation and traceability.

[0006] To address the aforementioned technical problems, this application provides a method for detecting communication faults in a speed measurement and positioning system, applied to a communication fault detection unit of a speed measurement and positioning system; the communication fault detection unit of the speed measurement and positioning system connects to internal and external communication links of multiple speed measurement and positioning systems; the method includes:

[0007] Collect data from all communication links and parse each data according to the corresponding communication protocol;

[0008] Based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs;

[0009] The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data.

[0010] On the one hand, data is collected from all communication links, including:

[0011] The analog signals in all the communication links are acquired in real time using an analog-to-digital converter, and each analog signal is converted into a corresponding digital signal.

[0012] The digital signals are binarized.

[0013] On the other hand, parsing each of the data according to the corresponding communication protocol includes:

[0014] When the data is acquired through the communication link between the relative position sensor and the speed measurement and positioning host, the data is parsed based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol.

[0015] When the data is collected through the communication link between the absolute position sensor and the speed measurement and positioning host, the data is parsed based on the signboard information signal communication protocol or the diagnostic signal communication protocol.

[0016] When the data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit, the data is parsed based on the target signal communication protocol.

[0017] On the other hand, based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including:

[0018] When the fluctuation of the four-channel serial peripheral interface reading cycle initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold, it is confirmed that there is an abnormality in the four-channel serial peripheral interface reading cycle between the relative position sensor and the speed measurement and positioning host.

[0019] When the fluctuation of the four-channel serial peripheral interface communication clock cycle between the speed measurement and positioning host and the relative position sensor is greater than the second threshold, it is confirmed that there is an abnormality in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host.

[0020] When the sine and cosine values ​​output by the relative position sensor are greater than the third threshold, it is confirmed that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal.

[0021] When the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold, it is confirmed that the rate of change of the pulse square wave output by the relative position sensor is abnormal.

[0022] On the other hand, based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including:

[0023] The first check bit is calculated based on the absolute position signal output by the absolute position sensor;

[0024] When the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor, it is confirmed that there is a verification anomaly in the signboard signal of the absolute position sensor.

[0025] The second check bit is calculated based on the diagnostic signal output by the absolute position sensor;

[0026] When the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor, it is confirmed that there is a verification abnormality in the diagnostic signal of the absolute position sensor.

[0027] On the other hand, based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including:

[0028] When the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold, it is confirmed that there is an abnormal communication period between the vehicle radio control unit and the speed measurement and positioning host.

[0029] When the header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not a preset byte, it is confirmed that there is an abnormal communication start byte between the speed measurement and positioning host and the vehicle radio control unit.

[0030] Calculate the first verification value based on the data output by the speed measurement and positioning host;

[0031] When the first verification value is inconsistent with the verification value received by the vehicle radio control unit, it is confirmed that there is a communication verification value abnormality between the speed measurement and positioning host and the vehicle radio control unit.

[0032] On the other hand, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0033] Determine the relative position tooth count output by each relative position sensor in each of the speed measurement and positioning systems, and determine the average value of the relative position tooth count;

[0034] A first difference is determined between each relative position tooth groove count and the average value of the relative position tooth groove counts, and a second difference is determined between each relative position tooth groove count and the tooth groove count transmitted by the vehicle safety computer.

[0035] When the first difference is greater than the sixth threshold, or the second difference is greater than the seventh threshold, it is confirmed that the corresponding relative position sensor has an abnormal tooth count.

[0036] On the other hand, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0037] Based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, the first speed value transmitted in the corresponding communication link is determined, and the second speed value of each communication link transmitted by the vehicle safety computer is obtained.

[0038] When the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold, it is confirmed that there is a speed signal abnormality in the corresponding communication link.

[0039] Obtain vehicle direction information transmitted by the onboard safety computer;

[0040] When the vehicle direction information indicates whether the vehicle is moving forward or backward, and the magnetic pole phase angle, magnetic pole phase angle cycle number, and tooth cog count are not all increasing or decreasing, an abnormality in direction detection is confirmed.

[0041] On the other hand, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0042] Determine the signboard reading signals output by each absolute position sensor in the speed measurement and positioning system;

[0043] When the reading signals of the various signboards are inconsistent, it is confirmed that the absolute position sensor has a reading abnormality.

[0044] On the other hand, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0045] The phase angle of the first magnetic pole is calculated based on the sine and cosine values ​​output by the relative position sensor;

[0046] When the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold, it is confirmed that there is an abnormality in the magnetic pole phase angle output by the speed measurement and positioning host.

[0047] Calculate the number of phase angle cycles of the first magnetic pole based on the first magnetic pole phase angle;

[0048] When the difference between the number of the first magnetic pole phase angle cycles and the number of the second magnetic pole phase angle cycles output by the speed measurement and positioning host is greater than the tenth threshold, it is confirmed that there is an abnormality in the number of magnetic pole phase angle cycles output by the speed measurement and positioning host.

[0049] To address the aforementioned technical problems, this application also provides a communication fault detection unit for a speed measurement and positioning system, wherein the communication fault detection unit is connected to the internal and external communication links of multiple speed measurement and positioning systems; the unit includes:

[0050] The data acquisition and processing unit is used to acquire data from all communication links and parse the data according to the corresponding communication protocol.

[0051] An independent fault detection unit is used to perform independent fault detection on each of the speed measurement and positioning systems to which it belongs, based on the parsed data.

[0052] The collaborative fault detection unit is used to integrate the parsed data and perform collaborative fault detection on each speed measurement and positioning system based on the integrated data.

[0053] On one hand, the data acquisition and processing unit includes:

[0054] An analog-to-digital converter unit is used to acquire all analog signals in the communication link in real time based on the analog-to-digital converter, and convert each analog signal into a corresponding digital signal.

[0055] The binarization processing unit is used to perform binarization processing on each of the digital signals.

[0056] On the other hand, the data acquisition and processing unit includes:

[0057] The first parsing unit is used to parse the data based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol when the data is collected from the communication link between the relative position sensor and the speed measurement and positioning host.

[0058] The second parsing unit is used to parse the data based on the signboard information signal communication protocol or the diagnostic signal communication protocol when the data is collected from the communication link between the absolute position sensor and the speed measurement and positioning host.

[0059] The third parsing unit is used to parse the data based on the target signal communication protocol when the data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit.

[0060] On the other hand, the independent fault detection unit includes:

[0061] The first independent anomaly detection unit is used to confirm that there is an anomaly in the reading cycle of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the reading cycle of the four-channel serial peripheral interface initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold.

[0062] The second independent anomaly detection unit is used to confirm that there is an anomaly in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the clock cycle of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor is greater than the second threshold.

[0063] The third independent anomaly detection unit is used to confirm that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal when the sine and cosine values ​​output by the relative position sensor are greater than the third threshold.

[0064] The fourth independent anomaly detection unit is used to confirm that the rate of change of the pulse square wave output by the relative position sensor is abnormal when the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold.

[0065] On the other hand, the independent fault detection unit includes:

[0066] The first check bit calculation unit is used to calculate the first check bit based on the absolute position signal output by the absolute position sensor.

[0067] The fifth independent anomaly detection unit is used to confirm that there is a verification anomaly in the signboard signal of the absolute position sensor when the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor.

[0068] The second check bit calculation unit is used to calculate the second check bit based on the diagnostic signal output by the absolute position sensor.

[0069] The sixth independent anomaly detection unit is used to confirm that there is a verification anomaly in the diagnostic signal of the absolute position sensor when the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor.

[0070] On the other hand, the independent fault detection unit includes:

[0071] The seventh independent anomaly detection unit is used to confirm that there is a communication cycle anomaly between the vehicle radio control unit and the speed measurement and positioning host when the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold.

[0072] The eighth independent anomaly detection unit is used to confirm that there is an anomaly in the communication start byte between the speed measurement and positioning host and the vehicle radio control unit when the data header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not a preset byte.

[0073] The first verification value calculation unit is used to calculate the first verification value based on the data output by the speed measurement and positioning host.

[0074] The ninth independent anomaly detection unit is used to confirm that there is a communication verification value anomaly between the speed measurement and positioning host and the vehicle radio control unit when the first verification value is inconsistent with the verification value received by the vehicle radio control unit.

[0075] On the other hand, the collaborative fault detection unit includes:

[0076] The first determining unit is used to determine the relative position tooth count output by each relative position sensor in each of the speed measurement and positioning systems, and to determine the average value of the relative position tooth count.

[0077] The second determining unit is used to determine a first difference between each relative position tooth groove count and the average value of the relative position tooth groove count, and to determine a second difference between each relative position tooth groove count and the tooth groove count transmitted by the vehicle safety computer.

[0078] The first collaborative anomaly detection unit is used to confirm that the corresponding relative position sensor has an abnormal tooth count when the first difference is greater than the sixth threshold or the second difference is greater than the seventh threshold.

[0079] On the other hand, the collaborative fault detection unit includes:

[0080] The third determining unit is used to determine the first speed value transmitted in the corresponding communication link based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, and to obtain the second speed value of each communication link transmitted by the vehicle safety computer.

[0081] The second collaborative anomaly detection unit is used to confirm that there is a speed signal anomaly in the corresponding communication link when the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold.

[0082] Direction information acquisition unit, used to acquire vehicle direction information transmitted by the on-board safety computer;

[0083] The third collaborative anomaly detection unit is used to confirm the existence of a direction detection anomaly when the vehicle direction information indicates that the vehicle is running in the forward or reverse direction, and the magnetic pole phase angle, the number of magnetic pole phase angle cycles, and the tooth cog count are not all increasing or not all decreasing.

[0084] On the other hand, the collaborative fault detection unit includes:

[0085] The fourth determining unit is used to determine the signboard reading signals output by each absolute position sensor in the speed measurement and positioning system;

[0086] The fourth collaborative anomaly detection unit is used to confirm that the absolute position sensor has a reading anomaly when the reading signals of the various signboards are inconsistent.

[0087] On the other hand, the collaborative fault detection unit includes:

[0088] The magnetic pole phase angle calculation unit is used to calculate the first magnetic pole phase angle based on the sine and cosine values ​​output by the relative position sensor.

[0089] The fifth collaborative anomaly detection unit is used to confirm that there is an anomaly in the magnetic pole phase angle output by the speed measurement and positioning host when the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold.

[0090] A cycle number calculation unit is used to calculate the number of cycles of the first magnetic pole phase angle based on the first magnetic pole phase angle.

[0091] The sixth collaborative anomaly detection unit is used to confirm that there is an anomaly in the number of magnetic pole phase angle cycles output by the speed measurement and positioning host when the difference between the first magnetic pole phase angle cycle number and the second magnetic pole phase angle cycle number output by the speed measurement and positioning host is greater than the tenth threshold.

[0092] To address the aforementioned technical problems, this application also provides a rail vehicle, including the aforementioned speed measurement and positioning system communication fault detection unit and multiple speed measurement and positioning systems; the speed measurement and positioning system communication fault detection unit is connected to the internal and external communication links of each of the speed measurement and positioning systems.

[0093] On the one hand, there are four speed measurement and positioning systems, with two systems installed at each end of the vehicle.

[0094] On the other hand, the speed measurement and positioning system includes a speed measurement and positioning host, a relative position sensor, and an absolute position sensor; there are two of each of the relative position sensor and the absolute position sensor; the speed measurement and positioning host is communicatively connected to each of the relative position sensor and each of the absolute position sensor.

[0095] On the other hand, the speed measurement and positioning host includes a magnetic pole phase angle processing unit and a positioning unit; the number of the magnetic pole phase angle processing unit is 1, and the number of the positioning units is 2; the magnetic pole phase angle processing unit is communicatively connected to the vehicle radio control unit, and each of the positioning units is communicatively connected to the vehicle safety computer.

[0096] The communication fault detection method for speed measurement and positioning systems provided in this application is applied to a communication fault detection unit of a speed measurement and positioning system connected to internal and external communication links of multiple speed measurement and positioning systems. It can monitor the internal and external communication data streams of the system without interference. Specifically, this solution collects data from all communication links and parses each data according to the corresponding communication protocol, thereby monitoring the communication status of the speed measurement and positioning system in real time and promptly discovering and recording potential fault information. Furthermore, based on the parsed data, it performs independent fault detection on each speed measurement and positioning system, and integrates the parsed data to perform collaborative fault detection on each speed measurement and positioning system. That is, it comprehensively detects communication faults in the speed measurement and positioning system through both independent detection and fusion detection, without the need for manual intervention. This allows maintenance personnel to locate fault points more quickly and accurately, reduces maintenance costs, improves the reliability and safety of rail vehicles, and provides strong protection for the safe operation of rail vehicles.

[0097] In addition, this application also provides a communication fault detection unit for a speed measurement and positioning system and a rail vehicle, which have the same effect as above. Attached Figure Description

[0098] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments 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.

[0099] Figure 1 A flowchart of a communication fault detection method for a speed measurement and positioning system provided in this application embodiment;

[0100] Figure 2 A schematic diagram of a rail vehicle access for a communication fault detection unit of a speed measurement and positioning system provided in this application embodiment;

[0101] Figure 3 A schematic diagram of a communication fault detection unit for a speed measurement and positioning system provided in an embodiment of this application;

[0102] Figure 4 A schematic diagram of another communication fault detection unit for a speed measurement and positioning system provided in an embodiment of this application;

[0103] Figure 5 This is a structural diagram of a communication fault detection device for a speed measurement and positioning system provided in an embodiment of this application. Detailed Implementation

[0104] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0105] The core of this application is to provide a method, unit, and rail vehicle for detecting communication faults in a speed measurement and positioning system, in order to solve the problems of time-consuming and inefficient traditional methods for troubleshooting intermittent communication faults in speed measurement and positioning systems, which affect operation and traceability.

[0106] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0107] The speed and positioning system is a core subsystem of rail vehicles, supporting their control and safety functions by providing real-time, high-precision speed and position data. The system mainly consists of a speed and positioning host (ORTPR), a relative position sensor (NUT), an absolute position sensor (INK), and track positioning markers. The ORTPR includes a magnetic phase angle processing unit (PRW) and a positioning unit (ORT), responsible for fusing multi-source data to calculate the position. It provides accurate speed and position information to the rail vehicle during operation. Most of the control and safety logic functions of the rail vehicle rely on its real-time position information, requiring the speed and positioning system to provide real-time speed and position data.

[0108] The working principle of the speed measurement and positioning system includes: absolute positioning, where positioning markers are set along the track according to absolute position codes, and the absolute position sensor directly reads the code information to achieve meter-level absolute positioning when the rail vehicle passes; relative positioning, where the relative position sensor measures the relative position by detecting the periodic change signal of the long stator tooth structure within the interval of the markers; and data fusion, where the speed measurement and positioning host integrates the data from the absolute position sensor and the relative position sensor, and the magnetic pole phase angle processing unit analyzes the magnetic pole phase, and the positioning unit obtains the relative and absolute position information. Finally, the magnetic pole phase angle unit mainly generates information such as magnetic pole phase angle, magnetic pole phase angle cycle number, and absolute position positioning markers for the vehicle radio control unit (MRCU), and the positioning unit mainly generates information such as relative position tooth count, speed, direction, and absolute position positioning markers for the vehicle safety computer (VSC).

[0109] Positioning markers, coded with the absolute position of the track, are installed at fixed intervals along the rail vehicle's track. When a rail vehicle passes over a marker, the absolute position sensor installed on the vehicle reads the code on the positioning marker to obtain the vehicle's absolute position. Between adjacent positioning markers, a relative position sensor detects the upper surface of the long stator with a toothed structure, outputting a signal that changes periodically according to the position of the toothed groove. The speed measurement and positioning host processes the data sent by the relative and absolute position sensors to obtain the rail vehicle's position and speed information, and then sends this information to the onboard radio control unit and the onboard safety computer.

[0110] However, the main challenge faced by speed measurement and positioning systems during operation and maintenance lies in the intermittent failures that may occur in their internal or cross-system communication, such as data packet loss or sensor logic conflicts. These failures are sudden and difficult to reproduce. Relying on traditional manual methods to troubleshoot communication links and equipment status step by step is often time-consuming, severely impacting operational efficiency and the accuracy and timeliness of fault tracing. Therefore, to address these issues, this application provides a method for detecting communication faults in speed measurement and positioning systems.

[0111] It is worth noting that the communication fault detection method for speed measurement and positioning systems provided in this application is applied to a communication fault detection unit for speed measurement and positioning systems. Since multiple speed measurement and positioning systems can exist simultaneously in a rail vehicle, and these systems are redundant with each other, this embodiment specifically connects the communication fault detection unit to the internal and external communication links of multiple speed measurement and positioning systems to ensure that communication faults can be detected in all speed measurement and positioning systems. That is, this unit simultaneously collects data from each communication link of each speed measurement and positioning system. This embodiment does not limit the specific number of speed measurement and positioning systems or their location in the rail vehicle; it depends on the specific implementation. It can be understood that the data in the communication link is the interaction data between the devices at both ends of the communication link, such as the relative position data in the communication link between the speed measurement and positioning host and the relative position sensor. The communication fault detection method for speed measurement and positioning systems will be described in detail below:

[0112] Figure 1 This is a flowchart illustrating a communication fault detection method for a speed measurement and positioning system provided in an embodiment of this application. Figure 1 As shown, the method includes:

[0113] S10: Collect data from all communication links and parse each data according to the corresponding communication protocol.

[0114] To achieve communication fault detection in the speed measurement and positioning system, data from all communication links is first collected during implementation. Figure 2 This is a schematic diagram of a rail vehicle access for a communication fault detection unit in a speed measurement and positioning system, provided as an embodiment of this application. Figure 2 As shown, in a speed measurement and positioning system, there are at least three communication links: one between the vehicle-mounted radio control unit and the speed measurement and positioning host; one between the speed measurement and positioning host and the relative position sensor; one between the speed measurement and positioning host and the absolute position sensor; and one between the speed measurement and positioning host and the vehicle-mounted safety computer. Since the communication fault detection unit of the speed measurement and positioning system is connected to all of these communication links, it can collect data from all of them. It is understood that the data in each communication link is different, including but not limited to coarse tooth pulse square wave signals, sign information signals, diagnostic signals, etc. Furthermore, since the communication protocols of each communication link are not entirely the same, it is necessary to parse each data according to the communication protocol of the corresponding communication link to facilitate subsequent fault analysis. This embodiment does not impose restrictions on the data parsing process; it depends on the specific implementation.

[0115] S11: Based on the parsed data, perform independent fault detection on each speed measurement and positioning system to which it belongs.

[0116] After data parsing is completed, independent fault detection is performed on each speed measurement and positioning system based on the parsed data. It is understood that since a speed measurement and positioning system includes at least the communication links between the vehicle radio control unit and the speed measurement and positioning host, the communication link between the speed measurement and positioning host and the relative position sensor, the communication link between the speed measurement and positioning host and the absolute position sensor, and the communication link between the speed measurement and positioning host and the vehicle safety computer, independent fault detection can at least detect faults in single-channel communication of each of these communication links. This embodiment does not limit the specific process of performing independent fault detection on the speed measurement and positioning system; it depends on the specific implementation.

[0117] S12: Integrate the parsed data and perform collaborative fault detection on each speed measurement and positioning system based on the integrated data.

[0118] After completing independent fault detection, the parsed data is further integrated, that is, the data from multiple speed measurement and positioning systems are integrated. Based on the integrated data, collaborative fault detection is performed on each speed measurement and positioning system. It is worth noting that, unlike the independent fault detection mechanism which detects single-channel communication faults, the collaborative fault detection mechanism performs mutual verification and detection on multiple speed measurement and positioning systems or multiple communication faults within a single speed measurement and positioning system. In this way, a more comprehensive communication fault detection of the speed measurement and positioning system is achieved. This embodiment does not limit the specific process of performing collaborative fault detection on the speed measurement and positioning system; it depends on the specific implementation situation.

[0119] In addition, after obtaining the parsed data, each data can be written to a large-capacity persistent storage according to a preset message format for easy subsequent reading and analysis.

[0120] In this embodiment, the communication fault detection unit of the speed measurement and positioning system collects data from all communication links and parses each data according to the corresponding communication protocol, thereby monitoring the communication status of the speed measurement and positioning system in real time, and promptly discovering and recording potential fault information. Furthermore, based on the parsed data, independent fault detection is performed on each speed measurement and positioning system, while the parsed data is integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data. That is, the communication faults of the speed measurement and positioning system are comprehensively detected through both independent detection and fusion detection, without the need for manual intervention. This allows maintenance personnel to locate fault points more quickly and accurately, reduces maintenance costs, improves the reliability and safety of rail vehicles, and provides strong protection for the safe operation of rail vehicles.

[0121] To achieve complete data collection within the communication link, based on the above embodiments, some embodiments collect data from the entire communication link, including:

[0122] S101: Based on the analog-to-digital converter, it collects analog signals in all communication links in real time and converts each analog signal into a corresponding digital signal.

[0123] S102: Perform binarization processing on each digital signal.

[0124] Specifically, the process begins with real-time acquisition of analog signals from the entire communication link using an analog-to-digital converter (ADC), converting each analog signal into its corresponding digital signal. It's important to note that the ADC is the core device in real-time communication signal processing, enabling the conversion of signals from the analog domain to the digital domain. Its operation begins with equal-interval sampling of the continuous analog signals transmitted in the communication link, specifically capturing the instantaneous voltage values ​​in the time domain at a rate higher than twice the highest frequency of the signal, as required by the Nyquist sampling theorem. Subsequently, the ADC maps the continuous voltage value corresponding to each sampling point to discrete digital values ​​with finite precision through quantization. This process is typically represented by a fixed number of bits (e.g., 12-bit or 16-bit), ultimately outputting a series of discrete digital sequences. In high-speed communication or complex electromagnetic environments, the ADC needs high sampling rate, high resolution, and good linearity to ensure that the converted digital signal retains as much detail as possible from the original analog signal, laying the foundation for subsequent processing.

[0125] After obtaining the digital signal, to further simplify the data, highlight key features, and facilitate subsequent communication fault analysis, the digital signal is further binarized. Binarization is the process of converting a multi-level digital signal into a binary sequence consisting only of "0" and "1" states by setting one or more thresholds. Common methods include the fixed threshold method, which directly selects an intermediate level as the threshold, classifying values ​​above the threshold as "1" and values ​​below as "0"; or an adaptive threshold strategy, which dynamically adjusts the threshold based on the statistical characteristics of the signal amplitude (such as mean and median) to cope with channel fluctuations or noise interference.

[0126] In this embodiment, the acquisition and conversion of data within the communication link are realized through ADC, and the standardized expression of the signal is achieved. By performing binarization processing on the digital signal, the amount of data is greatly compressed, the complexity of subsequent calculations is reduced, and the robustness of the signal in the presence of noise and interference is enhanced.

[0127] In order to correctly parse the data, based on the above embodiments, in some embodiments, the data is parsed according to the corresponding communication protocol, including:

[0128] S111: When data is acquired through the communication link between the relative position sensor and the speed measurement and positioning host, the data is parsed based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol.

[0129] S112: When data is acquired through the communication link between the absolute position sensor and the speed measurement and positioning host, the data is parsed based on the signboard information signal communication protocol or the diagnostic signal communication protocol.

[0130] S113: When data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit, the data is parsed based on the target signal communication protocol.

[0131] Specifically, when data is acquired via the communication link between the relative position sensor and the speed measurement and positioning host, the data is parsed based on either the Quad Serial Peripheral Interface (QSPI) communication protocol or the cogging pulse square wave signal communication protocol. It should be noted that the communication protocol between the relative position sensor and the speed measurement and positioning host uses the Quad Serial Peripheral Interface protocol, achieving high-speed full-duplex data transmission through four data lines. This protocol is specifically designed for real-time transmission of high-precision sine and cosine digital values ​​acquired by the relative position sensor. Its high bandwidth and low latency characteristics ensure the accuracy and synchronization of position and phase information, providing the raw data foundation for subsequent fine-grained calculations. Simultaneously, a cogging pulse square wave signal communication protocol also exists between the relative position sensor and the speed measurement and positioning host. Based on the pulse counting principle, the relative position sensor detects the periodic square wave pulses output by the long stator cogging structure. Each pulse corresponds to the passage of one cogging. This protocol transmits data in a simple digital signal form and is directly used for relative position counting and velocity calculation, serving as the underlying interface for basic displacement measurement.

[0132] When data is acquired through the communication link between the absolute position sensor and the speed positioning host, the data is parsed based on the signboard information signal communication protocol or the diagnostic signal communication protocol. It should be noted that the signboard information communication protocol between the absolute position sensor and the speed positioning host is responsible for transmitting the absolute position reference of the rail vehicle. When the rail vehicle passes a positioning signboard on the track, the absolute position sensor reads the physical code on the signboard. This protocol ensures that the verified absolute position information (such as kilometer markers and section numbers) corresponding to this code is transmitted to the speed positioning host in real time and without error, providing periodic position calibration points for the entire system and is crucial for eliminating cumulative errors in relative measurements. Simultaneously, a diagnostic signal communication protocol exists between the absolute position sensor and the speed positioning host. This protocol focuses on the management and interaction of equipment health status. It continuously exchanges monitoring information, including equipment self-test results, operating status, fault codes, and signal quality indicators, between the absolute position sensor and the speed positioning host. This protocol enables the speed positioning host to monitor the operating status of the absolute position sensor in real time and quickly identify and report faults when the sensor fails or its performance degrades, which is an important guarantee for achieving high availability and maintainability of the system.

[0133] Finally, when data is collected through the communication link between the speed measurement and positioning host and the onboard radio control unit, the data is parsed based on the target signal communication protocol. It should be noted that the target signal communication protocol between the speed measurement and positioning host and the onboard radio control unit is responsible for transmitting the core motion parameters required for rail vehicle control. The speed measurement and positioning host periodically sends the final, fused results, including the rail vehicle's precise real-time speed, overall position, direction of travel, and magnetic pole phase angle, to the onboard radio control unit via this protocol. This protocol requires extremely high real-time performance and reliability; the transmitted data directly serves as the decision-making basis for the rail vehicle's traction, braking, and wireless communication control functions, acting as a data link to ensure the safe and stable operation of the rail vehicle.

[0134] In this embodiment, the data in each communication link is parsed according to the communication protocol corresponding to each communication link, realizing the complete parsing of each data and accurately restoring the actual meaning of various types of data. This facilitates the rapid and accurate location of communication faults and ultimately ensures the real-time performance and safety of the transmission of control commands for rail vehicles.

[0135] To enable those skilled in the art to more clearly understand the specific process of performing independent fault detection on the speed measurement and positioning system in this application, the following detailed description of each independent fault detection process is provided in conjunction with specific embodiments:

[0136] (1) Anomaly detection related to relative position sensors;

[0137] Based on the above embodiments, in some embodiments, independent fault detection is performed on each speed measurement and positioning system based on the parsed data, including:

[0138] S121: When the fluctuation of the four-channel serial peripheral interface reading cycle initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold, it is confirmed that there is an abnormality in the four-channel serial peripheral interface reading cycle between the relative position sensor and the speed measurement and positioning host.

[0139] S122: When the fluctuation of the communication clock cycle of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor is greater than the second threshold, it is confirmed that there is an abnormality in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host.

[0140] S123: When the sine and cosine values ​​output by the relative position sensor are greater than the third threshold, it is confirmed that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal.

[0141] S124: When the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold, it is confirmed that the rate of change of the pulse square wave output by the relative position sensor is abnormal.

[0142] First, the speed measurement and positioning host acquires the magnetic pole phase angle transmitted by the relative position sensor through a four-channel serial peripheral interface at a fixed period of 250µs, sending the sine and cosine values ​​of the current magnetic pole phase angle within each period. Therefore, when the fluctuation of the four-channel serial peripheral interface reading period initiated by the speed measurement and positioning host to the relative position sensor exceeds a first threshold, it is confirmed that there is an anomaly in the four-channel serial peripheral interface reading period between the relative position sensor and the speed measurement and positioning host. In this embodiment, the size of the first threshold is not limited and depends on the specific implementation.

[0143] Secondly, during the operation of the rail vehicle, the communication clock period of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor should remain stable. Therefore, when the fluctuation of the communication clock period of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor exceeds the second threshold, it is confirmed that there is an anomaly in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host. In this embodiment, the size of the second threshold is not limited and depends on the specific implementation.

[0144] Furthermore, when the sine and cosine values ​​output by the relative position sensor are greater than the third threshold, it is confirmed that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal. In this embodiment, the size of the third threshold is not limited and depends on the specific implementation.

[0145] Finally, since the relative position sensor outputs two pulse square wave signals based on the tooth groove changes to calculate the current speed of the rail vehicle, when the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range (i.e., the signal changes too fast or too slow, the rate of change is abnormal) and greater than the fourth threshold, it is confirmed that the rate of change of the pulse square wave output by the relative position sensor is abnormal. In this embodiment, the first preset range and the fourth threshold are not limited, but are determined according to the specific implementation.

[0146] This enables complete anomaly detection for relative position sensors and their associated communication links.

[0147] (2) Anomaly detection related to absolute position sensors;

[0148] Based on the above embodiments, in some embodiments, independent fault detection is performed on each speed measurement and positioning system based on the parsed data, including:

[0149] S131: Calculate the first check bit based on the absolute position signal output by the absolute position sensor.

[0150] S132: When the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor, it is confirmed that there is a verification abnormality in the signboard signal of the absolute position sensor.

[0151] S133: Calculate the second check bit based on the diagnostic signal output by the absolute position sensor.

[0152] S134: When the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor, it is confirmed that there is a verification abnormality in the diagnostic signal of the absolute position sensor.

[0153] First, since the absolute position signal emitted by the absolute position sensor is serial data containing 7 data bits and 1 even parity bit, the first parity bit can be calculated based on the absolute position signal output by the absolute position sensor. When the first parity bit is inconsistent with the parity bit of the signboard signal output by the absolute position sensor, it is confirmed that there is a parity anomaly in the signboard signal of the absolute position sensor.

[0154] Secondly, since the diagnostic signal emitted by the absolute position sensor is serial data containing 8 data bits and 1 odd parity bit, a second parity bit can be calculated based on the diagnostic signal output by the absolute position sensor. When the second parity bit is inconsistent with the parity bit of the diagnostic signal output by the absolute position sensor, it is confirmed that there is a parity anomaly in the diagnostic signal of the absolute position sensor.

[0155] This enables complete anomaly detection for absolute position sensors and their related communication links.

[0156] (3) Anomaly detection between the vehicle-mounted radio control unit and the speed measurement and positioning host;

[0157] Based on the above embodiments, in some embodiments, independent fault detection is performed on each speed measurement and positioning system based on the parsed data, including:

[0158] S141: When the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold, it is confirmed that there is an abnormal communication cycle between the vehicle radio control unit and the speed measurement and positioning host.

[0159] S142: When the data header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not the preset byte, it is confirmed that there is an abnormal communication start byte between the speed measurement and positioning host and the vehicle radio control unit.

[0160] S143: Calculate the first verification value based on the data output by the speed measurement and positioning host.

[0161] S144: When the first verification value is inconsistent with the verification value received by the vehicle radio control unit, it is confirmed that there is an abnormal communication verification value between the speed measurement and positioning host and the vehicle radio control unit.

[0162] First, because the onboard radio control unit requests information such as magnetic pole phase angle, relative position, and vehicle direction from the speed measurement and positioning host at fixed intervals, an anomaly in the communication cycle between the onboard radio control unit and the speed measurement and positioning host is confirmed when the periodic fluctuation of the data requests initiated by the onboard radio control unit to the speed measurement and positioning host exceeds a fifth threshold. In this embodiment, the size of the fifth threshold is not limited and depends on the specific implementation.

[0163] Secondly, when the vehicle radio control unit requests data, the speed measurement and positioning host continuously sends 8 bytes of data, with the first two bytes being 0x81 and 0x7f. Therefore, when the header bytes sent by the speed measurement and positioning host to the vehicle radio control unit are not the preset bytes (i.e., 0x81 and 0x7f), it is confirmed that there is an abnormal communication start byte between the speed measurement and positioning host and the vehicle radio control unit.

[0164] Finally, since the last byte output by the speed measurement and positioning host is the checksum of bytes 2 to 7, a first checksum can be calculated based on the data output by the speed measurement and positioning host. When the first checksum is inconsistent with the checksum received by the vehicle radio control unit, it is confirmed that there is a communication checksum anomaly between the speed measurement and positioning host and the vehicle radio control unit.

[0165] This enables the detection of anomalies in the communication link between the vehicle-mounted radio control unit and the speed measurement and positioning host.

[0166] To enable those skilled in the art to more clearly understand the specific process of performing coordinated fault detection on each speed measurement and positioning system in this application, the coordinated fault detection process is described in detail below with reference to specific embodiments:

[0167] (1) Tooth cog counting fault detection based on multiple relative position sensors;

[0168] Based on the above embodiments, in some embodiments, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0169] S151: Determine the relative position tooth count output by each relative position sensor in each speed measurement and positioning system, and determine the average value of the relative position tooth count.

[0170] S152: Determine a first difference between the tooth count at each relative position and the average value of the tooth count at each relative position, and determine a second difference between the tooth count at each relative position and the tooth count transmitted by the onboard safety computer.

[0171] S153: When there is a first difference greater than the sixth threshold, or a second difference greater than the seventh threshold, it is confirmed that the corresponding relative position sensor has an abnormal tooth counting.

[0172] First, since the speed measurement and positioning system has multiple positioning channels, its relative position slot counts are derived from the square wave signals of the corresponding relative position sensors. Therefore, the relative position slot counts output by each relative position sensor in each speed measurement and positioning system can be specifically determined, and the average relative position slot count can be determined. Subsequently, the first difference between each relative position slot count and the average relative position slot count is determined, and the second difference between each relative position slot count and the slot count transmitted by the onboard safety computer is determined.

[0173] When a first difference exceeds a sixth threshold, it is confirmed that the relative position sensor corresponding to the first difference has an abnormal tooth count. Alternatively, when a second difference exceeds a seventh threshold, it is confirmed that the relative position sensor corresponding to the second threshold has an abnormal tooth count. In this embodiment, the size of the sixth and seventh thresholds is not limited and depends on the specific implementation. In this way, the detection of abnormal tooth counts in relative position sensors is achieved.

[0174] (2) Abnormal speed and abnormal direction detection;

[0175] Based on the above embodiments, in some embodiments, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0176] S161: Based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, determine the first speed value transmitted in the corresponding communication link, and obtain the second speed value of each communication link transmitted by the vehicle safety computer.

[0177] S162: When the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold, it is confirmed that there is a speed signal abnormality in the corresponding communication link.

[0178] S163: Obtain vehicle direction information transmitted by the onboard safety computer.

[0179] S164: When the vehicle direction information indicates that the vehicle is moving forward or backward, and the magnetic pole phase angle, magnetic pole phase angle cycle number and tooth cog count are not all increasing or not all decreasing, it is confirmed that there is a direction detection anomaly.

[0180] First, based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, the first speed value transmitted in the corresponding communication link is determined, and the second speed value of each communication link transmitted by the vehicle safety computer is obtained. When the difference between the first speed value and the second speed value of the communication link is greater than an eighth threshold, it is confirmed that there is a speed signal anomaly in the corresponding communication link. In this embodiment, the size of the eighth threshold is not limited and depends on the specific implementation.

[0181] Secondly, when the vehicle is moving forward (i.e., the direction information obtained from communication with the onboard safety computer is forward), the magnetic pole phase angle, magnetic pole phase angle cycle count, and tooth cogging count should all change from small to large; when the rail vehicle is moving in reverse (i.e., the direction information obtained from communication with the onboard safety computer is reverse), the magnetic pole phase angle, magnetic pole phase angle cycle count, and tooth cogging count should all change from large to small. Therefore, the vehicle direction information transmitted by the onboard safety computer can be specifically obtained. When the vehicle direction information indicates whether the vehicle is moving forward or in reverse, and the magnetic pole phase angle, magnetic pole phase angle cycle count, and tooth cogging count are not all increasing or decreasing, a direction detection anomaly is confirmed. In this way, speed anomaly detection and direction anomaly detection within the communication link are respectively achieved.

[0182] (3) Absolute position sensor code reading anomaly detection;

[0183] Based on the above embodiments, in some embodiments, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0184] S171: Determine the sign reading signals output by each absolute position sensor in the speed measurement and positioning system.

[0185] S172: When the reading signals of each signboard are inconsistent, it is confirmed that there is a reading abnormality in the absolute position sensor.

[0186] Specifically, for a speed measurement and positioning system, it is necessary to detect and determine the sign reading signals output by each absolute position sensor in the system. When the sign reading signals are inconsistent, it is confirmed that there is a reading abnormality in the absolute position sensor.

[0187] (4) Detection of abnormalities in the magnetic pole phase angle and magnetic pole phase angle cycle number output by the speed measurement and positioning host;

[0188] Based on the above embodiments, in some embodiments, the parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including:

[0189] S181: Calculate the first magnetic pole phase angle based on the sine and cosine values ​​output by the relative position sensor.

[0190] S182: When the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold, it is confirmed that there is an abnormality in the magnetic pole phase angle output by the speed measurement and positioning host.

[0191] S183: Calculate the number of cycles of the first magnetic pole phase angle based on the first magnetic pole phase angle.

[0192] S184: When the difference between the number of phase angle cycles of the first magnetic pole and the number of phase angle cycles of the second magnetic pole output by the speed measurement and positioning host is greater than the tenth threshold, it is confirmed that there is an abnormality in the number of phase angle cycles of the magnetic pole output by the speed measurement and positioning host.

[0193] First, in a speed measurement and positioning system, the first magnetic pole phase angle is calculated using inverse trigonometric functions based on the sine and cosine values ​​output by the relative position sensor. This value is then compared with the output of the speed measurement and positioning host. If the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than a ninth threshold, an anomaly is confirmed in the magnetic pole phase angle output by the speed measurement and positioning host. In this embodiment, the value of the ninth threshold is not limited and depends on the specific implementation.

[0194] Secondly, since the number of magnetic pole phase angle cycles can be further calculated after obtaining the aforementioned magnetic pole phase angle, the number of magnetic pole phase angle cycles is incremented by 1 when a full cycle is completed in the forward direction, and decremented by 1 when a full cycle is completed in the reverse direction. Therefore, the first number of magnetic pole phase angle cycles can be calculated based on the first magnetic pole phase angle, and this cycle count can be compared with the originally obtained number of magnetic pole phase angle cycles. When the difference between the first number of magnetic pole phase angle cycles and the second number of magnetic pole phase angle cycles output by the speed measuring and positioning host is greater than the tenth threshold, it is confirmed that the number of magnetic pole phase angle cycles output by the speed measuring and positioning host is abnormal. In this embodiment, the size of the tenth threshold is not limited and depends on the specific implementation. In this way, the abnormal detection of the magnetic pole phase angle and the number of magnetic pole phase angle cycles output by the speed measuring and positioning host is realized.

[0195] In the above embodiments, the communication fault detection method of the speed measurement and positioning system has been described in detail. This application also provides embodiments corresponding to the communication fault detection unit of the speed measurement and positioning system.

[0196] Figure 3 This is a schematic diagram of a communication fault detection unit for a speed measurement and positioning system provided in an embodiment of this application. The communication fault detection unit connects to the internal and external communication links of multiple speed measurement and positioning systems. Figure 3 As shown, the unit includes:

[0197] The data acquisition and processing unit 10 is used to acquire data from all communication links and parse each data according to the corresponding communication protocol.

[0198] Independent fault detection unit 11 is used to perform independent fault detection on each speed measurement and positioning system to which it belongs based on the parsed data.

[0199] The collaborative fault detection unit 12 is used to integrate the parsed data and perform collaborative fault detection on each speed measurement and positioning system based on the integrated data.

[0200] In some embodiments, the data acquisition and processing unit 10 includes:

[0201] The analog-to-digital conversion unit is used to acquire analog signals in the entire communication link in real time based on the analog-to-digital converter, and convert each analog signal into a corresponding digital signal.

[0202] The binarization processing unit is used to perform binarization processing on each digital signal.

[0203] In some embodiments, the data acquisition and processing unit 10 includes:

[0204] The first parsing unit is used to parse data based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol when data is collected from the communication link between the relative position sensor and the speed measurement and positioning host.

[0205] The second parsing unit is used to parse data based on the signboard information signal communication protocol or diagnostic signal communication protocol when data is collected from the communication link between the absolute position sensor and the speed measurement and positioning host.

[0206] The third parsing unit is used to parse data based on the target signal communication protocol when data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit.

[0207] In some embodiments, the independent fault detection unit 11 includes:

[0208] The first independent anomaly detection unit is used to confirm that there is an anomaly in the reading cycle of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the reading cycle of the four-channel serial peripheral interface initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold.

[0209] The second independent anomaly detection unit is used to confirm that there is an anomaly in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the communication clock cycle of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor is greater than the second threshold.

[0210] The third independent anomaly detection unit is used to confirm that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal when the sine and cosine values ​​output by the relative position sensor are greater than the third threshold.

[0211] The fourth independent anomaly detection unit is used to confirm that the rate of change of the pulse square wave output by the relative position sensor is abnormal when the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold.

[0212] In some embodiments, the independent fault detection unit 11 includes:

[0213] The first check bit calculation unit is used to calculate the first check bit based on the absolute position signal output by the absolute position sensor.

[0214] The fifth independent anomaly detection unit is used to confirm that there is a verification anomaly in the signboard signal of the absolute position sensor when the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor.

[0215] The second check bit calculation unit is used to calculate the second check bit based on the diagnostic signal output by the absolute position sensor.

[0216] The sixth independent anomaly detection unit is used to confirm that there is a verification anomaly in the diagnostic signal of the absolute position sensor when the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor.

[0217] In some embodiments, the independent fault detection unit 11 includes:

[0218] The seventh independent anomaly detection unit is used to confirm that there is a communication cycle anomaly between the vehicle radio control unit and the speed measurement and positioning host when the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold.

[0219] The eighth independent anomaly detection unit is used to confirm that there is an anomaly in the communication start byte between the speed measurement and positioning host and the vehicle radio control unit when the data header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not a preset byte.

[0220] The first verification value calculation unit is used to calculate the first verification value based on the data output by the speed measurement and positioning host.

[0221] The ninth independent anomaly detection unit is used to confirm that there is a communication verification value anomaly between the speed measurement and positioning host and the vehicle radio control unit when the first verification value is inconsistent with the verification value received by the vehicle radio control unit.

[0222] In some embodiments, the collaborative fault detection unit 12 includes:

[0223] The first determining unit is used to determine the relative position tooth count output by each relative position sensor in each speed measurement and positioning system, and to determine the average value of the relative position tooth count.

[0224] The second determining unit is used to determine a first difference between the tooth groove count at each relative position and the average value of the tooth groove count at each relative position, and to determine a second difference between the tooth groove count at each relative position and the tooth groove count transmitted by the vehicle safety computer.

[0225] The first collaborative anomaly detection unit is used to confirm that the corresponding relative position sensor has an abnormal tooth counting when there is a first difference greater than the sixth threshold or a second difference greater than the seventh threshold.

[0226] In some embodiments, the collaborative fault detection unit 12 includes:

[0227] The third determining unit is used to determine the first speed value transmitted in the corresponding communication link based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, and to obtain the second speed value of each communication link transmitted by the vehicle safety computer.

[0228] The second collaborative anomaly detection unit is used to confirm that there is a speed signal anomaly in the corresponding communication link when the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold.

[0229] Direction information acquisition unit, used to acquire vehicle direction information transmitted by the on-board safety computer;

[0230] The third collaborative anomaly detection unit is used to confirm the existence of a direction detection anomaly when the vehicle direction information indicates that the vehicle is running in the forward or reverse direction, and the magnetic pole phase angle, magnetic pole phase angle cycle number and tooth cog count are not all increasing or not all decreasing.

[0231] In some embodiments, the collaborative fault detection unit 12 includes:

[0232] The fourth determining unit is used to determine the signboard reading signals output by each absolute position sensor in the speed measurement and positioning system;

[0233] The fourth collaborative anomaly detection unit is used to confirm that there is an anomaly in the absolute position sensor when the reading signals of each signboard are inconsistent.

[0234] In some embodiments, the collaborative fault detection unit 12 includes:

[0235] The magnetic pole phase angle calculation unit is used to calculate the first magnetic pole phase angle based on the sine and cosine values ​​output by the relative position sensor.

[0236] The fifth collaborative anomaly detection unit is used to confirm that there is an anomaly in the magnetic pole phase angle output by the speed measurement and positioning host when the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold.

[0237] The cycle number calculation unit is used to calculate the number of cycles of the first magnetic pole phase angle based on the first magnetic pole phase angle.

[0238] The sixth collaborative anomaly detection unit is used to confirm that there is an anomaly in the number of magnetic pole phase angle cycles output by the speed measurement and positioning host when the difference between the number of first magnetic pole phase angle cycles and the number of second magnetic pole phase angle cycles output by the speed measurement and positioning host is greater than the tenth threshold.

[0239] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0240] Figure 4 This is a schematic diagram of another communication fault detection unit for a speed measurement and positioning system provided in an embodiment of this application. It should also be noted that, in order to ensure the normal operation of each unit in the communication fault detection unit of the speed measurement and positioning system, such as... Figure 4 As shown, the communication fault detection unit of the speed measurement and positioning system may further include: a data storage unit 13, used to record each communication message, including timestamp, message data and error type, and save the bus waveform 0.5 seconds before and after the message with the error; a high-precision timestamp module 14, used to provide a unified high-precision timestamp for the entire system; a display unit 15, used to display device status, IP address and other information; and an Ethernet communication unit 16, used to enable communication between the device and the host computer, allowing maintenance personnel to configure the device through the host computer and export data to the host computer for analysis during maintenance.

[0241] Figure 5 This is a structural diagram of a communication fault detection device for a speed measurement and positioning system provided in an embodiment of this application. Figure 5 As shown, the communication fault detection equipment for the speed measurement and positioning system includes:

[0242] Memory 20 is used to store computer programs;

[0243] The processor 21 is used to execute a computer program to implement the steps of the speed measurement and positioning system communication fault detection method mentioned in the above embodiments.

[0244] The communication fault detection device for the speed measurement and positioning system provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0245] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0246] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the speed measurement and positioning system communication fault detection method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the speed measurement and positioning system communication fault detection method.

[0247] In some embodiments, the communication fault detection device for the speed measurement and positioning system may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0248] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the communication fault detection equipment for speed measurement and positioning systems, and may include more or fewer components than shown.

[0249] This application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0250] Finally, this application also provides a rail vehicle. The rail vehicle includes: a speed measurement and positioning system communication fault detection unit and multiple speed measurement and positioning systems; the speed measurement and positioning system communication fault detection unit is connected to the internal and external communication links of each speed measurement and positioning system.

[0251] In this embodiment, the location of the communication fault detection unit of the speed measurement and positioning system is not limited. For example, it can be set in the driver's cab or in the rail vehicle control center, depending on the specific implementation. Furthermore, this embodiment does not limit the specific number or location of the speed measurement and positioning system. For example, in some embodiments, such as... Figure 2 As shown, there are four speed measurement and positioning systems, with two systems installed at each end of the vehicle. Each system includes a speed measurement and positioning host, relative position sensors, and absolute position sensors; there are two relative and two absolute position sensors. The host communicates with each of the relative and absolute position sensors. The host also includes a magnetic pole phase angle processing unit and two positioning units. The magnetic pole phase angle processing unit communicates with the vehicle's radio control unit, and each positioning unit communicates with the vehicle's safety computer. The magnetic pole phase angle unit primarily generates information such as magnetic pole phase angle, magnetic pole phase angle cycle count, and absolute position positioning markers for the vehicle's radio control unit. The positioning units primarily generate information such as relative position tooth count, speed, direction, and absolute position positioning markers for the vehicle's safety computer.

[0252] Based on the communication fault detection unit of the speed measurement and positioning system, this solution can monitor the communication status of the system in real time, promptly detect and record potential fault information, and provide strong support for the safe operation of rail vehicles. The detection unit is connected to the communication link in a serial manner, ensuring interference-free monitoring of the communication data stream. Through this detection unit, maintenance personnel can more quickly and accurately locate fault points, reduce maintenance costs, improve the reliability and safety of rail vehicles, and also provide important data support for the maintenance and upkeep of rail vehicles.

[0253] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0254] The foregoing provides a detailed description of a communication fault detection method, unit, and rail vehicle for a speed measurement and positioning system provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0255] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for detecting communication faults in a speed measurement and positioning system, characterized in that, An application is made in a communication fault detection unit for a speed measurement and positioning system; the speed measurement and positioning system communication fault detection unit is connected to internal and external communication links of multiple speed measurement and positioning systems; the method includes: Collect data from all communication links and parse each data according to the corresponding communication protocol; Based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs; The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data.

2. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, Collect data from all communication links, including: The analog signals in all the communication links are acquired in real time using an analog-to-digital converter, and each analog signal is converted into a corresponding digital signal. The digital signals are binarized.

3. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, Parse each of the data according to the corresponding communication protocol, including: When the data is acquired through the communication link between the relative position sensor and the speed measurement and positioning host, the data is parsed based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol. When the data is collected through the communication link between the absolute position sensor and the speed measurement and positioning host, the data is parsed based on the signboard information signal communication protocol or the diagnostic signal communication protocol. When the data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit, the data is parsed based on the target signal communication protocol.

4. The communication fault detection method for a speed measurement and positioning system according to claim 1, characterized in that, Based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including: When the fluctuation of the four-channel serial peripheral interface reading cycle initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold, it is confirmed that there is an abnormality in the four-channel serial peripheral interface reading cycle between the relative position sensor and the speed measurement and positioning host. When the fluctuation of the four-channel serial peripheral interface communication clock cycle between the speed measurement and positioning host and the relative position sensor is greater than the second threshold, it is confirmed that there is an abnormality in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host. When the sine and cosine values ​​output by the relative position sensor are greater than the third threshold, it is confirmed that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal. When the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold, it is confirmed that the rate of change of the pulse square wave output by the relative position sensor is abnormal.

5. The communication fault detection method for a speed measurement and positioning system according to claim 1, characterized in that, Based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including: The first check bit is calculated based on the absolute position signal output by the absolute position sensor; When the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor, it is confirmed that there is a verification anomaly in the signboard signal of the absolute position sensor. The second check bit is calculated based on the diagnostic signal output by the absolute position sensor; When the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor, it is confirmed that there is a verification abnormality in the diagnostic signal of the absolute position sensor.

6. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, Based on the parsed data, independent fault detection is performed on each of the speed measurement and positioning systems to which it belongs, including: When the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold, it is confirmed that there is an abnormal communication period between the vehicle radio control unit and the speed measurement and positioning host. When the header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not a preset byte, it is confirmed that there is an abnormal communication start byte between the speed measurement and positioning host and the vehicle radio control unit. Calculate the first verification value based on the data output by the speed measurement and positioning host; When the first verification value is inconsistent with the verification value received by the vehicle radio control unit, it is confirmed that there is a communication verification value abnormality between the speed measurement and positioning host and the vehicle radio control unit.

7. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including: Determine the relative position tooth count output by each relative position sensor in each of the speed measurement and positioning systems, and determine the average value of the relative position tooth count; A first difference is determined between each relative position tooth groove count and the average value of the relative position tooth groove counts, and a second difference is determined between each relative position tooth groove count and the tooth groove count transmitted by the vehicle safety computer. When the first difference is greater than the sixth threshold, or the second difference is greater than the seventh threshold, it is confirmed that the corresponding relative position sensor has an abnormal tooth count.

8. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including: Based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, the first speed value transmitted in the corresponding communication link is determined, and the second speed value of each communication link transmitted by the vehicle safety computer is obtained. When the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold, it is confirmed that there is a speed signal abnormality in the corresponding communication link. Obtain vehicle direction information transmitted by the onboard safety computer; When the vehicle direction information indicates whether the vehicle is moving forward or backward, and the magnetic pole phase angle, magnetic pole phase angle cycle number, and tooth cog count are not all increasing or decreasing, an abnormality in direction detection is confirmed.

9. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including: Determine the signboard reading signals output by each absolute position sensor in the speed measurement and positioning system; When the reading signals of the various signboards are inconsistent, it is confirmed that the absolute position sensor has a reading abnormality.

10. The method for detecting communication faults in a speed measurement and positioning system according to claim 1, characterized in that, The parsed data are integrated, and collaborative fault detection is performed on each speed measurement and positioning system based on the integrated data, including: The phase angle of the first magnetic pole is calculated based on the sine and cosine values ​​output by the relative position sensor; When the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold, it is confirmed that there is an abnormality in the magnetic pole phase angle output by the speed measurement and positioning host. Calculate the number of phase angle cycles of the first magnetic pole based on the first magnetic pole phase angle; When the difference between the number of the first magnetic pole phase angle cycles and the number of the second magnetic pole phase angle cycles output by the speed measurement and positioning host is greater than the tenth threshold, it is confirmed that there is an abnormality in the number of magnetic pole phase angle cycles output by the speed measurement and positioning host.

11. A communication fault detection unit for a speed measurement and positioning system, characterized in that, The speed measurement and positioning system communication fault detection unit connects to the internal and external communication links of multiple speed measurement and positioning systems; the unit includes: The data acquisition and processing unit is used to acquire data from all communication links and parse the data according to the corresponding communication protocol. An independent fault detection unit is used to perform independent fault detection on each of the speed measurement and positioning systems to which it belongs, based on the parsed data. The collaborative fault detection unit is used to integrate the parsed data and perform collaborative fault detection on each speed measurement and positioning system based on the integrated data.

12. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The data acquisition and processing unit includes: An analog-to-digital converter unit is used to acquire all analog signals in the communication link in real time based on the analog-to-digital converter, and convert each analog signal into a corresponding digital signal. The binarization processing unit is used to perform binarization processing on each of the digital signals.

13. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The data acquisition and processing unit includes: The first parsing unit is used to parse the data based on the four-channel serial peripheral interface communication protocol or the toothed pulse square wave signal communication protocol when the data is collected from the communication link between the relative position sensor and the speed measurement and positioning host. The second parsing unit is used to parse the data based on the signboard information signal communication protocol or the diagnostic signal communication protocol when the data is collected from the communication link between the absolute position sensor and the speed measurement and positioning host. The third parsing unit is used to parse the data based on the target signal communication protocol when the data is collected through the communication link between the speed measurement and positioning host and the vehicle radio control unit.

14. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The independent fault detection unit includes: The first independent anomaly detection unit is used to confirm that there is an anomaly in the reading cycle of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the reading cycle of the four-channel serial peripheral interface initiated by the speed measurement and positioning host to the relative position sensor is greater than the first threshold. The second independent anomaly detection unit is used to confirm that there is an anomaly in the clock frequency of the four-channel serial peripheral interface between the relative position sensor and the speed measurement and positioning host when the fluctuation of the clock cycle of the four-channel serial peripheral interface between the speed measurement and positioning host and the relative position sensor is greater than the second threshold. The third independent anomaly detection unit is used to confirm that the amplitude of the sine and cosine values ​​output by the relative position sensor is abnormal when the sine and cosine values ​​output by the relative position sensor are greater than the third threshold. The fourth independent anomaly detection unit is used to confirm that the rate of change of the pulse square wave output by the relative position sensor is abnormal when the rate of change of the two pulse square wave signals output by the relative position sensor is outside the first preset range and greater than the fourth threshold.

15. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The independent fault detection unit includes: The first check bit calculation unit is used to calculate the first check bit based on the absolute position signal output by the absolute position sensor. The fifth independent anomaly detection unit is used to confirm that there is a verification anomaly in the signboard signal of the absolute position sensor when the first verification bit is inconsistent with the verification bit of the signboard signal output by the absolute position sensor. The second check bit calculation unit is used to calculate the second check bit based on the diagnostic signal output by the absolute position sensor. The sixth independent anomaly detection unit is used to confirm that there is a verification anomaly in the diagnostic signal of the absolute position sensor when the second verification bit is inconsistent with the verification bit of the diagnostic signal output by the absolute position sensor.

16. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The independent fault detection unit includes: The seventh independent anomaly detection unit is used to confirm that there is a communication cycle anomaly between the vehicle radio control unit and the speed measurement and positioning host when the periodic fluctuation of the data request initiated by the vehicle radio control unit to the speed measurement and positioning host is greater than the fifth threshold. The eighth independent anomaly detection unit is used to confirm that there is an anomaly in the communication start byte between the speed measurement and positioning host and the vehicle radio control unit when the data header byte sent by the speed measurement and positioning host to the vehicle radio control unit is not a preset byte. The first verification value calculation unit is used to calculate the first verification value based on the data output by the speed measurement and positioning host. The ninth independent anomaly detection unit is used to confirm that there is a communication verification value anomaly between the speed measurement and positioning host and the vehicle radio control unit when the first verification value is inconsistent with the verification value received by the vehicle radio control unit.

17. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The collaborative fault detection unit includes: The first determining unit is used to determine the relative position tooth count output by each relative position sensor in each of the speed measurement and positioning systems, and to determine the average value of the relative position tooth count. The second determining unit is used to determine a first difference between each relative position tooth groove count and the average value of the relative position tooth groove count, and to determine a second difference between each relative position tooth groove count and the tooth groove count transmitted by the vehicle safety computer. The first collaborative anomaly detection unit is used to confirm that the corresponding relative position sensor has an abnormal tooth count when the first difference is greater than the sixth threshold or the second difference is greater than the seventh threshold.

18. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The collaborative fault detection unit includes: The third determining unit is used to determine the first speed value transmitted in the corresponding communication link based on the change in the tooth count of each relative position sensor in each speed measurement and positioning system within a preset period, and to obtain the second speed value of each communication link transmitted by the vehicle safety computer. The second collaborative anomaly detection unit is used to confirm that there is a speed signal anomaly in the corresponding communication link when the difference between the first speed value and the second speed value of the communication link is greater than the eighth threshold. Direction information acquisition unit, used to acquire vehicle direction information transmitted by the on-board safety computer; The third collaborative anomaly detection unit is used to confirm the existence of a direction detection anomaly when the vehicle direction information indicates that the vehicle is running in the forward or reverse direction, and the magnetic pole phase angle, magnetic pole phase angle cycle number and tooth cog count are not all increasing or not all decreasing.

19. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The collaborative fault detection unit includes: The fourth determining unit is used to determine the signboard reading signals output by each absolute position sensor in the speed measurement and positioning system; The fourth collaborative anomaly detection unit is used to confirm that the absolute position sensor has a reading anomaly when the reading signals of the various signboards are inconsistent.

20. The communication fault detection unit for the speed measurement and positioning system according to claim 11, characterized in that, The collaborative fault detection unit includes: The magnetic pole phase angle calculation unit is used to calculate the first magnetic pole phase angle based on the sine and cosine values ​​output by the relative position sensor. The fifth collaborative anomaly detection unit is used to confirm that there is an anomaly in the magnetic pole phase angle output by the speed measurement and positioning host when the difference between the first magnetic pole phase angle and the second magnetic pole phase angle output by the speed measurement and positioning host is greater than the ninth threshold. A cycle number calculation unit is used to calculate the number of cycles of the first magnetic pole phase angle based on the first magnetic pole phase angle. The sixth collaborative anomaly detection unit is used to confirm that there is an anomaly in the number of magnetic pole phase angle cycles output by the speed measurement and positioning host when the difference between the first magnetic pole phase angle cycle number and the second magnetic pole phase angle cycle number output by the speed measurement and positioning host is greater than the tenth threshold.

21. A rail vehicle, characterized in that, It includes a speed measurement and positioning system communication fault detection unit as described in any one of claims 11 to 20, and multiple speed measurement and positioning systems; the speed measurement and positioning system communication fault detection unit is connected to the internal and external communication links of each of the speed measurement and positioning systems.

22. The rail vehicle according to claim 21, characterized in that, The number of speed measurement and positioning systems is 4, with 2 speed measurement and positioning systems installed at each end of the vehicle.

23. The rail vehicle according to claim 21, characterized in that, The speed measurement and positioning system includes a speed measurement and positioning host, a relative position sensor, and an absolute position sensor; there are two of each of the relative position sensor and the absolute position sensor; the speed measurement and positioning host is communicatively connected to each of the relative position sensor and each of the absolute position sensor.

24. The rail vehicle according to claim 23, characterized in that, The speed measurement and positioning host includes a magnetic pole phase angle processing unit and a positioning unit; the number of the magnetic pole phase angle processing unit is 1, and the number of the positioning units is 2; the magnetic pole phase angle processing unit is communicatively connected to the vehicle radio control unit, and each of the positioning units is communicatively connected to the vehicle safety computer.

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