Special strapdown inertial navigation gateway device and system for train

Abstract

The utility model provides a strapdown inertial navigation gateway device and system special for a train, and relates to the technical field of train positioning, and the device comprises a main control module, a strapdown inertial navigation positioning module, a Zhongcao Wechat navigation positioning module, a transceiver assembly, an Ethernet interface module, a wireless network module and an SIM (Subscriber Identity Module) card interface, the main control module is connected with the strapdown inertial navigation positioning module, the Zhongcao Wechat navigation positioning module, the transceiver assembly, the wireless network module and the Ethernet interface module, the SIM card interface is connected with the wireless network module, and the transceiver assembly is used for being in communication connection with an external remote control terminal; the strapdown inertial navigation positioning module and the Zhongcao Wechat navigation positioning module are both configured to position the current train, and the main control module is configured to determine the final positioning of the current train according to the obtained positioning information of the current train. Therefore, the positioning is more accurate and effective, and high-quality network service is provided.

Description

Technical Field

[0001] The utility model relates to the technical field of train positioning, in particular to a strapdown inertial navigation gateway device and system dedicated to trains. Background Art

[0002] Currently, obtaining real-time positioning information is crucial for trains while in motion. Reliable positioning data facilitates train monitoring and scheduling, helping to detect and prevent safety issues such as derailments and deviations. It also optimizes train scheduling and driving plans, reduces delays, and provides passengers with real-time arrival information and train location updates. Train positioning information is typically obtained via GPS or Beidou satellites. However, when trains pass through tunnels or areas with densely populated buildings, positioning information may be lost due to short periods of weak or unavailable signals.

[0003] Simply put, most of the existing train positioning solutions have the following problems: 1. Inaccurate positioning information. When passing through areas with poor satellite signals, the positioning information will be deviated and cannot be calibrated; 2. Positioning information is lost. When passing through areas such as tunnels where satellites cannot be searched, positioning information cannot be obtained, resulting in information loss.

[0004] In view of this, this application is filed. Utility Model Content

[0005] The utility model provides a strapdown inertial navigation gateway device and system dedicated to trains, which can at least partially improve the above problems.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A train-specific strapdown inertial navigation gateway device includes: a main control module, a strapdown inertial navigation positioning module, a Zhongke micro-satellite navigation positioning module, a transceiver assembly, an Ethernet interface module, a wireless network module, and a SIM card interface. The data end of the main control module is electrically connected to the data end of the strapdown inertial navigation positioning module, the data end of the Zhongke micro-satellite navigation positioning module, the data end of the transceiver assembly, the data end of the wireless network module, and the data end of the Ethernet interface module. The data end of the SIM card interface is electrically connected to the wireless network module. The SIM card interface is used to connect to a SIM card. The transceiver assembly is used to communicate with an external remote control terminal.

[0008] Among them, the Ethernet interface module is configured to enable the main control module to connect to the Ethernet, the wireless network module is configured to enable the main control module to connect to the wireless network, the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module are both configured to locate the current train, and the main control module is configured to determine the final positioning of the current train based on the positioning information of the current train obtained by the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module.

[0009] Preferably, the transceiver assembly includes an RS232 transceiver module and an RS485 transceiver module, and the data end of the RS232 transceiver module and the data end of the RS485 transceiver module are both electrically connected to the data end of the main control module.

[0010] Preferably, the Ethernet interface module is an Ethernet WAN / LAN multiplexing interface.

[0011] Preferably, the wireless network module is a WIFI module.

[0012] Preferably, the main control module adopts a 32-bit communication processor.

[0013] Preferably, a clock module is further included, wherein the output end of the clock module is electrically connected to the input end of the main control module.

[0014] Preferably, a watchdog module is further included, wherein the output end of the watchdog module is electrically connected to the input end of the main control module.

[0015] The present utility model also provides a train-specific strapdown inertial navigation gateway system, which includes a remote control terminal and a train-specific strapdown inertial navigation gateway device as described in any one of the above items, wherein the data end of the transceiver assembly is communicatively connected to the data end of the remote control terminal for data interaction.

[0016] In summary, the train-specific strapdown inertial navigation gateway device utilizes a high-performance industrial-grade 32-bit communication processor and industrial-grade wireless modules, with an embedded real-time operating system as its software support platform. It is equipped with both a strapdown inertial navigation module and a Zhongke Micro-Satellite Navigation module. The two positioning modules feature a mutual compensation mechanism, and positioning information is converted through the dual modules, ultimately resulting in more accurate positioning information. It also provides two RS232 and 485 transceiver modules, two Ethernet LANs, one Ethernet WAN / LAN multiplexer port, and a Wi-Fi module. It can simultaneously connect serial, Ethernet, and Wi-Fi devices, enabling positioning and routing Internet access. This makes train positioning more accurate and effective, while also providing high-quality network services. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a module diagram of a train-specific strapdown inertial navigation gateway device provided by an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of forwarding positioning information obtained by a train-specific strapdown inertial navigation gateway device provided by an embodiment of the present utility model. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents the selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] See also Figures 1 to 2 The first embodiment of the present utility model discloses a train-specific strapdown inertial navigation gateway device, which includes: a main control module, a strapdown inertial navigation positioning module, a Zhongke micro-satellite navigation positioning module, a transceiver assembly, an Ethernet interface module, a wireless network module, and a SIM card interface. The data end of the main control module is electrically connected to the data end of the strapdown inertial navigation positioning module, the data end of the Zhongke micro-satellite navigation positioning module, the data end of the transceiver assembly, the data end of the wireless network module, and the data end of the Ethernet interface module. The data end of the SIM card interface is electrically connected to the wireless network module. The SIM card interface is used to connect a SIM card. The transceiver assembly is used to communicate with an external remote control terminal.

[0022] Among them, the Ethernet interface module is configured to enable the main control module to connect to the Ethernet, the wireless network module is configured to enable the main control module to connect to the wireless network, the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module are both configured to locate the current train, and the main control module is configured to determine the final positioning of the current train based on the positioning information of the current train obtained by the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module.

[0023] Preferably, the transceiver assembly includes an RS232 transceiver module and an RS485 transceiver module, and the data end of the RS232 transceiver module and the data end of the RS485 transceiver module are both electrically connected to the data end of the main control module.

[0024] Preferably, the Ethernet interface module is an Ethernet WAN / LAN multiplexing interface.

[0025] Preferably, the wireless network module is a WIFI module.

[0026] Preferably, the main control module adopts a 32-bit communication processor.

[0027] Preferably, a clock module is further included, wherein the output end of the clock module is electrically connected to the input end of the main control module.

[0028] Preferably, a watchdog module is further included, wherein the output end of the watchdog module is electrically connected to the input end of the main control module.

[0029] Specifically, in this embodiment, the framework of the train-specific strapdown inertial navigation gateway device is as follows: Figure 1 This device utilizes a high-performance industrial-grade 32-bit communication processor and industrial-grade wireless modules, with an embedded real-time operating system as its software support platform. It is also equipped with a strapdown inertial navigation module and a Zhongke Micro-Satellite Navigation module. The two positioning modules feature a mutual compensation mechanism, and positioning information is converted by the two modules to ultimately achieve more accurate positioning information. It also provides two RS232 and 485 transceiver modules, two Ethernet LANs, one Ethernet WAN / LAN multiplexer port, and a WiFi module. It can simultaneously connect to serial, Ethernet, and WiFi devices, enabling positioning and routing Internet access.

[0030] In this embodiment, the strapdown inertial navigation module can calculate the attitude, speed, and position of the object by calculating the accelerometer and gyroscope data of the current train. The final derivation formula of the strapdown inertial navigation module is as follows: Among them, p m is the coordinate calculated at time m, p m-1 is the coordinate calculated at time m-1, M pv(m-1 / 2) is the correction matrix at time (m-1) / 2, v is the velocity, is the velocity relative to the navigation frame n at time step m-1, is the velocity relative to navigation frame n at time step m, and T is time.

[0031] At the same time, the train-specific strapdown inertial navigation gateway device also has a dual positioning module mutual compensation mechanism, that is, the strapdown inertial navigation positioning module and the China Science Micro Satellite Navigation Positioning Module both have independent coordinates. During actual use, the main control module converts the two positioning information according to the weight to obtain the final positioning coordinates of the train.

[0032] Among them, the weight of the China Science Micro Satellite Navigation is determined by the number of satellites searched. When the number of satellites N is greater than or equal to 8, the weight W GNSS =1, when N is less than 8, W GNSS =N / 8. The strapdown inertial navigation weight is determined by the accumulation of gyroscope error, accelerometer error and position error. The total error standard deviation is calculated as follows: Strapdown inertial navigation weight W INS =σ0 / (σ+σ0), the final formula for outputting positioning information is as follows: in, is the variance of the accelerometer error, is the variance of the gyroscope error, σ0 is the standard deviation of the sensor error, σ is the final standard deviation of the strapdown inertial navigation error, W GNSS is the weight of the China Science Micro-satellite Navigation, p2 is the coordinate obtained by the China Science Micro-satellite Navigation, W INS is the strapdown inertial navigation weight, and p1 is the coordinate obtained by the strapdown inertial navigation module.

[0033] In summary, the train-specific strapdown inertial navigation gateway device uses a strapdown inertial navigation system to provide more accurate positioning information for trains, and integrates some basic functions of industrial routers to achieve integrated positioning and Internet access; making train positioning more accurate and effective, and providing high-quality network services while positioning.

[0034] The second embodiment of the present utility model also discloses a train-specific strapdown inertial navigation gateway system, which includes a remote control terminal and a train-specific strapdown inertial navigation gateway device as described in any one of the above items, wherein the data end of the transceiver assembly is communicatively connected to the data end of the remote control terminal for data exchange.

[0035] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention fall within the protection scope of the present invention.

Claims

1. A strapdown inertial navigation gateway device dedicated to trains, characterized in that: include: A main control module, a strapdown inertial navigation positioning module, a Zhongke micro-satellite navigation positioning module, a transceiver assembly, an Ethernet interface module, a wireless network module, and a SIM card interface, wherein the data end of the main control module is electrically connected to the data end of the strapdown inertial navigation positioning module, the data end of the Zhongke micro-satellite navigation positioning module, the data end of the transceiver assembly, the data end of the wireless network module, and the data end of the Ethernet interface module; the data end of the SIM card interface is electrically connected to the wireless network module; the SIM card interface is used to connect a SIM card; and the transceiver assembly is used to communicate with an external remote control terminal; Among them, the Ethernet interface module is configured to enable the main control module to connect to the Ethernet, the wireless network module is configured to enable the main control module to connect to the wireless network, the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module are both configured to locate the current train, and the main control module is configured to determine the final positioning of the current train based on the positioning information of the current train obtained by the strapdown inertial navigation positioning module and the Zhongke micro-satellite navigation positioning module.

2. A train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: The transceiver assembly includes an RS232 transceiver module and an RS485 transceiver module. The data end of the RS232 transceiver module and the data end of the RS485 transceiver module are both electrically connected to the data end of the main control module.

3. The train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: The Ethernet interface module is an Ethernet WAN / LAN multiplexing interface.

4. The train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: The wireless network module is a WIFI module.

5. The train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: The main control module adopts a 32-bit communication processor.

6. The train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: It also includes a clock module, wherein the output end of the clock module is electrically connected to the input end of the main control module.

7. The train-specific strapdown inertial navigation gateway device according to claim 1, characterized in that: A watchdog module is also included, wherein the output end of the watchdog module is electrically connected to the input end of the main control module.

8. A train-specific strapdown inertial navigation gateway system, characterized in that: It comprises a remote control terminal and a train-specific strapdown inertial navigation gateway device as described in any one of claims 1 to 7, wherein the data end of the transceiver component is communicatively connected to the data end of the remote control terminal for data interaction.

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