Satellite and balise-based train positioning and protection method, system, and medium

Abstract

A satellite and balise-based train positioning and protection method, a system, and a medium. The method comprises: S1, determining the position of a train within a station by means of satellite positioning; S2, obtaining the last relevant balise group on the basis of the determined position, and reporting position information of the train and of the last relevant balise group to a radio block center; S3, upon reception of the positions of the train and the last relevant balise group, the radio block center sending a movement authority to on-board equipment; S4, the train departing from the station on the basis of the movement authority, and searching for a physical balise on the same track in the departure direction of the train on the basis of the obtained last relevant balise group; and if the physical balise is received within an expected range, indicating that verification is passed, and executing step S5, otherwise, indicating that the verification fails; and S5, if the physical balise is received within the expected range according to step S4, performing consistency analysis and processing on the physical balise.

Description

Satellite and transponder based train positioning and protection method, system and medium TECHNICAL FIELD

[0001] The present application relates to the field of train positioning, and in particular to a satellite and transponder based train positioning and protection method, system and medium. BACKGROUND

[0002] The widespread application of satellite positioning technology provides important support for railway transportation safety and efficiency. Railway signal systems, as key systems to ensure train operation safety, need accurate and reliable position and speed information to achieve safe spacing and operation control between trains. Satellite positioning technology, supported by the Global Navigation Satellite System (GNSS), provides high-precision train position information for railway signal systems, realizing real-time monitoring and positioning of trains.

[0003] With satellite positioning technology, railway managers can track the position, speed and travel trajectory of trains in real time, effectively adjusting the signal system to ensure that trains run on time and safely. This precise position monitoring and management brings higher safety and reliability to the railway transportation system, reducing accident risks and improving transportation efficiency. With the continuous progress and expansion of satellite positioning technology, railway signal systems will become more intelligent and digital, bringing new opportunities and challenges to the development of modern railway systems.

[0004] In the field of rail transportation, satellite positioning technology can effectively improve the efficiency of train dispatching. Satellite positioning technology provides real-time position information and accurate navigation data for rail transportation systems, enabling managers to more accurately grasp the position and operation status of vehicles, thereby optimizing train dispatching plans and improving train dispatching efficiency.

[0005] In practical applications, satellite positioning technology can be combined with a line electronic map to determine the track number and offset of the train on the track based on the latitude and longitude provided by the satellite after the train starts. Under the CTCS system, the LRBG (Last Relevant Balise Group) can be directly determined, and the train position report can be sent to the ground equipment RBC (Radio Block Center) accordingly. The ground equipment sends a train operation permission to the train control on-board equipment based on the train position report.

[0006] However, due to the influence of factors such as signal shielding, multipath effect, atmospheric interference, satellite geometry, satellite clock error, and ionospheric effect, satellite positioning may not be accurate in a specific environment or under the influence of a specific factor. Especially when the train departs from the station, if the satellite positioning is inaccurate, the departure signal and the train permission may be sent to the wrong track in the station, which may cause the train to receive incorrect signal instructions, resulting in a serious accident such as collision between trains, or the train entering the wrong track or changing the direction of travel, causing the train to derail, or the safety distance between trains being insufficient, which may cause the following train to collide with the front train.

[0007] Chinese patent application CN116022199A discloses a train positioning method, which determines whether the train positioning system is in a normal state by obtaining parameter information of the train positioning system. The train position parameter information of the patent includes at least one of electronic map information and satellite information. In a specific environment or under the influence of a specific factor, the positioning may not be accurate, and there may be satellite positioning errors that cause inaccurate positioning. Therefore, how to further improve the reliability and positioning accuracy of satellite positioning trains has become a technical problem to be solved.

[0008] SUMMARY

[0009] The purpose of the present application is to overcome the defects of the prior art and provide a satellite and transponder-based train positioning and protection method, system and medium. The position of the ground entity transponder and the train position determined by satellite positioning are checked to ensure that the train is in the same track as the actual track determined by satellite positioning.

[0010] The purpose of the present application can be achieved by the following technical solutions:

[0011] According to a first aspect of the present application, a satellite and transponder-based train positioning and protection method is provided, comprising the following steps:

[0012] S1, determining the position of the train in the station according to satellite positioning;

[0013] S2, obtaining LRBG according to the position determined in step S1, and reporting the position information of the train and LRBG to RBC;

[0014] S3, after receiving the position of the train and LRBG, RBC sends a train permission to the on-board device;

[0015] S4, the train departs from the station according to the driving permission, and finds the balise of the same track in the train departure direction according to the LRBG obtained in step S2, if the balise is received within the expected range, the check is passed and step S5 is executed, otherwise the check is failed, the on-board device applies an emergency brake protection command to the train;

[0016] S5, if the balise within the expected range is received according to step S4, consistency analysis is performed on the balise.

[0017] As a preferred technical solution, when the train balise receiving antenna is close to the balise position, the LRBG determined by satellite positioning may be received again by the balise receiving antenna, and when the train does not pass through the balise group after the LRBG determined by satellite positioning, any balise with the same identification number as the LRBG determined by satellite positioning is rejected.

[0018] As a preferred technical solution, the emergency brake protection command in step S4 includes deleting all the recently related balise groups saved on the vehicle, disconnecting the connection with the wireless block center and clearing the session, the driver contacting the dispatcher or station attendant, and returning to the station track for re-departure under the permission condition.

[0019] As a preferred technical solution, the consistency analysis in step S5 includes consistency analysis with link information and consistency analysis without link information, wherein the link information includes the distance to the next linked balise group, the regional relationship between the balise group in the information packet and the previous group, the regional number, the balise group number, the running direction of the train when passing through the linked balise group, the measures taken by the train automatic protection system when the link fails, and the balise position accuracy.

[0020] As a preferred technical solution, when the link information is used, if the on-board device initializes the position determination of the train's recently related balise group through satellite positioning, and a link consistency error occurs when passing through the first group of effective balises or the train does not pass through the balise group marked with the direction, the on-board device applies an emergency brake protection command to the train.

[0021] As a preferred technical solution, when the link information is used, if the first group of effective balises is the expected balise group predicted in the link information, but the distance between the balises in the group exceeds the set value, there is a balise missing in the group, or the serial numbers in the group are inconsistent, the on-board device performs link reaction according to the link information.

[0022] As a preferred technical scheme, when the link information is used, if the received first group of entity transponders contains information packets with consistent packet identifier and direction, packet header consistency error in the transponder group, invalid variable in the packet header or invalid variable in the information packet, the vehicle-mounted device applies an emergency braking protection command to the train.

[0023] As a preferred technical scheme, when the link information is not used, if the received first group of entity transponders contains information packets with consistent packet identifier and direction, packet header consistency error in the transponder group, invalid variable in the packet header or invalid variable in the information packet, the vehicle-mounted device applies an emergency braking protection command to the train.

[0024] As a preferred technical scheme, when the link information is not used, when the running direction of the train is different from the running direction obtained according to the entity transponder group and the electronic map, the vehicle-mounted device applies an emergency braking protection command to the train.

[0025] According to a second aspect of the present application, a satellite and transponder-based train positioning and protection method system is provided, comprising a satellite positioning system, ground entity transponders, a wireless block center, an electronic map database and a train control vehicle-mounted device. The satellite positioning system locates the train position and finds the nearest related transponder group from the electronic map, and reports the position information of the train and the nearest related transponder group to the wireless block center; the wireless block center sends a train operation permission to the vehicle-mounted device after receiving the position of the train and the nearest related transponder group; the train departs from the station according to the train operation permission, and finds the entity transponders of the same track in the train departure direction.

[0026] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to realize the method.

[0027] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to realize the method.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] (1) Improve positioning accuracy: by combining satellite positioning technology and the position information of ground entity transponders, the train position is double-checked, effectively reducing the problem of inaccurate positioning caused by satellite positioning error.

[0030] (2) Enhance safety: when positioning error is found, the vehicle-mounted device can quickly take emergency braking and other protection measures to ensure the safety of the train and passengers.

[0031] (3) Improve system reliability: by considering the case of transponder failure and inconsistent link information, and developing appropriate handling strategy, improve the reliability and stability of the entire system.

[0032] (4) Strong adaptability: the method is applicable to the existing railway signal system, without additional equipment. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a satellite positioning verification flowchart;

[0034] Figure 2 is an example of the expected range window of the receiving entity transponder;

[0035] Figure 3 is a flowchart for avoiding repeated reception of LRBG by train transponder after confirming that there is a transponder on the same track;

[0036] Figure 4 is a flowchart for analysis, verification and processing after receiving the transponder. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0038] As shown in Figure 1, a satellite and transponder-based train positioning and protection method, which is based on the CTCS train operation environment, includes the following steps:

[0039] S1, determine the position of the train in the station according to satellite positioning;

[0040] S2, get LRBG according to the position determined in step S1, and report the position information of the train and LRBG to RBC;

[0041] S3, RBC receives the position of the train and LRBG and sends a train operation permit to the on-board device;

[0042] S4, the train departs from the station according to the train operation permit, and finds the entity transponder on the same track in the direction of train departure according to the LRBG obtained in step S2. If the entity transponder is received within the expected range, the verification passes and step S5 is executed, otherwise the verification does not pass, and the on-board device applies an emergency braking protection command to the train;

[0043] S5, if the entity transponder within the expected range is received according to step S4, consistency analysis and processing are performed.

[0044] When the train transponder receiving antenna is close to the physical transponder position, the LRBG determined by satellite positioning can be received again by the transponder receiving antenna. As shown in Fig. 3, when the physical transponder signal is received within the expected range, the satellite positioning determines the train LRBG after the train passes through the physical transponder group, and any transponder with the same LRBG identification number as the LRBG determined by satellite positioning should be rejected.

[0045] The expected range in step S4 is shown in Fig. 2.

[0046] The consistency analysis in step S5 includes consistency analysis with link information and consistency analysis without link information. The link information includes the distance to the next linked transponder group, the regional relationship between the transponder group and the previous group in the information package, the regional number, the transponder group number, the running direction of the train when passing through the linked transponder group, the measures taken by the train automatic protection system when the link fails, and the accuracy of the transponder position.

[0047] As shown in Fig. 4, the flow chart of the consistency analysis and processing after receiving the transponder is as follows:

[0048] S51, if link information is used, go to S511, otherwise go to S512;

[0049] S511, if the physical transponder has a link consistency error or does not pass through the transponder group marked with the same direction, go to S52, otherwise go to S5111;

[0050] S5111, if the distance between the transponder groups in the group exceeds the specified value, there is a transponder missing in the group, or the serial numbers in the group are inconsistent, go to S53, otherwise go to S51111;

[0051] S51111, if the information package contains a package identification and a consistent direction, the package header is inconsistent in the transponder group, the package header contains invalid variables, or the information package contains invalid variables, go to S52, otherwise end and do not perform protection;

[0052] S512, if the distance between the first group of physical transponder groups exceeds the specified value, there is a transponder missing in the group, the serial numbers in the group are inconsistent, the group contains an information package with a consistent package identification and direction, the package header is inconsistent in the transponder group, the package header contains invalid variables, or the information package contains invalid variables, go to S52, otherwise go to S5121;

[0053] S5121, if the first group of physical transponder groups is received, when the train running direction is different from the running direction obtained according to the physical transponder group and the electronic map, go to S2, otherwise end and do not perform protection;

[0054] S52, the on-board device should apply an emergency brake protection command to the train, delete all LRBGs saved on the on-board device, disconnect the connection with the RBC and clear the session, the driver contacts the dispatcher or station attendant, and returns to the in-station track to restart the train with permission;

[0055] S53, performing a link reaction according to the link information.

[0056] The on-board device applies an emergency brake protection command to the train, including deleting all LRBGs saved on the on-board device, disconnecting the connection with the RBC and clearing the session, and the driver contacting the dispatcher or station attendant to return to the in-station track to restart the train with permission.

[0057] The link reaction specified in the link information includes emergency braking, normal braking, no reaction or standby.

[0058] The above is the introduction of the method embodiment, and the following system embodiment is used to further describe the scheme of the application.

[0059] The application is based on a satellite and transponder-based train positioning and protection system, which comprises a satellite positioning system, a ground entity transponder, a wireless block center, an electronic map database and a train control on-board device. The satellite positioning system locates the train position and finds the nearest related transponder group on the electronic map, and reports the position information of the train and the nearest related transponder group to the wireless block center; the wireless block center sends a train operation permission to the on-board device after receiving the position of the train and the nearest related transponder group; the train starts and leaves the station according to the train operation permission, and finds the entity transponder of the same track in the train departure direction.

[0060] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described modules can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0061] The electronic device of the application includes a central processing unit (CPU) which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). Various programs and data required for device operation can also be stored in the RAM. The CPU, ROM and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0062] A number of components in the device are connected to the I / O interface, including: input units, such as a keyboard, a mouse, etc.; output units, such as various types of displays, speakers, etc.; storage units, such as a magnetic disk, an optical disk, etc.; and communication units, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0063] The processing unit performs various methods and processes described above, such as the inventive method. For example, in some embodiments, the inventive method can be implemented as a computer software program tangibly embodied in a machine readable medium, such as the storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device via the ROM and / or the communication unit. When the computer program is loaded onto the RAM and executed by the CPU, one or more steps of the inventive method described above can be performed. Alternatively, in other embodiments, the CPU can be configured to perform the inventive method by any other suitable means, such as by means of firmware.

[0064] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), etc.

[0065] Program code for carrying out the methods of the present application can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions / operations specified in the flow charts and / or block diagrams to be implemented. The program code can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0066] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable storage medium can include, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage medium would include one or more lines of electrical wire, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

[0067] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A satellite and transponder based train location and protection method, characterized in that, The method comprises the following steps: S1, determining the position of the train in the station according to satellite positioning; S2, obtaining the nearest relevant balise group according to the position determined in step S1, and reporting the position information of the train and the nearest relevant balise group to the radio block center; S3, the radio block center sends a train operation permit to the on-board device after receiving the position of the train and the nearest relevant balise group; S4, the train departs from the station according to the train operation permit, and searches for the entity balise of the same track in the train departure direction according to the nearest relevant balise group obtained in step S2, if the entity balise is received within the expected range, the check passes and step S5 is executed, otherwise the check fails, and the on-board device applies an emergency braking protection command to the train; S5, if the entity balise within the expected range received in step S4 is received, consistency analysis is performed on the entity balise and processed.

2. A satellite and transponder based train location and protection method according to claim 1 wherein, In step S4, when the train does not pass through the entity balise group after the satellite positioning determines the nearest relevant balise group, any entity balise with the same identification number as the nearest relevant balise group determined by the satellite positioning is refused to be used.

3. A satellite and transponder based train location and protection method according to claim 1 wherein, The emergency braking protection command in step S4 includes deleting all the nearest relevant balise groups saved on the train, disconnecting the connection with the radio block center and clearing the session, contacting the dispatcher or station attendant by the driver, and returning to the track in the station to depart again under the permitted condition.

4. A satellite and transponder based train location and protection method according to claim 1 wherein, The consistency analysis in step S5 includes consistency analysis with link information and consistency analysis without link information, wherein the link information includes the distance to the next link balise group, the regional relationship of the balise group in the information package and the previous group, the regional number, the balise group number, the running direction of the train when passing through the linked balise group, the measures taken by the train automatic protection system when the link fails, and the balise position accuracy.

5. A satellite and transponder based train location and protection method according to claim 4, wherein, In the case of using link information, if the on-board device initializes the position of the nearest relevant balise group of the train through satellite positioning, and the first group of effective entity balises appears link consistency error or does not pass through the balise group marked with the direction when the link is failed, the on-board device applies an emergency braking protection command to the train.

6. A satellite and transponder based train location and protection method according to claim 4 wherein, In the case of using link information, if the first group of effective entity balises is the expected balise group as predicted in the link information, but the interval in the balise group exceeds the set value, there is a balise missing in the group, or the serial numbers in the group are inconsistent, the on-board device performs link reaction according to the link information.

7. A satellite and transponder based train location and protection method according to claim 4 wherein, In the case of using link information, if the first group of entity balises received contains information packages with consistent package identification and direction, the package header is inconsistent in the balise group, the package header contains invalid variables, or the information package contains invalid variables, the on-board device applies an emergency braking protection command to the train.

8. A satellite and transponder based train location and protection method according to claim 4 wherein, In the case of not using link information, if the interval in the first group of entity balises exceeds the set value, there is a balise missing in the group, the serial numbers in the group are inconsistent, the group contains information packages with consistent package identification and direction, the package header is inconsistent in the balise group, the package header contains invalid variables, or the information package contains invalid variables, the on-board device applies an emergency braking protection command to the train.

9. A satellite and transponder based train location and protection method according to claim 4 wherein, When the train running direction is different from the running direction obtained according to the entity balise group and the electronic map, the on-board device applies an emergency brake protection command to the train.

10. A system for use in a satellite and transponder based train location and protection method according to any one of claims 1 to 9, characterized in that, The system comprises a satellite positioning system, ground entity balises, a radio block center, an electronic map database and a train control on-board device. The satellite positioning system locates the train position and finds the nearest relevant balise group from the electronic map, and reports the position information of the train and the nearest relevant balise group to the radio block center; the radio block center sends a train operation permission to the on-board device after receiving the position information of the train and the nearest relevant balise group; the train departs from the station according to the train operation permission, and finds the entity balises of the same track as the train departure direction.

11. An electronic device comprising a memory and a processor, said memory having stored thereon a computer program, characterized in that, The processor implements the method of any one of claims 1-9 when executing the program.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-9.

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