RU2092355C1 - Device to control train traffic by means of artificial earth satellites - Google Patents

Abstract

FIELD: railway transport; mainline traffic control. SUBSTANCE: rail radars are installed on locomotive which considerably increases accuracy of determination of train coordinates and decreases requirements to accuracy of space navigation system owing to use of two-scale train traffic control device where function of "coarse" scale for dispatcher control is played by space navigation system and function of "fine" scale providing safe movement of trains, by rail radar. EFFECT: simplified design, reduced cost of equipment of space traffic control system, increased traffic capacity of block sections, improved safety and reduced loading of satellite communication channels. 2 dwg

Description

 The invention relates to devices for railway automation, telemechanics and communications.

 A device is known for controlling the movement of trains using artificial Earth satellites, containing the receivers of signals transmitted from artificial Earth satellites installed on each locomotive, the output of each of which is connected to the input of the corresponding rangefinder, the outputs connected to the inputs of the unit for generating signals of the location of the train by solving navigation equations, connected by the outputs to the input of the control unit and control the speed of the train, the input of the memory unit and through the digital-to-analog pre a developer with a transmitter input, configured to transmit signals through a communication satellite to a control room, on which an information processing unit connected to the display is installed.

 However, the device has the following disadvantages.

 1. The complexity of the system for the introduction of amendments to navigation measurements to implement the above accuracy. These corrections are determined by a large number of ground-based measuring points, transmitted to navigation satellites, recorded in their on-board memory, and then transferred to the user, on board of whom there must be special decoders to select these corrections, and then enter them into a computer that solves the navigation problem.

 2. Since the driver does not have information about the distance to the train in front and about its speed, the entire volume of navigation information from each locomotive is transmitted via satellite lines to the control center, where it is processed to generate traffic control commands and then transfer them to the locomotives. This requires the use of broadband highly informative signals in satellite communication channels and a powerful computer at the control room, capable of processing large amounts of information.

 3. Despite the relatively high cost and complexity of the equipment (one set of locomotive equipment costs $ 100 thousand), the accuracy and resolution of navigation measurements are insufficient to significantly increase the throughput capacity of iron targeted braking of trains, distinguishing trains moving along adjacent tracks. The technical result to which this invention is directed is to eliminate the noted drawbacks by organizing two channels, receiving information by dividing the functions of supervisory control and ensuring traffic safety.

 It is advisable to assign dispatch control to the space navigation system, reducing the required accuracy of measuring the coordinates of trains to 1 km, i.e., using this scale as rough. At the same time, correction decoders providing high accuracy are excluded from the user's locomotive equipment, the bit depth of all code packets is reduced, and the bandwidth of space communication channels can be reduced by several orders of magnitude and brought to the telephone standard.

 To ensure traffic safety, it is advisable to use systems for determining the location and speed of a rail vehicle, which are simple and cheap rail (feeder) locators that measure the distance along a generally curved path to a train in front, as well as its speed with an accuracy of about 1 m and 1 m / s, respectively.

 The driver will continuously have this information on the appropriate board or display. Such a device can serve as an addition to the existing ALS system to increase the reliability of motion control.

 The technical result is achieved by the fact that the device for controlling the movement of trains using artificial Earth satellites, containing installed on each locomotive receivers of signals transmitted from artificial Earth satellites, the output of each of which is connected to the input of the corresponding rangefinder, the outputs connected to the inputs of the unit for generating the signals of the location of the train by solving the navigation equations associated with the outputs of the input of the control unit and control the speed of the train, the input of the unit The digital-to-analog converter with the input of the transmitter is configured to transmit signals through a communication satellite to a control room where the information processing unit associated with the display is installed, equipped with a rail locator installed on each locomotive, and the train location signal generation unit is made with an additional input connected to the output of the rail locator, and the channel for generating signals of the speed of the train and the distance to the vehicle in front according to the information and coming from the rail locator to indicate them on the locomotive display.

 In FIG. 1 shows a block diagram of a device; in FIG. 2 is a structural diagram of a train position signal generation unit, where 1.1-1.3 are artificial navigation satellites of the Earth; 2 locomotive; 3.1-3.3 - receivers; 4.1-4.4 rangefinders; 5 unit for generating signals of the location of the train; 6 block of memory; 7 rail locator; 8 block control and regulation of the speed of the train; 9 locomotive display; 10 digital-to-analog converter; 11 locomotive radio station with transmitter; 12 communication satellite; 13 control room; 14 information processing unit; 15 - radio station of a control room; 16 control room display.

 The device operates as follows.

 Satellites 11-1.3 transmit reference signals and signals about their ephemeris, which are received by locomotive receivers 3.1-3.3. The latter provide reference signals to rangefinders to measure distances 4.1-4.3 from the locomotive to navigation satellites. This information, as well as data on the ephemeris is entered into block 5 and memory block 6, where the program for solving the navigation equations is preliminarily recorded.

 This problem is solved in block 5. The coordinates and component vectors of the train speed calculated in this way are fed to a digital-to-analog converter 10, which is information for transmission through a transmitter of a locomotive radio station 11 to a communication satellite 12 and radio station 15, of a control station 13 to its information processing unit 14, where information from all locomotives is transmitted in the same way. As a result of its processing, traffic control commands are generated that are transmitted to the locomotives via satellite return channels. Thus, a coarse scale for supervisory control is implemented.

 An exact measurement of the relative distance and relative speed of trains is made by the rail locator 7 also using block 5, where the operation of differentiating the relative distance is carried out. The results of relative measurements on an accurate scale are sent to block 8 for monitoring and controlling the speed of the vehicle.

 On the display 9 of the locomotive the control commands and the exact scale of the locomotive are displayed, and on the display of the control room navigation information on coarse scales coming from all locomotives.

путем определения корней системы уравнений
(x-x_i)²+(y-y_i)²+(z-z_i)²d $\genfrac{}{}{0ex}{}{\text{2}}{\text{i}}$ (1)

где x_i, y_i, z_i,

- координаты и скорости (составляющие ее вектора) навигационных спутников (эфемериды). Они передаются пользователю вместе с опорным сигналом.Satellite navigation systems are designed to determine the coordinates and speeds of any vehicles and are constructed in such a way that at least 3-4 satellites are observed at every point on the globe. These navigation satellites emit reference signals received by receivers located on the vehicle. The latter also includes rangefinders that measure distances to satellites d _i , where i 1, 2, 3 are the satellite’s number, as well as a train signal generation unit and a memory block, which help to solve the navigation problem of calculating user coordinates and speeds in a geodetic coordinate system

by determining the roots of the system of equations
(xx _i ) ² + (yy _i ) ² + (zz _i ) ² d $\genfrac{}{}{0ex}{}{\text{2}}{\text{i}}$ (one)

where x _i , y _i , z _i ,

- coordinates and speeds (its constituent vectors) of navigation satellites (ephemeris). They are transmitted to the user along with the reference signal.

 To implement navigation measurements with an accuracy of 45 m and 1.6 km / h, the received data must be corrected for the instability of the frequency of the reference signals, which are also transmitted to the user and allocated using special decoders on board.

 The satellite communication system consists of several satellites with airborne repeaters and is designed to provide duplex communication unit 5 generating signals for the location of the train.

 Next, you need to disclose the structure in which the decision is made system. This structure is shown in FIG. 2. It consists of the following elements: 5.1.1-5.1.2 algebraic adders; 5.2 quadrator; 5.3.1-5.3.3 differentiators; 5.4.1-5.4.2 multipliers; 5.5.1-5.5.2 comparators; 5.6 - a node for solving systems of equations.

 The circuit of FIG. 2 operates as follows.

, дальномеры выдают измеренные значения дальности d_i. Узел решения систем уравнений 5.6 выдает решения указанных систем уравнений x_i, y_i, z_i,

методом итераций (для чего команды поступают из блока памяти).From the receivers 3.3-3.3 of FIG. 1 ephemeris of navigation satellites x _i , y _i , z _i ,

, the rangefinders give the measured range values d _i . The node for solving systems of equations 5.6 gives solutions to the indicated systems of equations x _i , y _i , z _i ,

iteration method (for which the commands come from the memory block).

z z_i, квадраторы (здесь и далее на фиг. 2 два других идентичных канала показаны штрих-пунктиром) возводят эти разности в квадрат, дифференциаторы вычисляют производные

а умножители выдают произведения

Другие алгебраические сумматоры 5.1.2 и 5.1.3 определяют суммы, стоящие в левых частях уравнений (1) и (2). Компараторы (разновидность алгебраических сумматоров) приравнивают левые и правые части этих уравнений, причем для получения правой части уравнения (2), т.е. d_i, d_i, используются соответствующие дифференциатор и умножитель. Результаты решения уравнений вводятся в блок памяти, где хранятся до востребования промежуточные и конечные результаты расчетов.Algebraic adders (one adder 5.1.1 is shown) determine the differences

zz _i , the quadrators (hereinafter in Fig. 2, two other identical channels are shown by dashed lines) square these differences, the differentiators calculate the derivatives

and multipliers produce works

Other algebraic adders 5.1.2 and 5.1.3 determine the sums on the left sides of equations (1) and (2). Comparators (a kind of algebraic adders) equate the left and right sides of these equations, moreover, to obtain the right side of equation (2), i.e. d _i , d _i , the corresponding differentiator and multiplier are used. The results of solving the equations are entered into the memory block, where intermediate and final calculation results are stored on demand.

 An optional differentiator 5.3.3 calculates the difference in train speeds ΔV by differentiating the current distance between the locomotive and the tail carriage of the train in front along a generally curved railway track. This information is reduced from the output of the meter rail locator 7.

 Three receivers 3.1-3.3 of navigation satellites 1.1-1.3 installed on each locomotive (see Fig. 1) are loaded onto three rangefinders 4.1-4.3 respectively, the receivers and rangefinders are connected to the unit with (5), which is connected to the memory unit 6 by outputs , block 8 for monitoring and controlling the speed of the vehicle, a display 9 and a digital-to-analog converter 10, a rail locator 7 is connected to one of the inputs of block 5. An analog-to-digital converter 10 is connected to the information processing unit 14 via radio stations 11 and 15 and a communication satellite 12ispetcherskogo points, which in turn is loaded on the display 16.

 Superheterodyne receivers 3.1-3.3 operate in the range of gigahertz units. Rangefinders 4.1-4.3 correlation type, since the system uses noise-like signals.

Claims (1)

 A device for controlling the movement of trains using artificial Earth satellites, containing the receivers of signals transmitted from artificial Earth satellites installed on each locomotive, the output of each of which is connected to the input of the corresponding rangefinder, the outputs connected to the inputs of the formation unit of the train location signals by solving the navigation equations related outputs with the input of the control unit and control the speed of the train, the input of the memory unit and through the digital-to-analog converter l with the input of the transmitter, configured to transmit signals through a communication satellite to a control room, on which an information processing unit connected to the display is installed, characterized in that it is equipped with a rail locator installed on each locomotive, and the train location signal generation unit is made with an additional the input connected to the output of the rail locator, and the channel for generating signals of the speed of the train and the distance to the vehicle in front according to the information received from p lsovogo locator for indicating them to the locomotive display.

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