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WO2018021225A1 - Système de mesure de l'emplacement de véhicule ferroviaire - Google Patents

Système de mesure de l'emplacement de véhicule ferroviaire Download PDF

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Publication number
WO2018021225A1
WO2018021225A1 PCT/JP2017/026645 JP2017026645W WO2018021225A1 WO 2018021225 A1 WO2018021225 A1 WO 2018021225A1 JP 2017026645 W JP2017026645 W JP 2017026645W WO 2018021225 A1 WO2018021225 A1 WO 2018021225A1
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WIPO (PCT)
Prior art keywords
speed
satellite positioning
railway vehicle
doppler
radio wave
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Ceased
Application number
PCT/JP2017/026645
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English (en)
Japanese (ja)
Inventor
佳男 三浦
和則 宗像
正人 赤井
裕郁 霜山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eikura Tsushin Co Ltd
Original Assignee
Eikura Tsushin Co Ltd
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Filing date
Publication date
Application filed by Eikura Tsushin Co Ltd filed Critical Eikura Tsushin Co Ltd
Publication of WO2018021225A1 publication Critical patent/WO2018021225A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to a railway vehicle position measurement system for specifying the position of a track error in a railway.
  • FIG. 7 (A) illustrates a conventional method for specifying the orbit error using a kilometer post (distance mark).
  • a kilopost (distance marker) is one of track signs and indicates the distance from the starting point of the track.
  • a kilopost (distance marker) is provided, for example, every 1 km.
  • a business operator who wants to identify a trajectory error installs a motion measurement device equipped with, for example, a three-axis acceleration sensor on the railcar 90 and observes the kilometer post (distance marker) 100 at any time to confirm the position of the location where the motion is large. can do.
  • a logger that prints acceleration on paper in real time is connected to a shake measurement device, and when the kilometer post (distance marker) 100 is observed, a mark is placed and the location is determined. Can be considered.
  • the sway measuring device at point A senses a large sway, and therefore the position can be specified from the mark of the kilometer post (distance marker) 100 that is observed at any time.
  • such a method based on manual and human observation is time-consuming and it is difficult to specify the exact position of the trajectory error.
  • a technique using a speed generator capable of constantly measuring the speed of the railway vehicle 90 is also used (for example, Japanese Patent Laid-Open No. 8-68624). See the official gazette).
  • the speed generator is a speedometer attached to the axle of the railway vehicle 90, and can estimate the speed of the railway vehicle 90 from the rotational speed of the axle. Therefore, the travel distance can be calculated by multiplying the speed and time, and the position of the trajectory error can be estimated by combining with the data of the fluctuation measuring device.
  • a speed generator is not always available because it does not have a connector for connecting to the vibration measuring device. Therefore, it may be difficult to obtain the position of the orbit error (about kilometer).
  • FIG. 7B explains a method for specifying the position of an orbital error by satellite positioning.
  • An observer who wants to specify the position of the trajectory shift performs measurement by mounting a satellite positioning radio wave receiver, an acceleration sensor, and the like on the railway vehicle 90 to measure the degree of the shake.
  • the present invention has been made in view of the above problems, and position information and velocity information obtained from a receiver that receives radio waves for satellite positioning, and velocity information obtained from a Doppler sensor that detects a Doppler phenomenon of electromagnetic waves. It is an object of the present invention to provide a simple railway vehicle position measurement system that can accurately and accurately specify the position of the track error (about kilometer) at all times.
  • distance and “km” are not strictly distinguished, and both mean the distance from a predetermined starting point.
  • the present invention provides a Doppler sensor that detects a Doppler phenomenon of electromagnetic waves, a Doppler speed acquisition unit that acquires a Doppler speed, which is a speed of a railway vehicle, based on information obtained from the Doppler sensor, and a satellite positioning system.
  • a Doppler speed acquisition unit that acquires a Doppler speed, which is a speed of a railway vehicle, based on information obtained from the Doppler sensor, and a satellite positioning system.
  • satellite positioning position information acquisition means for acquiring satellite positioning position information which is latitude / longitude information of the position where the railway vehicle exists, and satellite positioning speed which is the speed of the railway vehicle based on the satellite positioning position information
  • Satellite positioning speed acquisition means for acquiring the calibration speed of the railway vehicle, which is a calibration value obtained by calibrating the Doppler speed based on the satellite positioning speed, and the satellite positioning speed or the calibration.
  • the iron comprising: a kilometer determining means for determining a kilometer of the railway vehicle using at least one of
  • the position and speed of the railway vehicle can be acquired using the satellite positioning system, but also the speed of the railway vehicle can be acquired based on information obtained from the Doppler sensor. Because the reception conditions of the receiver that receives the radio waves for satellite positioning are poor, and the location speed cannot be specified from the satellite positioning radio waves, it is possible to identify the accurate speed of the railway vehicle. There is an effect.
  • the present invention provides the railway vehicle position measurement system according to (1) above, further comprising noise removal means for removing a noise signal from the Doppler speed acquired by the Doppler speed acquisition means. .
  • the Doppler sensor In the speed measurement by the Doppler sensor, the Doppler sensor emits electromagnetic waves in a wide range, and acquires the speed from the frequency change of the electromagnetic waves reflected and returned. However, there is a drawback that the speed obtained by the reflection location varies. According to the invention described in (2) above, since the railroad vehicle position measurement system includes the noise removal means for removing the noise signal out of the Doppler speed acquired by the Doppler speed acquisition means, the variation data is removed. An excellent effect is obtained that an accurate Doppler speed can be obtained.
  • the kilometer determination means further comprises a selection means for selecting either the satellite positioning speed or the calibration speed.
  • a railway vehicle position measuring system as described is provided.
  • the kilometer determination means further includes selection means for selecting either the satellite positioning speed or the calibration speed, so that the accuracy of the satellite positioning speed and the calibration speed are compared.
  • selection means for selecting either the satellite positioning speed or the calibration speed, so that the accuracy of the satellite positioning speed and the calibration speed are compared.
  • the present invention further includes radio wave reception state acquisition means for acquiring a radio wave reception state for satellite positioning, and the selection means has a good radio wave reception state for satellite positioning and is accurate.
  • the satellite positioning speed can be acquired, the satellite positioning speed is selected, and when the radio wave reception state for the satellite positioning radio wave is not good and the accurate satellite positioning speed cannot be acquired, the calibration speed is selected.
  • a railway vehicle position measuring system as described in (3) above is provided.
  • an appropriate speed can be selected from the satellite positioning speed and the calibration speed based on the state of radio wave reception for satellite positioning. That is, when the radio wave reception status for satellite positioning is good and an accurate satellite positioning speed can be obtained, the satellite positioning speed is selected, the radio wave reception status for satellite positioning is not good, and the accurate satellite When the positioning speed cannot be acquired, the calibration speed based on the Doppler speed unrelated to the reception of the radio wave from the positioning satellite is selected, so that a more accurate kilometer can be acquired.
  • the Doppler speed acquisition means acquires There is an excellent effect that it is possible to obtain kilos based on the speed.
  • the Doppler sensor and an antenna for receiving a radio wave for satellite positioning are provided in an integral housing.
  • a railway vehicle position measurement system is provided.
  • the Doppler sensor for measuring the speed must be installed in the front window, the rear window, or both, which easily transmit and receive electromagnetic waves outside the vehicle. According to the invention described in (5) above, since the antenna for acquiring the signal from the satellite positioning radio wave is provided in the housing integral with the Doppler sensor, the railway vehicle is easy to handle and can be easily mounted on a commercial vehicle. There is an excellent effect that a position measuring system can be provided.
  • the present invention provides the railway vehicle position measurement system according to (5) above, further comprising a fixing means for fixing the housing to a window of the railway vehicle.
  • the antenna that receives radio waves for satellite positioning and the Doppler sensor for speed measurement must be fixedly installed near the window glass toward the outside of the vehicle. According to the invention described in (6) above, since the housing including the antenna and the Doppler sensor is fixed by the fixing means fixed to the window, accurate reception of radio waves for positioning and accurate speed measurement are performed. There is an excellent effect that becomes possible.
  • the present invention provides a degree-of-movement determination means for determining whether a value indicating the degree of movement of the railway vehicle acquired by the movement sensor mounted on the railway vehicle exceeds a predetermined threshold value.
  • the value indicating the degree of shaking of the railway vehicle acquired by the shaking sensor is determined by the kilometer determining means at the timing when the shaking degree determining means determines that the predetermined threshold is exceeded.
  • the railway vehicle position measurement system according to any one of the above (1) to (6), further comprising storage means for storing the kilometer.
  • the interlocking kilometer determination means includes By combining information about the kilometer of the railway vehicle to be determined, there is an excellent effect that it is possible to specify the exact position (kilometre) of the track error corresponding to the place where the degree of shaking exceeds a predetermined threshold.
  • the position and speed of the railway vehicle can be acquired using the satellite positioning system, but also the speed of the railway vehicle can be acquired based on information obtained from the Doppler sensor. Therefore, there is an excellent effect that the accurate speed of the railway vehicle can be specified even in a place and time zone where the reception condition of the receiver for receiving the radio wave is poor and the position cannot be specified from the satellite positioning radio wave.
  • FIG. 1 is an overall configuration diagram of a railway vehicle position measurement system.
  • A It is explanatory drawing explaining the kilometer determination process which determines distance (km) from the speed of a rail vehicle.
  • B An explanatory diagram for explaining a method for obtaining a distance (about kilometer) by a piecewise quadrature method. It is a flowchart of the program which acquires speed V (t) of a rail vehicle.
  • A A flowchart of a subroutine for obtaining a moving average Ga of the correction coefficient G.
  • B It is a flowchart of the subroutine which acquires the calibration speed Va. It is explanatory drawing explaining the noise removal of a Doppler speed.
  • FIG. 3 is an explanatory diagram for explaining an aspect in which a housing provided with a Doppler sensor or the like for measuring speed is fixed to a window glass.
  • A It is explanatory drawing explaining the method of discovering the position where a trajectory deviation occurs from a distance marker in the past.
  • B It is explanatory drawing explaining the method of discovering the position where a trajectory deviation occurs from the conventional satellite positioning radio signal. It is explanatory drawing explaining the subject in the method of discovering the position where an orbit shift occurs from the conventional satellite positioning radio signal.
  • FIG. 1 to FIG. 6 are examples of embodiments for carrying out the invention, and in the drawings, parts denoted by the same reference numerals represent the same items.
  • a part of the configuration is omitted as appropriate in each drawing to simplify the drawing.
  • the size, shape, thickness, etc. of the members are exaggerated as appropriate.
  • FIG. 1 shows an overall configuration diagram of a railway vehicle position measurement system 1 according to a first embodiment of the present invention.
  • the railway vehicle position measurement system 1 mainly includes a satellite positioning radio wave reception system 2, a Doppler velocity acquisition system 4, a fluctuation measurement module 50, a control unit 60, and a communication I / F (interface) 70.
  • the satellite positioning radio wave reception system 2 and the Doppler velocity acquisition system 4 are included in an integral housing 45.
  • the fluctuation measurement module 50 may also be included in the integral housing 45.
  • the information acquired from the satellite positioning radio wave reception system 2, the Doppler velocity acquisition system 4, and the fluctuation measurement module 50 is integrated, stored, analyzed, and drawn on the monitor as an image. May be included.
  • the satellite positioning radio wave reception system 2 includes a satellite positioning radio wave reception module 10 and a satellite positioning radio wave signal analysis module 20.
  • the satellite positioning radio wave receiving module 10 includes an antenna structure that receives a satellite positioning radio wave 5 that is a signal radio wave from the positioning satellite 3.
  • the satellite positioning radio signal analysis module 20 is a satellite positioning position information acquisition unit and a satellite positioning speed acquisition unit, and is latitude / longitude information of a position where the railway vehicle is present from a signal obtained by the satellite positioning radio wave reception module 10.
  • a satellite positioning position information acquisition process for acquiring satellite positioning position information and a satellite positioning speed acquisition process for acquiring a satellite positioning speed that is the speed of the railway vehicle are performed based on the satellite positioning position information.
  • the satellite positioning radio wave reception system 2 preferably has radio wave reception state acquisition means for acquiring the radio wave reception state for satellite positioning.
  • the Doppler speed acquisition system 4 includes a Doppler sensor 30 and a Doppler signal analysis module 40.
  • the Doppler sensor 30 that detects the Doppler phenomenon of the electromagnetic wave has an antenna structure that transmits the transmission electromagnetic wave 7 and receives the reflected electromagnetic wave 9 that is reflected and returned.
  • the Doppler signal analysis module 40 is Doppler speed acquisition means, and performs Doppler speed acquisition processing for acquiring the Doppler speed, which is the speed of the railway vehicle, based on information obtained from the Doppler sensor 30.
  • the Doppler velocity which is the velocity measured by the Doppler velocity acquisition system 4
  • the satellite positioning velocity which is the accurate velocity measured by the satellite positioning radio wave reception system 2. It is known that the value is about 10% smaller. Therefore, it is necessary to calibrate the Doppler speed in order to estimate an accurate vehicle speed when the satellite positioning radio wave reception state is poor. This calibration process will be described later.
  • the control unit 60 includes a CPU, a RAM, a ROM, and the like, and executes various controls. That is, the control unit 60 realizes a noise removing unit that performs a noise removing process described later, a calibration unit that performs a calibration process, a kilometer determining unit that performs a kilometer determining process, and a selecting unit that performs a selecting process.
  • the CPU is a so-called central processing unit, and executes various programs to realize various functions. Specifically, an abnormal value determination process, an average value calculation process, a noise removal process, a calibration process, a kilometer determination process, a selection process, and the like, which will be described later, are performed on speed information and position information.
  • the RAM is used as a work area and a storage area of the CPU, and the ROM stores an operating system and programs executed by the CPU.
  • the noise removal process is a process of removing a noise signal from the Doppler speed acquired by the Doppler speed acquisition unit, and may be performed by the Doppler signal analysis module 40.
  • the calibration process is a process for acquiring the calibration speed of the railway vehicle, which is a calibration value obtained by calibrating the Doppler speed, based on the satellite positioning speed described above.
  • the kilometer determination process is a process of determining the kilometer of the railway vehicle using at least one of the satellite positioning speed or the calibration speed.
  • Selection processing means that when the radio wave reception status for satellite positioning is good and an accurate satellite positioning speed can be obtained, the satellite positioning speed is selected as the speed of the railway vehicle, and radio wave reception for satellite positioning radio waves is received. This is a process of selecting the calibration speed as the speed of the railway vehicle when the state is not good and an accurate satellite positioning speed cannot be obtained.
  • abnormal value determination processing may be performed by various programs stored in the PC 80.
  • the satellite positioning radio signal analysis module 20, the Doppler signal analysis module 40, and the control unit 60 are connected by wireless or wired communication means.
  • the communication I / F 70 is an interface conforming to an existing communication standard, that is, a standard such as RS232C or Bluetooth (registered trademark), and is connected to an external PC 80.
  • the sway measurement module 50 includes a sway sensor that measures a value indicating the degree of sway of the railway vehicle on which the sway measurement module 50 is installed.
  • a vibration sensor for example, a multi-axis acceleration sensor is provided, and a time change in acceleration in three axis directions of the X axis, the Y axis, and the Z axis orthogonal to each other is acquired.
  • a threshold value may be provided in advance for the magnitude of the time change in acceleration, and a place where a time change in acceleration larger than the threshold value occurs may be determined as a place where there is a trajectory error.
  • the railway vehicle position measurement system 1 measures the position of the railway vehicle and the distance (in kilometers) from a predetermined starting point at each time by a method described later, and associates it with the acceleration measured by the oscillation measurement module 50 at that time.
  • the storage means that is, in the memory, it is possible to specify the exact position of the trajectory error.
  • the railway vehicle position measurement system 1 determines whether or not the value indicating the degree of shaking of the railway vehicle acquired by a multi-axis acceleration sensor that is a shaking sensor mounted on the railway vehicle exceeds a predetermined threshold value.
  • the kilometer process is performed.
  • the memory may be in the control unit 60 or in the PC 80.
  • the fluctuation measurement module 50 is connected to the controller 60 and is included in the railway vehicle position measurement system 1. However, the fluctuation measurement module 50 is provided separately from the railway vehicle position measurement system 1. Also good. Even in that case, at approximately the same time, by integrating both the speed information of the railway vehicle acquired by the railway vehicle position measurement system 1 and the information about the degree of shaking acquired by the shaking measurement module 50, It is possible to specify the exact position of the trajectory error.
  • the housing 45 includes the satellite positioning radio wave reception module 10 and the Doppler sensor 30, and the satellite positioning radio signal analysis module 20 and the Doppler signal analysis module 40 may be provided in a separate housing from the housing 45.
  • the housing 45 includes a Doppler sensor and an antenna that receives radio waves for satellite positioning, and other members may be provided in a housing separate from the housing 45.
  • FIG. 2A is an explanatory diagram illustrating a kilometer determination process for determining a distance (kilometres) based on information obtained from at least one of the satellite positioning radio wave reception system 2 and the Doppler velocity acquisition system 4.
  • the railway vehicle position measurement system 1 includes a satellite positioning speed acquired from the satellite positioning radio wave reception system 2, or a calibration speed obtained based on information acquired from both the satellite positioning radio wave reception system 2 and the Doppler speed acquisition system 4.
  • the distance (about kilometer) is acquired by the piecewise quadrature method. That is, it is desirable to perform calculation using the satellite positioning speed if the satellite positioning radio wave reception state is good, and using the calibration speed if the satellite positioning radio wave reception state is bad. That is, in FIG. 2A, when the satellite positioning radio wave reception state is good, the switch is connected to the right side, and when the satellite positioning radio wave reception state is bad, the switch is connected to the left side.
  • the piecewise quadrature method calculates the moving distance L during the time interval Dt by multiplying the speed V (t) at a predetermined time t by Dt, for example. This is a method of obtaining a distance (about kilometer) from a predetermined position by adding the distance L.
  • the satellite positioning radio wave reception system 2 can acquire satellite positioning position information, which is the position information of the receiver. Therefore, an accurate kilometer to a predetermined position is obtained in advance by another means, and the railway vehicle If it is detected that the distance has been reached, the distance may be corrected to an accurate value, and the distance may be corrected so as not to accumulate an error in the distance obtained from the vehicle speed V (t) (FIG. 2A )reference). Specifically, a point with good reception of satellite positioning radio waves is determined in advance, and the latitude and longitude information of that point is acquired by the satellite positioning radio wave reception system, and the orbit measurement is performed from the specified starting point to the point. It is desirable to measure by car.
  • FIG. 3 shows a flowchart of a program for obtaining the speed V (t) of the railway vehicle at a predetermined time t.
  • Each subroutine for obtaining the moving average Ga of the correction coefficient and the calibration speed Va will be described in detail with reference to FIGS. 4A and 4B, respectively.
  • the control unit 60 acquires the reception status of the satellite positioning radio wave from the satellite positioning radio wave receiving system 2 (step S1).
  • the control unit 60 determines whether or not the satellite positioning radio wave reception state is good (step S2). If good, the control unit 60 acquires the satellite positioning speed Vg from the satellite positioning radio wave reception system 2 (step S3). Subsequently, the control unit 60 acquires the Doppler speed Vd from the Doppler speed acquisition system 4 (step S4).
  • the controller 60 performs a noise removal process to be described later on the acquired Doppler speed Vd, and newly sets the processed value as the Doppler speed Vd (step S5). Further, the control unit 60 calculates the correction coefficient G according to the subroutine, and stores the moving average Ga of G in the memory (step S6). Then, the control unit 60 stores the satellite positioning speed Vg in the memory as the speed V (t) of the railway vehicle at the predetermined time t (step S7).
  • step S2 If the control unit 60 determines in step S2 that the satellite positioning radio wave reception state is not good, the control unit 60 acquires the Doppler velocity Vd from the Doppler velocity acquisition system 4 (step S8). The controller 60 performs a noise removal process to be described later on the acquired Doppler speed Vd, and newly sets the processed value as the Doppler speed Vd (step S9). Subsequently, the control unit 60 calculates the calibration speed Va according to the subroutine (step S10). Then, the control unit 60 stores the calibration speed Va in the memory as the speed V (t) of the railway vehicle at a predetermined time t (step S11).
  • the memory for storing V (t) may be provided in the control unit 60 or in the PC 80.
  • the moving average value may be obtained only from the data of the correction coefficient G accumulated in the memory and stored as the moving average value Ga. Further, when the newly stored correction coefficient G is a value deviated by, for example, ⁇ 5% or more from the immediately preceding moving average value Ga, it may not be used as data for calculating the moving average value.
  • the moving average Ga of the correction coefficient G by the control unit 60 may be updated at a predetermined time interval, for example, in accordance with the acquisition timing of the satellite positioning speed Vg.
  • the control unit 60 uses the Doppler speed Vd and the moving average Ga of the correction coefficient at the time t when the satellite positioning radio wave reception state is poor and the satellite positioning speed Vg cannot be acquired. (T) can be calculated. Therefore, the railway vehicle position measurement system 1 can accurately calculate the distance (about kilometer) from the predetermined starting point of the railway vehicle at each time.
  • FIG. 5 is an explanatory diagram for explaining the noise processing performed by the noise removing means for removing the Doppler speed noise signal.
  • the measured Doppler speed varies greatly, but if the maximum value is selected among the variations within a predetermined time, the satellite is sufficiently smooth and accurate. It has been found that a speed very well correlated with the positioning speed can be obtained.
  • FIG. 5A shows the change over time of the Doppler speed obtained by the Doppler speed acquisition system 4.
  • the Doppler speed acquisition system 4 continuously performs measurement at predetermined time intervals, and the noise removing unit performs, for example, the following abnormal value determination process, average value calculation process, and maximum value process.
  • the data is the Doppler speed measured continuously by the Doppler speed acquisition system 4. If there is no previous data, the first data is considered normal, and when the next data is obtained, the first data is the previous data, and the next data is the current data. We proceed with processing.
  • the average value is obtained using the past 10 speed data.
  • the obtained average value and the current speed difference are a fourth predetermined difference, for example, 30 km / h or more, the average value is adopted as the speed data.
  • ⁇ Maximum value processing> (1) For example, the maximum value is obtained using the past 40 speed data. (2) When the difference between the obtained maximum value and the current speed is a fifth predetermined difference, for example, 5 km / h or more, the maximum value is adopted as speed data.
  • the data in FIG. 5A becomes data from which variation is suppressed and noise is removed as shown in FIG. 5B.
  • FIG. 6 is an explanatory diagram for explaining the housing 45 and the like of the railway vehicle position measurement system.
  • FIG. 6A shows a housing 45 provided with the satellite positioning radio wave receiving module 10 and the Doppler sensor 30 and provided with fixing means 150 for fixing the housing 45 to the window glass of the railway vehicle.
  • the window glass fixing means 150 for example, suction fixing means such as a suction cup for vacuum suction can be considered.
  • the housing 45 can be fixed to the inner side surface 210 of the window glass by the fixing means 150.
  • the housing 45 can be easily fixed to the window glass, so that the signal radio wave of the positioning satellite 3 can be captured through the window glass. Therefore, acquisition of satellite positioning speed and satellite positioning position information can be acquired.
  • the railway vehicle position measurement system 1 has a housing provided with a control unit 60 separately from the housing 45, and exchange of signals between the housing 45 and the control unit 60 is performed by the existing wireless communication unit 300. It is desirable (see FIG. 6B). Note that the fixing means 150 of the housing 45 may be based on magnetic adsorption.
  • the railway vehicle position measurement system 1 As described above, according to the railway vehicle position measurement system 1 according to the above-described embodiment, not only the position and speed of the railway vehicle are acquired by the satellite positioning radio wave reception system 2 using the satellite positioning system, but also the Doppler speed acquisition system 4. Based on the information obtained from the railway vehicle, the speed of the railway vehicle can be acquired, so the reception conditions of the receiver that receives the radio waves for satellite positioning are bad, and the location cannot be specified from the satellite positioning radio waves, Even in the time zone, the exact speed of the railway vehicle can be specified, and by combining it with the degree of shaking at each time measured by the shaking measurement module 50, it is possible to accurately specify the kilometer and position of the railway track deviation. Has an effect.
  • the Doppler speed acquisition system 4 Has an excellent effect of being able to acquire kilometer based on the acquired Doppler speed.
  • railway vehicle position measurement system of the present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention.
  • the railway vehicle position measurement system 1 acquired in advance may calibrate the kilometer based on matching information corresponding to latitude / longitude information or kilometer information measured in advance.
  • the matching information is, for example, a table representing a kilometer per 1 km and the latitude and longitude at that point, and can be original data for calibrating the kilometer.
  • the position information and velocity information measured by the satellite positioning radio receiver and the velocity information based on the Doppler sensor include a certain amount of error. When continuous distance measurement is performed over a long section, the error accumulates. There is a possibility that the exact position (about kilometer) cannot be grasped. Therefore, the railway operator measures and accumulates matching information in advance, for example, by a track inspection vehicle, and calibrates the kilometer obtained by the railway vehicle position measurement system 1 according to the present invention based on the matching information. It is also possible.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Selon la présente invention, un emplacement d'irrégularité de voie peut être identifié avec précision à l'aide d'informations de position de récepteur et d'informations de vitesse obtenues à partir d'un récepteur d'ondes radio de positionnement par satellite et d'informations de vitesse obtenues à partir d'un capteur Doppler utilisé pour détecter un phénomène Doppler dans les ondes électromagnétiques. Cette technologie est un système de mesure de localisation de véhicule ferroviaire simple pouvant acquérir automatiquement et précisément un emplacement d'irrégularité de voie ferrée.
PCT/JP2017/026645 2016-07-25 2017-07-24 Système de mesure de l'emplacement de véhicule ferroviaire Ceased WO2018021225A1 (fr)

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JP2016145467A JP6802555B2 (ja) 2016-07-25 2016-07-25 鉄道車両位置測定システム

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CN111645727A (zh) * 2019-03-04 2020-09-11 比亚迪股份有限公司 列车及其定位方法和装置
WO2021235178A1 (fr) * 2020-05-22 2021-11-25 株式会社 東芝 Dispositif de mesure de position, dispositif de mesure de vitesse et procédé de mesure de position
CN115158412A (zh) * 2022-06-14 2022-10-11 深圳市远望谷信息技术股份有限公司 铁路货车运行品质在线检测方法、装置、电子设备及介质

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JP6994808B2 (ja) * 2018-02-05 2022-01-14 日本無線株式会社 船体速度測定装置及び船体速度測定プログラム
JP7114363B2 (ja) * 2018-06-21 2022-08-08 株式会社東芝 計測装置
CN110803200B (zh) * 2019-11-05 2021-07-06 武汉市市政建设集团有限公司 一种基于cpiii控制点的轨道里程定位方法及装置
JP2023102192A (ja) * 2022-01-11 2023-07-24 日本電気通信システム株式会社 位置検知装置、位置検知方法、及びプログラム

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111645727A (zh) * 2019-03-04 2020-09-11 比亚迪股份有限公司 列车及其定位方法和装置
WO2021235178A1 (fr) * 2020-05-22 2021-11-25 株式会社 東芝 Dispositif de mesure de position, dispositif de mesure de vitesse et procédé de mesure de position
JP2021183955A (ja) * 2020-05-22 2021-12-02 株式会社東芝 位置測位装置、速度計測装置、及び位置測位方法
CN115158412A (zh) * 2022-06-14 2022-10-11 深圳市远望谷信息技术股份有限公司 铁路货车运行品质在线检测方法、装置、电子设备及介质

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