CN102582665A - Train positioning method, equipment and system - Google Patents
Train positioning method, equipment and system Download PDFInfo
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Abstract
The invention discloses a radio block center (RBC) train positioning method, RBC train positioning equipment and an RBC train positioning system, relates to the field of signal systems, and solves the problems that an RBC train positioning result cannot be checked and the reliability of train positioning is poor in the prior art. The RBC train positioning method provided by the embodiment of the invention comprises the following steps of: receiving a train running plan which is sent by centralized traffic control equipment; receiving a train position report which is sent by a train to be positioned; acquiring the position information of the train to be positioned; and according to the train running plan, the train position report and the position information of the train to be positioned, if the position of the train to be positioned is not matched with a running path of the running plan of the train to be positioned in an effective time range, determining that positioning of the train to be positioned fails.
Description
Technical Field
The invention relates to the field of signal systems, in particular to a method, equipment and a system for positioning a train.
Background
RBC (Radio Block Center) is a core device of a CTCS (Chinese train operation control System) -3-level train control System.
The RBC can realize the registration and the cancellation of the train, receive the position report and the train data from the train, generate the MA (Movement Authority) and the control information such as the line description and the temporary speed limit for the controlled train according to the information such as the access route and the track section occupation obtained from the IL (Inter Locking), and transmit the control information to the CTCS-3 level vehicle-mounted subsystem through the GSM-R wireless communication system. Therefore, RBC plays a very important role in the safe operation of trains, and the accuracy of the location reports received by RBC from trains plays a very crucial role in the safe operation of the entire central infinite block system.
At present, the RBC positioning uses the position report of the train, and the positioning principle is as follows: the RBC database stores the specific position of an LRBG (Last dependent base group) transponder on the line, and the train reports the position of the train by using the LRBG as a reference point, because the specific position of the LRBG transponder on the line is determined, the RBC can calculate and position the specific position of the train on the line according to the position report information.
In the process of realizing the RBC train positioning, the RBC completely believes the position report of the train and the route state information reported by the IL during positioning, the train is completely passively positioned, and the accuracy of the positioning process is not protected.
Disclosure of Invention
The embodiment of the invention provides a train positioning method, equipment and a system, which can be used for verifying a train positioning result and improving the accuracy of train positioning.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in one aspect, a method for train positioning is provided, including:
receiving a train operation plan sent by dispatching centralized equipment;
receiving a train position report sent by a train to be positioned;
acquiring the position information of the train to be positioned;
and according to the train operation plan, the train position report and the position information of the train to be positioned, if the position of the train to be positioned is determined to be not matched with the operation plan operation path of the train to be positioned within an effective time range, determining that the train to be positioned is positioned wrongly.
In one aspect, a method for train positioning is provided, including:
generating a train operation plan;
and sending the train operation plan to radio block center equipment so that the radio block center equipment can verify the accuracy of train positioning according to the train operation plan.
In one aspect, a radio block center device is provided, including:
the operation plan receiving unit is used for receiving the train operation plan sent in the dispatching set;
the position report receiving unit is used for receiving a train position report sent by a train to be positioned;
the position acquisition unit is used for acquiring the position information of the train to be positioned;
and the positioning verification unit is used for determining that the train to be positioned is positioned wrongly if the position of the train to be positioned is not matched with the operation planned operation path of the train to be positioned within an effective time range according to the train operation plan, the train position report and the position information of the train to be positioned.
In one aspect, a scheduling centralizing device is provided, including:
a generating unit for generating a train operation plan;
and the transmitting unit is used for transmitting the train operation plan to the radio block center equipment so that the radio block center equipment can verify the accuracy of train positioning according to the train operation plan.
In one aspect, a train positioning system is provided, comprising: the above mentioned radio block center equipment and the above mentioned dispatch centralizing equipment are connected with each other.
According to the train positioning method, the train positioning equipment and the train positioning system, the train position report sent by the train to be positioned is received, the position information of the train to be positioned is acquired, and the train operation plan is also received from the dispatching concentration equipment; and judging whether the position of the train to be positioned is consistent with the operation planned operation path of the train or not within an effective time range. Compared with the prior art that the radio block center equipment completely believes the position report of the train and completely passively positions the train, the train position positioning verification is carried out, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1-2 are flow charts of a method for positioning an RBC train according to an embodiment of the present invention;
fig. 3 is an analysis diagram of RBC train positioning according to an embodiment of the present invention;
fig. 4-5 are structural diagrams of an apparatus for positioning an RBC train according to an embodiment of the present invention;
fig. 6 is a structural diagram of an apparatus for positioning an RBC train according to an embodiment of the present invention;
fig. 7 is a system diagram for positioning an RBC train according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a method for train positioning according to an embodiment of the present invention includes:
and S101, receiving the train operation plan sent by the CTC by the RBC.
Illustratively, the train operation plan may include: train identification, planning time, planning operation path and the like of each train.
S102, the RBC receives a train position report sent by a train to be positioned.
For example, the train position report sent by the train to be positioned may include: the train identification, the current running direction, the current position and other information of the train.
S103, the RBC acquires the position information of the train to be positioned.
For example, the position information of the train to be positioned can be obtained by directly determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned; or after receiving the access occupation state information sent by the intra-station interlocking, determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned.
S104, the RBC determines that the train to be positioned is positioned wrongly if the position of the train to be positioned is not matched with the operation path of the operation plan of the train to be positioned within an effective time range according to the train operation plan, the train position report and the position information of the train to be positioned.
Exemplarily, the process of determining, by the RBC, that a train positioning error occurs according to the train operation plan, the train position report, and the position information of the train to be positioned includes:
and determining that the train identifier in the train position report sent by the train to be positioned is matched with the train identifier of the train in the train operation plan by the RBC, and determining that the current operation direction in the train position report sent by the train to be positioned is matched with the planned operation path direction of the train in the train operation plan, and determining that the train to be positioned is positioned wrongly if the determined position of the train to be positioned is not matched with the planned operation path of the train in the train operation plan.
In the train positioning method provided by the embodiment of the invention, the RBC receives a train position report sent by a train to be positioned, acquires the position information of the train to be positioned and receives a train operation plan from the CTC; and judging whether the position of the train to be positioned is consistent with the operation planned operation path of the train in an effective time range by the RBC so as to determine whether the train is accurately positioned. Compared with the prior art that the RBC completely believes the position report of the train and completely passively positions the train, the method has the advantages that the train position is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
As shown in fig. 2, a method for positioning a train according to another embodiment of the present invention includes the steps of:
s201, generating a train operation plan by the CTC.
Illustratively, the train operation plan may include: train identification, planning time, planning operation path and the like of each train.
S202, the CTC sends the train operation plan to the RBC, so that the RBC verifies the accuracy of train positioning according to the train operation plan.
According to the train positioning method provided by the embodiment of the invention, the CTC generates a train operation plan and then sends the train operation plan to the RBC, so that the RBC can verify the accuracy of train positioning according to the train operation plan. Therefore, compared with the position report of the RBC which completely believes the train in the prior art and the complete passive train positioning, the method has the advantages that the train position positioning is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
A method for positioning a train according to another embodiment of the present invention is described with reference to fig. 3, taking a positioning process after a certain train arrives as an example. In the station shown in fig. 3, there are two routes X → X1 and X → X2.
S301, arranging the train operation plan by the train dispatcher through the CTC.
The train operation plan may include a train identifier, a planned time, a planned operation path, and the like of each train, which describe a planned operation trajectory of the train in a certain time range. For example, the train operation plan data structure of the CTC may be as shown in table 1 and table 2.
TABLE 1
TABLE 2
In the present embodiment, the RBC uses the clock information of the CTC, and assuming that within a certain valid time range (within the time when the operation plan is valid), the operation plan (plan passing through the multi-block partition) of the train identified as "0001" in the train operation plan of the CTC arrangement in fig. 3 is X → X3 → 6400 → 6401 → 6402.
S302, the CTC sends the scheduled train operation plan to the station autonomous machine of each station; and sent to the RBC via an interface protocol.
And S303, the station autonomous machine informs the IL of arranging the routes for the trains according to the train operation plan.
S304, the RBC receives a train position report sent by the train to be positioned "0001".
Illustratively, the train position report may include: the train reference transponder LRBG ID, the distance D of the train offset from the LRBG, the direction of the train offset from the LRBG, the information of the running direction of the train and the like. Taking the position relationship shown in fig. 3 as an example, the train "0001" is located at point a in fig. 3, and at this time, the train "0001" is located in the descending direction of the train reference transponder LRBG numbered "1", the distance from the LRBG is D _ LRBG, and the running direction of the train "0001" is the descending direction in the figure.
Up to this point, only according to the train location report sent by train "0001", the RBC can only determine that train "0001" is located at the downlink direction D _ LRBG of LRBG "1", belongs to the route X → X1 or the route X → X3, and cannot determine a specific route.
S305, the RBC receives the access path occupation state information sent by the IL.
For example, taking the position relationship shown in fig. 3 as an example, when the RBC receives the route occupancy state information sent by the IL at the current time, if the route occupancy state information sent by the IL indicates that the current X → X3 route is occupied and the X → X1 route is free, it indicates that the train "0001" is located on the route X → X3 of the LRBG in the downlink direction D _ LRBG of the LRBG "1" at this time, and matches the operation plan X → X3 → 6400 → 6401 → 6402 obtained from the CTC, thereby determining that the train "0001" is located at X → X3 without error. If the route occupation state information sent by the IL indicates that the current route X → X3 is idle and the route X → X1 is occupied, it indicates that the train "0001" is not located in the range of the operation track of the original plan, and it can be determined that the positioning is in problem and the RBC or IL is in fault.
Of course, if the train operation plan is changed, the CTC should be refreshed and sent to the RBC in time.
In the train positioning method provided by the embodiment of the invention, the RBC receives a train position report sent by a train to be positioned, acquires the position information of the train to be positioned and receives a train operation plan from the CTC; and judging whether the position of the train to be positioned is consistent with the operation planned operation path of the train in an effective time range by the RBC so as to determine whether the train is accurately positioned. Compared with the prior art that the RBC completely believes the position report of the train and completely passively positions the train, the method has the advantages that the train position is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
The radio block center device 40 provided in the embodiment of the present invention corresponds to the above method embodiment, and may be applied to the above method embodiment, and can perform all the steps, and the specific execution steps are already described in the above embodiment. As shown in fig. 4, includes:
an operation plan receiving unit 401, configured to receive a train operation plan sent in the dispatch set;
a position report receiving unit 402, configured to receive a train position report sent by a train to be positioned;
a position obtaining unit 403, configured to obtain position information of a train to be positioned;
and the positioning verification unit 404 is configured to determine that the train to be positioned is positioned incorrectly if it is determined that the position of the train to be positioned does not match the operation path of the operation plan of the train to be positioned within an effective time range according to the train operation plan, the train position report, and the position information of the train to be positioned.
The RBC provided by the embodiment of the invention receives a train operation plan from the CTC in addition to receiving a train position report sent by a train to be positioned and acquiring the position information of the train to be positioned; and judging whether the position of the train to be positioned is consistent with the operation planned operation path of the train in an effective time range by the RBC so as to determine whether the train is accurately positioned. Compared with the prior art that the RBC completely believes the position report of the train and completely passively positions the train, the method has the advantages that the train position is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
Further, as shown in fig. 5, the train operation plan received by the operation plan receiving unit 401 may include: train identification, planned time, and planned travel path for each train.
The train position report sent by the train to be positioned received by the position report receiving unit 402 may include: the train identification, the current running direction and the current position of the train.
The position acquisition unit 403 includes:
a route occupation receiving module 4031, configured to receive route occupation state information sent by interlocking;
the position determining module 4032 is used for determining the position of the train to be positioned according to the current running direction and the current position in the train position report sent by the train to be positioned; or the system is used for determining the position of the train to be positioned according to the current running direction and the current position in the train position report sent by the train to be positioned and the route occupation state information received by the route occupation receiving module 4031.
The dispatch concentrating device 60 provided in the embodiment of the present invention corresponds to the above method embodiment, and may be applied to the above method embodiment, and can execute all the steps, and the specific execution steps are already described in the above embodiment. As shown in fig. 6, including,
a generating unit 601 configured to generate a train operation plan;
a sending unit 602, configured to send the train operation plan to the radio block center device, so that the radio block center device verifies the accuracy of train positioning according to the train operation plan.
The CTC provided by the embodiment of the invention generates a train operation plan and then sends the train operation plan to the RBC, so that the RBC can verify the accuracy of train positioning according to the train operation plan. Therefore, compared with the position report of the RBC which completely believes the train in the prior art and the complete passive train positioning, the method has the advantages that the train position positioning is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
As shown in fig. 7, the train positioning system provided in the embodiment of the present invention includes: a radio block center device 40 and a dispatch centering device 60 connected to each other;
wherein the radio block center device 40 includes,
the operation plan receiving unit is used for receiving the train operation plan sent in the dispatching set;
illustratively, the train operation plan received by the operation plan receiving unit includes: train identification, planned time, and planned travel path for each train.
The position report receiving unit is used for receiving a train position report sent by a train to be positioned;
illustratively, the train position report sent by the train to be positioned received by the position report receiving unit includes: the train identification, the current running direction and the current position of the train.
The position acquisition unit is used for acquiring the position information of the train to be positioned;
for example, the location obtaining unit may include a route occupation receiving module and a location determining module, where the route occupation receiving module is configured to receive route occupation state information sent by interlocking; the position determining module is used for determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned; or the system is used for determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned and the route occupation state information received by the route occupation receiving module.
And the positioning verification unit is used for determining that the train to be positioned is positioned wrongly if the position of the train to be positioned is not matched with the operation planned operation path of the train to be positioned within an effective time range according to the train operation plan, the train position report and the position information of the train to be positioned.
The device 60 in the dispatch aggregation unit includes,
a generating unit for generating a train operation plan;
and the transmitting unit is used for transmitting the train operation plan to the radio block center equipment so that the radio block center equipment can verify the accuracy of train positioning according to the train operation plan.
Further, the system further comprises:
the interlocking device 70 is connected to the radio block center device 40 and the dispatch concentrator 60, and is configured to receive the train operation plan sent by the dispatch concentrator 60 and send the route occupation state information to the radio block center device 40.
In the train positioning system provided by the embodiment of the invention, the RBC receives a train position report sent by a train to be positioned, acquires the position information of the train to be positioned and receives a train operation plan from the CTC; and judging whether the position of the train to be positioned is consistent with the operation planned operation path of the train in an effective time range by the RBC so as to determine whether the train is accurately positioned. Compared with the prior art that the RBC completely believes the position report of the train and completely passively positions the train, the method has the advantages that the train position is verified, the accuracy protection of the positioning process is realized, and the train positioning accuracy is improved.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of train localization, comprising:
receiving a train operation plan sent by dispatching centralized equipment;
receiving a train position report sent by a train to be positioned;
acquiring the position information of the train to be positioned;
and according to the train operation plan, the train position report and the position information of the train to be positioned, if the position of the train to be positioned is determined to be not matched with the operation plan operation path of the train to be positioned within an effective time range, determining that the train to be positioned is positioned wrongly.
2. The method of claim 1,
the train operation plan includes: train identification, planning time and planning operation path of each train;
the train position report sent by the train to be positioned comprises: the train identification, the current running direction and the current position of the train.
3. The method of claim 2, wherein obtaining the location information of the train to be positioned comprises:
determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned;
or,
and determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned and the received access occupation state information sent by interlocking.
4. The method of claim 3, wherein the step of determining that the train location error occurs if the train location to be located is determined not to match the planned path of travel of the train to be located within a valid time frame based on the train operation plan, the train location report, and the location information of the train to be located comprises:
and after determining that the train identifier in the train position report sent by the train to be positioned is matched with the train identifier of the train in the train operation plan, and determining that the current operation direction in the train position report sent by the train to be positioned is matched with the planned operation path direction of the train in the train operation plan, if the position of the train to be positioned is determined to be not matched with the planned operation path of the train in the train operation plan, determining that the train to be positioned is positioned wrongly.
5. A method of train localization, comprising:
generating a train operation plan;
and sending the train operation plan to radio block center equipment so that the radio block center equipment can verify the accuracy of train positioning according to the train operation plan.
6. The method of claim 5, wherein the train operation plan comprises: train identification, planned time, and planned travel path for each train.
7. A radio block center apparatus, comprising:
the operation plan receiving unit is used for receiving the train operation plan sent in the dispatching set;
the position report receiving unit is used for receiving a train position report sent by a train to be positioned;
the position acquisition unit is used for acquiring the position information of the train to be positioned;
and the positioning verification unit is used for determining that the train to be positioned is positioned wrongly if the position of the train to be positioned is not matched with the operation planned operation path of the train to be positioned within an effective time range according to the train operation plan, the train position report and the position information of the train to be positioned.
8. The radio block center apparatus according to claim 7, wherein the train operation plan received by the operation plan receiving unit includes: train identification, planning time and planning operation path of each train; the train position report sent by the train to be positioned and received by the position report receiving unit comprises: the train identification, the current running direction and the current position of the train;
the position acquisition unit includes:
the access occupation receiving module is used for receiving access occupation state information sent by interlocking;
the position determining module is used for determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned; or the system is used for determining the position of the train to be positioned according to the current running direction and the current position in a train position report sent by the train to be positioned and the route occupation state information received by the route occupation receiving module.
9. A dispatch focusing device, comprising:
a generating unit for generating a train operation plan;
and the transmitting unit is used for transmitting the train operation plan to the radio block center equipment so that the radio block center equipment can verify the accuracy of train positioning according to the train operation plan.
10. A train positioning system, comprising: the radio block center device of claim 7, 8 and the dispatch concentrator device of claim 9 connected to each other.
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| CN201210034151XA CN102582665A (en) | 2012-02-15 | 2012-02-15 | Train positioning method, equipment and system |
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| CN201210034151XA CN102582665A (en) | 2012-02-15 | 2012-02-15 | Train positioning method, equipment and system |
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Cited By (9)
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| CN103010266A (en) * | 2012-12-17 | 2013-04-03 | 中国铁道科学研究院 | Method for tracking train set of motor train unit in real time |
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| CN106347415A (en) * | 2016-11-01 | 2017-01-25 | 中国铁路总公司 | Positioning method of train operation monitoring device |
| CN111064748A (en) * | 2019-12-30 | 2020-04-24 | 四川长虹电器股份有限公司 | Cross-area positioning data anti-spoofing system based on network structure detection |
| CN113120039A (en) * | 2021-04-23 | 2021-07-16 | 卡斯柯信号有限公司 | Automatic acquisition method of operation diagram file compatible with single-computer and double-computer operation scenes |
| CN113120039B (en) * | 2021-04-23 | 2022-07-15 | 卡斯柯信号有限公司 | Automatic acquisition method for operation diagram file compatible with single-computer and double-computer operation scenes |
| CN114771607A (en) * | 2022-06-22 | 2022-07-22 | 中国铁道科学研究院集团有限公司通信信号研究所 | Integrated method, system and application of railway operation scheduling and train operation control |
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Application publication date: 20120718 |