CN110687564A - High-precision positioning system in train tunnel based on RFID - Google Patents

一种基于RFID的列车隧道内高精度定位系统，包括多模GNSS接收机及惯性测量单元、数据处理单元、RFID射频标签、RFID读卡器、和列车位置信息监控系统。采用本发明基于RFID的列车隧道内高精度定位系统，能够不间断地输出精确的列车位置信息，并且适用于时速350km的高速列车使用。

An RFID-based high-precision positioning system in a train tunnel includes a multi-mode GNSS receiver and an inertial measurement unit, a data processing unit, an RFID radio frequency tag, an RFID card reader, and a train position information monitoring system. The RFID-based high-precision positioning system in the train tunnel of the present invention can continuously output accurate train position information, and is suitable for high-speed trains with a speed of 350 km per hour.

一种基于RFID的列车隧道内高精度定位系统An RFID-based high-precision positioning system in train tunnels

技术领域technical field

本发明涉及轨道交通车辆在行进至隧道中时车辆位置的高精度定位，特别涉及一种基于RFID的列车隧道内高精度定位系统。The invention relates to high-precision positioning of the vehicle position when a rail transit vehicle travels into a tunnel, in particular to an RFID-based high-precision positioning system in a train tunnel.

背景技术Background technique

高速列车运行速度快，行车密度高，前后追踪列车空间间隔距离短，列控系统需要对列车在线路上运行的位置进行精确测定，以便给列车提供正确的控制信息。传统列控系统采用固定闭塞方式控制列车运行，依靠轨道电路检测列车在线路中所处的位置，以此为后续列车提供行车许可条件。随着列车速度的不断提高和行车间隔的进一步缩小，轨道电路提供的离散位置信息无法有效保证行车安全。列控系统需要依靠新的设备测定列车实时位置，为列控系统提供连续的、精确的列车位置信息，以便进一步保证安全的情况下缩短行车间隔。High-speed trains run fast, with high traffic density, and the space interval between the front and rear trains is short. The train control system needs to accurately measure the position of the train on the line in order to provide the train with correct control information. The traditional train control system uses a fixed blocking method to control the train operation, and relies on the track circuit to detect the position of the train in the line, so as to provide the running permit conditions for the subsequent trains. With the continuous increase of the train speed and the further reduction of the running interval, the discrete position information provided by the track circuit cannot effectively guarantee the running safety. The train control system needs to rely on new equipment to measure the real-time position of the train, and provide the train control system with continuous and accurate train position information, so as to further shorten the running interval while ensuring safety.

列车高速运行时，其空间位移变化很快，列车控制系统需要实时掌握每列车的位置坐标，以便为后续列车提供正确的行车许可，因此列车位置的检测应具有连续性，在列车运行的全过程中能随时掌握列车的具体位置，包括在隧道或山谷等没有导航卫星信号的地区，也要能连续定位。另外，列车位置是生成行车许可的必要条件，检测结果的精确度直接影响列控系统能否正确控制列车运行，在保证安全的前提下，定位设备测得的列车位置误差越小越好。在对列车进行定位的过程中，受恶劣天气和外界电磁波的影响，设备测量结果往往会产生误差，甚至失去作用，因此，选用的定位设备需具有抗干扰、适应环境变化的能力。When the train is running at high speed, its spatial displacement changes rapidly. The train control system needs to grasp the position coordinates of each train in real time in order to provide the correct driving permit for subsequent trains. Therefore, the detection of the train position should be continuous, and the whole process of train operation should be carried out. The train can keep track of the exact location of the train at any time, including in areas where there is no navigation satellite signal such as tunnels or valleys, and it must also be able to locate continuously. In addition, the train position is a necessary condition for generating the driving permit, and the accuracy of the detection results directly affects whether the train control system can correctly control the train operation. Under the premise of ensuring safety, the smaller the train position error measured by the positioning equipment, the better. In the process of locating the train, due to the influence of bad weather and external electromagnetic waves, the measurement results of the equipment often have errors or even become ineffective. Therefore, the selected positioning equipment must have the ability to resist interference and adapt to environmental changes.

列车定位的功能是在任何时刻、任何地方都能够精确确定列车的具体位置。虽然使用单一测量设备测量信号比较容易处理，但都有局限性，为了在列车运行的全路程中得到可靠的列车位置信息，将多种位置传感器的信息进行融合，取长补短，通过多传感器数据融合处理技术，将不同通道获取的测量信息进行滤波和校正，尽量多地消除掉测量误差，得到全线路上的更为精确的列车位置信息，本发明即是基于这种思想提出的。The function of train positioning is to accurately determine the exact location of the train at any time and anywhere. Although it is easier to process the measurement signal by using a single measurement device, it has limitations. In order to obtain reliable train position information during the whole journey of the train, the information of various position sensors is fused to learn from each other's strengths and complement the weaknesses. Multi-sensor data fusion processing The present invention is proposed based on this idea by filtering and correcting the measurement information obtained by different channels, eliminating the measurement error as much as possible, and obtaining more accurate train position information on the whole line.

国内有不少学者研究隧道内设备的定位方法。申请号CN201820249366.6、名称为“隧道内设备定位系统”的中国专利申请中提出：在隧道内布设N个定位基站，同时接收设备所携带的RFID标签发射的信号，基站将接收到的RFID信号送往服务器，最后解算出设备的位置；申请号CN201711049292.8、名称为“一种基于RFID的智能隧道导航装置及导航系统”的中国专利申请中，仅将RFID信号作为模拟GPS信号，而并不是将其与惯导组合。申请号CN201410240140.6、名称为“一种车载组合定位装置”的中国专利申请中，提到了列车通过RFID获得的位置是通过计算应答器信号的强度来确定的。Many domestic scholars have studied the positioning method of the equipment in the tunnel. The Chinese patent application with the application number CN201820249366.6 and the title of "Location System for Equipment in Tunnels" proposes that N positioning base stations are arranged in the tunnel, and at the same time, the signals transmitted by the RFID tags carried by the equipment are received, and the base stations will receive the RFID signals. Send it to the server, and finally calculate the location of the device; in the Chinese patent application with the application number CN201711049292.8 and the title of "An RFID-based Intelligent Tunnel Navigation Device and Navigation System", only the RFID signal is used as an analog GPS signal, and the Not combining it with inertial navigation. In the Chinese patent application with the application number CN201410240140.6 and the title of "a vehicle-mounted combined positioning device", it is mentioned that the position obtained by the train through RFID is determined by calculating the strength of the transponder signal.

然而，以上这些技术对于隧道内的高速列车(350km/h)，很难提供实时的高精度定位。However, the above technologies are difficult to provide real-time high-precision positioning for high-speed trains (350km/h) in tunnels.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于克服铁路列车在诸如隧道这种导航卫星信号无法到达的环境中，GNSS定位技术无法实现列车定位、以及惯性测量单元长时间工作定位结果发散的问题，为实现上述目的，本发明采用以下技术方案：The purpose of the present invention is to overcome the problems that the GNSS positioning technology cannot realize the train positioning and the long-term operation of the inertial measurement unit in the environment where the navigation satellite signals cannot reach the railway train, and the positioning results of the inertial measurement unit are divergent for a long time. Adopt the following technical solutions:

一种基于RFID的列车隧道内高精度定位系统，包括多模GNSS接收机及惯性测量单元、数据处理单元、RFID射频标签、RFID读卡器、和列车位置信息监控系统；其中，An RFID-based high-precision positioning system in a train tunnel, comprising a multi-mode GNSS receiver and an inertial measurement unit, a data processing unit, an RFID radio frequency tag, an RFID card reader, and a train position information monitoring system; wherein,

所述多模GNSS接收机及惯性测量单元设置于列车上，用于输出列车的位置信息；The multi-mode GNSS receiver and the inertial measurement unit are arranged on the train for outputting the position information of the train;

所述数据处理单元将GNSS接收机与惯性测量单元的输出信息进行信息融合，在有卫星信号的地方，采用GNSS接收机和惯性测量单元的组合结果，在隧道内等无卫星信号的地方，采用惯性测量单元及RFID射频标签进行信息融合，RFID射频标签对应的位置信息通过查询表获得；The data processing unit fuses the output information of the GNSS receiver and the inertial measurement unit. Where there is a satellite signal, the combined result of the GNSS receiver and the inertial measurement unit is used. The inertial measurement unit and the RFID radio frequency tag perform information fusion, and the location information corresponding to the RFID radio frequency tag is obtained through a look-up table;

所述RFID射频标签设置于隧道壁上，安装有限定其辐射范围的桶装罩，所述RFID射频标签中写入临近轨道中心点的位置坐标；The RFID radio frequency tag is arranged on the tunnel wall, and a barrel cover is installed to limit its radiation range, and the position coordinates of the adjacent track center point are written in the RFID radio frequency tag;

所述RFID读卡器设置于列车侧面窗户处，高度与隧道壁上的RFID射频标签大致等高；The RFID card reader is arranged at the side window of the train, and the height is roughly the same height as the RFID radio frequency tag on the tunnel wall;

所述列车位置信息监控系统为电脑或手机将上述融合信息定位数据与铁路电子地图进行有机结合，显示列车在隧道内部的动态连续实时位置信息。The train position information monitoring system is a computer or mobile phone that organically combines the above-mentioned fusion information positioning data with a railway electronic map to display the dynamic continuous real-time position information of the train inside the tunnel.

其中，所述RFID射频标签具有两个以上，以一定的间隔安装在隧道壁上。Wherein, there are more than two RFID radio frequency tags, which are installed on the tunnel wall at certain intervals.

其中，所述位置坐标包括经度、纬度和高度。Wherein, the location coordinates include longitude, latitude and altitude.

其中，所述多模GNSS接收机为采用了星基增强技术的高精度接收机。Wherein, the multi-mode GNSS receiver is a high-precision receiver using the satellite-based enhancement technology.

其中，所选用的RFID标签是基于超宽带技术的有源设备，其响应时间在毫秒量级。Among them, the selected RFID tag is an active device based on ultra-wideband technology, and its response time is in the order of milliseconds.

相比现有技术，本发明的具有以下技术效果：Compared with the prior art, the present invention has the following technical effects:

采用本发明基于RFID的列车隧道内高精度定位系统，在无卫星信号的隧道内也可以利用RFID标签作为GNSS位置基准站，并且利用RFID标签对一定距离后组合测量值进行校正，使所述定位系统能够不间断地输出精确的列车位置信息，保持定位系统的连续工作，并且适用于时速350km的高速列车使用。Using the RFID-based high-precision positioning system in the train tunnel of the present invention, the RFID tag can also be used as the GNSS position reference station in the tunnel without satellite signals, and the combined measurement value after a certain distance can be corrected by using the RFID tag, so that the positioning The system can continuously output accurate train position information, maintain the continuous operation of the positioning system, and is suitable for high-speed trains with a speed of 350km per hour.

利用定向罩使RFID的信息传递方向更为确定，使接收机接收到的校准数据更为精确，从而提高了定位精度。The use of the directional cover makes the information transmission direction of the RFID more certain, and the calibration data received by the receiver is more accurate, thereby improving the positioning accuracy.

使用查表的方法获取RFID对应的位置信息，保证了位置信息获取的快速性。The location information corresponding to the RFID is obtained by using the method of looking up the table, which ensures the rapidity of obtaining the location information.

惯导的连续输出弥补了GNSS离散测量的不足和导航卫星信号受遮挡时无法准确定位的缺陷，短时测量精度有了很大的提高；同时，依靠GNSS的测量结果，能及时消除惯性单元的测量误差，机动灵活，环境适应能力好。当卫星信号丢失时，系统可以将GNSS失效前测得的数据作为参考进行校正。The continuous output of inertial navigation makes up for the shortage of GNSS discrete measurement and the defect that the navigation satellite signal cannot be accurately positioned when the signal is blocked, and the short-term measurement accuracy has been greatly improved; at the same time, relying on the GNSS measurement results, the inertial unit can be eliminated in time. Measurement error, flexible and flexible, good environmental adaptability. When the satellite signal is lost, the system can use the data measured before the GNSS failure as a reference for correction.

在隧道内利用RFID标签中的数据辅助并校准惯导的数据，再将得到的最终定位数据结合铁路电子地图，使得终端屏幕上能够显示定位信息，并形象化地为大众尤其是铁路作业人员所理解，及时规避列车，从而减少铁路安全事故发生。In the tunnel, the data in the RFID tag is used to assist and calibrate the inertial navigation data, and then the final positioning data obtained is combined with the railway electronic map, so that the positioning information can be displayed on the terminal screen and visualized for the public, especially the railway operators. Understand and avoid trains in time, thereby reducing the occurrence of railway safety accidents.

附图说明Description of drawings

图1为本发明基于RFID的列车隧道内高精度定位系统结构示意图；1 is a schematic structural diagram of a high-precision positioning system in a train tunnel based on RFID of the present invention;

图2为射频标签安装示意图。Figure 2 is a schematic diagram of the installation of the radio frequency tag.

其中，1-GNSS接收机，2-惯性测量单元，3-RFID阅读器，4-RFID射频标签，5-数据处理单元，6-列车位置信息监控系统。Among them, 1-GNSS receiver, 2-inertial measurement unit, 3-RFID reader, 4-RFID radio frequency tag, 5-data processing unit, 6-train position information monitoring system.

具体实施方式Detailed ways

下面结合具体实施例以及附图对本发明做进一步详述。The present invention will be described in further detail below with reference to specific embodiments and accompanying drawings.

参见图1，一种基于RFID的列车隧道内高精度定位系统，包括多模GNSS接收机1及惯性测量单元2、数据处理单元5、RFID射频标签4、RFID读卡器3、和列车位置信息监控系统6。Referring to FIG. 1, an RFID-based high-precision positioning system in a train tunnel includes a multi-mode GNSS receiver 1, an inertial measurement unit 2, a data processing unit 5, an RFID radio frequency tag 4, an RFID card reader 3, and train location information Monitoring system 6.

在列车上安装多模GNSS接收机1及惯性测量单元2，用于输出列车的位置信息。多模GNSS接收机1的天线需安装在列车外顶部，以保证在开阔环境下卫星信号的可视性。惯导设备安装时要注意安装方向，需使设备上的指示箭头与列车的行进方向一致。优选的，多模GNSS接收机为采用了星基增强技术的高精度接收机。A multi-mode GNSS receiver 1 and an inertial measurement unit 2 are installed on the train to output the position information of the train. The antenna of the multi-mode GNSS receiver 1 needs to be installed on the top of the train to ensure the visibility of satellite signals in an open environment. When installing the inertial navigation equipment, pay attention to the installation direction, and make sure that the indicator arrow on the equipment is consistent with the traveling direction of the train. Preferably, the multi-mode GNSS receiver is a high-precision receiver using the satellite-based enhancement technology.

所述数据处理单元将GNSS接收机1与惯性测量单元2的输出信息进行信息融合，在有卫星信号的地方，采用GNSS接收机1和惯性测量单元2的组合结果，在隧道内等无卫星信号的地方，采用惯性测量单元2及RFID射频标签4进行信息融合，RFID射频标签对应的位置信息通过查询表获得。The data processing unit fuses the output information of the GNSS receiver 1 and the inertial measurement unit 2. Where there are satellite signals, the combined result of the GNSS receiver 1 and the inertial measurement unit 2 is used, and there is no satellite signal in the tunnel, etc. In the place where the inertial measurement unit 2 and the RFID radio frequency tag 4 are used for information fusion, the position information corresponding to the RFID radio frequency tag is obtained through a look-up table.

作为示例，SF3050高精度GNSS接收机与光纤捷联惯导61556采用位置与速度组合方式，对二者的输出信息进行融合，在卫星信号接收良好的地方，可以给出高精度的组合定位结果，在进入隧道时，惯导将SF3050最后输出的位置作为初始位置进行推航自主导航定位，在列车行进1km时，车载的RFID读卡器读取到了位于隧道壁的射频标签内存储的列车位置，对惯导的输出结果进行校正，使其从标签所存储的位置点开始重新推航定位，这样就抵消掉了惯导推航一段时间带来的误差积累，从而保证了输出结果的准确性。As an example, the SF3050 high-precision GNSS receiver and the fiber-optic strapdown inertial navigation 61556 use a combination of position and velocity to fuse the output information of the two. Where the satellite signal is well received, a high-precision combined positioning result can be given. When entering the tunnel, the inertial navigation uses the last output position of the SF3050 as the initial position for autonomous navigation and positioning. When the train travels 1km, the on-board RFID reader reads the train position stored in the radio frequency tag located on the tunnel wall. Correct the output result of the inertial navigation so that it starts to re-navigate and locate from the position stored in the tag, which offsets the accumulation of errors caused by the inertial navigation for a period of time, thus ensuring the accuracy of the output results.

所述RFID射频标签4设置于隧道壁上，为了保证RFID位置的精准性，安装限定其辐射范围的桶装罩。RFID射频标签4具有多个，以一定的间隔安装在隧道壁上。所述RFID射频标签4中写入临近轨道中心点的位置坐标：经度、纬度和高度。该位置坐标事先采用其它测绘方法进行精确测定。The RFID radio frequency tag 4 is arranged on the tunnel wall. In order to ensure the accuracy of the RFID position, a barrel cover is installed to limit its radiation range. There are a plurality of RFID radio frequency tags 4, which are installed on the tunnel wall at certain intervals. The position coordinates of the adjacent track center point: longitude, latitude and altitude are written in the RFID radio frequency tag 4 . The position coordinates are accurately determined in advance by other surveying and mapping methods.

作为示例，RFID标签按1km的间隔进行安装，并设轨道中心点的位置为经度：118°32.5634′，纬度：32°14.3534′，高度：99.99米，则写入标签的格式为：As an example, RFID tags are installed at intervals of 1km, and the position of the center point of the track is longitude: 118°32.5634', latitude: 32°14.3534', height: 99.99 meters, then the format of writing the label is:

经度：118°32.5634′；纬度：32°14.3534′度分格式，占用9个字节Longitude: 118°32.5634'; Latitude: 32°14.3534' in degree format, occupying 9 bytes

高度：99.99精度2位小数占用3个字节Height: 99.99 precision 2 decimals occupies 3 bytes

然后通过串口发送给组合导航处理软件Then send it to the integrated navigation processing software through the serial port

$GGGGG，，3214.3534，，11832.5634，，，，，0099.99，，，，，$GGGGG,,3214.3534,,11832.5634,,,,,0099.99,,,,,

所述RFID读卡器(3)设置于列车侧面窗户处，高度与隧道壁上的RFID射频标签(4)大致等高。作为示例，装于车窗处的读卡器采用微带天线，也可以定做成于车窗一体的共形天线。The RFID card reader (3) is arranged at the side window of the train, and the height is approximately the same height as the RFID radio frequency tag (4) on the tunnel wall. As an example, the card reader installed at the window adopts a microstrip antenna, and it can also be customized as a conformal antenna integrated with the window.

优选的，所选用的RFID标签是基于超宽带技术的有源设备，其响应时间在毫秒量级。Preferably, the selected RFID tag is an active device based on ultra-wideband technology, and its response time is on the order of milliseconds.

所述列车位置信息监控系统(6)为电脑或手机，将上述融合信息定位数据与铁路电子地图进行有机结合，显示列车在隧道内部的动态连续实时位置信息。The train position information monitoring system (6) is a computer or a mobile phone, which organically combines the above-mentioned fusion information positioning data with a railway electronic map to display the dynamic continuous real-time position information of the train inside the tunnel.

最后所应说明的是，以上实施例仅用以说明本发明的技术方案而非限制。尽管参照实施例对本系统进行了详细说明，本领域的普通技术人员应当理解，对本系统的技术方案进行修改或者等同替换，都不脱离本系统技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the system has been described in detail with reference to the embodiments, those skilled in the art should understand that any modification or equivalent replacement of the technical solution of the system does not depart from the spirit and scope of the technical solution of the system, and should be included in the present invention. within the scope of the claims.