基于GNSS的虚拟应答器关键技术研究
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摘要
应答器在欧洲列车控制系统(ETCS-European Train Control System)和中国列车控制系统(CTCS-Chinese Train Control System)中都是主要的定位设备。为了提高定位精度,应答器必须高密度地布设在轨道上,增加了系统的建设成本和后期维护量。列车运行控制系统是典型的安全苛求系统,在列车高速行驶时,由于环境等外部因素的影响会导致应答器故障,无法保证列车运行的安全性。因此,如何保证列车运行的安全性、提高列车定位的精度对列车运行控制系统具有重要的现实意义。
随着全球导航定位系统GNSS(Global Navigation Satellite System)的发展,国内外纷纷开展基于GNSS技术来实现列车定位。为了与ETCS系统相兼容,GNSS定位子系统必须输出与ETCS规范相符合的格式的信息,因此国际铁路联盟(UIC)提出了基于GNSS技术的虚拟应答器(Virtual Balise-VB)的概念,即采用GNSS接收机和相关软件实现应答器的功能,用于模拟一个真正放置在轨道上的应答器。虚拟应答器主要依靠执行程序来完成定位功能,其内部主要有三个模块组成:定位单元模块、安全判别模块、虚拟应答器捕获和报文生成模块。论文对虚拟应答器的系统结构和功能需求进行了分析,在此基础上进行了虚拟应答器系统框架设计。本文主要工作包括以下两点。
第一:实现了虚拟应答器报文的编码,虚拟应答器需要输出和实际的应答器一样格式的报文信息,因此虚拟应答器报文的编码策略和实际应答器的报文的编码策略是一样的。论文首先通过用户数据表得到830比特的用户数据,然后通过编码策略实现了虚拟应答器报文的编码。
第二:提出了虚拟应答器捕获半径的设置方法,详细推导了其数学公式,设计了虚拟应答器的捕获算法。通过设置仿真场景,对捕获半径为变量和常量的捕获率和捕获精度进行了比较分析,同时对捕获率、捕获精度在不同的列车行驶速度及不同的接收机输出频率时进行了分析,得出捕获半径为变量时更能适应列车高速、变速行驶的需要,在列车高速行驶时,如果对捕获精度的要求高,仅仅将捕获半径设为变量并不能满足要求,还需要提高接收机的输出频率,最后通过实验验证了仿真结论的正确性。
Balise is the main positioning device both in European Train Control System and Chinese Train Control System. In order to improve train positioning accuracy, massively developed balises will increase system construction and maintenance cost. Train control system is a safety-critical system, due to external factors such as the environment, the safety of the train operation can not be guaranteed caused by the failure of the balise for high-speed train. It has realistic significance to improve train position accuracy and the safety of the train operation.
With the development of Global Navigation Satellite System (GNSS),the research about the train position with GNSS technology has been begun in some countries. For achieving interoperability with ETCS, the location subsystem must translate the positioning information given by the GNSS based locator unit to ETCS message specification. For this purpose the concept of virtual balise has been proposed by the UIC. A virtual balise is a software element that emulates the functionality of a single balise or a balise group via convenient processing of navigation data. The virtual balise sub-system is a modular structure. It has three modules: locator unit module, safety qualifier module, the virtual balise capture and messaging module. On the basis of analyzing VB system architecture and functional requirement, the virtual balise system framework is designed. This thesis includes the following two aspects.
First, the virtual balise coding is realized. The virtual balise shall output a virtual balise telegram as specified in ETCS class 1 messages specification. Therefore, this thesis uses Eurobalise coding strategy to realize virtual balise coding. First of all, 830 user bits is got through user data table, then, virtual balise message coding is realized by using coding strategy.
Second, this thesis presents a virtual balise capture radius setting method, and designs the virtual balise capture algorithms. Detailed mathematical algorithms are deduced in this thesis. A simulation has been carried out to verify the algorithms. The thesis analyses the relationship among the locator fix rate, the train speed, the capture ratio and the capture precision. Finally, the conclusion that defining the capture zone of a VB as a function of the static speed profile of the line can meet the requirement of the train is given. Also, an experiment has been carried out to verify the correctness of the conclusion of the simulation.
随着全球导航定位系统GNSS(Global Navigation Satellite System)的发展,国内外纷纷开展基于GNSS技术来实现列车定位。为了与ETCS系统相兼容,GNSS定位子系统必须输出与ETCS规范相符合的格式的信息,因此国际铁路联盟(UIC)提出了基于GNSS技术的虚拟应答器(Virtual Balise-VB)的概念,即采用GNSS接收机和相关软件实现应答器的功能,用于模拟一个真正放置在轨道上的应答器。虚拟应答器主要依靠执行程序来完成定位功能,其内部主要有三个模块组成:定位单元模块、安全判别模块、虚拟应答器捕获和报文生成模块。论文对虚拟应答器的系统结构和功能需求进行了分析,在此基础上进行了虚拟应答器系统框架设计。本文主要工作包括以下两点。
第一:实现了虚拟应答器报文的编码,虚拟应答器需要输出和实际的应答器一样格式的报文信息,因此虚拟应答器报文的编码策略和实际应答器的报文的编码策略是一样的。论文首先通过用户数据表得到830比特的用户数据,然后通过编码策略实现了虚拟应答器报文的编码。
第二:提出了虚拟应答器捕获半径的设置方法,详细推导了其数学公式,设计了虚拟应答器的捕获算法。通过设置仿真场景,对捕获半径为变量和常量的捕获率和捕获精度进行了比较分析,同时对捕获率、捕获精度在不同的列车行驶速度及不同的接收机输出频率时进行了分析,得出捕获半径为变量时更能适应列车高速、变速行驶的需要,在列车高速行驶时,如果对捕获精度的要求高,仅仅将捕获半径设为变量并不能满足要求,还需要提高接收机的输出频率,最后通过实验验证了仿真结论的正确性。
Balise is the main positioning device both in European Train Control System and Chinese Train Control System. In order to improve train positioning accuracy, massively developed balises will increase system construction and maintenance cost. Train control system is a safety-critical system, due to external factors such as the environment, the safety of the train operation can not be guaranteed caused by the failure of the balise for high-speed train. It has realistic significance to improve train position accuracy and the safety of the train operation.
With the development of Global Navigation Satellite System (GNSS),the research about the train position with GNSS technology has been begun in some countries. For achieving interoperability with ETCS, the location subsystem must translate the positioning information given by the GNSS based locator unit to ETCS message specification. For this purpose the concept of virtual balise has been proposed by the UIC. A virtual balise is a software element that emulates the functionality of a single balise or a balise group via convenient processing of navigation data. The virtual balise sub-system is a modular structure. It has three modules: locator unit module, safety qualifier module, the virtual balise capture and messaging module. On the basis of analyzing VB system architecture and functional requirement, the virtual balise system framework is designed. This thesis includes the following two aspects.
First, the virtual balise coding is realized. The virtual balise shall output a virtual balise telegram as specified in ETCS class 1 messages specification. Therefore, this thesis uses Eurobalise coding strategy to realize virtual balise coding. First of all, 830 user bits is got through user data table, then, virtual balise message coding is realized by using coding strategy.
Second, this thesis presents a virtual balise capture radius setting method, and designs the virtual balise capture algorithms. Detailed mathematical algorithms are deduced in this thesis. A simulation has been carried out to verify the algorithms. The thesis analyses the relationship among the locator fix rate, the train speed, the capture ratio and the capture precision. Finally, the conclusion that defining the capture zone of a VB as a function of the static speed profile of the line can meet the requirement of the train is given. Also, an experiment has been carried out to verify the correctness of the conclusion of the simulation.
引文
[1]周儒,钱路路.查询应答器原理及其应用[J].铁道通信信号.1995.91(12).5-6.
[2]杨志杰,范浦.辉适应于高速运营与提速的查询应答器系统[J].中国铁道科学.2002.23(2).42-47.
[3]李开成等.国外铁路通信信号新技术纵览[M].北京.中国铁道出版社.2005.6.57-58.
[4]魏敏,孙亮等.欧洲应答器系统简介和国内研制的初步分析[J].铁道通信信号.2005.41.39-41.
[5]周忠谟.GPS卫星测量原理与应用[M].北京.测绘出版社.1997.215-217.
[6]GU Xiao-gang.Feasibility of GNSS/Galileo-based train location for safety relevant application[J].Signal+Draht,2005,97(1+2):29-33.
[7]艾兴阁.欧洲列车控制系统(ETCS)[J].中国铁路.2005.9.49-51.
[8]唐涛,郜春海.ETCS系统分析及CTCS的研究[J].机车电传动.2004.6.1-3.
[9]ORS Team.ETCS-LC Operational Requirement Specifications[S].2000.
[10]G.Barbu.REQUIREMENTS OF RAIL APPLICATIONS[R].GNSS RAIL USER FORUM.2000.
[11]ETCS-LC Specification Group.ERTMS REGIONAL Operational Scenarios[R].2003.
[12]Peter Winter.ETCS-LC Annual Report 2004[R].2005.
[13]Mirabadi.A,Mort.N,Schmid.F.Application of sensor fusion to railway systems[A].In:IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems[C].1996.185-192.
[14]Baigen Cai,Yinhang Cheng.Design of a train supervision system for low-density lines based on ADS[A].In:Proceedings 2nd International Workshop on Autonomous Decentralized Systems[C].1996.185-192.
[15]Roman Mazl.Libor Preucil.Sensor data fusion for inertial navigationof trains in GPS-dark areas[A].Intrlligent Vehicles Symposium[C].IEEE.2003.
[16]G Barbu.GALILEO Demonstrator for Railway Operation System Final Report[EB/OL].INECO,http://Galileo.uic.asso.fr.
[17]Sergio de Miguel,Ignacio S Peral,Javier F de V Bustamante,Georges Barbu,Alvaro Urech.Development of Software Tools for Demonstration of Interoperability of GNSS Based Location with ERTMS/ETCS On-Board:First Results in GADEROS[R].European Rail Research Institude(ERRI),2002.
[18]Antonella Albanese,Livio Marradi,Livio Campa,Barbara Orsola.The Rune Project:Navigation Performance of GNSS-Based Railway User Navigation Equipment[C].Proceedings of NAVITEC 2004.2004.
[19]Vincent Thevenot.ECORAIL:A step towards safe railway controlling systems based on satellite positioning[C].The European Navigation Conference.2003.
[20]周喡.基于应答器与GPS联合定位实现驼峰推峰机车的无线机车信号[J].铁路通信信号工程.2004.3.
[21]张雅静.基于GNSS的虚拟应答器研究[J].铁道学报.2008.30(1):104-108.
[22]张辉,程君.青藏线无线机车信号基于GNSS的列车定位模块测试报告[R].北京:北京交通大学GPS实验室.2007.
[23]唐德,韩剑,王全臣.欧洲应答器技术及其在中国铁路的应用前景[J].世界轨道交通.2004.6.48-50.
[24]应答器技术条件(暂行).科技运函[2004]114号.
[25]汪希时.智能铁路运输系统ITS-R[M].北京.中国铁道出版社.2004.235-240.
[26]Eurobalise SUBSET-036,http://www.aeif.org/db/docs/ccm/SUBSET-036-v221.pdf.
[27]《既有线CTCS-2级区段应答器报文定义及应用原则(暂行)》.
[28]SUBSET-026-8 ERTMS/ETCS-Class 1 System Requirements Specification.
[29]顾国华.GNSS科学发展与前景[J].全球定位系统.2008.4.1-5.
[30]张守信主编.GPS技术及应用[M].北京.国防工业出版社.2004年6月第1版.
[31]边少峰,李文魁.卫星导航系统概论[M].北京.电子工业出版社.2005年2月.1-103.
[32]李天文.GPS原理及应用[M].北京.科学出版社.2003年9月第1版.1-77.
[33]刘基余.GPS卫星导航定位原理与方法[M].北京.科学出版社.2003年8月第1版.1-252.
[34]王剑.基于GNSS的列车定位方法研究[博士学位论文].北京.北京交通大学.2006.
[35]孔祥元,郭敬明,刘宗泉.大地测量学基础[M].武汉.武汉大学出版社.2001年9月第1版.156-192.
[36]李征航,黄劲松.GPS测量与数据处理[M].武汉.武汉大学出版社.2005年3月第1版.156-172.
[37]冯宝红等.GPS车载导航中的坐标转换[J].中国惯性技术学报.2002.12.
[38]张项铎,谢世杰.WGS-84转换为国家实用坐标的研究[J].测绘通报.1997.5.
[39]田挚.坐标变换的实用方法及其应用[J].河北省科学院学报.2002.19(2).
[40]詹舒波,张其善.GPS/电子地图的坐标转换算法和实现[J].北京航空航天大学学报.1996.10(5).
[41]铁道部档案史志中心.中国铁道年鉴[M].中国铁道出版社.2002.
[42]H.Gomm.Data Format Specification for the Track database[S].locoprol.2002.
[43]齐英剑.地理信息系统及其在铁路DMIS中的应用[D].北京.北京交通大学.2000.
[44]Stephanie Andries.The Global Navigation Satellite System(GNSS)and the European Galileo programme:Legal Issues.Master thesis.Institute of Air and Space Law[D].Montreal:McGill University.1999.
[45]毕危危.基于GNSS的列控系统地图匹配技术的研究[硕士学位论文].北京交通大学.2006.3.
[46]Ales Filip,Hynek Mocek,Lubor Bazant.GPS/GNSS Based Train Positioning for Safety Critical Applications[J].Signal+Draht.2001.5:51-55.
[47]G.Barbu.Virtual Balise Architecture and sub-system requirement specification[R].European Rail Research Institute(ERRI).2002-9-9.
[48]G.Barbu.Virtual Balise Functional Requirement Specifications[EB/OL].European Rail Research Institute(ERRI).2002-9-9.
[49]G.Barbu.Virtual Balise Reference scenarios for implementation[EB/OL].European Rail Research Institute(ERRI).2002-9-9.
[50]A.Loliger,F.Tarkoy.Form Fit Function Specification Coding Strategy.1997.
[51]李晓宇,王安.FFFIS编解码算法与实现[J].微机处理.2007.6.
[52]乔向东.信息融合系统中目标跟踪技术研究[D].西安:西安电子科技大学.2003.13-32.
[2]杨志杰,范浦.辉适应于高速运营与提速的查询应答器系统[J].中国铁道科学.2002.23(2).42-47.
[3]李开成等.国外铁路通信信号新技术纵览[M].北京.中国铁道出版社.2005.6.57-58.
[4]魏敏,孙亮等.欧洲应答器系统简介和国内研制的初步分析[J].铁道通信信号.2005.41.39-41.
[5]周忠谟.GPS卫星测量原理与应用[M].北京.测绘出版社.1997.215-217.
[6]GU Xiao-gang.Feasibility of GNSS/Galileo-based train location for safety relevant application[J].Signal+Draht,2005,97(1+2):29-33.
[7]艾兴阁.欧洲列车控制系统(ETCS)[J].中国铁路.2005.9.49-51.
[8]唐涛,郜春海.ETCS系统分析及CTCS的研究[J].机车电传动.2004.6.1-3.
[9]ORS Team.ETCS-LC Operational Requirement Specifications[S].2000.
[10]G.Barbu.REQUIREMENTS OF RAIL APPLICATIONS[R].GNSS RAIL USER FORUM.2000.
[11]ETCS-LC Specification Group.ERTMS REGIONAL Operational Scenarios[R].2003.
[12]Peter Winter.ETCS-LC Annual Report 2004[R].2005.
[13]Mirabadi.A,Mort.N,Schmid.F.Application of sensor fusion to railway systems[A].In:IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems[C].1996.185-192.
[14]Baigen Cai,Yinhang Cheng.Design of a train supervision system for low-density lines based on ADS[A].In:Proceedings 2nd International Workshop on Autonomous Decentralized Systems[C].1996.185-192.
[15]Roman Mazl.Libor Preucil.Sensor data fusion for inertial navigationof trains in GPS-dark areas[A].Intrlligent Vehicles Symposium[C].IEEE.2003.
[16]G Barbu.GALILEO Demonstrator for Railway Operation System Final Report[EB/OL].INECO,http://Galileo.uic.asso.fr.
[17]Sergio de Miguel,Ignacio S Peral,Javier F de V Bustamante,Georges Barbu,Alvaro Urech.Development of Software Tools for Demonstration of Interoperability of GNSS Based Location with ERTMS/ETCS On-Board:First Results in GADEROS[R].European Rail Research Institude(ERRI),2002.
[18]Antonella Albanese,Livio Marradi,Livio Campa,Barbara Orsola.The Rune Project:Navigation Performance of GNSS-Based Railway User Navigation Equipment[C].Proceedings of NAVITEC 2004.2004.
[19]Vincent Thevenot.ECORAIL:A step towards safe railway controlling systems based on satellite positioning[C].The European Navigation Conference.2003.
[20]周喡.基于应答器与GPS联合定位实现驼峰推峰机车的无线机车信号[J].铁路通信信号工程.2004.3.
[21]张雅静.基于GNSS的虚拟应答器研究[J].铁道学报.2008.30(1):104-108.
[22]张辉,程君.青藏线无线机车信号基于GNSS的列车定位模块测试报告[R].北京:北京交通大学GPS实验室.2007.
[23]唐德,韩剑,王全臣.欧洲应答器技术及其在中国铁路的应用前景[J].世界轨道交通.2004.6.48-50.
[24]应答器技术条件(暂行).科技运函[2004]114号.
[25]汪希时.智能铁路运输系统ITS-R[M].北京.中国铁道出版社.2004.235-240.
[26]Eurobalise SUBSET-036,http://www.aeif.org/db/docs/ccm/SUBSET-036-v221.pdf.
[27]《既有线CTCS-2级区段应答器报文定义及应用原则(暂行)》.
[28]SUBSET-026-8 ERTMS/ETCS-Class 1 System Requirements Specification.
[29]顾国华.GNSS科学发展与前景[J].全球定位系统.2008.4.1-5.
[30]张守信主编.GPS技术及应用[M].北京.国防工业出版社.2004年6月第1版.
[31]边少峰,李文魁.卫星导航系统概论[M].北京.电子工业出版社.2005年2月.1-103.
[32]李天文.GPS原理及应用[M].北京.科学出版社.2003年9月第1版.1-77.
[33]刘基余.GPS卫星导航定位原理与方法[M].北京.科学出版社.2003年8月第1版.1-252.
[34]王剑.基于GNSS的列车定位方法研究[博士学位论文].北京.北京交通大学.2006.
[35]孔祥元,郭敬明,刘宗泉.大地测量学基础[M].武汉.武汉大学出版社.2001年9月第1版.156-192.
[36]李征航,黄劲松.GPS测量与数据处理[M].武汉.武汉大学出版社.2005年3月第1版.156-172.
[37]冯宝红等.GPS车载导航中的坐标转换[J].中国惯性技术学报.2002.12.
[38]张项铎,谢世杰.WGS-84转换为国家实用坐标的研究[J].测绘通报.1997.5.
[39]田挚.坐标变换的实用方法及其应用[J].河北省科学院学报.2002.19(2).
[40]詹舒波,张其善.GPS/电子地图的坐标转换算法和实现[J].北京航空航天大学学报.1996.10(5).
[41]铁道部档案史志中心.中国铁道年鉴[M].中国铁道出版社.2002.
[42]H.Gomm.Data Format Specification for the Track database[S].locoprol.2002.
[43]齐英剑.地理信息系统及其在铁路DMIS中的应用[D].北京.北京交通大学.2000.
[44]Stephanie Andries.The Global Navigation Satellite System(GNSS)and the European Galileo programme:Legal Issues.Master thesis.Institute of Air and Space Law[D].Montreal:McGill University.1999.
[45]毕危危.基于GNSS的列控系统地图匹配技术的研究[硕士学位论文].北京交通大学.2006.3.
[46]Ales Filip,Hynek Mocek,Lubor Bazant.GPS/GNSS Based Train Positioning for Safety Critical Applications[J].Signal+Draht.2001.5:51-55.
[47]G.Barbu.Virtual Balise Architecture and sub-system requirement specification[R].European Rail Research Institute(ERRI).2002-9-9.
[48]G.Barbu.Virtual Balise Functional Requirement Specifications[EB/OL].European Rail Research Institute(ERRI).2002-9-9.
[49]G.Barbu.Virtual Balise Reference scenarios for implementation[EB/OL].European Rail Research Institute(ERRI).2002-9-9.
[50]A.Loliger,F.Tarkoy.Form Fit Function Specification Coding Strategy.1997.
[51]李晓宇,王安.FFFIS编解码算法与实现[J].微机处理.2007.6.
[52]乔向东.信息融合系统中目标跟踪技术研究[D].西安:西安电子科技大学.2003.13-32.
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