低成本列控系统的列车组合定位理论与方法
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摘要
列车运行控制系统对铁路运输的安全和效率起着决定性的作用,采用卫星定位(GNSS)技术的低成本列车运行控制系统可以减少轨旁设备、降低建设与运营成本、提高运营管理水平。
论文系统研究了列车组合定位的理论与方法,包括轨道地图数据处理、列车组合定位算法、轨道占用自动识别、列车定位安全完整性监测等关键技术。主要研究内容和创新性工作包括：
1、提出了局部优化启发式算法和基于变分曲线模型的数据约简算法,解决了大规模冗余轨道地图数据的数据约简问题,并采用三次样条拟合实现了带关键点约束条件下的轨道地图生成。
2、对新型非线性滤波算法CKF (Cubature Kalman Filter,容积卡尔曼滤波)在列车组合定位这一特定环境下的适用性进行了探索,并以实际现场采集数据验证了基于CKF的列车组合定位系统性能。
3、提出了基于Hausdorff距离匹配和D-S证据理论的列车轨道占用自动识别算法,对算法过程中的参考模板搜索阈值、列车速度等相关参数的选取策略进行了研究,能够快速、有效地实现轨道占用自动识别。
4、构建了适用于低成本列车控制系统的列车定位平台,采用Markov链对该平台的安全完整性进行了评估,提出了一种基于加权奇偶矢量法的安全完整性监测算法,改善了列车组合定位系统的安全完整性。
论文采用青藏铁路现场以及北京三家店车站的实际测试数据,验证了本文研究的理论与方法,可实现站内复杂线路的轨道占用识别和区间内的列车准确、可靠定位。
Train control system plays a crucial role in safety and efficiency of railway transportation. Through deploying low-cost train control system based on GNSS, number of trackside equipment could be cut down, construction and maintainence cost could be reduced, operation management could be improved.
The dissertation systematically studied train integrated positioning methods which includes track map data processing, train integrated positioning algorithm, auotomatic track occupancy identification, safety integrity of train positioning, etc. Main research and contributions are listed below.
1. Algorithms based on local optimization heuristic method and variational curve model for data reduction are proposed, which help to solve data reduction problem for large scale track map data and then cubic spline interpolation is adopted to implement track map generation with restraints from fixed POIs (Point Of Interests).
2. CKF(Cubature Kalman Filter), a novel nonlinear filtering algorithm, is explored to apply to train integrated positioning and its performance is verified by using field data.
3. Automatic track occupancy identification based on Hausdorff distance and D-S evidence theory is proposed. Selective strategy for related parameters, such as reference template searching threshold and train speed, is studied. Quick and effective track occupancy automaitc identification could be achieved.
4. Train positioning platform for low-cost train control system is constructed. Markov chain is adopted for assessment of safety integrity of this platform. A safety integrity monitoring algorithm based on weighted parity vector method is put forward to improve safety integrity of train integrated positioning system.
Methods studied in the dissertation are verified by using field data from Qinghai-Tibet railway and Sanjiadian railway station of Beijing bureau, which could realize not only track occupancy identification in station with complicated tracks, bu also accurate and reliable train positioning in block section. Research on basic theory of low-cost train control system is enriched.
论文系统研究了列车组合定位的理论与方法,包括轨道地图数据处理、列车组合定位算法、轨道占用自动识别、列车定位安全完整性监测等关键技术。主要研究内容和创新性工作包括：
1、提出了局部优化启发式算法和基于变分曲线模型的数据约简算法,解决了大规模冗余轨道地图数据的数据约简问题,并采用三次样条拟合实现了带关键点约束条件下的轨道地图生成。
2、对新型非线性滤波算法CKF (Cubature Kalman Filter,容积卡尔曼滤波)在列车组合定位这一特定环境下的适用性进行了探索,并以实际现场采集数据验证了基于CKF的列车组合定位系统性能。
3、提出了基于Hausdorff距离匹配和D-S证据理论的列车轨道占用自动识别算法,对算法过程中的参考模板搜索阈值、列车速度等相关参数的选取策略进行了研究,能够快速、有效地实现轨道占用自动识别。
4、构建了适用于低成本列车控制系统的列车定位平台,采用Markov链对该平台的安全完整性进行了评估,提出了一种基于加权奇偶矢量法的安全完整性监测算法,改善了列车组合定位系统的安全完整性。
论文采用青藏铁路现场以及北京三家店车站的实际测试数据,验证了本文研究的理论与方法,可实现站内复杂线路的轨道占用识别和区间内的列车准确、可靠定位。
Train control system plays a crucial role in safety and efficiency of railway transportation. Through deploying low-cost train control system based on GNSS, number of trackside equipment could be cut down, construction and maintainence cost could be reduced, operation management could be improved.
The dissertation systematically studied train integrated positioning methods which includes track map data processing, train integrated positioning algorithm, auotomatic track occupancy identification, safety integrity of train positioning, etc. Main research and contributions are listed below.
1. Algorithms based on local optimization heuristic method and variational curve model for data reduction are proposed, which help to solve data reduction problem for large scale track map data and then cubic spline interpolation is adopted to implement track map generation with restraints from fixed POIs (Point Of Interests).
2. CKF(Cubature Kalman Filter), a novel nonlinear filtering algorithm, is explored to apply to train integrated positioning and its performance is verified by using field data.
3. Automatic track occupancy identification based on Hausdorff distance and D-S evidence theory is proposed. Selective strategy for related parameters, such as reference template searching threshold and train speed, is studied. Quick and effective track occupancy automaitc identification could be achieved.
4. Train positioning platform for low-cost train control system is constructed. Markov chain is adopted for assessment of safety integrity of this platform. A safety integrity monitoring algorithm based on weighted parity vector method is put forward to improve safety integrity of train integrated positioning system.
Methods studied in the dissertation are verified by using field data from Qinghai-Tibet railway and Sanjiadian railway station of Beijing bureau, which could realize not only track occupancy identification in station with complicated tracks, bu also accurate and reliable train positioning in block section. Research on basic theory of low-cost train control system is enriched.
引文
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