CN-120462486-B - Portable interpolation appearance and high in clouds management system based on optic fibre is used to guide

CN120462486BCN 120462486 BCN120462486 BCN 120462486BCN-120462486-B

Abstract

The embodiment of the invention relates to the technical field of rail transit and discloses a portable adder and a cloud management system based on optical fiber inertial navigation, wherein the adder comprises an audio sensor, an inertial navigation system, a GPS (global positioning system), a central processing unit and a communication module; the system comprises an audio sensor, an inertial navigation system, a GPS positioning system, a central processing unit and a cloud platform, wherein the audio sensor collects noise signals in a train carriage, the inertial navigation system measures acceleration data and vibration data of the train, real-time speed and inertial navigation mileage of the train are determined according to the acceleration data when GPS signals are not available or are available, the GPS positioning system obtains longitude and latitude information of the train when the GPS signals are available, and the central processing unit uploads the noise signals, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information to the predetermined cloud platform through a communication module. Through the mode, various data in the running process of the train can be comprehensively collected and detected, the accuracy of the train positioning data based on the inertial navigation mileage and longitude and latitude information is high, and the data are uniformly and efficiently managed through the cloud platform.

Inventors

YAN XIAOXIA
Cong Gangshi
TU JIAN
Leng Quanchao
ZHANG HAORAN
WANG DAOZHONG
LIU YU
ZHANG XIAOYU
WANG JING
JI ZHE
LIU YUTAO
LI JUNXIN
GUO JIANQIN
Shen Penghui
LI ZHONGTAO
CHEN ZHIXIN

Assignees

中国铁道科学研究院集团有限公司
铁科院(深圳)研究设计院有限公司

Dates

Publication Date: 20260508
Application Date: 20250507

Claims (8)

1. The portable type adding instrument based on the optical fiber inertial navigation is characterized by being arranged in a carriage of a running train and comprising an audio sensor, an inertial navigation system, a GPS positioning system, a central processing unit and a communication module; the audio sensor collects noise signals in the train carriage and sends the noise signals to the central processing unit; the inertial navigation system measures acceleration data and vibration data of the train, determines real-time speed and inertial navigation mileage of the train according to the acceleration data when no GPS signal exists or the GPS signal exists, and sends the real-time speed, the inertial navigation mileage, the acceleration data and the vibration data to the central processing unit, wherein the acceleration data comprises acceleration, angular acceleration and vibration acceleration; the GPS positioning system acquires longitude and latitude information of the train when a GPS signal exists, and sends the longitude and latitude information to the central processing unit; The central processing unit uploads the noise signals, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information to a preset cloud platform through the communication module; when the CPU acquires a zero-speed instruction, the zero-speed instruction is sent to the inertial navigation system, wherein the zero-speed instruction at least comprises an in-out instruction; When the GPS signal is not available or is available, the inertial navigation system carries out zero-speed correction on the acceleration data according to the zero-speed instruction, and calculates the inertial navigation mileage of the train based on the acceleration data after zero-speed correction; the inertial navigation system calculates an initial mileage S0 based on acceleration data after zero-speed correction; The inertial navigation system also measures the swing angular speed of the train, determines a curve driving road section based on the swing angular speed, and determines a first mileage deviation delta S1 of each main point in the curve driving road section based on the swing angular speed of the curve driving road section and the curvature of the curve driving road section; The inertial navigation system carries out linear interpolation on a straight-line driving road section based on the initial mileage S0 and the first mileage deviation delta S1, and carries out curve interpolation on the curve driving road section according to a preset time stamp to obtain a second mileage deviation delta S2 after interpolation; and calculating the inertial navigation mileage according to the initial mileage S0, the first mileage deviation delta S1 and the second mileage deviation delta S2.
2. The portable multiplier of claim 1, wherein the multiplier of the first set of data comprises, The inertial navigation system calculates a first correction speed in real time and sends the first correction speed to the central processing unit; the inertial navigation system calculates a second correction speed based on the acceleration data after zero-speed correction; the central processing unit acquires the train speed of the GPS positioning system, determines a speed error value based on the train speed and the first correction speed, and feeds back the speed error value to the inertial navigation system; And the central processing unit uploads the first correction speed, the second correction speed and/or the third correction speed to the cloud platform through the communication module.
3. The portable multiplier of claim 1, wherein the noise signal, the acceleration data, the vibration data, the real-time velocity, the inertial navigation mileage and longitude and latitude information are all time-based time series data; And after the noise signal, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information are acquired, the central processing unit also adopts a preset data alignment algorithm to perform alignment processing on the noise signal, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information.
4. The portable multiplier of claim 1, wherein the central processor calculates a comfort index from the acceleration data, calculates a stationarity index from the vibration data, and uploads the comfort index and the stationarity index to the cloud platform via the communication module; And if the comfort index is larger than a preset index threshold value, and/or if the stability index is larger than a preset index threshold value, uploading an early warning signal to the cloud platform through the communication module, or sending the early warning signal to a preset terminal.
5. The portable multiplier of claim 1, wherein the multiplier of the first set of data comprises, When the inertial navigation mileage is not available or the GPS signal is not available, the inertial navigation system receives the input longitude and latitude information; After calibration based on the entered latitude and longitude information is successful, the inertial navigation system performs system alignment.
6. A cloud management system, comprising a cloud platform and the portable optical fiber inertial navigation-based adder according to any one of claims 1-5.
7. The cloud management system of claim 6, wherein the cloud platform comprises a rights management and control module that receives identity information registered by a user at the cloud platform, the identity information comprising at least a device unique code of the multiplier and authenticates the identity information when the user logs in the cloud platform and performs hierarchical rights management and control on data uploaded by the multiplier.
8. The cloud management system of claim 6 or 7, wherein the cloud platform comprises a data display module that graphically processes and displays the noise signal, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage, and the longitude and latitude information.

Description

Portable interpolation appearance and high in clouds management system based on optic fibre is used to guide Technical Field The embodiment of the invention relates to the technical field of rail transit, in particular to a portable adder and a cloud management system based on optical fiber inertial navigation. Background With the rapid development of rail traffic, detection of train operation states is becoming increasingly important. The conventional train detection equipment uses a single sensor such as a sensor and a GPS (global positioning system) positioner for positioning, for example, the acceleration sensor can be used for detecting the acceleration and vibration conditions of a train, and the GPS positioner can be used for detecting the position of the train, so that a certain guarantee effect is achieved on the safe running of the train. However, the existing train positioning system cannot effectively position in an environment lacking GPS signals, such as a tunnel or other signal shielding areas, the urban rail transit underground tunnel belongs to the environment without GPS, and the train position positioning is difficult, so that the matching of the detection result and the on-site mileage is difficult. In addition, the existing train detection equipment has the data acquisition capability, but has the defects of timely processing and comprehensive management of data, and is difficult to ensure the real-time performance and accuracy of detection data. Therefore, a solution for comprehensively and accurately detecting and efficiently managing the train operation state data is needed. Disclosure of Invention In view of the above problems, the embodiments of the present invention provide a portable adder and cloud management system based on optical fiber inertial navigation, which are used for solving the problems existing in the prior art. According to one aspect of the embodiment of the invention, a portable type adder based on optical fiber inertial navigation is provided, and the portable type adder is arranged in a carriage of a running train and comprises an audio sensor, an inertial navigation system, a GPS positioning system, a central processing unit and a communication module; the audio sensor collects noise signals in the train carriage and sends the noise signals to the central processing unit; the inertial navigation system measures acceleration data and vibration data of the train, determines real-time speed and inertial navigation mileage of the train according to the acceleration data when no GPS signal exists or the GPS signal exists, and sends the real-time speed, the inertial navigation mileage, the acceleration data and the vibration data to the central processing unit, wherein the acceleration data comprises acceleration, angular acceleration and vibration acceleration; the GPS positioning system acquires longitude and latitude information of the train when a GPS signal exists, and sends the longitude and latitude information to the central processing unit; And the central processing unit uploads the noise signals, the acceleration data, the vibration data, the real-time speed, the inertial navigation mileage and the longitude and latitude information to a preset cloud platform through the communication module. In an alternative manner, when the central processing unit acquires a zero-speed instruction, the zero-speed instruction is sent to the inertial navigation system, wherein the zero-speed instruction at least comprises an in-out instruction; and when the GPS signal is not available or is available, the inertial navigation system carries out zero-speed correction on the acceleration data according to the zero-speed instruction, and calculates the inertial navigation mileage of the train based on the acceleration data after the zero-speed correction. In an alternative way, the inertial navigation system calculates an initial mileage S0 based on the acceleration data after the zero-speed correction; The inertial navigation system also measures the swing angular speed of the train, determines a curve driving road section based on the swing angular speed, and determines a first mileage deviation delta S1 of each main point in the curve driving road section based on the swing angular speed of the curve driving road section and the curvature of the curve driving road section; The inertial navigation system carries out linear interpolation on a straight-line driving road section based on the initial mileage S0 and the first mileage deviation delta S1, and carries out curve interpolation on the curve driving road section according to a preset time stamp to obtain a second mileage deviation delta S2 after interpolation; and calculating the inertial navigation mileage according to the initial mileage S0, the first mileage deviation delta S1 and the second mileage deviation delta S2. In an alternative way, the inertial navigation system calculates a first correction speed in real