基于最大偏差准则的列车卫星定位完好性监测方法
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摘要
卫星定位实现列车运行状态的自主感知是下一代列车运行控制系统的重要发展方向。基于卫星的车载定位方式能够有效减少轨旁设备,降低建设和维护成本,提升列车定位的自主性和可信性。卫星定位应用需要符合铁路的安全性要求,为实现卫星定位列控应用的安全评估进行卫星定位完好性监测,研究了卫星导航领域与铁路电子电气设备领域已有的规范和标准,考虑测量噪声对水平保护级别的影响,提出基于最大偏差准则的完好性监测算法。实测结果表明,基于最大偏差准则的完好性监测算法能够有效保障定位结果的完好性,降低出现非安全漏报的风险,为卫星定位铁路安全应用完好性监测和安全完整性分析提供一定的参考。
GNSS-based localization technique to achieve train operation self-perception is a vital direction for the next generation of train control. GNSS on train borne side for train localization can effectively reduce trackside equipment, cut off construction and maintenance costs, and improve the dependability of the train location. In GNSS-based train localization application scenarios, train localization function should conform stringent safety requirements. In order to assess the functional safety performance of GNSS for train control, integrity monitoring for GNSS-based localization was carried out and the current mainstream regulation and standards both in GNSS and railway domains were studied, considering the effect of different measured noise levels on the Horizontal Protection Level(HPL). The integrity monitoring algorithm considering maximum offset principle was proposed. The results show that the integrity monitoring algorithm proposed in this paper can efficiently ensure the integrity performance of the location results, lower the missed safety alarm risks, thus providing reference value for the application of train localization integrity monitoring and safety integrity analysis.
GNSS-based localization technique to achieve train operation self-perception is a vital direction for the next generation of train control. GNSS on train borne side for train localization can effectively reduce trackside equipment, cut off construction and maintenance costs, and improve the dependability of the train location. In GNSS-based train localization application scenarios, train localization function should conform stringent safety requirements. In order to assess the functional safety performance of GNSS for train control, integrity monitoring for GNSS-based localization was carried out and the current mainstream regulation and standards both in GNSS and railway domains were studied, considering the effect of different measured noise levels on the Horizontal Protection Level(HPL). The integrity monitoring algorithm considering maximum offset principle was proposed. The results show that the integrity monitoring algorithm proposed in this paper can efficiently ensure the integrity performance of the location results, lower the missed safety alarm risks, thus providing reference value for the application of train localization integrity monitoring and safety integrity analysis.
引文
[1] 蔡伯根.低成本列控系统的列车组合定位理论与方法[D].北京:北京交通大学,2010.
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[5] BEUGIN J,MARAIS J.Simulation-based evaluation of Dependability and Safety Properties of Satellite Technologies for Railway Localization[J].Transportation Research Part C:Emerging Technologies,2012,22:42-57.
[6] 王剑,陆德彪,唐一哲,等.基于虚拟应答器的GNSS列车安全定位及风险分析[J].铁道学报,2016,38(6):53-58.WANG Jian,LU Debiao,TANG Yizhe,et al.Virtual Balise Application for GNSS Train Safe Location and Risk Analysis[J].Journal of the China Railway Society,2016,38(6):53-58.
[7] 刘江,蔡伯根,王剑.北斗列车定位RAIM可用性预测方法研究[J].交通运输系统工程与信息,2016,16(4):117-124.LIU Jiang,CAI Baigen,WANG Jian.RAIM Availability Prediction Method for BDS-based Train Positioning[J].Journal of Transportation Systems Engineering and Information Technology,2016,16(4):117-124.
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[10] STURZA M A.Navigation System Integrity Monitoring Using Redundant Measurements[J].Navigation,1988,35(4):483-501.
[11] 王永超,黄智刚,孙国良.三种导航卫星故障识别方法的等价性研究[J].遥测遥控,2006,27(1):51-55.WANG Yongchao,HUANG Zhigang,SUN Guoliang.Research on the Equivalence Among Three Satellite Fault Identification Algorithms[J].Journal of Telemetry,Tracking,and Command,2006,27(1):51-55.
[12] LEE Y.New Techniques Relating Fault Detection and Exclusion Performance to GPS Primary Means Integrity Requirements[C]// Proceedings of ION GPS-95.California:Institute of Navigation,1995:1929-1939.
[13] 余弘旸.列车卫星定位安全风险评估方法研究[D].北京:北京交通大学,2017.
[14] LU D B.GNSS for Train Localisation Performance Evaluation and Verification[D].Lower Saxony:Technical University of Braunschweig,2014:90-95.
[15] 吴添成.基于北斗系统的星基增强系统完好性指标分析与参数研究[D].天津:中国民航大学,2014.
[16] International Civil Aviation Organization.Annex 10 to Convention on International Civil Aviation[S].Montreal:International Civil Aviation Organization,2006.
[17] CENELEC.EN 50126:Railway Applications-The Specification and Demonstration of Reliability,Availability,Maintainability and Safety (RAMS)[S].Brussels,2001.
[18] CENELEC.EN50129:Railway Applications - Communication,Signalling and Processing Systems - Safety Related Electronic Systems for Signaling[S].Brussels,2001.
[19] JIANG Y,WANG J.A New Approach to Calculate the Horizontal Protection Level[J].The Journal of Navigation,2016,69(1):57-74.
[20] BRABAND J,HOVEL R,SCHABE H.Ausfallwahrscheinlichkeit bei Anforderung (PFD)-was ist das und wird das gebraucht?[J].Signal und Draht,2009,101(7):30.
[21] FILI PA,MOCEK H,SUCHANEK J.Significance of the Galileo Signal-in-space Integrity and Continuity for Railway Signalling and Train Control[C]//8th World Congress on Railway Research (WCRR).Seoul,2008.
[22] OEHLER V,LUONGO F,BOYERO J P,et al.The Galileo Integrity Concept[C]// Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation.California:Institute of Navigation,2004:604-615.
[2] 李凯.青藏铁路ITCS信号控制系统方案[J].中国铁路,2005(7):31-36.LI Kai.Plan of ITCS Signal Control System on Qinghai-Tibet Railway[J].Chinese Railways,2005(7):31-36
[3] FILI P A,BEUGIN J,MARAIS J,et al.Safety Concept of Railway Signalling Based on Galileo Safety-of-life Service[C]//Proceedings of 11th International Conference on Computer System Design and Operation in the Railway and Other Transit Systems.Southampton:WIT Press,2008:103-112.
[4] FILI P A.Which of EGNOS Navigation Modes for Railway Signalling:Precision Approach or en Route?[C]//.Proceedings-International Symposium on Certification of GNSS Systems & Services.Rostock:Deutsche Cesellschaft für Ortung and Navigation,2010:28-29.
[5] BEUGIN J,MARAIS J.Simulation-based evaluation of Dependability and Safety Properties of Satellite Technologies for Railway Localization[J].Transportation Research Part C:Emerging Technologies,2012,22:42-57.
[6] 王剑,陆德彪,唐一哲,等.基于虚拟应答器的GNSS列车安全定位及风险分析[J].铁道学报,2016,38(6):53-58.WANG Jian,LU Debiao,TANG Yizhe,et al.Virtual Balise Application for GNSS Train Safe Location and Risk Analysis[J].Journal of the China Railway Society,2016,38(6):53-58.
[7] 刘江,蔡伯根,王剑.北斗列车定位RAIM可用性预测方法研究[J].交通运输系统工程与信息,2016,16(4):117-124.LIU Jiang,CAI Baigen,WANG Jian.RAIM Availability Prediction Method for BDS-based Train Positioning[J].Journal of Transportation Systems Engineering and Information Technology,2016,16(4):117-124.
[8] LEE Y C.Analysis of Range and Position Comparison Methods as a Means to Provide GPS Integrity in the User Receiver[C]//Proceedings of the 42nd Annual Meeting of the Institute of Navigation.Washington:Institute of Navigation,1986:1-4.
[9] PARKINSON B W,AXELRAD P.Autonomous GPS Integrity Monitoring Using the Pseudorange Residual[J].Navigation,1988,35(2):255-274.
[10] STURZA M A.Navigation System Integrity Monitoring Using Redundant Measurements[J].Navigation,1988,35(4):483-501.
[11] 王永超,黄智刚,孙国良.三种导航卫星故障识别方法的等价性研究[J].遥测遥控,2006,27(1):51-55.WANG Yongchao,HUANG Zhigang,SUN Guoliang.Research on the Equivalence Among Three Satellite Fault Identification Algorithms[J].Journal of Telemetry,Tracking,and Command,2006,27(1):51-55.
[12] LEE Y.New Techniques Relating Fault Detection and Exclusion Performance to GPS Primary Means Integrity Requirements[C]// Proceedings of ION GPS-95.California:Institute of Navigation,1995:1929-1939.
[13] 余弘旸.列车卫星定位安全风险评估方法研究[D].北京:北京交通大学,2017.
[14] LU D B.GNSS for Train Localisation Performance Evaluation and Verification[D].Lower Saxony:Technical University of Braunschweig,2014:90-95.
[15] 吴添成.基于北斗系统的星基增强系统完好性指标分析与参数研究[D].天津:中国民航大学,2014.
[16] International Civil Aviation Organization.Annex 10 to Convention on International Civil Aviation[S].Montreal:International Civil Aviation Organization,2006.
[17] CENELEC.EN 50126:Railway Applications-The Specification and Demonstration of Reliability,Availability,Maintainability and Safety (RAMS)[S].Brussels,2001.
[18] CENELEC.EN50129:Railway Applications - Communication,Signalling and Processing Systems - Safety Related Electronic Systems for Signaling[S].Brussels,2001.
[19] JIANG Y,WANG J.A New Approach to Calculate the Horizontal Protection Level[J].The Journal of Navigation,2016,69(1):57-74.
[20] BRABAND J,HOVEL R,SCHABE H.Ausfallwahrscheinlichkeit bei Anforderung (PFD)-was ist das und wird das gebraucht?[J].Signal und Draht,2009,101(7):30.
[21] FILI PA,MOCEK H,SUCHANEK J.Significance of the Galileo Signal-in-space Integrity and Continuity for Railway Signalling and Train Control[C]//8th World Congress on Railway Research (WCRR).Seoul,2008.
[22] OEHLER V,LUONGO F,BOYERO J P,et al.The Galileo Integrity Concept[C]// Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation.California:Institute of Navigation,2004:604-615.