基于GPS的接触网检测车杆位组合测试系统研究
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摘要
随着我国电气化铁路的飞速发展和列车速度的不断提高，对电气化铁路的安全运营提出了更高的要求。接触网是电气化铁路重要的供电设备，也是最容易发生故障的设备，接触网事故已构成影响电气化铁路发展及安全运营的一个重要因素。为了保持接触网良好的运行状态，就必须对接触网设备的运行状态有充分的了解。接触网检测车是目前最常用的接触网检测设备，在接触网参数检测中得到了广泛的应用。
本文针对目前普遍采用的接触网检测车杆位测试系统存在的问题，提出了一种基于GPS的改进方案。运用全球卫星定位系统的原理，和数据库有效结合，可以进行初始站区、杆位识别和检测中站区、杆位自动校正，消除距离脉冲记数引起的累积误差。和目前广泛采用的接触网检测车杆位测试系统相比，其自动化和智能化程度大大提高，而且还可以提高杆位测试的精度，具有较高的应用价值和现实意义。
首先，根据杆位测试系统的实际需要，选择GPS-OEM接收板，并对其进行串口设置、输出记录数据格式选择和数据输出频率设定。在进行杆位测试前必须首先建立杆位原始坐标数据库，检测中把GPS-OEM接收板接收到的实时位置信息进行处理得到当前接触网检测车的位置坐标，与杆位原始位置数据库杆位坐标相比较、计算实现杆位识别。由于GPS存在卫星信号遮挡问题，而原有杆位测试系统在开始检测时需要人工输入站区、杆位初始位置等信息，在检测中出现站区、杆位错位时必须进行手动调节，无法自动消除累积误差，因此提出了一种杆位组合测试系统方案，并对几种可能的组合定位方式进行了比较。
利用VB 6.0实现了GPS—OEM接收板和工控机间的串行通信，设计了杆位坐标原始数据库建立程序和杆位判别程序，并实现了工控机间的网络通信。此外，还设计了杆位判别算法和组合定位算法，对本系统进行了现场试验，并在对试验数据进行误差分析的基础上，对系统做了进一步优化。
With the rapidly develop of Electrified Railway, and the train runs more and more faster. The safety requirement of Electrified Railway becomes higher and higher. Overhead Catenary System (abbr. OCS) is vital to the Electrified Railway's power supply, and causes trouble easily. The accident caused by OCS is an important part that affects the development and safety of Electrified Railway. In order to keep its perfect condition, we must learn a lot about the equipments of OCS. Catenary Inspection Car is the most useful equipment, it is widely used in OCS testing.
Owing to the problem exists in the supporting pole number testing system of the Catenary Inspection Car, an improved method based on GPS is proposed. Using the theory of GPS and combining with database, it can eliminate the accumulative errors caused by pulse count. The improved method can not only identify the starting station and supporting pole number but also proofread the station and supporting pole number automatically in testing. Comparing to the supporting pole number testing system of the Catenary Inspection Car widely used at present, it can enhance the level of automatization
and intelligence of the Catenary Inspection Car and improve the accuracy of supporting pole number testing. The method shows good value of application and practical significance.
First, due to the actual requirement of supporting pole number testing system, the GPSCard is selected. Then, the GPSCard COM port's asynchronous drivers is configured and the output logs and frequency is selected. Before the supporting pole number testing, we should set up the database of the original positional coordinate of every supporting pole. In the testing, by processing the Rail-time position information from the GPSCard we can obtain the coordinate of the Catenary Inspection Car at the moment. Comparing to the coordinate of supporting pole in the original database, the position of the Catenary Inspection Car can be obtained. In some certain areas, the GPSCard can't receive signals. Furthermore, the original supporting pole number testing system also have some shortcomings, such as can't identify
the starting station and supporting pole number, it must be input by hand. In the testing, when the supporting pole number is wrong, we have to correct it manually. By comparing of the different integrated positioning mode, a supporting pole number integrated testing system is proposed.
The method to implement the communication between PC and GPSCard using MSComm control of VB 6.0 is carried out. The programs, which establish the original database and identify the supporting pole number is designed. The network communication through different computer is founded. Furthermore, the algorithm for integrated location and the supporting number identify is designed. Finally, some tests in the locale field were been done. Based on analyzing of the main errors, we made some improvements to this system.
本文针对目前普遍采用的接触网检测车杆位测试系统存在的问题，提出了一种基于GPS的改进方案。运用全球卫星定位系统的原理，和数据库有效结合，可以进行初始站区、杆位识别和检测中站区、杆位自动校正，消除距离脉冲记数引起的累积误差。和目前广泛采用的接触网检测车杆位测试系统相比，其自动化和智能化程度大大提高，而且还可以提高杆位测试的精度，具有较高的应用价值和现实意义。
首先，根据杆位测试系统的实际需要，选择GPS-OEM接收板，并对其进行串口设置、输出记录数据格式选择和数据输出频率设定。在进行杆位测试前必须首先建立杆位原始坐标数据库，检测中把GPS-OEM接收板接收到的实时位置信息进行处理得到当前接触网检测车的位置坐标，与杆位原始位置数据库杆位坐标相比较、计算实现杆位识别。由于GPS存在卫星信号遮挡问题，而原有杆位测试系统在开始检测时需要人工输入站区、杆位初始位置等信息，在检测中出现站区、杆位错位时必须进行手动调节，无法自动消除累积误差，因此提出了一种杆位组合测试系统方案，并对几种可能的组合定位方式进行了比较。
利用VB 6.0实现了GPS—OEM接收板和工控机间的串行通信，设计了杆位坐标原始数据库建立程序和杆位判别程序，并实现了工控机间的网络通信。此外，还设计了杆位判别算法和组合定位算法，对本系统进行了现场试验，并在对试验数据进行误差分析的基础上，对系统做了进一步优化。
With the rapidly develop of Electrified Railway, and the train runs more and more faster. The safety requirement of Electrified Railway becomes higher and higher. Overhead Catenary System (abbr. OCS) is vital to the Electrified Railway's power supply, and causes trouble easily. The accident caused by OCS is an important part that affects the development and safety of Electrified Railway. In order to keep its perfect condition, we must learn a lot about the equipments of OCS. Catenary Inspection Car is the most useful equipment, it is widely used in OCS testing.
Owing to the problem exists in the supporting pole number testing system of the Catenary Inspection Car, an improved method based on GPS is proposed. Using the theory of GPS and combining with database, it can eliminate the accumulative errors caused by pulse count. The improved method can not only identify the starting station and supporting pole number but also proofread the station and supporting pole number automatically in testing. Comparing to the supporting pole number testing system of the Catenary Inspection Car widely used at present, it can enhance the level of automatization
and intelligence of the Catenary Inspection Car and improve the accuracy of supporting pole number testing. The method shows good value of application and practical significance.
First, due to the actual requirement of supporting pole number testing system, the GPSCard is selected. Then, the GPSCard COM port's asynchronous drivers is configured and the output logs and frequency is selected. Before the supporting pole number testing, we should set up the database of the original positional coordinate of every supporting pole. In the testing, by processing the Rail-time position information from the GPSCard we can obtain the coordinate of the Catenary Inspection Car at the moment. Comparing to the coordinate of supporting pole in the original database, the position of the Catenary Inspection Car can be obtained. In some certain areas, the GPSCard can't receive signals. Furthermore, the original supporting pole number testing system also have some shortcomings, such as can't identify
the starting station and supporting pole number, it must be input by hand. In the testing, when the supporting pole number is wrong, we have to correct it manually. By comparing of the different integrated positioning mode, a supporting pole number integrated testing system is proposed.
The method to implement the communication between PC and GPSCard using MSComm control of VB 6.0 is carried out. The programs, which establish the original database and identify the supporting pole number is designed. The network communication through different computer is founded. Furthermore, the algorithm for integrated location and the supporting number identify is designed. Finally, some tests in the locale field were been done. Based on analyzing of the main errors, we made some improvements to this system.
引文
[1]Mike Knutton. The Sleeping dragon Awakens. International Railway Journal, February. 2003:21-25
[2]于万聚．接触网设计与检测原理．北京：中国铁道出版社，1991：208—265
[3]高波，周国齐，陈唐龙。基于GPS的接触网检测车杆位测试系统．兰州铁道学院学报．2003：[已录用]
[4]于万聚．电气化铁路接触网CAD系统．成都：西南交通大学出版社，1998
[5]NovAtel. MiLLennium GPSCard Software Command Descriptions Manual, 2001
[6]NovAtel. MiLLennium GPSCard and Enclosurers, 2001
[7]北京北斗星通卫星导航技术有限公司．NovAtel GPS接收机用户手册，2001
[8]郑金吾等．GPS接收机与PC机串行通讯技术的开发与应用．测控技术．2000，19(8)：50—51
[9]陈宇等．Windows下利用Visual Basic 5.0实现微机与GPS—OEM板的串行通信．自动化技术与应用．2000，19(1)：42—44
[10]余衡．MSComm控件在开发GPS接收板串口通信程序中的应用．水电能源科学．2000，18(4)：65—67
[11]吴旭颜．基于Internet网络的差分GPS应用研究．计算机应用．2000，20(11)：74—76
[12]林世究．Windows环境下PC机与GPS—OEM板通讯的研究．微型电脑应用．2001，17(12)：48—50
[13]将东兴等．Windows Sockets网络程序设计大全．北京：清华大学出版社，1999：7—17
[14]刘炳文．Visual Basic Internet程序设计．北京：清华大学出版社，2002：182—202
[15]苏惠敏等．GPS/INU/MM车辆定位导航系统研究．航空学报．2001，22(2)：171-174
[16]Zhao Yilin. Vehicle Location and Navigation System. Norwood: Arctech House Inc, 1997
[17]苏惠敏等．基于D—S证据理论的GPS／MM组合系统车辆定位算法．北京航空航天大学学报．2001，27(2)：157-160
[18]Bullock B.A prototype portable vehicle navigation system utilizing map aided GPS. In: ION GPS 95, 1995:319—329
[19]Peng Fei. Cost function based map matching algorithm for GPS/DR integrated navigation systems Beijing. Journal of Beijing University of Aeronautics and Astronautics. June 2002:261-264
[20]柏钢等．一种改进的地图匹配算法在车辆导航中的应用．中国惯性技术学报．1999
[21]陈南，高杨．数字地图在车辆导航中应用的若干技术问题．武汉大学学报．2002，2：143-147
[22]徐爱功等．车辆导航定位中地图匹配的MP模型．辽宁工程技术大学学报．2000，19(5)：497—500
[23]李成刚等．基于区域划分的GPS／DR组合导航定位研究．西南交通大学学报．2002，37(4)：409—413
[24]杨宜康等．车辆无陀螺航位推算系统的导航原理及其算法．西安交通大学学报．2001，35(12)：1284—1287
[25]孙永荣等．基于自适应滤波的车载DR系统研究．南京航空航天大学学报．2000，32(4)：451—454
[26]Liu Jianye, Sun Yongrong. Design & realization on GPS/INS integrated navigation system. Transactions of Nanjing University of Astronautics, 1998, 15 (2): 165—170
[27]Zheng Lilong, Cao Zhigang. Data fusion of GPS integrated navigation system. Tien Tzu llsueh Pao/Acta Electronica Sinica. September. 2002: 1384-1386
[28]Yuan Dongli. Globally optimal GPS/RP/DR navigation system for P. R. China's remotely piloted vehicle (RPV). Journal of Northwestern Polytechnical University. May 2002: 310-313
[29]常青等．车载GPS／DR组合导航系统数据融合算法研究．通信学报．2000，21(2)：42—48
[30]董绪荣等．车辆GPS／DR组合导航方法研究．指挥技术学院学报．2001，12(3)：23—25
[31]郑平方等．车辆GPS／DR／GIS组合导航定位系统．自动化与仪器仪表．1999，4：32-34
[32]刘大杰等．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996：1—19
[33]冯锡生，赵晓琳．GPS及其通信组网．北京：中国铁道出版社，1996：1—12
[34]Chowdhary, Mahesh. Driver assistance applications based on automotive navigation system infrastructure. IEEE International Conference on Consumer Electronics. 2002: 38-39
[35]Cao, Peter. An application of GPS systems on a mobile robot. The International Society for Optical Engineering. 2001: 321-328
[36]张飞舟等．车辆组合导航定位技术．系统工程与电子技术．2000，22(6)：32—35
[37]张巨等．车辆GPS定位的一般性问题研究．国防科技大学学报．2000，22(1)：31—35
[38]MAR J, LEU J H. Simulation of the position accuracy of intergrated navigation systems. IEE Proc-Radar, Sonar Navig, 1996, 143 (2): 121—127
[39]陈则王，袁信．面向ITS的车辆导航定位技术．交通与计算机．2001，19(6)：23—25
[40]房建成，万德均．GPS组合导航系统在车辆导航系统中的应用．北京：第一届全国全球定位系统(GPS)专业学组委员会学术会议论文集．1995
[41]McNeff, Jules G. The global positioning system. IEEE Transactions on Microwave Theory and Techniques. March 2002: 645-652
[42]Furse, Cynthia. An inexpensive distance measuring system for navigation of robotic vehicles. Microwave and Optical Technology Letters. 2002: 84-87
[43]Wu Qiuping. An adaptive information fusion method to vehicle integrated navigation. Position Location and Navigation Symposium. 2002: 248-253
[44]高成法．GPS测量．北京：人民交通出版社，2000：73—86
[45]徐绍铨．GPS测量原理及应用．武汉：武汉测绘科技大学出版社，1998：102—116
[46]周忠谟等．GPS卫星测量原理与应用．北京：测绘出版社，1997：253—257
[47]王广运等．差分GPS定位技术与应用．北京：电子工业出版社，1996：77—83
[48]电气化工程局电气化设计处．电气化铁路设计手册(接触网)．北京：中国铁道出版社，1983
[49]电气化工程局，铁路电力牵引供电设计规范．北京：中国铁道出版社，1986
[50]杨嘉章．世界GPS/GIS采购指南．北京：航空工业出版社，2001
[51]李洪涛．GPS应用程序设计．北京：科学出版社，1999
[52]范逸之．Visual Basic与分布式监控系统—RS-232/485串行通信．北京：清华大学出版社，2002：36—45
[53]Steven Holzner．Visual Basic 6技术内幕．北京：机械工业出版社，1999
[54]赵亦林．车辆定位与导航系统．谭国真译．北京：电子工业出版社，1999：88—108
[55]Zou Shikai. Using accumulated errors to realize close-loop rectification of integrated navigation system. Tien Tzu Hsueh Pao/Acta Electronica Sinica. September, 2001: 1221-1224
[56]Qi Honghui. Direct Kalman filtering approach for GPS/INS integration. IEEE Transactions on Aerospace and Electronic Systems. April, 2002:687-693
[57]Mori, Yoshikazu. Position estimation for a mobile robot using an accelerometer with impedance-type detector. Transactions of the Japan Society of Mechanical Engineers. March, 2002: 870-876
[58]Rahbari, Roya. Adaptive tuning of a Kalman filter using the fuzzy integral for an intelligent navigation system. IEEE International Symposium on Intelligent Control-Proceedings. 2002: 252-257
[2]于万聚．接触网设计与检测原理．北京：中国铁道出版社，1991：208—265
[3]高波，周国齐，陈唐龙。基于GPS的接触网检测车杆位测试系统．兰州铁道学院学报．2003：[已录用]
[4]于万聚．电气化铁路接触网CAD系统．成都：西南交通大学出版社，1998
[5]NovAtel. MiLLennium GPSCard Software Command Descriptions Manual, 2001
[6]NovAtel. MiLLennium GPSCard and Enclosurers, 2001
[7]北京北斗星通卫星导航技术有限公司．NovAtel GPS接收机用户手册，2001
[8]郑金吾等．GPS接收机与PC机串行通讯技术的开发与应用．测控技术．2000，19(8)：50—51
[9]陈宇等．Windows下利用Visual Basic 5.0实现微机与GPS—OEM板的串行通信．自动化技术与应用．2000，19(1)：42—44
[10]余衡．MSComm控件在开发GPS接收板串口通信程序中的应用．水电能源科学．2000，18(4)：65—67
[11]吴旭颜．基于Internet网络的差分GPS应用研究．计算机应用．2000，20(11)：74—76
[12]林世究．Windows环境下PC机与GPS—OEM板通讯的研究．微型电脑应用．2001，17(12)：48—50
[13]将东兴等．Windows Sockets网络程序设计大全．北京：清华大学出版社，1999：7—17
[14]刘炳文．Visual Basic Internet程序设计．北京：清华大学出版社，2002：182—202
[15]苏惠敏等．GPS/INU/MM车辆定位导航系统研究．航空学报．2001，22(2)：171-174
[16]Zhao Yilin. Vehicle Location and Navigation System. Norwood: Arctech House Inc, 1997
[17]苏惠敏等．基于D—S证据理论的GPS／MM组合系统车辆定位算法．北京航空航天大学学报．2001，27(2)：157-160
[18]Bullock B.A prototype portable vehicle navigation system utilizing map aided GPS. In: ION GPS 95, 1995:319—329
[19]Peng Fei. Cost function based map matching algorithm for GPS/DR integrated navigation systems Beijing. Journal of Beijing University of Aeronautics and Astronautics. June 2002:261-264
[20]柏钢等．一种改进的地图匹配算法在车辆导航中的应用．中国惯性技术学报．1999
[21]陈南，高杨．数字地图在车辆导航中应用的若干技术问题．武汉大学学报．2002，2：143-147
[22]徐爱功等．车辆导航定位中地图匹配的MP模型．辽宁工程技术大学学报．2000，19(5)：497—500
[23]李成刚等．基于区域划分的GPS／DR组合导航定位研究．西南交通大学学报．2002，37(4)：409—413
[24]杨宜康等．车辆无陀螺航位推算系统的导航原理及其算法．西安交通大学学报．2001，35(12)：1284—1287
[25]孙永荣等．基于自适应滤波的车载DR系统研究．南京航空航天大学学报．2000，32(4)：451—454
[26]Liu Jianye, Sun Yongrong. Design & realization on GPS/INS integrated navigation system. Transactions of Nanjing University of Astronautics, 1998, 15 (2): 165—170
[27]Zheng Lilong, Cao Zhigang. Data fusion of GPS integrated navigation system. Tien Tzu llsueh Pao/Acta Electronica Sinica. September. 2002: 1384-1386
[28]Yuan Dongli. Globally optimal GPS/RP/DR navigation system for P. R. China's remotely piloted vehicle (RPV). Journal of Northwestern Polytechnical University. May 2002: 310-313
[29]常青等．车载GPS／DR组合导航系统数据融合算法研究．通信学报．2000，21(2)：42—48
[30]董绪荣等．车辆GPS／DR组合导航方法研究．指挥技术学院学报．2001，12(3)：23—25
[31]郑平方等．车辆GPS／DR／GIS组合导航定位系统．自动化与仪器仪表．1999，4：32-34
[32]刘大杰等．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996：1—19
[33]冯锡生，赵晓琳．GPS及其通信组网．北京：中国铁道出版社，1996：1—12
[34]Chowdhary, Mahesh. Driver assistance applications based on automotive navigation system infrastructure. IEEE International Conference on Consumer Electronics. 2002: 38-39
[35]Cao, Peter. An application of GPS systems on a mobile robot. The International Society for Optical Engineering. 2001: 321-328
[36]张飞舟等．车辆组合导航定位技术．系统工程与电子技术．2000，22(6)：32—35
[37]张巨等．车辆GPS定位的一般性问题研究．国防科技大学学报．2000，22(1)：31—35
[38]MAR J, LEU J H. Simulation of the position accuracy of intergrated navigation systems. IEE Proc-Radar, Sonar Navig, 1996, 143 (2): 121—127
[39]陈则王，袁信．面向ITS的车辆导航定位技术．交通与计算机．2001，19(6)：23—25
[40]房建成，万德均．GPS组合导航系统在车辆导航系统中的应用．北京：第一届全国全球定位系统(GPS)专业学组委员会学术会议论文集．1995
[41]McNeff, Jules G. The global positioning system. IEEE Transactions on Microwave Theory and Techniques. March 2002: 645-652
[42]Furse, Cynthia. An inexpensive distance measuring system for navigation of robotic vehicles. Microwave and Optical Technology Letters. 2002: 84-87
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