| As the core of the railway,the marshalling station acts as a "train factory" in railway freight transportation,and undertakes the dismantling,marshalling,picking and hanging operations of a large number of freight trains.Since the beginning of the 21 st century,with the development of China's economy,freight volumes have gradually increased,and the capacity of marshalling stations has become increasingly tight.In order to improve the marshalling station's operating efficiency,reduce manual participation and operating costs,it is a trend to develop integrated automated marshalling stations.The marshalling station integrated automation system consists of three parts: driving operation,shunting operation,and truck information.After years of development,only partial automation functions have been implemented,and the complete automation of marshalling stations is still a long way to go.Shunting operation is the main function of marshalling station,how to realize the automation of shunting operation is one of the key contents of integrated automation of marshalling station,and realize the real-time tracking and positioning of locomotive in marshalling station is the basis of automation of shunting operation,and the premise of automatic driving and operation control.This paper studies the tracking and positioning of locomotives and wagons in marshalling yards,which is divided into three parts,namely,the research on tracking and positioning mode,the research on sensor data information processing technology,and the research on application program development.The details are as follows:(1)Selection of tracking and positioning mode.Marshalling yard has the characteristics of large yard size,large number of tracks and complex trackside equipment.Through research on positioning technologies commonly used in the field of rail transit,it is found that a single positioning method cannot meet the special needs of the marshalling station.For example,in general,GNSS has high positioning accuracy,and signals are easily interfered.Although the odometer and radar speed measurement and positioning can also perform positioning,it is easy to generate cumulative errors and cannot guarantee the first requirement of marshalling station production-safety.Therefore,this article follows the principles of technology maturity first,accuracy and reliability,and low cost.In combination with the unique station layout of the marshalling station,an integrated positioning system based on RFID and supplemented by INS / GPS is selected.Among them,RFID is an absolute positioning serves as a reference system in the system.INS / GPS is mature and reliable,which can make up for the blind spots in the RFID positioning tag interval.(2)Selection of data processing methods.The combined positioning system has been developed for many years,and there are many options for the processing methods of sensor acquisition data.This article summarizes the advantages and disadvantages of common artificial intelligence methods and random methods,and finds that extended Kalman filter is the most widely used filter information fusion technology and can obtain ideal estimates.In this paper,the combined positioning system model is established,the system state equations and measurement equations are given,and the expected results are obtained through error simulation and analysis.(3)After completing the above two parts,this paper designs the application program of the locomotive and vehicle tracking and positioning system in marshalling yard in detail,mainly including the system development platform,development environment selection,system functional demand analysis,database and architecture design.And through system development,the basic functions of the initial version of locomotive tracking and marshalling in marshalling stations were realized,and the locomotive was visually displayed on the station map,the real-time output of locomotive position information,and the inquiry and tracking of arriving vehicles. |
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