CA2518192A1 - System and method for determining relative differential positioning system measurement solutions - Google Patents
System and method for determining relative differential positioning system measurement solutions Download PDFInfo
- Publication number
- CA2518192A1 CA2518192A1 CA002518192A CA2518192A CA2518192A1 CA 2518192 A1 CA2518192 A1 CA 2518192A1 CA 002518192 A CA002518192 A CA 002518192A CA 2518192 A CA2518192 A CA 2518192A CA 2518192 A1 CA2518192 A1 CA 2518192A1
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- CA
- Canada
- Prior art keywords
- point
- train
- vector
- switch
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
Abstract
A method and system in which a vehicle carries an on-board positioning system and has access to a database of information pertaining to a plurality of fixed paths. A vector between the position of the fixed path and a position of the vehicle as reported by the positioning system is calculated prior to arriving at a point of divergence (i.e., a point at which a path branches, such as a switch on a railroad track). After passing the path divergence, a second vector is calculated between the position of the vehicle as reported by the positioning system and at lea st one of the alternate paths, preferably the correct alternate path. The first vector is compared to the second vector, and a determination as to which path the vehicle is on is made based on the comparison.
Claims (22)
1. A method for determining which alternative path a vehicle has taken comprising the steps of:
determining, prior to encountering a divergence point on a fixed path, a first vector between a first point an a fixed path and a vehicle position reported by a positioning system, the divergence point being a point at which the fixed path diverges into a plurality of branches;
determining, after the vehicle has passed the divergence point, a second vector between a vehicle position reported by the positioning system and a second point, the second point being a point on one of the branches; and determining which of the branches the vehicle is on based at least in part on a comparison of the first vector and the second vector.
determining, prior to encountering a divergence point on a fixed path, a first vector between a first point an a fixed path and a vehicle position reported by a positioning system, the divergence point being a point at which the fixed path diverges into a plurality of branches;
determining, after the vehicle has passed the divergence point, a second vector between a vehicle position reported by the positioning system and a second point, the second point being a point on one of the branches; and determining which of the branches the vehicle is on based at least in part on a comparison of the first vector and the second vector.
2. The method of Claim 1, wherein the first point is a point on the fixed path that is closest to the vehicle position reported by the positioning system.
3. The method of Claim 1, wherein the second point is a point on one of the branches that is closest to the vehicle position reported by the positioning system.
4. The method of Claim 1, wherein the positioning system is a global positioning system.
5. The method of Claim 1, wherein a second vector is determined for each of the branches, and the determination of which of the branches the vehicle is on is made by selecting a branch with a second vector closest to the first vector.
6. The method of Claim 1, wherein the step of determining which of the branches the vehicle is on is performed by calculating a difference between the first vector and the second vector, comparing the difference to a threshold, and selecting the branch corresponding to the second vector if the difference is below the threshold.
7. The method of Claim 1, wherein the vehicle is a train, the faced path is a train track, and the divergence point is a switch.
8. The method of Claim 1, wherein the vehicle is a motor vehicle and the fixed path is a road.
9. A system for controlling a train, the system comprising:
a controller;
a track database in communication with the controller, the track database comprising coordinates corresponding to a plurality of points on a train track and at least one switch; and a global positioning system (GPS) receiver in communication with the controller and located on the train;
wherein the controller is configured to perform the steps of determining a first vector between a first point on the track and a position of the train reported by the GPS receiver prior to passing the switch;
determining a second vector between a position of the train reported by the GPS receiver after passing the switch and a second point, the second point being a point on the track past the switch; and determining whether the switch was in a correct position based ate least in part on a comparison of the first vector and the second vector.
a controller;
a track database in communication with the controller, the track database comprising coordinates corresponding to a plurality of points on a train track and at least one switch; and a global positioning system (GPS) receiver in communication with the controller and located on the train;
wherein the controller is configured to perform the steps of determining a first vector between a first point on the track and a position of the train reported by the GPS receiver prior to passing the switch;
determining a second vector between a position of the train reported by the GPS receiver after passing the switch and a second point, the second point being a point on the track past the switch; and determining whether the switch was in a correct position based ate least in part on a comparison of the first vector and the second vector.
10. The system of Claim 9, wherein the first point is a point on the track that is closest to the vehicle position reported by the GPS receiver prior to passing the switch.
11. The system of Claim 9, wherein the second point is at an intersection of a first line formed between a point in the track database that the train has most recently passed on its current trip, and a point in the track database which is the next point the train will pass on its current trip, and a second line, the second line being normal to the first line and passing through the position of the train reported by the GPS receiver that was used to calculate the second distance.
12. The system of Claim 9, wherein the second point is a point on the track that is closest to the train position reported by the GPS receiver after passing the switch.
13. The system of Claim 9, wherein the controller is further configured to perform the step of taking corrective action if the switch was not in the correct position.
14. The system of Claim 13, further comprising a brake interface connected to the controller, the brake interface being operable to activate a brake of the train, wherein the corrective action comprises activating the brake.
15. The system of Claim 13, further comprising a warning device connected to the controller, wherein the corrective action comprises activating the warning device.
16. A method for controlling a train comprising the steps of:
determining a first vector between a first point on a track and a position of the train reported by a GPS receiver prior to passing a switch;
determining a second vector between a position of the train reported by the GPS receiver after the train has passed the switch and a second point, the second point being a point on the track past the switch; and determining whether the switch was in a correct position based at least in part on a comparison of the first vector and the second vector.
determining a first vector between a first point on a track and a position of the train reported by a GPS receiver prior to passing a switch;
determining a second vector between a position of the train reported by the GPS receiver after the train has passed the switch and a second point, the second point being a point on the track past the switch; and determining whether the switch was in a correct position based at least in part on a comparison of the first vector and the second vector.
17. The method of Claim 16, wherein the first point is a point on the track that is closest to the vehicle position reported by the GPS received prior to passing the switch.
18. The method of Claim 16, wherein the second point is at an intersection of a first line formed between a point in a track database that the train has most recently passed on its current trip and a point in the track database which is the next point the train will pass on its current trip and a second line, the second line being normal to the first line and passing through the position of the train reported by the GPS receiver that was used to calculate the second vector.
19. The method of Claim 16, wherein the second point is a point on the track that is closest to the train position reported by the GPS receives after the train has passed the switch.
20. The method of Claim 16, further comprising the step of taking corrective action if the switch was not in the correct position.
21. The method of Claim 20, wherein the corrective action comprises activating a train brake.
22. The method of Claim 21, wherein the corrective action comprises activating a warning device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/938,820 | 2004-09-13 | ||
| US10/938,820 US7142982B2 (en) | 2004-09-13 | 2004-09-13 | System and method for determining relative differential positioning system measurement solutions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2518192A1 true CA2518192A1 (en) | 2006-03-13 |
| CA2518192C CA2518192C (en) | 2011-05-31 |
Family
ID=36035208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2518192A Active CA2518192C (en) | 2004-09-13 | 2005-09-06 | System and method for determining relative differential positioning system measurement solutions |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US7142982B2 (en) |
| AU (1) | AU2005329078B2 (en) |
| BR (1) | BRPI0504592B1 (en) |
| CA (1) | CA2518192C (en) |
| MX (1) | MXPA05009794A (en) |
| WO (1) | WO2006098762A2 (en) |
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2004
- 2004-09-13 US US10/938,820 patent/US7142982B2/en active Active
-
2005
- 2005-09-06 CA CA2518192A patent/CA2518192C/en active Active
- 2005-09-07 WO PCT/US2005/031592 patent/WO2006098762A2/en active Application Filing
- 2005-09-07 AU AU2005329078A patent/AU2005329078B2/en active Active
- 2005-09-12 BR BRPI0504592-4A patent/BRPI0504592B1/en active IP Right Grant
- 2005-09-13 MX MXPA05009794A patent/MXPA05009794A/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| BRPI0504592B1 (en) | 2017-06-13 |
| US20060058957A1 (en) | 2006-03-16 |
| AU2005329078B2 (en) | 2009-10-01 |
| US7142982B2 (en) | 2006-11-28 |
| WO2006098762A2 (en) | 2006-09-21 |
| AU2005329078A1 (en) | 2006-09-21 |
| WO2006098762A3 (en) | 2007-02-01 |
| BRPI0504592A (en) | 2006-04-25 |
| MXPA05009794A (en) | 2006-03-15 |
| CA2518192C (en) | 2011-05-31 |
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