System and method for determining a quality value of a location estimation of a powered system

• US 8,965,604 B2
• Filed: 05/25/2012
• Issued: 02/24/2015
• Est. Priority Date: 03/13/2008
• Status: Active Grant

• Current Assignee: GE Global Sourcing LLC (Westinghouse Air Brake Technologies Corporation)
• Original Assignee: General Electric Company
• Inventors: Nandedkar, Vishram Vinayak, Kumar, Ajith Kuttannair
• Primary Examiner(s): KUHFUSS, ZACHARY L
• Application Number:
  US13/480,814
• Publication Number:
  US 20120232726A1
• Time in Patent Office: 1,005 Days
• Field of Search: 701/19, 701/20, 701/200, 701/207, 701/213, 701/214, 701/216, 701/217, 701/220, 342/357.3, 342/357.32
• US Class Current: 701/19
• CPC Class Codes: B61L 15/0062 On-board target speed calculation or supervision
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer

Abstract

A system is provided for determining a quality of a location estimation of a powered system at a location. The system includes a first sensor configured to measure a first parameter of the powered system at the location. The system further includes a second sensor configured to measure a second parameter of the powered system at the location. The system further includes a second controller configured to determine the location estimation of the powered system and the quality of the location estimation, based upon a first location of the powered system based on the first parameter, and a second location of the powered system based on the second parameter of the powered system. A method is also provided for determining a quality of a location estimation of a powered system at a location.

Claims

1. A system comprising:

a speed sensor configured to output speed data representative of a measured speed at which a powered system is traveling at a location;

a position determination device configured to output location data representative of a measured position of the powered system at the location; and

at least one controller configured to determine a location estimation of the powered system based on a speed-based distance estimation and a position-based distance estimation of the powered system from one or more reference points, the speed-based distance estimation based at least in part on the measured speed and the position-based distance estimation based at least in part on the measured position, and the at least one controller is configured to determine a quality value of the location estimation that is based at least in part on the location estimation and the measured position of the powered system,

wherein the powered system is a rail vehicle consist comprising at least one rail vehicle having the speed sensor, the position determination device, and the at least one controller,

wherein the at least one controller is configured to at least one of autonomously control or direct manual control of operations of the powered system during a trip along a route according to a trip plan, the trip plan designating operational parameters of the powered system as a function of distance along the route, and wherein the at least one controller is configured to determine which of the operational parameters designated by the trip plan to use to control the powered system based on the location estimation.

2. The system of claim 1, wherein the at least one controller is configured to convert the measured position of the powered system into the position-based distance estimation of the powered system along the route from the one or more reference points along the route based on one or more previously measured positions and corresponding position-based distance estimations from the one or more reference points along the route.

3. The system of claim 1, wherein the speed sensor is configured to provide a speed uncertainty signal to the at least one controller that is indicative of a level of uncertainty in the measured speed, and wherein the at least one controller is configured to determine the quality value of the location estimation based at least in part on the speed uncertainty signal.

4. The system of claim 3, wherein the speed uncertainty signal is a predefined signal having at least one of a constant value or a manually controllable value.

5. The system of claim 1, wherein the position determination device is configured to provide a location uncertainty signal to the at least one controller that is indicative of a level of uncertainty in the measured position, and wherein the at least one controller is configured to determine the quality value of the location estimation based on the location uncertainty signal.

6. The system of claim 1, wherein the at least one controller is configured to determine the quality value of the location estimation based on one or more previously acquired quality values.

7. The system of claim 1, wherein the position determination device is at least one global positioning system (GPS) receiver configured to communicate with one or more global positioning satellites to determine the location data.

8. The system of claim 1, wherein the location estimation of the powered system at the location is based on at least one of a sum of or difference between the quality value of the location estimation and at least one of the speed-based distance estimation or the measured position.

9. The system of claim 1, wherein the at least one controller is configured to receive the speed data from the speed sensor more frequently than the at least one controller receives the location data from the position determination device.

10. The system of claim 1, wherein the position determination device is configured to periodically provide the location data to the at least one controller and the at least one controller is configured to determine the quality value based on a prior quality value that is determined at one or more times between when the location data is periodically provided to the at least one controller.

11. The system of claim 1, wherein the at least one controller is configured to decrease the quality value when the position determination device fails to provide the location data to the at least one controller.

12. The system of claim 1, wherein the at least one controller is configured to compare the speed-based distance estimation and the measured position to determine a precision of the measured position relative to the speed-based distance estimation.

13. The system of claim 1, wherein the operational parameters that are designated by the trip plan are designated speeds of the powered system.

14. The system of claim 1, wherein the at least one controller is configured to stop autonomously controlling the operations of the powered system during the trip when the quality value changes to a value that is outside of a designated range.

15. The system of claim 14, wherein the at least one controller is configured to continue autonomously controlling the operations of the powered system during the trip when the measured speed of the powered system is less than a speed limit of the route by at least a designated amount even if the quality value is outside of the designated range.

16. The system of claim 1, wherein:

if the quality value is within a designated range, the at least one controller is configured to present a map to an operator of the powered system that indicates where the powered system is located based on the location estimation, and

if the quality value is outside of the designated range, the at least one controller is configured to stop presenting the map.

17. The system of claim 1, wherein the at least one controller is configured to use the speed-based distance estimation and the position-based distance estimation as inputs into a Kalman filter to determine the location estimation and the quality value.

18. A system comprising:

a speed sensor configured to output speed data representative of a measured speed at which a rail vehicle consist is traveling at a location;

a position determination device configured to output location data representative of a measured position of the rail vehicle consist at the location; and

at least one controller configured to determine a location estimation of the rail vehicle consist from one or more reference points, based at least in part on the measured speed and the measured position, and the at least one controller is configured to determine a quality value of the location estimation that is based at least in part on the location estimation and the measured position of the rail vehicle consist,

wherein the location estimation of the powered system at the location is based on at least one of a sum of or difference between the quality value of the location estimation and at least one of a speed-based distance estimation from at least one of the one or more reference points or the measured position.

19. The system of claim 18, wherein the at least one controller is configured to determine a position-based distance estimation of the rail vehicle consist, and wherein the speed-based distance estimation is based at least in part on the measured speed and the position-based distance estimation is based at least in part on the measured position.

20. A method comprising:

receiving speed data from a speed sensor disposed onboard a first rail vehicle of a rail vehicle consist, the speed data representative of a measured speed at which the rail vehicle consist is traveling at a location;

receiving location data from a position determination device disposed onboard the first rail vehicle of the rail vehicle consist, the location data representative of a measured position of the rail vehicle consist at the location;

determining a speed-based distance estimation of the rail vehicle consist based at least in part on the speed data, the speed-based distance estimation representative of separation of the rail vehicle consist from one or more reference points;

determining a position-based distance estimation of the rail vehicle consist based at least in part on the location data, the position-based distance estimation representative of the separation of the rail vehicle consist from the reference point;

determining a location estimation of the rail vehicle consist based at least in part on the speed-based distance estimation and the position-based distance estimation;

determining a quality value of the location estimation based at least in part on the location estimation and the measured position of the rail vehicle consist;

at least one of autonomously controlling or directing manual control of operations of the rail vehicle consist during a trip along a route according to a trip plan, the trip plan designating speeds of the rail vehicle consist as a function of distance along the route; and

controlling actual speeds of the rail vehicle consist to match one or more of the speeds designated by the trip plan based on the location estimation.

21. The method of claim 20, further comprising receiving at least one of a speed uncertainty signal from the speed sensor that is indicative of a level of uncertainty in the measured speed or receiving a location uncertainty signal from the position determination device that is indicative of a level of uncertainty in the measured position, and wherein the quality value of the location estimation is determined based at least in part on at least one of the speed uncertainty signal or the location uncertainty signal.

22. The method of claim 20, wherein the quality value of the location estimation is determined based on one or more previously acquired quality values.

23. The method of claim 20, further comprising stopping autonomous control of the rail vehicle consist according to the trip plan when the quality value changes to a value that is outside of a designated range.

24. The method of claim 20, further comprising:

if the quality value is within a designated range, presenting a map to an operator of the powered system that indicates where the rail vehicle consist is located based on the location estimation; and

if the quality value is outside of the designated range, stopping presentation of the map.

25. A method comprising:

receiving speed data from a speed sensor disposed onboard a first rail vehicle of a rail vehicle consist, the speed data representative of a measured speed at which the rail vehicle consist is traveling at a location;

receiving location data from a position determination device disposed onboard the first rail vehicle of the rail vehicle consist, the location data representative of a measured position of the rail vehicle consist at the location;

determining a location estimation of the rail vehicle consist from one or more reference points based at least in part on the speed data and the location data; and

determining a quality value of the location estimation based at least in part on the location estimation and the measured position of the rail vehicle consist,

wherein the location estimation of the powered system at the location is based on at least one of a sum of or difference between the quality value of the location estimation and at least one of a speed-based distance estimation of the rail vehicle consist from one or more reference locations or the measured position of the rail vehicle consist.

26. The method of claim 25, further comprising:

determining the speed-based distance estimation of the rail vehicle consist based at least in part on the speed data, the speed-based distance estimation representative of separation of the rail vehicle consist from the one or more reference locations; and

determining a position-based distance estimation of the rail vehicle consist based at least in part on the location data, the position-based distance estimation representative of the separation of the rail vehicle consist from the one or more reference points;

wherein the location estimation of the rail vehicle consist is determined based at least in part on the speed-based distance estimation and the position-based distance estimation.

27. A system comprising:

a speed sensor for generating speed data that represents a velocity of a vehicle system along a route;

a position determination device for generating location data that represents a position of the vehicle system along the route; and

one or more controllers for determining a speed-based distance of the vehicle system from a reference location based on the speed data and for determining a location-based distance of the vehicle system from the reference location based on the location data, the one or more controllers also for determining a location estimation of the vehicle system along the route based on the speed-based distance and the location-based distance and for determining a quality value of the location estimation based on the location data,

wherein the one or more controllers also are for at least one of autonomously controlling or directing manual control of the velocity of the vehicle system according to a trip plan that designates speeds of the vehicle system as a function of distance along the route, the one or more controllers for using the location estimation to determine the velocity of the vehicle system according to the trip plan responsive to the quality value remaining within a designated range,

wherein the vehicle system is a rail vehicle consist having a locomotive, and the speed sensor, the position determination device, and the one or more controllers are disposed onboard the locomotive.

28. The system of claim 27, wherein the one or more controllers are configured to cease the at least one of autonomously controlling or directing manual control of the velocity of the vehicle system according to the trip plan responsive to the quality value being outside of the designated range.

29. The system of claim 27, wherein the one or more controllers are configured to continue the at least one of autonomously controlling or directing manual control of the velocity of the vehicle system according to the trip plan even when the quality value is outside of the designated range if the velocity of the vehicle system is less than a designated speed limit of the route by at least a designated amount.

30. The system of claim 27, wherein the one or more controllers also are for presenting a map to an operator of the vehicle system to notify the operator of where the vehicle system is located along the route, the one or more controllers configured to stop presenting the map to the operator responsive to the quality value being outside of the designated range.

31. The system of claim 27, wherein the speed sensor is configured to provide a speed uncertainty signal that is representative of uncertainty in an accuracy of the speed data, and the one or more controllers are configured to determine the quality value based on the speed uncertainty signal.

32. The system of claim 27, wherein the position determination device is configured to provide a position uncertainty signal that is representative of uncertainty in an accuracy of the location data, and the one or more controllers are configured to determine the quality value based on the position uncertainty signal.