Train navigation system and method

• US 9,616,905 B2
• Filed: 06/02/2015
• Issued: 04/11/2017
• Est. Priority Date: 06/02/2015
• Status: Active Grant

• Current Assignee: Westinghouse Air Brake Technologies Corporation
• Original Assignee: Westinghouse Air Brake Technologies Corporation
• Inventors: Kernwein, Jeffrey D., Gawne, Kendrick W.
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/728,758
• Publication Number:
  US 20160355199A1
• Time in Patent Office: 679 Days
• Field of Search: 701 19, 701 20, 701400, 340682, 340991
• CPC Class Codes: B61L 1/02 Electric devices associated with track , e.g. rail contacts
• CPC Class Codes: B61L 11/08 using electrical or magnetic interaction between vehicle and track
• CPC Class Codes: B61L 15/0027 Radio-based, e.g. using GSM-R
• CPC Class Codes: B61L 15/0072 On-board train data handling
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/023 Determination of driving direction of vehicle or train
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: B61L 27/40 Handling position reports or trackside vehicle data

Abstract

A navigation system for a train having at least one locomotive or control car and, optionally, at least one railroad car, operating in a track network, wherein an on-board computer determines or receives location data and communicates or causes the communication of the location data and/or railway data to another locomotive or control car, another train, a remote server, or the like. A train navigation method is also provided.

Claims

1. A navigation system for a train having at least one locomotive or control car and, optionally, at least one railroad car, operating in a track network, the system comprising:

on the at least one locomotive or control car;

(i) an on-board computer programmed or configured to implement or facilitate at least one train action;

(ii) a communication device in communication with the on-board computer and programmed or configured to receive, transmit, and/or process data signals;

(iii) at least one database in communication with the on-board computer with railway data stored therein; and

(iv) at least one inertial sensor programmed or configured to generate inertial data;

wherein the on-board computer of the at least one locomotive or control car is programmed or configured to;

(a) determine or receive location data representing at least one of the following;

the location or position of the train in the track network, the location or position of the at least one locomotive or control car in the track network, or any combination thereof;

(b) after traversing at least one non-linear track section and/or at least one switch, generate route signature data based at least partially on at least a portion of the inertial data; and

(c) communicate or cause the communication of at least a portion of the location data and/or railway data to at least one of the following;

at least one other locomotive or control car of the train, at least one other train operating in the track network, at least one remote server, a central controller, a central dispatch server, a switch, a wayside device, a wayside interface unit, a signal device, or any combination thereof.

2. The navigation system of claim 1, wherein, prior to step (a), the on-board computer of the at least one locomotive or control car is programmed or configured to communicate at least a portion of the railway data to at least one other locomotive or control car in the train.

3. The navigation system of claim 2, wherein the railway data comprises at least one of the following:

consist data, position data, locomotive or control car data, railroad car data, identification data, length data, weight data, track data, or any combination thereof.

4. The navigation system of claim 2, wherein the on-board computer of the at least one locomotive or control car is programmed or configured to:

receive location data from the at least one second locomotive or control car; and

based at least partially on the received location data and the railway data, determine the intended or actual direction of travel of the train.

5. The navigation system of claim 2, wherein the on-board computer of the at least one locomotive or control car is programmed or configured to:

receive location data from the at least one second locomotive or control car; and

based at least partially on the received location data and the railway data, validate at least a portion of the railway data.

6. The navigation system of claim 5, wherein the railway data that is validated comprises at least one of the following:

consist data, position data, locomotive or control car data, railroad car data, identification data, length data, weight data, track data, or any combination thereof.

7. The navigation system of claim 1, wherein step (a) comprises at least one of the following:

(i) determining at least a portion of the location data based at least partially on railway data in the at least one database;

(ii) determining at least a portion of the location data based at least partially on data received from at least one of the following;

at least one other locomotive or control car of the train, at least one other train operating in the track network, at least one remote server, a central controller, a central dispatch server, a switch, a wayside device, a wayside interface unit, a signal device, or any combination thereof;

(iii) determining at least a portion of the location data based at least partially on route data in the at least one database;

(iv) determining at least a portion of the location data based at least partially on data input by or at least partially derived from input by at least one user;

(v) determining at least a portion of the location data based at least partially on inertial sensor data in the at least one database;

(vi) receiving at least a portion of the location data from at least one of the following;

at least one other locomotive or control car of the train, at least one other train operating in the track network, at least one remote server, a central controller, a central dispatch server, a switch, a wayside device, a wayside interface unit, or any combination thereof,

or any combination thereof.

8. The navigation system of claim 1, wherein the train comprises a first locomotive or control car having an on-board computer and at least one second locomotive or control car having an on-board computer, and wherein step (b) comprises communicating or causing the communication of at least a portion of the location data and/or at least a portion of the railway data from the first locomotive or control car to the at least one second locomotive or control car.

9. The navigation system of claim 8, wherein the location data comprises or is at least partially derived from at least one of the following:

track data;

route data;

signal data;

switch alignment data;

railway data;

sensor data;

transponder data;

track circuit data;

vehicle camera data;

crew input;

switch position monitor data;

positioning system data;

sensor data, inertial sensor data;

switch alignment data based at least partially on direct or indirect communication with at least one of the following;

a switch, a wayside device, a wayside interface unit, a signal device, or any combination thereof;

switch alignment data based at least partially on direct or indirect user input;

or any combination thereof.

10. The navigation system of claim 8, wherein an on-board computer of the at least one second locomotive or control car is programmed or configured to:

determine location data based at least partially on the received location data and/or the received railway data; and

based at least partially on the determined location data, at least one of;

generate at least one independent navigation solution for the at least one train;

determine route data for the at least one second locomotive or control car as a locomotive or control car in a train traversing the track in a second direction;

verify at least a portion of the location data determined by the first locomotive or control car,

or any combination thereof.

11. The navigation system of claim 8, wherein at least a portion of the location data is communicated to the at least one second locomotive or control car on at least one of the following bases:

periodically, at a specified time, at a specified location, prior to traversing at least one switch, after traversing at least one switch, prior to stopping the train, after stopping the train, prior to initialization of an on-board computer of at least one locomotive or control car, after initialization of an on-board computer of at least one locomotive or control car, or any combination thereof.

12. The navigation system of claim 8, wherein, prior to traversing the track in a second direction, an on-board computer of at least one of the locomotives or control cars is further programmed or configured to determine that at least one of the first locomotive or control car or the at least one second locomotive or control car is in a controlling state.

13. The navigation system of claim 12, wherein the determination is based at least partially on at least one of the following:

power data, power interruption data, monitoring data, movement data, wheel data, tachometer data, or any combination thereof.

14. The navigation system of claim 1, wherein the on-board computer of at least one of the locomotives or control cars of the train is programmed or configured to automatically determine the intended or actual direction of travel of the train based at least partially on at least one of the following:

location data, route data, signal data, railway data, consist data, length data, weight data, car number data, train data, railroad car data, locomotive or control car data, locomotive or control car position data, railroad car position data, or any combination thereof.

15. The navigation system of claim 14, wherein the determination comprises:

identifying at least one of the locomotives or control cars of the train as the lead locomotive or control car of the train;

receiving location data from at least one other locomotive or control car of the train; and

at least partially based on at least a portion of the railway data, which comprises consist data, and relative position with respect to the lead locomotive or control car, determining the intended or actual direction of travel.

16. The navigation system of claim 14, wherein at least a portion of the location data generated by the at least one other locomotive or control car is at least partially derived from at least one positioning system of the at least one other locomotive or control car.

17. The navigation system of claim 14, wherein the determination is further based at least partially on at least one of the following:

a control status of at least one locomotive or control car, a control status of a lead locomotive or control car, a reverser position of at least one locomotive or control car, a reverser position of the lead locomotive or control car, an orientation of at least one locomotive or control car, an orientation of the lead locomotive or control car.

18. The navigation system of claim 17, wherein the determination is made prior to movement of the train.

19. The navigation system of claim 1, wherein, while traversing the track in a second direction, the on-board computer of at least one of the locomotives or control cars is further programmed or configured to communicate with specified wayside devices based at least partially on route data derived at least partially from at least a portion of the location data.

20. The navigation system of claim 1, wherein the train comprises a first locomotive or control car having an on-board computer and at least one second locomotive or control car having an on-board computer, wherein the on-board computer of the at least one second locomotive or control car is programmed or configured to communicate or cause the communication of local location data to the first locomotive or control car, wherein the local location data represents the location of the at least one second locomotive or control car.

21. The navigation system of claim 20, wherein at least a portion of the local location data is determined by or at least partially derived from at least one positioning system located on the at least one second locomotive or control car.

22. The navigation system of claim 20, wherein at least a portion of the local location data is at least partially derived by track data in at least one database.

23. The navigation system of claim 20, based at least partially on at least a portion of the railway data in at least one database of the first locomotive or control car, and at least a portion of the received local location data, the on-board computer of the first locomotive or control car is programmed or configured to validate at least a portion of the railway data, thereby generated validated railway data.

24. The navigation system of claim 23, wherein the railway data comprises train data, which includes at least one of the following:

consist data, locomotive or control car data, identification data, parameter data, the position of the first locomotive or control car in the train, the position of the at least one second locomotive or control car in the train, the length of the train, the number of locomotives or control cars in the train, the number of railroad cars in the train, weight data, or any combination thereof.

25. The navigation system of claim 23, wherein, at least partially based on at least a portion of the validated railway data, the on-board computer of the first locomotive or control car is programmed or configured to implement at least one of the following:

a train braking process, an enforcement process, a train dynamic modelling process, a distributed power modelling process, or any combination thereof.

26. The navigation system of claim 1, wherein the communication device of the at least one locomotive or control car is or utilizes at least one of the following:

a messaging service, a direct wired communication link, an Ethernet link, an electrically-controlled pneumatic braking system link, a wireless link, a peer-to-peer communication link, an indirect wireless link, or any combination thereof.

27. The navigation system of claim 1, wherein the train is at least one of the following:

a commuter train, a freight train, a distributed power train, or any combination thereof.

28. The navigation system of claim 1, wherein the on-board computer of the at least one locomotive or control car is further programmed or configured to determine at least a portion of the location data based at least partially on the inertial data.

29. The navigation system of claim 1, wherein the at least one inertial sensor comprises a rotational sensor.

30. A navigation system for a train having at least one locomotive or control car, wherein the train is traversing a track with at least one non-linear track section and/or at least one switch for changing paths between track sections, the system comprising:

on the at least one locomotive or control car;

(i) an on-board computer programmed or configured to implement or facilitate at least one train action;

(ii) a communication device in communication with the on-board computer and programmed or configured to receive, transmit, and/or process data signals; and

(iii) at least one database in communication with the on-board computer with railway data stored therein; and

at least one inertial sensor positioned on the at least one locomotive or control car or on at least one railroad car of the train, wherein the at least one inertial sensor is programmed or configured to generate inertial data;

wherein the on-board computer of the at least one locomotive or control car is programmed or configured to;

(a) after traversing the at least one non-linear track section and/or the at least one switch, generate route signature data based at least partially on at least a portion of the inertial data; and

(b) determining a forward route of the train based at least partially on at least a portion of the route signature data.

31. The navigation system of claim 30, wherein at least a portion of at least one of the following:

the inertial data, the route signature data, or any combination thereof, is transmitted by the communication device.

32. The navigation system of claim 30, wherein the route signature data is determined as a plot of heading change as a function of position.

33. The navigation system of claim 30, wherein determining the forward route for the train comprises comparing at least a portion of the route signature data to route signature data stored in the at least one database.

34. The navigation system of claim 30, wherein the railway data comprises track data, and wherein determining the forward route for the train comprises comparing at least a portion of the route signature data to a signature generated from at least a portion of the track data.

35. The navigation system of claim 34, wherein, based at least partially on the comparison, the on-board computer of the at least one locomotive or control car is programmed or configured to identify a track section where the train is located.

36. The navigation system of claim 34, wherein, based at least partially on the comparison, the on-board computer of the at least one locomotive or control car is programmed or configured to verify a previously-traversed route of the train.

37. The navigation system of claim 34, wherein the comparison comprises determining a best match between the route signature data and track data, including potential routes, in the at least one database.

38. The navigation system of claim 34, wherein the comparison further comprises determining or receiving location data from at least one positioning system.

39. A computer-implemented navigation method for a train having at least one locomotive or control car and, optionally, at least one railroad car, operating in a track network, the method comprising:

(a) determining or receiving location data representing at least one of the following;

the location or position of the train in the track network, the location or position of the at least one locomotive or control car in the track network, or any combination thereof;

(b) after traversing at least one non-linear track section and/or at least one switch, generating route signature data based at least partially on inertial data obtained from at least one inertial sensor positioned on the at least one locomotive or control car; and

(c) communicating or causing the communication of at least a portion of the location data to at least one of the following;

at least one other locomotive or control car of the train, at least one other train operating in the track network, at least one remote server, a central controller, a central dispatch server, a switch, a wayside device, a wayside interface unit, a signal device, or any combination thereof.

40. A computer-implemented navigation method for a train having at least one locomotive or control car, wherein the train is traversing a track with at least one non-linear track section and/or at least one switch for changing paths between track sections, the method comprising:

(a) positioning at least one inertial sensor on the at least one locomotive or control car or on at least one railroad car of the train, wherein the at least one inertial sensor is programmed or configured to generate inertial data;

(b) after traversing the at least one non-linear track section and/or the at least one switch, generating route signature data based at least partially on at least a portion of the inertial data; and

(c) determining a forward route of the train based at least partially on a least a portion of the route signature data.

41. The method of claim 40, wherein the route signature data is generated by determining a plot of heading change as a function of a position of the train.

42. The method of claim 40, wherein the forward route for the train is determined by comparing at least a portion of the route signature data to a signature generated from track data stored in at least one database.