CN110758470B - Train positioning method and device - Google Patents
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- CN110758470B CN110758470B CN201910909441.6A CN201910909441A CN110758470B CN 110758470 B CN110758470 B CN 110758470B CN 201910909441 A CN201910909441 A CN 201910909441A CN 110758470 B CN110758470 B CN 110758470B
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- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a train positioning method and a train positioning device, wherein the train positioning method comprises the following steps: receiving train longitude and latitude information sent by a satellite positioning device of a train and acquiring an electronic map for recording the position information of a virtual transponder, wherein the position information comprises a kilometer post and the longitude and latitude information of the virtual transponder; calculating to obtain the speed measurement error envelope of the train according to the longitude and latitude information of the train; according to the speed measurement error envelope and the position information of the virtual transponder, train positioning data when the train passes through the virtual transponder is obtained; and calculating the position information of the train according to the train positioning data. By the technical scheme of the invention, the initial positioning of the train is completed without the cooperation of ground transponders, the ground equipment arrangement cost is saved, the train positioning efficiency is improved, and the operation efficiency of a heavy haul railway is improved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train positioning method and device.
Background
In the existing mobile block system, when a train runs, the train needs to pass through two ground fixed transponders first, so that the vehicle-mounted ATP equipment calculates the initial position and the running direction of the train.
When a train passes through two transponders continuously, the ATP acquires the initial position of the train according to the following method:
the train passes through the continuous transponders for initial positioning, and the running direction of the train is obtained by inquiring the data of the electronic map according to the sequence of the train passing through the two transponders; acquiring the initial position of the train head according to the position of the second transponder in the electronic map data; when the turnout with unknown state does not exist at the train body, the head end ATP calculates the position of the train tail by withdrawing the distance of the train length from the position of the train head to the opposite direction of the train running.
However, on a heavy haul railway main line, the average interval per stop is around 20km, which leads to a considerable cost increase if a plurality of transponders are arranged according to the existing mobile blocking scheme. If the transponders are not arranged or are arranged as few as possible on the interval line in the line planning for saving the cost, the train needs a long time to complete positioning through the two transponders, and the positioning envelope accumulated errors of the train are larger and larger, so that the running efficiency and the positioning reliability can be influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, according to a first aspect of the present invention, there is provided a train positioning method comprising:
receiving train longitude and latitude information sent by a satellite positioning device of a train and acquiring an electronic map for recording the position information of a virtual transponder, wherein the position information comprises a kilometer post and the longitude and latitude information of the virtual transponder;
calculating to obtain the speed measurement error envelope of the train according to the longitude and latitude information of the train;
according to the speed measurement error envelope and the position information of the virtual transponder, train positioning data when the train passes through the virtual transponder is obtained;
and calculating the position information of the train according to the train positioning data.
Furthermore, the number of the satellite positioning devices of the train is two, and after receiving the train longitude and latitude information sent by the satellite positioning device of the train, the method further comprises the following steps:
comparing a difference value between the longitude and latitude information of the train respectively measured by the two satellite positioning devices with a preset verification threshold value, and if the difference value is not greater than the preset verification threshold value, determining that the longitude and latitude information of the train is available.
Further, still include:
judging the change direction of the longitude and latitude of the train according to the longitude and latitude information of the train received in two continuous positioning periods;
and acquiring the running direction of the train according to the longitude and latitude change direction of the train and the train line direction in the electronic map.
Further, the obtaining train positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder includes:
recording satellite positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder;
screening out data closest to the virtual transponder in straight line distance from the satellite positioning data;
and obtaining train positioning data when the train passes through the virtual transponder according to Greenwich mean time in the satellite positioning data closest to the straight line distance and the kilometer post of the virtual transponder.
Further, the recording the satellite positioning data of the train passing through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder includes:
comparing the test error envelope to a kilometer post of the virtual transponder;
when the speed measurement error envelope comprises the kilometer mark of the virtual transponder, recording satellite positioning data of the satellite positioning equipment;
and when the speed measurement error envelope does not include the kilometer mark of the virtual transponder, stopping recording the satellite positioning data.
Further, the step of screening out the satellite positioning data closest to the virtual transponder in a straight line distance from the satellite positioning data comprises:
calculating the linear distance between the satellite positioning data and the virtual transponder of each record according to the longitude and latitude information;
and screening out the satellite positioning data with the straight line distance smaller than a preset threshold value and the minimum distance from the recorded satellite positioning data.
Further, the calculating the position information of the train according to the train positioning data when the train passes through the virtual transponder includes:
calculating the running time according to the Greenwich mean time;
acquiring the average running speed of the train within the running duration;
and calculating to obtain the position information of the train according to the kilometer post, the running time length and the average running speed of the virtual transponder.
Further, the train is a heavy-load mobile block train, and the train positioning method is executed by a vehicle-mounted ATP device.
According to a second aspect of the present invention, there is provided a train positioning device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements a train positioning method as described above.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a train positioning method as described above.
The invention can complete the initial positioning of the train without the cooperation of real ground transponders by selecting the virtual transponders in the train route and recording the virtual transponders on the electronic map and combining the satellite positioning information, thereby saving the arrangement cost of ground equipment and simultaneously improving the train positioning efficiency and the operation efficiency of heavy haul railways.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a flow chart of a train locating method according to the present invention;
FIG. 2 illustrates a schematic diagram of determining validity of train latitude and longitude information according to one embodiment of the present invention;
FIG. 3 shows a schematic diagram of screening satellite positioning data according to one embodiment of the invention;
FIG. 4 illustrates a block diagram of an exemplary computer system/server suitable for use in implementing embodiments of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a train positioning method according to the invention, optionally applied to a heavy load mobile block train, and implemented by a vehicle-mounted ATP device. The method comprises the following steps:
s101, receiving train longitude and latitude information sent by satellite positioning equipment of a train and acquiring an electronic map for recording position information of a virtual transponder, wherein the position information comprises a kilometer post and the longitude and latitude information of the virtual transponder;
wherein, the electronic map is obtained by the following method: and measuring the line, selecting a plurality of points in the line as virtual responder points to replace real responder equipment, and recording the kilometer post and longitude and latitude information corresponding to the virtual responder to form an electronic map.
Optionally, in order to ensure accuracy of the satellite positioning information, the number of the train satellite positioning devices is two, the train longitude and latitude information is respectively measured, and the validity of the two pieces of satellite information received at the same time needs to be verified by the vehicle-mounted ATP device before positioning is performed by using the satellite information. After receiving train longitude and latitude information sent by satellite positioning equipment of a train, comparing a difference value between the two pieces of train longitude and latitude information with a preset verification threshold value, and if the difference value is not greater than the preset verification threshold value, determining that the train longitude and latitude information is available. One or the average value of the longitude and latitude information of the two trains can be selected as the longitude and latitude information of the trains used in the subsequent steps.
S102, calculating to obtain a speed measurement error envelope of the train according to the longitude and latitude information of the train;
s103, acquiring train positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder;
the method specifically comprises the following steps:
and recording satellite positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder. Wherein the test error envelope is compared to a kilometer scale of the virtual transponder; when the speed measurement error envelope comprises the kilometer mark of the virtual transponder, recording satellite positioning data of the satellite positioning equipment; and when the speed measurement error envelope does not include the kilometer mark of the virtual transponder, stopping recording the satellite positioning data.
And screening out the data closest to the virtual transponder in straight line distance from the satellite positioning data. Calculating the linear distance between the satellite positioning data and the virtual transponder of each record according to the longitude and latitude information; and screening out the satellite positioning data with the straight line distance smaller than a preset threshold value and the minimum distance from the recorded satellite positioning data.
And obtaining train positioning data when the train passes through the virtual transponder according to Greenwich mean time in the satellite positioning data closest to the straight line distance and the kilometer post of the virtual transponder.
And S104, calculating to obtain the position information of the train according to the train positioning data.
Calculating the running time according to the Greenwich mean time; acquiring the average running speed of the train within the running duration; and calculating to obtain the position information of the train according to the kilometer post, the running time length and the average running speed of the virtual transponder.
Further, the method further comprises:
judging the change direction of the longitude and latitude of the train according to the longitude and latitude information of the train received in two continuous positioning periods; and acquiring the running direction of the train according to the longitude and latitude change direction of the train and the train line direction in the electronic map.
According to the method, the electronic map for recording the position information of the virtual transponder and the satellite positioning information are used, so that the initial positioning of the train can be completed without a real ground transponder, the arrangement cost of ground equipment is saved, and the positioning efficiency of the train and the operation efficiency of a heavy haul railway are improved.
A train positioning method according to an embodiment of the present invention is explained below with reference to fig. 2 and 3. Before the method is implemented, the line needs to be measured, a plurality of points are selected from the line to be used as virtual responder points to replace real responder equipment, and the line kilometer post and the longitude and latitude information corresponding to the virtual responder are recorded on a line diagram to form an electronic map with the position information of the virtual responder.
The method comprises the following steps:
a. two satellite positioning devices are arranged at the head of the train, and the longitude and latitude information of the train is respectively measured. The onboard ATP device is to verify the validity of two satellite positioning information received at the same time before using the satellite positioning information for positioning.
The verification principle is shown in fig. 2: given that the maximum error of the satellite positioning information is 10 meters, the verification threshold value is set to be 20 meters, as long as the linear distance of the longitude and the latitude given by the two sets of satellite positioning equipment is less than or equal to 20 meters, the positioning states of the two sets of satellite positioning equipment can be considered to be consistent, the satellite positioning information is in an available state, if the condition is not met, the satellite positioning equipment is considered to be invalid, and the method stops executing.
Under the condition of the available state of the satellite positioning information, one of the two measured train longitude and latitude information can be selected or an average value can be taken as the train longitude and latitude information used in the subsequent steps.
b. The vehicle-mounted ATP equipment judges the change direction of the longitude and latitude according to the longitude and latitude information of the train measured periodically on the satellite positioning equipment and the longitude and latitude information measured periodically, and acquires the running direction of the train by combining the line direction configured by the electronic map. The period is the period of train positioning performed by the vehicle-mounted ATP equipment.
c. The vehicle-mounted ATP equipment receives train longitude and latitude information of the satellite positioning equipment in real time, calculates a speed measurement error envelope according to the received train longitude and latitude information, and starts to record satellite positioning data when the calculated speed measurement error envelope comprises a kilometer mark at a virtual responder, wherein the satellite positioning data comprises information such as Greenwich mean time, longitude and latitude and the like; recording is stopped when the calculated speed measurement error envelope no longer includes the kilometer scale at the virtual transponder. Therefore, a plurality of satellite positioning data can be recorded and obtained in the process that the train passes through the virtual transponder.
d. And the vehicle-mounted ATP picks out satellite positioning data with the longitude and latitude linear distance less than or equal to 10m and the smallest longitude and latitude linear distance from the plurality of satellite positioning data recorded at this time to the virtual transponder.
As shown in fig. 3, not all the recorded straight-line distances from the train longitude and latitude to the virtual transponder in the satellite positioning data satisfy the condition of being less than or equal to 10m, and therefore, data which is less than or equal to 10m and is closest to the virtual transponder needs to be screened out from a plurality of data, the greenwich mean time in the data is used as the time when the train passes through the virtual transponder, and the kilometer sign corresponding to the virtual transponder is used as the line kilometer corresponding to the data, so as to obtain the train positioning data when the train passes through the virtual transponder.
e. After the vehicle-mounted ATP judges that the train passes through the virtual transponder, the position of the train is calculated according to train positioning data when the train passes through the virtual transponder.
Since the train can only confirm the virtual transponder when the train passes by after passing through the virtual transponder for a period of time, and a positioning error exists in the positioning process, the position information of the train needs to be obtained according to the calculated unsafe device and the positioning error of the train.
The formula for calculating the unsafe position of the train is as follows:
the train non-safety position is the kilometer post corresponding to the passing virtual transponder + (current greenwich mean time-greenwich mean time when passing through the virtual transponder) and the average value of the running speed in the time period from the time passing through the virtual transponder to the current time.
The positioning error calculation formula is as follows:
positioning error (current greenwich mean time-greenwich mean time when passing through the virtual transponder) velocity average over a period of time from the time passing through the virtual transponder to the current time-velocity fixed positioning error percentage + satellite device maximum positioning error.
After the train-mounted ATP calculates the unsafe position of the train, the positioning envelope of the train head is obtained by adding and subtracting the positioning error, and the positioning envelope is used as the safe position of the train head, namely the position information of the train is obtained.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Fig. 4 illustrates a block diagram of an exemplary computer system/server 012 suitable for use in implementing embodiments of the invention. The computer system/server 012 shown in fig. 4 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in fig. 4, the computer system/server 012 is embodied as a general purpose computing device. The components of computer system/server 012 may include, but are not limited to: one or more processors or processors 016, a system memory 028, and a bus 018 that couples various system components including the system memory 028 and the processors 016.
Computer system/server 012 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 012 and includes both volatile and nonvolatile media, removable and non-removable media.
Program/utility 040 having a set (at least one) of program modules 042 can be stored, for example, in memory 028, such program modules 042 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof might include an implementation of a network environment. Program modules 042 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The computer system/server 012 may also communicate with one or more external devices 014 (e.g., keyboard, pointing device, display 024, etc.), hi the present invention, the computer system/server 012 communicates with an external radar device, and may also communicate with one or more devices that enable a user to interact with the computer system/server 012, and/or with any device (e.g., network card, modem, etc.) that enables the computer system/server 012 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 022. Also, the computer system/server 012 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 020. As shown in fig. 4, the network adapter 020 communicates with the other modules of the computer system/server 012 via bus 018. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in conjunction with the computer system/server 012, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 016 executes programs stored in the system memory 028 to perform the functions and/or methods of the described embodiments of the present invention.
The computer program described above may be provided in a computer storage medium encoded with a computer program that, when executed by one or more computers, causes the one or more computers to perform the method flows and/or apparatus operations shown in the above-described embodiments of the invention.
With the development of time and technology, the meaning of media is more and more extensive, and the propagation path of computer programs is not limited to tangible media any more, and can also be downloaded from a network directly and the like. Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processor, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. A train positioning method, comprising:
receiving train longitude and latitude information sent by a satellite positioning device of a train and acquiring an electronic map for recording the position information of a virtual transponder, wherein the position information comprises a kilometer post and the longitude and latitude information of the virtual transponder;
calculating to obtain the speed measurement error envelope of the train according to the longitude and latitude information of the train;
according to the speed measurement error envelope and the position information of the virtual transponder, train positioning data when the train passes through the virtual transponder is obtained;
calculating to obtain the position information of the train according to the train positioning data;
the obtaining of train positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder includes:
recording satellite positioning data when the train passes through the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder;
screening out data closest to the virtual transponder in straight line distance from the satellite positioning data;
and obtaining train positioning data when the train passes through the virtual transponder according to Greenwich mean time in the satellite positioning data closest to the straight line distance and the kilometer post of the virtual transponder.
2. The train positioning method according to claim 1, wherein there are two train satellite positioning devices, and after receiving the train longitude and latitude information sent by the train satellite positioning device, the method further comprises:
comparing a difference value between the longitude and latitude information of the train respectively measured by the two satellite positioning devices with a preset verification threshold value, and if the difference value is not greater than the preset verification threshold value, determining that the longitude and latitude information of the train is available.
3. The train positioning method according to claim 1, further comprising:
judging the change direction of the longitude and latitude of the train according to the longitude and latitude information of the train received in two continuous positioning periods;
and acquiring the running direction of the train according to the longitude and latitude change direction of the train and the train line direction in the electronic map.
4. The train positioning method according to claim 1, wherein said recording the satellite positioning data of the train passing the virtual transponder according to the speed measurement error envelope and the position information of the virtual transponder comprises:
comparing the speed measurement error envelope with a kilometer post of the virtual transponder;
when the speed measurement error envelope comprises the kilometer mark of the virtual transponder, recording satellite positioning data of the satellite positioning equipment;
and when the speed measurement error envelope does not include the kilometer mark of the virtual transponder, stopping recording the satellite positioning data.
5. The train positioning method of claim 1, wherein said selecting the satellite positioning data closest to the virtual transponder straight line from the satellite positioning data comprises:
calculating the linear distance between the satellite positioning data and the virtual transponder of each record according to the longitude and latitude information;
and screening out the satellite positioning data with the straight line distance smaller than a preset threshold value and the minimum distance from the recorded satellite positioning data.
6. The train positioning method according to claim 1, wherein the calculating the position information of the train according to the train positioning data when the train passes through the virtual transponder comprises:
calculating the running time according to the Greenwich mean time;
acquiring the average running speed of the train within the running duration;
and calculating to obtain the position information of the train according to the kilometer post, the running time length and the average running speed of the virtual transponder.
7. The train positioning method according to any one of claims 1 to 6, wherein the train is a heavy-duty moving block train, and the train positioning method is performed by a vehicle-mounted ATP device.
8. A train positioning device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements a train positioning method as claimed in any one of claims 1 to 7.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a train positioning method according to any one of claims 1 to 7.
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|---|---|---|---|---|
| CN111267911B (en) * | 2020-02-10 | 2022-06-17 | 兰州交通大学 | Train integrity detection method |
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