CN110758472A - Train positioning method, device, system and storage medium - Google Patents
Train positioning method, device, system and storage medium Download PDFInfo
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
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Abstract
The application provides a method, a device, a system and a storage medium for positioning a train. The positioning method of the train comprises the following steps: acquiring an initial position and a train speed of a train, and determining a real-time position of the train according to the initial position of the train and a result of time integral operation on the train speed; acquiring identification information of a base station in communication connection with the train at a first moment and determining the signal intensity of the base station; determining a position corresponding to the signal intensity of the base station according to a pre-stored corresponding relation between the signal intensity of the base station and the position; and correcting the real-time position of the train by using the position corresponding to the signal intensity of the base station to obtain the real-time position of the train at the first moment. The method and the device have the advantages that the base station beside the track is utilized to position the train, the positioning result of the speed time integral is corrected, the positioning efficiency and the positioning precision of the train can be improved when the signal system fails, and the train running safety is guaranteed.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method, an apparatus, a system, and a storage medium for positioning a train.
Background
At present, the mode of realizing train location mainly tests the speed through sensors such as a speed measuring motor and a radar to realize location, and further realizes the correction of train position through a transponder after a certain distance is separated. Or, the rough positioning of the section is realized by the assistance of an axle counting or track circuit, and then the rough positioning is uploaded to a central station for displaying through a special network such as a Wireless Local Area Network (WLAN) or a Long Term Evolution (LTE) of the universal mobile communication technology.
Therefore, the existing train positioning communication completely depends on stations and trackside equipment, if a signal system fails (such as a single-train or multi-train signal system fails), the central scheduling cannot accurately know the position of a failed train and the surrounding environment condition of the failed train at the first time, and a certain time is consumed for confirmation, so that a quite long operation recovery period is brought, the positioning efficiency is low, the accuracy is poor, and the safety of train operation is also influenced.
Disclosure of Invention
In view of the above, the present invention mainly provides a method, an apparatus, a system and a computer readable storage medium for positioning a train, so as to solve the problems of low train positioning efficiency and poor positioning accuracy.
To this end, an object of the present invention is to provide a method for locating a train, the method comprising:
acquiring an initial position and a train speed of a train, and determining a real-time position of the train according to the initial position of the train and a result of time integral operation on the train speed;
acquiring identification information of a base station in communication connection with the train at a first moment and determining the signal intensity of the base station;
determining a position corresponding to the signal intensity of the base station according to a pre-stored corresponding relation between the signal intensity of the base station and the position;
and correcting the real-time position of the train by using the position corresponding to the signal intensity of the base station to obtain the real-time position of the train at the first moment.
Optionally, the method further comprises: acquiring and identifying an image of a feature identifier beside the track where the train runs at a second moment;
determining the position corresponding to the image of the feature identifier according to the corresponding relation between the pre-stored image of the feature identifier and the position;
and correcting the real-time position of the train by using the position corresponding to the image of the characteristic identifier to obtain the real-time position of the train at the second moment.
Further, after correcting the real-time position of the train, the method further comprises:
updating the initial position of the train according to the real-time position of the train at the first moment or the second moment;
and determining the real-time position of the train according to the updated initial position of the train and a result of time integral operation on the train speed.
Further, the method further comprises:
and sending the position of the train to a server.
Further, the method further comprises:
receiving the positions of other trains sent by the server;
and judging whether the train is in a safety range or not according to the position and the speed of the train at the current moment and the positions of other trains, and if not, reducing the speed or stopping running.
Further, the acquiring the identification information of the base station in the train communication connection at the first time and determining the signal strength of the base station includes:
and judging whether the signal system is normal, if not, acquiring the identification information of the base station in the train communication connection at the first moment and determining the signal intensity of the base station.
Another object of the present invention is to provide a positioning device for a train, comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the method as described above
Further, the device also comprises a data communication module, an image acquisition module and a data acquisition module which are connected with the processor, wherein:
the data communication module is used for receiving signals and/or other signals of a base station in communication connection with the train, sending the position of the train to a server, and receiving the positions of other trains sent by the server;
the image acquisition module is used for shooting an image of the characteristic identifier beside the running track of the train;
the data acquisition module is used for acquiring the speed of the train.
Another object of the present invention is to provide a positioning system for a train, which includes the positioning device for a train as described above and a server, wherein the server is used for receiving the current position sent by the train and sending the positions of other trains to the train.
Another object of the present invention is to provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of locating a train as provided above.
The train positioning method, the device and the system provided by the invention correct the real-time position of the train calculated by a speed time integral mode according to the corresponding relation between the signal intensity of the base station received by the current train and the pre-stored signal intensity and position of the base station, and can quickly and accurately position the train when the signal system fails; and the real-time position of the train is accurately corrected by acquiring the characteristic identification image at the preset position, so that the positioning precision of the train is further improved, and the running safety of the train is guaranteed.
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 diagram of a method for locating a train according to the invention;
FIG. 2 illustrates a flow diagram of a method for locating a train in accordance with an embodiment of the present invention;
FIG. 3 shows a schematic of the positioning device and system of the train according to the present invention;
fig. 4 shows a flow chart of a positioning method of a train according to a further embodiment of the invention;
fig. 5 illustrates a block diagram of an exemplary computer system/server 012 suitable for use in implementing embodiments of the 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.
The embodiment of the invention provides a train positioning method, which mainly aims at achieving the purpose of quickly and accurately positioning a train under the condition that the train breaks down. Specifically, in a normal state of the train, the train may be located by any existing method, such as positioning by using a GPS or other methods. When the signal system has a fault and cannot realize real-time positioning of the train, the positioning method of the train provided by the embodiment of the invention can be adopted to realize positioning of the running train.
Referring to fig. 1, a method for positioning a train according to an embodiment of the present invention includes:
s101, acquiring an initial position and a train speed of a train, and determining a real-time position of the train according to the initial position and the result of time integral operation on the train speed.
In the running process of the train, the train takes a certain position as an initial position and obtains the running speed in real time, integral operation is carried out at a certain moment according to the running speed and the running time, the operation result is the running distance of the train from the time corresponding to the initial position to the current moment, and the real-time position of the train at the moment can be determined by combining the initial position and the running distance.
S102, acquiring identification information of a base station in communication connection with the train at a first moment and determining the signal intensity of the base station;
and when the signal system has a fault, the base station actively sends identification information to the train by sending a request for inquiring the identification information to the base station of the train communication connection at the current moment or after the train establishes the communication connection with the base station, so as to acquire the identification information of the base station. The identification information of the base station in the embodiment of the invention is used for identifying and distinguishing different base stations passed by the train running route, and the identification information comprises the following components: any one or more of a Mobile Country Code (MCC), a Mobile Network Code (MNC), a Location Area Code (LAC), and a base station Identity (CID) of the base station.
The train may determine the signal strength of the receiving base station from any signal transmitted by the base station, including but not limited to the receipt of identification information. Because the train and the base station continuously carry out signal interaction in the whole process of the communication connection of the train and the base station, the train can acquire the signal intensity at a plurality of moments, and thus, the positioning is carried out for a plurality of times.
S103, determining the position corresponding to the signal intensity of the base station according to the pre-stored corresponding relation between the signal intensity of the base station and the position.
Specifically, the position of each base station is recorded in advance for the running route of the current train, and the signal strength of the received base station signal at different positions near each base station is detected, and the corresponding relation between the signal strength and the position of each base station is formed and stored. And determining a base station for communication connection of the train according to the identification information of the base station, and determining the position corresponding to the signal strength of the base station at the current time according to the corresponding relation between the signal strength of the base station at the first determined time and the pre-stored signal strength and position.
And S104, correcting the real-time position of the train by using the position corresponding to the signal intensity of the base station to obtain the real-time position of the train at the first moment.
Specifically, the position calculated in step S101 is replaced with the position corresponding to the signal strength of the base station obtained in step S103, and the position is used as the real-time position of the train at the first time.
Furthermore, according to the pre-stored signal strengths of the base stations at different positions, determining the position corresponding to the signal strength of the received identification information includes multiple modes.
The first method is as follows: according to signal strength level determination
The signal intensity is divided into a plurality of levels, each level corresponds to a specific position, and the corresponding signal intensity level is determined according to the numerical value of the signal intensity, so that the corresponding specific position is obtained. For example, the position corresponding to the level 1 of signal strength stored in advance is the a position, and the position corresponding to the level 2 of signal strength is the B position.
The second method comprises the following steps: according to signal strength value calculation determination
The corresponding relation between a plurality of signal strength values and positions is prestored, and the corresponding specific position is obtained according to the proportional relation between the signal strength value at the current moment and the prestored close signal strength value. For example, if the position where the signal strength is M is stored in advance as the C position, and the signal strength value of the current train reception base station is N, the distance from the C position is calculated from the N/M value, and the position D is obtained as the position corresponding to the signal strength.
The embodiment of the invention corrects the real-time position of the train calculated by the speed time integration mode according to the corresponding relation between the signal intensity of the base station received by the current train and the pre-stored signal intensity and position of the base station, and can quickly and accurately position the train when a signal system fails.
Further, after the real-time position of the train is corrected in step S104, the initial position of the train is updated according to the real-time position of the train at the first time, and the real-time position of the train is determined according to the updated initial position of the train and a result of performing a time integration operation on the train speed. Because the position determined according to the signal strength communicated with the base station is more accurate than the position calculated in a speed integration mode, after the real-time position of the train is corrected each time, the previous speed time integration result is cleared, and the step S101 is continuously executed by taking the corrected position as the initial position of the train, so that the numerical error of the speed time integration can be eliminated each time the train passes through the communication base station, and the overall positioning precision in the running process is improved.
On this basis, in order to more accurately determine the position of the train, fig. 2 shows a further embodiment according to the present invention, comprising:
s201, acquiring and identifying an image of the characteristic identifier beside the track where the train runs at a second moment;
the characteristic mark images are arranged at preset positions on two sides of a track where a train runs, for example, at a station entrance or a station exit of a station, and the characteristic marks can be arranged in a sticking manner or in other manners. The feature identifier can be identified by numbers, characters, two-dimensional codes or other modes, and the feature identifiers at different positions are different.
S202, determining a position corresponding to the image of the feature identifier according to a pre-stored corresponding relation between the image of the feature identifier and the position;
the corresponding relation between the images of the feature marks shot at different positions and the positions is stored in advance. When the train acquires and identifies an image of a certain characteristic identifier, the position of the image of the current characteristic identifier is determined by comparing the image of the characteristic identifier with the pre-stored images of the characteristic identifiers corresponding to different positions.
And S203, taking the position corresponding to the image of the feature identifier as the position of the train at the second moment.
The above steps S201 to S203 may be executed after step 104 in the method shown in fig. 1, and the current train position is updated by using the image of the feature identifier acquired by the current train, so as to achieve more accurate positioning.
Further, after the precise position of the train is determined according to the method described with reference to fig. 2 at the second time when the characteristic identification image passes, the real-time position of the train at the second time is taken as the initial position, the value of the speed time integral is cleared, and the step S101 is continuously executed, so that the position of the train at the subsequent time is determined. Because the train position accuracy obtained according to the characteristic identification image is higher, the numerical error of the speed time integral can be eliminated when the train passes through the characteristic identification image every time, and the overall positioning accuracy in the train running process is improved.
Optionally, after the train determines its own position each time, the position is sent to the server. The location includes a real-time location determined from a speed-time integral calculation, a signal strength from base station identification information, and a location of the train corrected from an image of the signature. The train sends the position to the server and sends the identification information such as the train number to the server.
Optionally, the method further comprises receiving the positions of other trains sent by the server; and judging whether the current train is in a safety range or not according to the position and the speed of the train at the current moment and the received positions of other trains, and if not, reducing the speed or stopping running.
Specifically, after receiving the position information of other trains, the server determines the train numbers and the position information of the other trains through analysis and then sends the train numbers and the position information to the trains, the trains calculate whether the distance between the trains and the front train is within a safe range according to the position and the speed of the trains, if so, the trains continue to run according to the original speed, and if not, the speed of the current train is reduced or the trains stop.
Correspondingly, on the server side, the embodiment of the invention also provides another train positioning method, which comprises the following steps:
receiving position information sent by a train, wherein the position information comprises the serial number and the real-time position of the train;
the location information is sent to other trains.
The server can also display the position information of the train or send the position information of the train to other trains in a broadcast mode.
Optionally, the other trains are other trains on the same route as the train.
Referring to fig. 3, the embodiment of the invention further provides a positioning device and a positioning system for a train. The apparatus is optionally a train mounted on-board device 30 comprising:
a memory 32, a processor 31 and a computer program stored on the memory 32 and executable on the processor, which when executing the program implements the method as described above.
The vehicle-mounted device 30 comprises a data communication module 33, an image acquisition module 34 and a data acquisition module 35 which are connected with the processor 31. The data communication module 33 is configured to receive identification information and/or signals of a base station to which the train is communicatively connected, send the current position of the train to a server, and receive positions of other trains sent by the server, and optionally includes a mobile communication module such as 4G or 5G, a satellite communication module, and the like. The image acquisition module 34 is used for capturing images of the feature identifiers beside the track on which the train runs, and is optionally a camera installed at the front part of the train. The data acquisition module 35 is used for acquiring the speed of the train, optionally an on-board speed sensor and/or an acceleration sensor.
The memory 32 also stores in advance the correspondence between the signal strength and the position of each base station along the line and/or the correspondence between the image of the feature identifier and the position, so as to be used for positioning the train.
Fig. 3 also shows a train positioning system provided by an embodiment of the present invention, which includes the train-mounted device 30 and the server 40, where the server 40 is configured to receive the current position sent by the train, identify the received train position on a display interface, and send the positions of other trains to the train.
Optionally, the server 40 determines whether any train enters the safety range of other vehicles according to the received train position, and if so, sends a safety warning or an emergency stop command to the corresponding train.
A specific embodiment of the train positioning method provided in the embodiment of the present invention is given below with reference to fig. 4, and includes:
s401, the train sends a request for connecting a server, and the server receives the request and is in communication connection with the current train.
S402, acquiring an initial position and a train speed of the train, and determining the real-time position of the train according to the initial position and the time integral operation result of the train speed.
Whether the signal system is normal or not, during the running process of the train, the vehicle-mounted equipment acquires the speed of the train through the speed sensor, and calculates the running distance of the train through the speed time integral, so that the approximate position of the train can be obtained.
S403, when the signal system has a fault, the vehicle-mounted equipment sends an AT instruction in real time through the data communication module to acquire base station information, the processor reads the information of the base station in communication connection with the train, analyzes identification information such as a country code, a mobile network number, a position area code and a base station number of the base station, and determines the current signal intensity according to the received base station signal;
s404, the processor reads the corresponding relation between the signal strength and the position of the base station stored in advance from the memory, determines the base station connected currently according to the identification information of the base station, further determines the specific position corresponding to the current signal strength, and corrects the position calculated in S402;
s405, judging whether an image of the characteristic mark exists in the front of the train operation, if so, entering a step S406, and otherwise, entering a step S408;
s406, the image acquisition module shoots the image of the feature identifier and sends the image to the processor, and the processor identifies the image;
s407, the processor reads the corresponding relation between the image of the pre-stored feature identifier and the position from the memory, compares the shot image of the feature identifier with the pre-stored image, determines the position corresponding to the matched image of the feature identifier, and corrects the position calculated in S402;
and S408, taking the corrected train position as the initial position of the train, and continuing to execute S402.
According to the embodiment of the invention, the running distance of the train is continuously calculated in a speed integration mode in the running process of the train, so that the approximate position of the train is obtained, and when no base station signal or characteristic identification image exists, the approximate position information of the train can be provided according to the speed integration mode; when the train is communicated with the base station, the position of the train is determined based on the identification information of the base station and the signal intensity, and the position obtained by the speed integral is corrected according to the position, so that the relatively accurate position of the train is obtained; because the base station can not be continuously connected in the running process, after the real-time position of the train is corrected according to the signal intensity of the base station, the speed integral operation is continuously carried out by taking the corrected train position as an initial point; when the train runs to a preset position to obtain the image of the characteristic mark, the real-time position of the train is corrected according to the image of the characteristic mark, and then the speed integral operation is restarted by using the accurate position initial point. Therefore, when the train signal system has a fault, the accuracy of the train position information is guaranteed by using the communication base station through which the running line passes and the characteristic identification image arranged at the preset position such as a station.
Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned method. Fig. 5 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. 5 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. 5, 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. 5, 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. 5, 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.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of locating a train, the method comprising:
acquiring an initial position and a train speed of a train, and determining a real-time position of the train according to the initial position of the train and a result of time integral operation on the train speed;
acquiring identification information of a base station in communication connection with the train at a first moment and determining the signal intensity of the base station;
determining a position corresponding to the signal intensity of the base station according to a pre-stored corresponding relation between the signal intensity of the base station and the position;
and correcting the real-time position of the train by using the position corresponding to the signal intensity of the base station to obtain the real-time position of the train at the first moment.
2. The method of claim 1, further comprising:
acquiring and identifying an image of a feature identifier beside the track where the train runs at a second moment;
determining the position corresponding to the image of the feature identifier according to the corresponding relation between the pre-stored image of the feature identifier and the position;
and correcting the real-time position of the train by using the position corresponding to the image of the characteristic identifier to obtain the real-time position of the train at the second moment.
3. The method according to claim 1 or 2, further comprising, after correcting the real-time location of the train:
updating the initial position of the train according to the real-time position of the train at the first moment or the second moment;
and determining the real-time position of the train according to the updated initial position of the train and a result of time integral operation on the train speed.
4. A method according to any of claims 1-3, characterized in that the method further comprises:
and sending the position of the train to a server.
5. The method of claim 4, further comprising:
receiving the positions of other trains sent by the server;
and judging whether the train is in a safety range or not according to the position and the speed of the train at the current moment and the positions of other trains, and if not, reducing the speed or stopping running.
6. The method of claim 5, wherein the obtaining identification information of a base station of the train communication connection at the first time and determining the signal strength of the base station comprises:
and judging whether the signal system is normal, if not, acquiring the identification information of the base station in the train communication connection at the first moment and determining the signal intensity of the base station.
7. A positioning device for a train, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any one of claims 1 to 6 when executing the program.
8. The apparatus of claim 7, further comprising a data communication module, an image acquisition module, and a data acquisition module coupled to the processor, wherein:
the data communication module is used for receiving signals and/or other signals including identification information of a base station in communication connection with the train, sending the position of the train to a server, and receiving the positions of other trains sent by the server;
the image acquisition module is used for shooting an image of the characteristic identifier beside the running track of the train;
the data acquisition module is used for acquiring the speed of the train.
9. A train positioning system comprising a train positioning device according to claim 7 or 8 and a server for receiving the position transmitted by the train and transmitting the position of other trains to the train.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method of any one of claims 1 to 6.
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