CN114162183B

CN114162183B - Train positioning processing method and device and train

Info

Publication number: CN114162183B
Application number: CN202010952413.5A
Authority: CN
Inventors: 肖野笛; 陈楚君
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2023-03-14
Anticipated expiration: 2040-09-11
Also published as: CN114162183A

Abstract

The disclosure relates to a positioning processing method and a device of a train and the train, wherein the train is provided with at least two transponder transmission modules, and the method comprises the following steps: setting a transponder transmission module as a main transponder transmission module, and setting other transponder transmission modules as auxiliary transponder transmission modules; acquiring basic information of a target transponder needing to be connected on a current driving route of a train, wherein the basic information comprises an identification code of the target transponder and a first train position window corresponding to the target transponder connected with a main transponder transmission module; determining and recording the receiving state of the main responder transmission module for the target responder according to the basic information; acquiring responder information received by the auxiliary responder transmission module as second responder information; updating the receipt status in case the identification code in the second transponder information is identical to the identification code of the target transponder; and determining whether the train loses positioning according to the updated receiving state.

Description

Train positioning processing method and device and train

Technical Field

The embodiment of the disclosure relates to the technical field of train positioning, and more particularly to a train positioning processing method, a train positioning processing device and a train.

Background

Train positioning is an important link for ensuring reliable train operation, and the train positioning system may include a transponder Transmission system, which is a safety point type information Transmission system including a ground device and a vehicle-mounted device, wherein the ground device includes a transponder having a determined position coordinate, and the vehicle-mounted device includes a transponder Transmission Module (BTM) and a vehicle-mounted antenna adapted to the transponder Transmission Module. Vehicle antenna constantly sends electromagnetic energy in the train operation, like this, when the train passes through the transponder, the transponder receives this electromagnetic energy back, can convert this electromagnetic energy into the electric energy, and the transponder utilizes this electric energy to go out transponder information transmission, until can't receive the electromagnetic energy that vehicle antenna sent. After the vehicle-mounted antenna receives the transponder information, the transponder information is output to the transponder transmission module for analysis, and the transponder information comprises the identification code number corresponding to the transponder, so that the train positioning system can obtain the position coordinate corresponding to the transponder according to the identification code number analyzed by the transponder transmission module, complete the position calibration of the train according to the position coordinate, and realize the accurate positioning of the train.

In the prior art, the train positioning system only comprises one transponder transmission module, so that the train positioning system is unavailable under the condition that the transponder transmission module breaks down or cannot receive transponder information, and the train cannot complete position calibration, so that the train cannot normally run.

Disclosure of Invention

An object of the disclosed embodiments is to provide a new technical solution for train positioning to improve the availability of a train positioning system.

According to a first aspect of the embodiments of the present disclosure, there is provided a positioning processing method for a train, the train being provided with at least two transponder transmission modules, the method comprising:

setting a transponder transmission module as a main transponder transmission module, and setting other transponder transmission modules as auxiliary transponder transmission modules;

acquiring basic information of a target transponder needing to be connected on a current driving route of the train, wherein the basic information comprises an identification code of the target transponder and a first train position window corresponding to the target transponder and connected with a main transponder transmission module;

according to the basic information, determining and recording the receiving state of the main responder transmission module for the target responder;

acquiring responder information received by the auxiliary responder transmission module as second responder information, wherein the responder information comprises an identification code of a corresponding responder;

updating the reception status in case the identification code in the second transponder information is identical to the identification code of the targeted transponder;

and determining whether the train loses positioning according to the updated receiving state.

Optionally, the determining whether the train loses location according to the updated receiving state includes:

and under the condition that the receiving states of the main transponder transmission module for two continuous target transponders are loss states, determining that the train is lost for positioning.

Optionally, the determining and recording a receiving state of the master transponder transmission module for the target transponder according to the basic information includes:

judging whether the transmission module of the main responder is connected with the target responder or not according to the identification code of the target responder;

determining and recording that the receiving state is a lost state when the main transponder transmission module is not connected with the target transponder when the train passes through the first train position window;

the updating the reception status includes:

modifying the receiving state to a non-lost state.

Optionally, after obtaining basic information of a target transponder to which the train needs to be connected on the current driving route, the method further includes:

acquiring responder information received by the main responder transmission module as first responder information;

judging whether a receiving event of the main responder transmission module for the first responder information is a valid receiving event or not according to the first responder information and the basic information, wherein the receiving event is determined to be the valid receiving event under the conditions that an identification code in the first responder information is consistent with an identification code of the target responder, and a first position of the train when the main responder transmission module receives the first responder information is positioned in a first train position window;

and updating the positioning information of the train according to the first responder information when the receiving event is a valid receiving event.

determining the train loss location if the receive event is not a valid receive event.

Optionally, the basic information further includes that the secondary transponder transmission module is connected to a second train position window corresponding to the target transponder; after acquiring basic information of a target transponder to be connected on a current driving route of the train, the method further comprises the following steps:

acquiring a second position of the train when the secondary transponder transmission module receives the second transponder information;

and under the condition that the second position is positioned in the second train position window, updating the positioning information of the train according to the second transponder information.

Optionally, the method further comprises:

when updating of the positioning information is completed according to the responder information received by any responder transmission module, clearing the accumulated ranging error;

acquiring the running distance of the train after the positioning information is updated for the last time;

obtaining a distance measurement accumulated error of the train according to the running distance;

and determining that the train loses positioning under the condition that the accumulated ranging error exceeds a set error threshold.

Optionally, the setting a transponder transmission module as a main transponder transmission module includes:

acquiring a cab of the train in an activated state;

checking whether a transponder transmission module corresponding to the cab is in a fault state;

and under the condition that the transponder transmission module corresponding to the cab is not in a fault state, setting the transponder transmission module corresponding to the cab as a main transponder transmission module.

Optionally, the setting a transponder transmission module as a main transponder transmission module further includes:

and under the condition that the transponder transmission module corresponding to the cab is in a fault state, setting the transponder transmission module corresponding to the other cab as the main transponder transmission module.

Optionally, before the obtaining of the basic information of the target transponder to which the train needs to be connected on the current driving route, the method further includes:

acquiring identification codes of two continuous transponders corresponding to initialization;

judging whether any module of the transmission module of the main responder and the transmission module of the auxiliary responder receives the responder information of the two continuous responders or not according to the identification codes of the two continuous responders;

and under the condition that the arbitrary module receives the transponder information of the two continuous transponders, performing positioning initialization on the train.

Optionally, the method further comprises:

acquiring identification code sets of all the transponders on the current driving route;

in the case where any of the primary transponder transmission module and the secondary transponder transmission module receives transponder information, checking whether an identification code in the received transponder information belongs to the set of identification codes;

determining the train loss location if the train loss location does not belong to the set of identification codes.

According to a second aspect of the present disclosure, there is also provided a location processing apparatus of a train, the train including at least two transponder transmission modules, the apparatus including:

the device comprises a setting module, a transmission module of the transponder, a transmission module of the other transponders and a transmission module of the auxiliary transponder, wherein the setting module is used for setting the transmission module of one transponder as a transmission module of the main transponder and setting the transmission modules of the other transponders as the transmission modules of the auxiliary transponders;

the system comprises a query module, a main responder transmission module and a target responder receiving module, wherein the query module is used for acquiring basic information of a target responder to be connected on a current driving route of the train, and the basic information comprises an identification code of the target responder and a first train position window corresponding to the target responder connected with the main responder transmission module;

the state determining module is used for determining and recording the receiving state of the main responder transmission module for the target responder according to the basic information;

the information acquisition module is used for acquiring the responder information received by the auxiliary responder transmission module as second responder information, wherein the responder information comprises an identification code of a corresponding responder;

the state updating module is used for updating the receiving state under the condition that the identification code in the second transponder information is consistent with the identification code of the target transponder; and the number of the first and second groups,

and the positioning processing module is used for determining whether the train loses positioning according to the updated receiving state.

According to a third aspect of the present disclosure, there is also provided a location processing device of a train, the train comprising at least two transponder transmission modules, the location processing device comprising a memory for storing a computer program and a processor for executing the method according to the first aspect of the present disclosure under control of the computer program.

According to a fourth aspect of the present disclosure, there is also provided a train comprising at least two transponder transmission modules and the positioning processing device according to the second or third aspect of the present disclosure, the at least two transponder transmission modules being connected with the positioning processing device.

Optionally, the train includes two cabs and two transponder transmission modules, wherein one cab is located at a head position of the train, the other cab is located at a tail position of the train, one transponder transmission module is disposed at the cab located at the head position, and the other transponder transmission module is disposed at the cab located at the tail position.

The positioning processing method has the advantages that the positioning processing method is applied to a train positioning system with at least two transponder transmission modules, one transponder transmission module serves as a main transponder transmission module, the other transponder transmission module serves as an auxiliary transponder transmission module, and according to the positioning processing method, under the condition that the auxiliary transponder transmission module receives transponder information from an expected target transponder, the receiving state of the main transponder transmission module on the target transponder can be updated according to the receiving event, so that under the condition that whether a train is lost and positioned is determined according to the receiving state of the main transponder transmission module on the target transponder, the possibility that the normal operation of the train is influenced by lost and positioning can be reduced on the premise that the use safety of the train positioning system is guaranteed, and the availability of the train positioning system is improved.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic diagram of a component structure of a train positioning system capable of implementing a positioning processing method according to an embodiment of the present disclosure;

FIG. 2 is a flow diagram of a method of location processing according to an embodiment;

FIG. 3 is a flow diagram of a method of location processing according to another embodiment;

FIG. 4 is a flow diagram of a method of location processing according to another embodiment;

FIG. 5 is a block schematic diagram of a location processing device according to one embodiment;

fig. 6 is a schematic diagram of a hardware configuration of a train according to an embodiment.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< System embodiment >

Fig. 1 is a schematic structural diagram of a train positioning system that can be used to implement the positioning processing method according to the embodiment of the present disclosure.

As shown in fig. 1, the train positioning system 100 includes an on-board device 110 and a plurality of ground devices 120 arranged along a track.

The train in this embodiment may be any type of vehicle that travels along a track, for example, a train, a motor car, a high-speed rail, a subway, or the like, and is not limited herein.

In this embodiment, the vehicle-mounted device 110 includes at least two transponder transmission modules (BTMs) 111, a vehicle-mounted antenna 112 corresponding to the at least two transponder transmission modules 111 one to one, and a positioning processing device 113, where the at least two transponder transmission modules 111 are both connected to the positioning processing device 113, and the vehicle-mounted antenna 112 is connected to the corresponding transponder transmission modules 111.

A first type of surface equipment comprises passive transponders, which do not have a power source, which transponders are normally in a dormant state. For the first type of ground equipment, when a train runs and a vehicle-mounted antenna 112 passes through the transponder, the transponder can convert electromagnetic energy emitted by the vehicle-mounted antenna 112 into electric energy, so that an electronic circuit in the transponder works, and then fixed transponder information stored in the transponder is circularly sent out in a wireless signal manner until the electromagnetic energy emitted by the vehicle-mounted antenna cannot be received. When the vehicle-mounted antenna 112 receives the wireless signal, the wireless signal is sent to the corresponding transponder transmission module 111 for analysis, so as to obtain a transponder signal, and the transponder transmission module 111 may send the transponder signal obtained by analysis to the positioning processing device 113 for positioning processing, for example, send the transponder signal to the positioning processing device 113 to execute the positioning processing method according to any embodiment of the present disclosure.

A second type of surface equipment includes an active transponder that can be used to transmit transponder information transmitted by a surface electronics unit and a surface electronics unit connected to the active transponder. A second type of surface equipment may be used to transmit varying transponder information. For the second type of ground equipment, when a train runs and a vehicle-mounted antenna 112 passes through the transponder, the transponder can convert electromagnetic energy emitted by the vehicle-mounted antenna 112 into electric energy, so that a transmitting circuit in the transponder works, and then transponder information transmitted to the transponder by a ground electronic unit is circularly transmitted in a wireless signal mode until the electromagnetic energy emitted by the vehicle-mounted antenna cannot be received. When the vehicle-mounted antenna 112 receives the wireless signal, the wireless signal is sent to the corresponding transponder transmission module 111 for analysis, so as to obtain a transponder signal, and the transponder transmission module 111 may send the transponder signal obtained by analysis to the positioning processing device 113 for positioning processing, for example, send the transponder signal to the positioning processing device 113 to execute a positioning processing method according to any embodiment of the disclosure.

In the two-column vehicle positioning system of the present embodiment, the plurality of ground devices 120 may include any one of the above types of ground devices, that is, may include a first type of ground device or a second type of ground device, or may include both of the above types of ground devices, which is not limited herein.

In this embodiment, the positioning processing device 113 may include a processor 1131 and a memory 1132, where the memory 1132 is used for storing a computer program, and the computer program is used for controlling the processor 1131 to operate so as to execute the positioning processing method according to any embodiment of the present disclosure. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

In one embodiment, the vehicle-mounted antennas of the train can be arranged on the train body along the extending direction of the train.

In one embodiment, the train may have two cabs located at a head end position and a tail end position of the train, respectively. In this embodiment, the vehicle-mounted device 110 may include two transponder transmission modules 111, wherein one transponder transmission module 111 and its corresponding vehicle-mounted antenna 112 are disposed at a cab located at a vehicle head position, and the other transponder transmission module 111 and its corresponding vehicle-mounted antenna 112 are disposed at a cab located at a vehicle tail position.

The on-vehicle antenna 112 may be disposed on the bottom or the side wall of the corresponding cab, or the like, depending on the arrangement position of the transponder, and is not limited herein.

In one embodiment, the positioning processing device 113 may be implemented by a vehicle-mounted controller (VOBC) of the train, that is, the vehicle-mounted controller of the train may include the positioning processing device 113.

In another embodiment, the positioning processing device 113 may also be implemented by other devices with processing capability, which are communicatively connected with the onboard controller, and is not limited herein.

< method example >

Fig. 2 shows a positioning processing method according to an embodiment, which is implemented by a positioning processing device of a train provided with at least two transponder transmission modules (BTMs), for example, having two BTMs, and the positioning processing method according to the embodiment will now be described by taking the train positioning system 100 in fig. 1 as an example.

As shown in fig. 2, the positioning processing method of the present embodiment may include the following steps S210 to S260:

step S210, a transponder transmission module is set as a primary transponder transmission module, and other transponder transmission modules are set as secondary transponder transmission modules.

In this embodiment, before the train is operating, one BTM may be set as the primary BTM and the other BTMs may be set as the secondary BTMs among all the BTMs of the train.

For example, the train positioning system 100 includes two BTMs, one of the BTMs being a primary BTM and the other being a secondary BTM.

In one embodiment, a BTM may be set to the primary BTM by default, such that in step S210, it may be checked whether the primary BTM of the default setting is in a failure state, and if not, the default setting is employed, and if so, a BTM that is not in a failure state is selected as the primary BTM among the other BTMs.

In one embodiment, the train has two cabs, one cab located at a head position and the other cab located at a tail position, wherein the head position and the tail position of the train are switched according to a driving direction of the train. In each running of the train, the cab at the locomotive position is in an activated state. In this embodiment, the primary BTM may also be set according to the activation status of the cab. In this embodiment, the step S210 of setting a transponder transmission module as a master transponder transmission module may include the following steps S2111 to S2113:

step S2111, acquires the cab of the train in the activated state.

The cab in the activated state is the cab located at the head position in the operation.

In this embodiment, an activation state flag indicating whether or not the cab is in an activated state may be set, for example, when the activation state flag of a cab is "1", it represents that the cab is in an activated state, and when the activation state flag of the cab is "0", it represents that the cab is in an inactivated state, and the like, so that the cab in an activated state may be determined based on the activation state flag.

Step S2112, for the cab in the activated state, checks whether the transponder transmission module corresponding to the cab is in a failure state.

In this embodiment, whether the BTM is in a fault state may be determined through a train set self-test procedure or a manual inspection procedure, etc., which may be indicated by a fault state flag.

Step S2113, in a case where the transponder transmission module corresponding to the cab is not in the failure state, sets the transponder transmission module corresponding to the cab as the master transponder transmission module.

According to step S2113, after the primary BTM is determined, the secondary BTM of the train can be determined.

In one embodiment, in the event that the BTM corresponding to the cab is in a failure state, a BTM corresponding to another cab (denoted as another BTM) may be set as the primary BTM.

In this embodiment, in the event that the BTM corresponding to the cab is in a failure state, it may be checked first whether another BTM is in a failure state, and in the event that the other BTM is not in a failure state, the other BTM may be set as the primary BTM.

In this embodiment, in the case where another BTM is also in a fault state, it may be determined that the train is lost and processed by Emergency Braking (EB).

In this embodiment, after the primary BTM and the secondary BTM are determined through step S210, the following step S220 may be performed.

And step S220, acquiring basic information of a target responder to be connected on the current driving route of the train, wherein the basic information comprises an identification code of the target responder and a first train position window corresponding to the target responder and connected with the main responder transmission module.

In this embodiment, according to the current running route of the train running this time, the identification code of the transponder and the setting position of the transponder arranged on the current running route may be obtained through the electronic map.

In step S220, the positioning processing device may determine basic information of a last transponder (i.e., a target transponder) to which the train is to be connected, according to the current position of the train.

In step S220, the positioning processing device may obtain a first train location window corresponding to the main BTM connected to the target transponder, according to the length of the receiving window of the target transponder, the current location of the train, the setting location of the target transponder, and the installation location of the vehicle-mounted antenna corresponding to the main BTM on the train. The train position window can refer to a position window where any part on a train body is located, for example, a position window where a train head is located.

The first train position window may be represented by a distance range from the current position of the train, for example, the first train position window is 190 meters to 210 meters ahead of the current position, and the like, which is not limited herein.

In this embodiment, the positioning processing device may execute step S220 after determining the receiving status of the master BTM for one target transponder, so as to obtain the basic information of the next target transponder.

In this embodiment, the positioning processing device may also execute step S220 after completing updating the positioning information of the train according to the transponder information received by any BTM, that is, after completing calibration of the positioning information, so as to obtain basic information of a next target transponder, where the positioning information of the train may include position information and may also include direction information, which is beneficial to obtaining a more accurate first train position window.

In this embodiment, the responder information that the responder sent to the BTM includes the identification code that corresponds the responder, like this, the location processing apparatus alright with the identification code that analyzes according to the BTM, the responder that matches corresponds in the electronic map, and then obtain the set position of this responder, because the set position of responder is the absolutely accurate numerical value, consequently, can be according to the locating information of this set position calibration train, realize locating information's update. In this embodiment, because the train positioning system has at least two BTMs, and the location processing device can update the location information according to the transponder information received by any BTM, this is favorable to improving the accuracy of train positioning, and then improves the stability of train operation for the train positioning system who sets up single BTM.

Step S230, determining and recording the receiving state of the main responder transmission module for the target responder according to the basic information acquired in step S220.

In this embodiment, based on the basic information of the target transponder, it may be determined whether the master BTM is connected to the target transponder during the period when the train is located in the first train location window, that is, it is determined whether the master BTM receives the transponder information sent by the target transponder during the period when the train is located in the first train location window.

In one embodiment, the receiving status of the primary BTM with respect to the target transponder may be determined as a lost status in a case where the primary BTM has not connected to the target transponder when the train crosses the first train position window, otherwise, the receiving status of the primary BTM with respect to the target transponder may be determined as an unreleased status, where the lost status is a status indicating that the primary BTM has lost the target transponder, and the unreleased status is a status indicating that the primary BTM has not lost the target transponder.

In one embodiment, the receiving status of the master BTM for the target transponder may be determined to be a normal receiving status in case the master BTM connects to the target transponder within the first train position window of the train. In the case where the reception state is the normal reception state, the reception state will simultaneously belong to the above non-lost state.

In one embodiment, the receiving status of the master BTM for the target transponder may be determined to be an out-of-window receiving status in the case that the master BTM connects the target transponder without the train reaching the first train position window. In case the reception state is an out-of-window reception, the reception state will simultaneously belong to the above non-lost state.

In one embodiment, the step S220 of determining and recording the receiving status of the main transponder transmission module for the target transponder according to the basic information acquired in step S220 may include the following steps S2211 to S2212:

in this embodiment, since the transponder information sent by the transponder includes the identification code of the corresponding transponder, it is possible to determine whether the target transponder is connected to the primary BTM based on whether the primary BTM receives the specific transponder information, which is the transponder information including the identification code of the target transponder.

Step S2212, in case that the main transponder transmission module has not connected the target transponder when the train passes through the first train position window, determining and recording that the receiving state of the main transponder transmission module for the target transponder is a lost state.

Step S240, obtaining the transponder information received by the secondary transponder transmission module as the second transponder information, wherein the transponder information includes the identification code of the corresponding transponder.

And step S250, under the condition that the identification code in the second transponder information is consistent with the identification code of the target transponder, updating the receiving state of the main transponder transmission module for the target transponder.

In one embodiment, in the case that the identification code in the second transponder information is consistent with the identification code of the target transponder, the secondary BTM receives the transponder information sent by the target transponder, that is, the secondary BTM is connected with the target transponder, so that the receiving state of the primary BTM for the target transponder can be updated according to the receiving event that the secondary BTM is connected with the target transponder, so that in the case that whether the train loses the positioning is determined according to the receiving state of the primary BTM for the target transponder, the probability of the occurrence of the lost positioning event can be reduced, and the availability of the train positioning system can be improved.

In one embodiment, the updating the receiving status of the master transponder transmission module for the target transponder in the step S250 may include: the receive state is updated to a not lost state.

In this embodiment, when the positioning processing apparatus has recorded that the receiving status of the host BTM with respect to the target transponder is a lost status according to the condition that the host BTM has received the transponder information, updating the receiving status to be a non-lost status means: the receive state is modified to an unreleased state.

In this embodiment, in the case that the location processing device has not determined whether the target transponder is lost by the master BTM based on the fact that the transponder information has not been received by the master BTM, updating the receiving status to the unreleased status means: the reception state is set to a non-lost state.

And step S260, determining whether the train loses positioning according to the updated receiving state.

In this embodiment, a mapping condition for determining whether a train loses location according to the receiving state of the primary BTM for the target transponder may be set in advance, so that it may be determined whether the train loses location according to the updated receiving state and the mapping condition, and corresponding lost location processing is performed when it is determined that the train loses location.

The lost location processing includes, for example: fault alarm and/or emergency braking, etc.

The mapping conditions may include, for example: and determining the train loss location under the condition that the receiving states of the main transponder transmission module for two continuous target transponders are loss states. Correspondingly, in this embodiment, the determining whether the train is lost and positioned according to the updated receiving status in step S260 may include: and determining the train loss location under the condition that the receiving states of the main transponder transmission module for two continuous target transponders are loss states.

In this embodiment, for the mapping condition, the method of this embodiment updates the receiving state of the master BTM for the target transponder by using the transponder information received by the slave BTM, so as to implement redundant positioning processing, which can reduce the probability that the train positioning system meets the mapping condition, thereby reducing the probability that the train has a lost positioning event, and further improving the availability of the train positioning system. Moreover, under the condition that the train positioning system really meets the mapping conditions, the lost positioning processing is still carried out, so that the usability of the train positioning system can be improved, and the use safety of the train positioning system can be still ensured.

As can be seen from the above steps S210 to S260, in the positioning processing method of the present embodiment, if the sub-BTM receives the transponder information from the expected target transponder, the receiving state of the main BTM with respect to the target transponder may be updated according to the receiving event, so that when it is determined whether the train or the train positioning system loses the positioning according to the receiving state of the main BTM with respect to the target transponder, the possibility of the occurrence of the lost positioning event may be reduced, and the availability of the train positioning system may be improved.

In one embodiment, the location information of the train may be updated based on the transponder information received by the primary BTM to improve the accuracy of the train location system in locating the train.

In this embodiment, after the step S220 of acquiring the basic information of the target transponder to which the train needs to connect, the method may further include the following steps S3111 to S3113:

step S3111, obtaining the transponder information received by the main transponder transmission module as the first transponder information.

Step S3112, determining whether the receiving event of the first transponder information by the main transponder transmission module is a valid receiving event according to the first transponder information and the basic information of the target transponder.

In this embodiment, the receiving event is determined to be a valid receiving event if the identification code in the first transponder information is identical to the identification code of the target transponder and the first location of the train at the time the primary BTM received the first transponder information is within the first train location window.

In this embodiment, a first check item for determining whether the identification code in the first transponder information is identical to the identification code of the target transponder may be implemented first, and if so, a second check item for determining whether the first position of the train when the master BTM receives the first transponder information is located in the first train position window may be implemented.

In this embodiment, the second check item may be implemented first, and the first check item may be implemented when the second check item passes.

In this embodiment, the two check items may be implemented in parallel by different threads, which is not limited herein.

In this embodiment, in the case that the check result of the first check item is that the identification code in the first transponder information is not consistent with the identification code of the target transponder, the corresponding check result may be recorded as "receipt of an unexpected transponder".

In this embodiment, when the check result of the second check item is that the first position is not located in the first train position window, the corresponding check result may be recorded as "receiving a transponder outside the window".

In step S3113, when the reception event is a valid reception event, the train positioning information is updated based on the first transponder information.

In this embodiment, the corresponding transponder may be matched in the electronic map according to the identification code in the first transponder information, so that the setting coordinate of the corresponding transponder may be obtained, and the positioning information of the train may be updated according to the setting position.

In this embodiment, since the location processing device may determine the accurate location of the train when the primary BTM receives the first transponder information according to the first transponder information, when the location processing device completes updating the location information according to the first transponder information, the accumulated ranging error of the train will be reset to 0. After that, the train positioning device can obtain the real-time position of the train according to the running distance (obtained by any distance measuring means) of the train after the train finishes the current updating and the corresponding distance measuring accumulated error, wherein the distance measuring accumulated error is in direct proportion to the running distance, and here, the proportional relation between the distance measuring accumulated error and the running distance can be preset according to the distance measuring precision of a distance measuring sensor and the like. Thus, when the master BTM receives the next transponder information, the first location where the train is located when the master BTM receives the next first transponder information can be obtained based on the real-time location when step S3112 is executed next time, and the second check item can be further performed based on the first location.

Correspondingly, in this embodiment, the positioning processing device may obtain the first position where the train is located when the first transponder information is received in step S3112 according to the positioning information updated last time and the running distance of the train between the completion of the updating and the reception of the first transponder information.

In an embodiment, after the step S220 of acquiring basic information of a target transponder to which a train needs to be connected on a current driving route, the method may further include the following steps: in the event that the receive event is not a valid receive event, a train loss location is determined.

In this embodiment, the train loss location is determined in the event that the primary BTM receives an unexpected transponder and/or the primary BTM connects to a target transponder outside of the window.

In one embodiment, the location information of the train may be updated based on the transponder information received by the secondary BTM, i.e., the location information of the train is calibrated to improve the accuracy of the location information.

In this embodiment, the basic information of the target transponder may further include a second train position window corresponding to the target transponder connected to the secondary transponder transmission module.

In this embodiment, after obtaining the basic information of the target transponder to which the train needs to be connected, the method may further include the following steps S3211 to S3212:

step S3211, according to the second transponder information, checks whether the corresponding transponder is a transponder on the current driving route.

In step S3212, when the corresponding transponder is a transponder on the current driving route, a second location where the train is located when the secondary transponder transmission module receives the second transponder information is obtained.

In this embodiment, the positioning processing device may obtain the second position where the train is located when the second transponder information is received in step S3211 according to the positioning information updated last time and the running distance of the train between the completion of the updating and the reception of the second transponder information.

In the case that the corresponding transponder is not a transponder on the current driving route, the train loss location can be determined and corresponding loss location processing is performed.

Step S3212, when the second position is located within the second train position window, updates the positioning information of the train according to the second transponder information.

In this embodiment, as long as the sub-BTM receives the transponder information sent by the transponder on the current driving route, the positioning information can be updated according to the received second transponder information, so as to increase the frequency of updating the positioning information, and further improve the accuracy of the train positioning system for train positioning.

In one embodiment, to further improve the reliability of train positioning, the method further includes the following steps S3311 to S3313:

step S3311, when the updating of the positioning information is completed according to the responder information received by any one of the main responder transmission module and the auxiliary responder transmission module, the accumulated error of the distance measurement is cleared.

Step S3312, the running distance of the train after the updating of the positioning information is completed for the last time is obtained.

The running distance may be calculated according to the running speed and the running time of the train, and the running speed may be provided by a speed sensor, and the like, which is not limited herein.

And step S3313, obtaining the distance measurement accumulated error of the train according to the running distance.

The accumulated error of the distance measurement is proportional to the running distance, wherein a proportionality coefficient between the accumulated error and the running distance may be preset according to the accuracy of a sensor used for the distance measurement, and the like, and is not limited herein.

And step S3314, determining the train loss positioning under the condition that the accumulated distance measurement error exceeds the set error threshold.

In this embodiment, the larger the distance measurement accumulated error is, the longer the train has traveled after the last update of the positioning information is completed, and the next update has not been performed, and here, the positioning processing module clears the distance measurement accumulated error every time the update of the positioning information is completed, so that the larger the distance measurement accumulated error represents that the main BTM and the sub-BTM have not received the transponder information that can be used for updating the positioning information after the train has traveled the longer distance, which can reflect that the train has lost positioning from another angle, and therefore, the accuracy and reliability of positioning the train can be improved according to the above steps S3311 to S3314.

In one embodiment, to further improve the reliability of train positioning, the method may further include the following steps S3411 to S3413:

in step S3411, the identification code sets of all the transponders on the current driving route of the train are obtained.

In this embodiment, the identification code set may be formed by obtaining the identification code of the transponder on the current driving route from the electronic map data.

In step S3412, in the case where any of the primary and secondary transponder receiving modules receives the transponder information, it is checked whether the identification code in the transponder information belongs to the identification code set.

In this embodiment, in the case where the set of identification codes includes an identification code in the transponder information received by any module, it may be determined that the transponder connected to the any module belongs to the transponder on the current travel route.

Step S3413, in a case that the identification code in the received transponder information does not belong to the identification code set, determining that the train is lost and positioned.

In one embodiment, after the step S210 and before the step S220, the method may further include the following steps S3511 to S3513:

step S3511, the identification codes of two consecutive transponders corresponding to the initialization are acquired.

When the train enters the main line for initialization, the two continuous transponders corresponding to the initialization are two continuous transponders positioned at the starting position on the current driving route.

When the train is recovered from the fault and is initialized normally, the two continuous transponders corresponding to the initialization are two continuous transponders positioned in front of the current position of the train.

And S3512, judging whether any module in the transmission module of the main responder and the transmission module of the auxiliary responder receives the responder information of two continuous responders or not according to the identification codes of the two continuous responders.

In step S3513, when the transponder information of the two consecutive transponders is received by any module, the train is positioned and initialized.

In this embodiment, when any module receives the transponder information of the two consecutive transponders, the position information and the direction information of the train can be determined, and the positioning initialization for the train is completed. Thereafter, the above step S220 may be performed based on the initial positioning information determined by the positioning initialization.

In this embodiment, in the case of setting the primary BTM and the secondary BTM, the positioning processing module may complete the positioning initialization when any BTM receives the transponder information of two consecutive transponders corresponding to the initialization, and then start to execute step S220 above, which will improve the usability of the train positioning system.

In one embodiment, as shown in fig. 3, setting the master BTM in the positioning processing method may include the following steps S310 to S370:

step S310, whether the train positioning system is the single BTM system is checked, if so, the check result is returned, and if not, the step S320 is executed.

In the event that the train location system is a single BTM system, the location processing device will determine that the single BTM is the primary BTM based on the check.

And S320, checking whether the train positioning system is a double-BTM system, if so, executing S330, and if not, returning the checking result.

In step S330, the primary BTM is determined based on the activation status of the cab, and then step S340 is performed.

In step S340, whether the current primary BTM is in a failure state is determined, if yes, step S350 is executed, if no, the checking result is returned, and at this time, the positioning processing device determines that the current primary BTM is the final primary BTM.

In step S350, another BTM is switched to be the primary BTM, and then step S360 is executed.

Step S360, whether the main BTM after switching is in a failure state is checked, if yes, step S370 is executed, if no, the check result is returned, and at this time, the positioning processing device determines that the main BTM after switching is the final main BTM.

In step S370, a double BTM failure is determined and the check result is returned.

In the case of a double BTM failure, the location processing means will determine the train loss location based on the check result.

In one embodiment, as shown in fig. 4, the positioning processing method may include the following steps S410 to S470:

step S410, receiving the transponder information, and then executing step S420.

And step S420, judging whether the responder corresponding to the responder information is the responder on the current driving route, if so, executing step S430, if not, recording that the result is that the connected responder is not on the current driving route, and updating the positioning statistical data.

In step S430, whether the BTM receiving the responder information is the master BTM is determined, if yes, step S441 is executed, and if no, step S451 is executed.

Step S441, checking whether the identification code in the transponder information is consistent with the identification code of the target transponder, if yes, executing step S442, if no, recording the result as "unexpected transponder received", and updating the positioning statistical data.

Step S442, check if the first location of the train when the master BTM receives the transponder information is located within the first train location window, if yes, execute step S443, if no, record the result as "receiving the transponder outside the window", and update the positioning statistics.

Step S443, updating the positioning information of the train, and updating the positioning statistical data.

Step S451 checks whether the second position of the train when the sub-BTM received the transponder information is within the second train position window, if yes, step S452 is performed, if no, the record result is "transponder received outside the window", and step S453 is performed.

In step S452, the positioning information of the train is updated, and then step S453 is executed.

In step S453, it is checked whether the identification code in the transponder information is identical to the identification code of the target transponder, if so, step S454 is performed, and if not, the checking result is recorded.

In step S454, the receiving status of the master BTM for the target transponder is updated, and the positioning statistics are updated.

< apparatus embodiment >

Fig. 5 shows a block schematic diagram of a location processing device 500 of a train according to an embodiment. In this embodiment, the train is provided with at least two BTMs.

As shown in fig. 5, the location processing apparatus 500 may include a setting module 510, a query module 520, a status determination module 530, an information acquisition module 540, an update module 550, and a location processing module 540.

The setting module 510 is used to set a transponder transmission module as a primary transponder transmission module and set other transponder transmission modules as secondary transponder transmission modules.

The query module 520 is configured to obtain basic information of a target transponder that needs to be connected to the train on a current driving route, where the basic information includes an identification code of the target transponder and a first train position window corresponding to the target transponder to which the main transponder transmission module is connected.

The status determining module 530 is configured to determine and record a receiving status of the target transponder by the master transponder transmission module according to the basic information.

The information acquiring module 540 is configured to acquire the transponder information received by the secondary transponder transmission module as second transponder information, where the transponder information includes an identification code of a corresponding transponder.

The status updating module 550 is configured to update the receiving status if the identification code in the second transponder information is identical to the identification code of the target transponder.

The positioning processing module 560 is configured to determine whether the train loses positioning according to the updated receiving status.

In one embodiment, the update module 550, when determining whether the train has lost position based on the updated reception status, may be configured to: and determining the train loss location under the condition that the receiving states of the main transponder transmission module for two continuous target transponders are loss states.

In one embodiment, the status determining module 530, when determining and recording the receiving status of the master transponder transmission module for the target transponder based on the basic information, may be configured to: judging whether the main responder transmission module is connected with the target responder or not according to the identification code of the target responder; and determining and recording the receiving state as a lost state by the main transponder transmission module under the condition that the target transponder is not connected when the train passes through the first train position window.

In this embodiment, the updating module 550, when updating the receiving status, may be configured to: modifying the receiving state to a non-lost state.

In one embodiment, the above information obtaining module 540 is further configured to obtain the transponder information received by the main transponder transmission module as the first transponder information after the query module 530 obtains the basic information of the target transponder to which the train needs to be connected on the current driving route. In this embodiment, the apparatus 500 further includes a checking module, configured to determine, according to the first transponder information and the basic information, whether a receiving event of the primary transponder transmission module for the first transponder information is a valid receiving event, where the receiving event is determined to be a valid receiving event under the condition that an identification code in the first transponder information is identical to an identification code of the target transponder, and a first position of the train when the primary transponder transmission module receives the first transponder information is located in the first train position window. In this embodiment, the apparatus 500 further includes a location updating module, configured to update the location information of the train according to the first transponder information when the receiving event is a valid receiving event.

In one embodiment, the location processing module 560 is further configured to: determining the train loss location if the receive event is not a valid receive event.

In one embodiment, the basic information further includes that the secondary transponder transmission module is connected with a second train position window corresponding to the target transponder. In this embodiment, the checking module is configured to check whether a corresponding transponder is a transponder on the current driving route according to the second transponder information; under the condition that the corresponding transponder is a transponder on the current driving route, acquiring a second position of the train when the secondary transponder transmission module receives the second transponder information; and under the condition that the second position is positioned in the second train position window, informing a positioning updating module to update the positioning information of the train according to the second responder information.

In one embodiment, the device further comprises a ranging error calculation module, wherein the ranging error calculation module is used for clearing the ranging accumulated error when updating of the positioning information is completed according to the transponder information received by any transponder transmission module; acquiring the running distance of the train after the positioning information is updated for the last time; obtaining a distance measurement accumulated error of the train according to the running distance; and when the accumulated ranging error exceeds a set error threshold, notifying a positioning processing module 560 to determine that the train is positioned by losing.

In one embodiment, the setting module 510, when setting a transponder transmission module as a master transponder transmission module, may be configured to: acquiring a cab of the train in an activated state; checking whether a transponder transmission module corresponding to the cab is in a fault state; and setting the transponder transmission module corresponding to the cab as a main transponder transmission module under the condition that the transponder transmission module corresponding to the cab is not in a fault state.

In one embodiment, the setting module 510 is configured to set a transponder transmission module as a master transponder transmission module, and is further configured to: and under the condition that the transponder transmission module corresponding to the cab is in a fault state, setting the transponder transmission module corresponding to the other cab as the main transponder transmission module.

In one embodiment, the location updating module of the apparatus 500 is configured to obtain the identification codes of two consecutive transponders corresponding to the initialization before the query module 520 obtains the basic information of the target transponder to be connected on the current driving route of the train; judging whether any module of the transmission module of the main responder and the transmission module of the auxiliary responder receives the responder information of the two continuous responders or not according to the identification codes of the two continuous responders; and under the condition that the arbitrary module receives the transponder information of the two continuous transponders, performing positioning initialization on the train.

In one embodiment, the inspection module of the apparatus 500 is configured to: acquiring identification code sets of all the transponders on the current driving route; in the case where any of the primary transponder transmission module and the secondary transponder transmission module receives transponder information, checking whether an identification code in the received transponder information belongs to the set of identification codes; in the event of not belonging to the set of identification codes, the notification location processing module 560 determines the train loss location.

< train embodiment >

Fig. 6 shows a block schematic diagram of a train 600 according to an embodiment.

The train 600 includes a positioning processing device 613, where the positioning processing device 613 may be the positioning processing device 500 or the positioning processing device 113 of any of the above embodiments, and the train further includes at least two transponder transmission modules 611, where the at least two transponder transmission modules 611 are connected to the positioning processing device 613 to transmit the parsed transponder information to the positioning processing device 613.

The train 600 of this embodiment may further include other hardware devices that the train should be configured to, for example, include a power device, various sensor devices, and the like, which are not described herein again.

In one embodiment, the train 600 includes two cabs and two transponder transmission modules 611, wherein one cab is located at a head end of the train 600 and the other cab is located at a tail end of the train 600, one transponder transmission module 611 is located at the cab at the head end and the other transponder transmission module 611 is located at the cab at the tail end.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer-readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be interpreted as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions 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 latter scenario, 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). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method for processing a location of a train, wherein the train is provided with at least two transponder transmission modules, the method comprising:

setting a transponder transmission module as a main transponder transmission module and setting other transponder transmission modules as auxiliary transponder transmission modules;

acquiring basic information of a target transponder needing to be connected on a current driving route of the train, wherein the basic information comprises an identification code of the target transponder and a first train position window corresponding to the target transponder and connected with the main transponder transmission module;

determining and recording the receiving state of the main responder transmission module for the target responder according to the basic information;

updating the reception status in case the identification code in the second transponder information is identical to the identification code of the target transponder;

determining whether the train loses positioning according to the updated receiving state,

before the obtaining of the basic information of the target transponder to be connected to the train on the current driving route, the method further includes:

judging whether any module in the transmission module of the main responder and the transmission module of the auxiliary responder receives the responder information of the two continuous responders or not according to the identification codes of the two continuous responders;

2. The method of claim 1, wherein said determining whether the train has lost position location based on the updated reception status comprises:

and determining the train loss location under the condition that the receiving states of the main transponder transmission module for two continuous target transponders are loss states.

3. The method according to claim 2, wherein said determining and recording the receiving status of said target transponder by said master transponder transmission module based on said basic information comprises:

judging whether the main responder transmission module is connected with the target responder or not according to the identification code of the target responder;

the updating the reception status includes:

modifying the receiving state to a non-lost state.

4. The method according to claim 1, wherein after obtaining basic information of a target transponder which needs to be connected to the train on a current driving route, the method further comprises:

judging whether a receiving event of the main responder transmission module for the first responder information is a valid receiving event or not according to the first responder information and the basic information, wherein under the conditions that an identification code in the first responder information is consistent with an identification code of the target responder, and a first position of the train when the main responder transmission module receives the first responder information is positioned in a first train position window, the receiving event is determined to be a valid receiving event;

5. The method according to claim 4, wherein after obtaining basic information of a target transponder to which the train needs to be connected on a current driving route, the method further comprises:

6. The method of claim 1 wherein said basic information further comprises said secondary transponder transmission module interfacing with a second train location window corresponding to said target transponder; after acquiring basic information of a target transponder to be connected on a current driving route of the train, the method further comprises the following steps:

checking whether a corresponding transponder is a transponder on the current driving route according to the second transponder information;

acquiring a second position of the train when the second transponder information is received by the secondary transponder transmission module under the condition that the corresponding transponder is a transponder on the current driving route;

7. The method according to any one of claims 4 to 6, further comprising:

8. The method of claim 1, wherein said providing a transponder transmission module as a master transponder transmission module comprises:

acquiring a cab of the train in an activated state;

9. The method of claim 8, wherein said providing a transponder transmission module as a master transponder transmission module further comprises:

10. The method of claim 1, further comprising:

11. A location processing apparatus of a train, wherein the train includes at least two transponder transmission modules, the apparatus comprising:

the system comprises a query module, a main responder transmission module and a target responder receiving module, wherein the query module is used for acquiring basic information of a target responder to be connected on a current driving route of the train, and the basic information comprises an identification code of the target responder and a first train position window corresponding to the target responder connected by the main responder transmission module;

a status updating module for updating the receiving status in case that the identification code in the second transponder information is identical to the identification code of the target transponder;

the positioning processing module is used for determining whether the train loses positioning according to the updated receiving state; and (c) a second step of,

the positioning updating module is used for acquiring the identification codes of two continuous transponders which are correspondingly initialized before the query module acquires the basic information of the target transponder to be connected on the current driving route of the train; judging whether any module of the transmission module of the main responder and the transmission module of the auxiliary responder receives the responder information of the two continuous responders or not according to the identification codes of the two continuous responders; and under the condition that the arbitrary module receives the transponder information of the two continuous transponders, performing positioning initialization on the train.

12. A positioning processing device of a train, characterized in that the train comprises at least two transponder transmission modules, the positioning processing device comprising a memory for storing a computer program and a processor for performing the method according to any of claims 1 to 10 under the control of the computer program.

13. A train comprising at least two transponder transmission modules and a positioning processing device according to claim 11 or 12, the at least two transponder transmission modules being connected to the positioning processing device.

14. The train of claim 13, wherein the train comprises two cabs and two transponder transmission modules, wherein one cab is located at a head position of the train, the other cab is located at a tail position of the train, one transponder transmission module is disposed at the cab located at the head position, and the other transponder transmission module is disposed at the cab located at the tail position.