CN116022199B

CN116022199B - Train positioning method and device

Info

Publication number: CN116022199B
Application number: CN202310323361.9A
Authority: CN
Inventors: 苌秋云; 支秋晨; 孟凡星; 张云; 张硕; 曹欣
Original assignee: Casco Signal Beijing Ltd
Current assignee: Casco Signal Beijing Ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-06-09
Anticipated expiration: 2043-03-30
Also published as: CN116022199A

Abstract

The application discloses a train positioning method and device, relates to the technical field of rail transit, and mainly aims to solve the problem that the accuracy of a positioning result is low and the driving safety of a train is affected because the accuracy of SDLU is easily affected by some factors when the train is positioned. The method comprises the following steps: acquiring parameter information of a train positioning system, wherein the parameter information at least comprises one of electronic map information and satellite information; determining whether the train positioning system is in a normal state based on the parameter information; if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication; and when the initial positioning position of the train is matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

Description

Train positioning method and device

Technical Field

The application relates to the technical field of rail transit, in particular to a train positioning method and device.

Background

With the mature application of the Beidou satellite navigation technology, 5G communication and other emerging technologies, the train positioning function of the train control vehicle-mounted system, the triggering of the virtual transponder and the calculation function of the most limited speed curve are important bases for improving the comprehensive transportation capability and the transportation benefit of railways, and are also key for ensuring the transportation safety and improving the service quality, wherein the train positioning function of the train control vehicle-mounted system is particularly important, and the accurate acquisition of the train position information is the guarantee of the safe operation of the train.

At present, the positioning mode of the train directly utilizes the SDLU (Speed Distance Location Unit) to determine the position of the train according to the area of the train in the line, but in practical application, when the positioning is directly performed based on the SDLU, the accuracy of the SDLU is easily affected by some factors, for example, the result of the current actual positioning is affected due to inaccurate initial position, so that the accuracy of the positioning result is lower, and the driving safety of the train is affected.

Disclosure of Invention

The embodiment of the application provides a train positioning method and device, and mainly aims to realize the train positioning method, which is used for solving the problems that the accuracy of a positioning result is lower and the driving safety of a train is influenced because the accuracy of SDLU is easily influenced by some factors.

In order to solve the technical problems, the embodiment of the application provides the following technical scheme:

in a first aspect, the present application provides a method for positioning a train, the method comprising:

acquiring parameter information of a train positioning system, wherein the parameter information at least comprises one of electronic map information and satellite information;

determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements;

if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is the position information input by a driver of the train;

and when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

In a second aspect, the present application further provides a positioning device for a train, including:

the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring parameter information of a train positioning system, and the parameter information at least comprises one of electronic map information and satellite information;

The first determining unit is used for determining whether the train positioning system is in a normal state or not based on the parameter information, and the normal state is used for representing that the train positioning system meets positioning requirements;

a second determining unit, configured to determine, if it is determined that the train positioning system is in a normal state, a current initial positioning position of the train based on the parameter information, and receive a position information indication, where the position information indication is position information input by a driver of the train;

and the third determining unit is used for determining that the train positioning system is successfully initialized when the initial positioning position of the train is determined to be matched with the position information indication, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

In a third aspect, an embodiment of the present application provides a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the method for positioning a train of the terminal device according to the first aspect.

In a fourth aspect, embodiments of the present application provide a positioning device for a train, the device comprising a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; and executing the train positioning method of the terminal equipment according to the first aspect when the program instructions run.

By means of the technical scheme, the technical scheme provided by the application has the following advantages:

the application provides a method and a device for positioning a train, wherein in the application, parameter information of a train positioning system can be firstly obtained, and the parameter information at least comprises one of electronic map information and satellite information; secondly, determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements; thirdly, if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is position information input by a driver of the train; and finally, when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized, and thus the positioning function of the train is realized. Compared with the prior art, the method and the system can determine whether the train positioning system is in a normal state according to the acquired electronic map information and satellite information, then determine the current initial positioning position of the train based on the parameter information when the train positioning system is in the normal state, and receive the position information indication, and finally determine that the train positioning system is successfully initialized when the initial positioning position of the train is matched with the position information indication, in the process, whether the train positioning system is normal can be determined based on various parameters, and the train positioning system is successfully initialized only when the train positioning system is normal and the initial positioning position of the train is matched with the position information indication, namely, the accuracy of the train positioning system can be checked based on the initializing mode, and the subsequent actual positioning operation of the train is performed after the initialization is successfully determined, so that the positioning result is accurate, and the problem that the current actual positioning result is affected due to inaccurate initial position of the train is determined according to the area where the train is located by the SDLU is located in the line is avoided, the accuracy of the positioning result is low, and the driving safety of the train is affected.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings, in which like reference numerals refer to similar or corresponding parts and in which:

fig. 1 shows a flowchart of a train positioning method provided in an embodiment of the present application;

FIG. 2 shows a flowchart of another method for locating a train according to an embodiment of the present application;

fig. 3 shows a block diagram of a positioning device of a train according to an embodiment of the present application;

fig. 4 shows a block diagram of another positioning device for a train according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

The embodiment of the application provides a train positioning method, which is specifically shown in fig. 1, and includes:

101. and acquiring parameter information of a train positioning system.

Wherein the parameter information at least includes one of electronic map information and satellite information.

In practical application, after a train is parked in a station and started up and registered, parameter system information of a train positioning system needs to be obtained as a basis for subsequent positioning, and specific parameter information can include, but is not limited to, electronic map information and satellite information.

Specifically, the train positioning system refers to an SDLU (Speed Distance Location Unit, speed and distance measurement unit) positioning system, and can calculate the accumulated running distance of the train based on the speed and acceleration information of the train, and then determine the positioning of the train by combining the initial position of the train. In addition, in this embodiment, the electronic map information specifically includes information such as a train route map, a station number, and an orbit number, and the train running distance calculated based on the SDLU positioning system may be projected onto the electronic map and matched with the information, where the satellite information characterizes information for positioning the train based on satellite signals.

The parameter information of the train positioning system is acquired, the parameters of the train positioning system can be acquired from multiple angles, the problem that the accuracy of the positioning result is low due to inaccurate initial position of the train is avoided, the accuracy of the train positioning result is improved, and a foundation is laid for the determination of the state of the subsequent train positioning system.

102. And determining whether the train positioning system is in a normal state based on the parameter information.

The normal state is used for representing that the train positioning system meets positioning requirements.

In practical application, after the parameter information of the train positioning system is obtained, whether the train positioning system is in a normal state can be determined according to the state of an electronic map of the train positioning system and the state of a satellite, wherein the normal state is characterized in that the train positioning system meets positioning requirements, in the process, once the state of the electronic map and the state of the satellite are abnormal, the train positioning system can be considered to be abnormal, a reference is provided for a user to grasp the safety of the train positioning system in real time, safety accidents caused by the abnormality of the train positioning system are avoided, and safety driving of the user is ensured based on the normal state.

103. If the train positioning system is determined to be in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication.

Wherein the location information indicates location information entered for a driver of the train.

In practical application, after the train positioning system is determined to be in a normal state, the train positioning system can be confirmed to be reliable, then the current initial positioning information of the train can be continuously determined according to specific parameter information on the basis, and a position information indication is received, wherein the position information indication specifically refers to the position information input by a driver of the train on a man-machine interaction interface (Direct Media Interface, abbreviated as DMI) after the position is confirmed on site, and if the position confirmed by the driver is inconsistent with the position confirmed by the train positioning system, the driver can modify the positioning into actual positioning information on the DMI interface; the current initial positioning information of the train can specifically refer to a kalman position, namely a position confirmed by combining an electronic map with kalman filtering. The Kalman is a positioning algorithm for optimally estimating the state of a system by utilizing a linear system state equation and inputting and outputting observation data through the system.

Based on the method, when the train positioning system is in a normal state, the current initial positioning position of the train can be determined according to the parameter information, then the position information indication is received, in the process, the current initial positioning position of the train can be determined by collecting a plurality of parameter information, a foundation is laid for the successful judgment of the initialization of the subsequent train positioning system, and the accuracy of positioning judgment is improved by combining the position information input by a driver receiving the train, so that the risk of safe driving caused by lower positioning accuracy due to the fact that the driver does not confirm the position is reduced.

104. And when the initial positioning position of the train is matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

In practical application, when the initial positioning position of the train is matched with the position information indication, that is, the Kalman position is consistent with the position information input by the driver, the position determined by the train positioning system is the same as the position actually determined by the driver, that is, after the train system is started, the built-in train positioning system can accurately determine the actual position of the current train after the first start-up registration, and then the train positioning system can be successfully initialized.

Based on the method, once the initial positioning position of the train is successfully matched with the position information indication in the process, the successful initialization of the train positioning system can be determined, and then the real-time train positioning operation is carried out, so that the follow-up determination of the real-time position is also positioned in this way after the successful initialization, and the follow-up positioning mode of the train positioning system is also reliable under the condition that the parameter information acquired by the train positioning system and the initial positioning position of the train determined based on the parameter information are reliable, thereby realizing the function of ensuring the positioning accuracy based on the initialization process and providing a guarantee for the driving safety of the train.

In the embodiment of the application, parameter information of a train positioning system can be obtained first, wherein the parameter information at least comprises one of electronic map information and satellite information; secondly, determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements; thirdly, if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is position information input by a driver of the train; and finally, when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized, and thus the positioning function of the train is realized. Compared with the prior art, the method and the system can determine whether the train positioning system is in a normal state according to the acquired electronic map information and satellite information, then determine the current initial positioning position of the train based on the parameter information when the train positioning system is in the normal state, and receive the position information indication, and finally determine that the train positioning system is successfully initialized when the initial positioning position of the train is matched with the position information indication, in the process, whether the train positioning system is normal can be determined based on various parameters, and the train positioning system is successfully initialized only when the train positioning system is normal and the initial positioning position of the train is matched with the position information indication, namely, the accuracy of the train positioning system can be checked based on the initializing mode, and the subsequent actual positioning operation of the train is performed after the initialization is successfully determined, so that the positioning result is accurate, and the problem that the current actual positioning result is affected due to inaccurate initial position of the train is determined according to the area where the train is located by the SDLU is located in the line is avoided, the accuracy of the positioning result is low, and the driving safety of the train is affected.

For more detailed description below, another method for positioning a train is provided in an embodiment of the present application, specifically as shown in fig. 2, the method includes:

201. and acquiring parameter information of a train positioning system.

Specifically, since the parameter information may include electronic map information and satellite information, in the specific implementation process of the method described in this embodiment, the implementation manner of this step may be different for different parameter information.

Based on this, when the parameter information is electronic map information, this step may be performed as follows:

when the parameter information is electronic map information, acquiring an electronic map version of the train positioning system as a first version, and acquiring the electronic map version from a preset server as a second version;

and if the first version is consistent with the second version, determining that the electronic map is in a valid state.

Therefore, the version of the electronic map of the train positioning system is compared with the version of the electronic map in the preset server, so that whether the electronic map is in an effective state or not is determined, that is, whether the electronic map is out of date or not can be distinguished, the problem that the electronic map is inconsistent with the actual topography is avoided, and the train positioning system can be ensured to be positioned by means of the accurate electronic map in the subsequent positioning process.

Further, in this step, when the parameter information is satellite information, the step obtains the parameter information of the train positioning system, including:

transmitting a test signal to a target satellite based on the train positioning system and receiving a feedback signal of the target satellite when the parameter information includes satellite information;

and if the feedback signal is matched with the test signal, determining that the satellite of the train positioning system is in an effective state.

Because whether the satellite is effective is mainly determined based on whether the communication with the satellite is normal or not, in the process of positioning based on satellite information, whether the communication is normal or not needs to be checked by the feedback information of the target satellite in a mode of transmitting a test signal to the target satellite based on the train positioning system based on the step, and when the feedback signal is determined to be matched with the test signal, the train positioning system is determined to be in an effective state, so that the checking of the effectiveness of the satellite information is ensured, and the problem of positioning errors caused by satellite delay or poor communication is avoided.

Further, in this step, the parameter information further includes a location parameter;

the acquiring the parameter information of the train positioning system comprises the following steps:

And acquiring the position parameters of the train from a preset transponder by the train positioning system, wherein the position parameters comprise trigger information and distance information, and the preset transponder comprises at least one of an entity transponder and a virtual transponder.

In this embodiment, the parameter information of the train positioning system may include position parameters in addition to the electronic map information and the satellite information. The position parameter can be used as a basis for determining initial position information subsequently. When the train runs through the preset transponder, the position parameters of the train are acquired from the preset transponder through the train positioning system, wherein the position parameters comprise triggering information and distance information, the triggering information can be understood as information generated by triggering the train when the train passes through the preset transponder, the triggering information can comprise a triggered preset transponder identifier and time information when the train is triggered, and meanwhile, the distance information can be understood as how far the current train is from the preset transponder after the train is triggered. In addition, the preset transponder comprises at least one of a physical transponder and a virtual transponder, said virtual transponder referring to a transponder present in an electronic map, said preset transponder specifically referring to LRBG (Last relevant balise group, recently related transponder group). The entity transponder specifically refers to a ground transponder, and the ground transponder is high-speed data transmission equipment capable of providing line parameter information, line speed information, temporary speed limit information and train positioning information.

Based on the method, when the train runs to the physical transponder or the virtual transponder, the position parameter of the train can be acquired, in the process, the position parameter of the train can be determined based on the positioning of the transponder in the line, and data support is provided for the subsequent positioning of the train.

Further, in this step, the triggering information includes a location of the triggered transponder;

the obtaining, by the train positioning system, the position parameter of the train from a preset transponder includes:

determining a last triggered transponder from the plurality of triggered transponders as the preset transponder, and acquiring the trigger information and the distance information of the train from the preset transponder based on the preset transponder, wherein the distance information is determined based on the speed of the train and the time period after the preset transponder is triggered.

In this embodiment, when the train moves to the position where the transponder is located, trigger information is acquired, and the trigger information specifically refers to the position of the triggered transponder. In the running process of the train, the last triggered transponder is determined to be a preset transponder from a plurality of triggered transponders through a plurality of transponders, the trigger information and the Distance information of the train from the preset transponder are acquired based on the preset transponder, the Distance information of the train from the preset transponder specifically refers to a Distance offset value (D-LRBG, distance-Last Relevant Balise Group), and the Distance information of the train from the preset transponder is determined by multiplying the speed of the train and the time length after the preset transponder is triggered.

Based on the method, the position of the transponder is triggered as long as the train runs to the position of the transponder, the position of the transponder is acquired, then the distance information of the preset transponder of the train distance is calculated based on the distance information acquired by the train positioning system and the triggering time of the transponder, finally the position of the train can be determined, and the efficiency of train positioning is improved based on the method.

202. And determining whether the train positioning system is in a normal state or not based on the parameter information.

Specifically, based on the foregoing description, since the parameter information may include electronic map information and satellite information, there is a certain difference in the manner of determining whether the train positioning system is in a normal state in the case that the parameter information is different.

Based on this, when the foregoing step is to determine whether the satellite state is valid based on the parameter information, this step may be performed as follows:

and if the satellite state is in an effective state, determining that the train positioning system is in a normal state.

Based on the description of the foregoing steps, in this embodiment, after the train completes startup registration, when the parameter information is satellite information, the train positioning system transmits a test signal to the target satellite and receives a feedback signal of the target satellite; and if the feedback signal is matched with the test signal, determining that the satellite of the train positioning system is in an effective state.

Based on the method, the electronic map can be determined to be in an effective state by determining that the feedback signal is matched with the test signal, and a basis is provided for positioning the train.

On the other hand, when the foregoing step is to determine whether the electronic map status is valid based on the parameter information, the step may be performed as follows:

and if the electronic map is in the effective state, determining that the train positioning system is in a normal state.

Based on the foregoing description of the steps, in this embodiment, after the train completes the startup registration, when the parameter information is the electronic map information, the first version and the second version of the electronic map are acquired, and when it is determined that the first version and the second version of the electronic map are consistent, it can be determined that the electronic map is in an effective state. The first version is acquired based on an electronic map of a train positioning system, and the second version is acquired from a preset server, wherein the preset server specifically refers to a temporary speed limiting server (Temporary Speed Restriction Server, TSRS).

Based on the method, the electronic map can be determined to be in an effective state by comparing the version of the electronic map with the version in the preset server, and a basis is provided for positioning the train.

Since the judgment process is performed based on the parameter information, the judgment result is different based on the parameter information, wherein when the parameter information comprises the electronic map information and the satellite information, the following steps can respectively execute the methods of the steps 203-204 and the methods of the steps 205-206. When at least one of the electronic map and the satellite is determined to be in a failure state, it may be determined that the train positioning system is in an abnormal state directly based on the failure state, and a prompt is given to the user, and the steps 203 to 204 are executed at this time. When it is determined that both the electronic map and the satellite are in a disabled state, but a functional remedy to the train positioning system is also possible at this time, then steps 205-206 may be performed.

203. And when the parameter information comprises the electronic map information and the satellite information and at least one of the electronic map and the satellite is determined to be in a failure state, determining that the train positioning system is in an abnormal state.

The abnormal state is used for representing that the train positioning system is used for presenting safety risks; at least one of the electronic map and the satellite is in a failure state and is used for representing that the version of the electronic map is out of date or that communication of the satellite is abnormal.

In this embodiment, when the parameter information of the train positioning system includes the electronic map information and the satellite information and it is determined that at least one of the electronic map and the satellite is in a failure state, it is determined that the train positioning system is in an abnormal state, the positioning accuracy of the train positioning system in the abnormal state is low, and a safety risk exists in using the train positioning system in the abnormal state.

204. And outputting warning information to a user so as to prompt the train positioning system to be in an abnormal state.

Based on the foregoing steps, when it is determined that at least one of the electronic map and the satellite is in a failure state, it is explained that the function of the train positioning system is incomplete at this time, and then the positioning by directly using the electronic map and the satellite may have a problem of positioning error, thereby affecting safe running of the train. Therefore, in this case, it can be understood that the current train positioning system is doubtful, and therefore, a prompt needs to be given to the user, and in particular, the method as in this step outputs warning information to the user. In this embodiment, at least one of the electronic map and the satellite is in a failure state, which indicates that a version of the electronic map is out of date or that communication of the satellite is abnormal. When the train positioning system is determined to be in an abnormal state, warning information is output to a user based on the DMI, and the prompting content comprises that the train positioning system is in the abnormal state.

Based on the method, when at least one of the electronic map and the satellite is in a failure state, the train positioning system can be estimated to be in an abnormal state, and then warning information is output to the user.

205. When the parameter information comprises the electronic map information and the satellite information and the electronic map and the satellite are determined to be in a failure state, update data are obtained from a preset server, and the electronic map is updated based on the update data.

As can be seen from the foregoing description of step 203, when it is determined that the parameter information includes the electronic map information and the satellite information, and when it is determined that both the electronic map and the satellite are in a failure state, and when the function of the train positioning system can be remedied, the electronic map can be updated according to the method of the step, that is, the problem of failure of the electronic map is eliminated.

206. And after the electronic map is updated, determining that the train positioning system is in a normal state.

In this embodiment, when the parameter information includes the electronic map information and the satellite information, and it is determined that both the electronic map and the satellite are in a failure state, update data needs to be acquired from a preset server TSRS, and the electronic map is updated based on the update data, so that the electronic map is restored to an effective state, and then it can be determined that the train positioning system is in a normal state.

Therefore, when the electronic map and the satellite are in the failure state, the electronic map is updated through the preset server TSRS and is restored to the effective state, so that the train positioning system can be determined to be in the normal state, and a foundation is laid for positioning initialization of the train.

Further, when the position of the train is determined by the train positioning system based on the update of the electronic map, the actual position of the train is actually calculated based on the combination of the preset trigger and the electronic map, so that after the train passes through the preset trigger, whether only one current route exists in the running process of the train needs to be analyzed, that is, once the train passes through the preset trigger, if other branch routes exist, the analysis based on the position collected by the preset trigger and the updated electronic map also causes problems in analysis results. Therefore, in this step, when the electronic map is updated, determining that the train positioning system is in a normal state includes:

After the electronic map is updated, detecting whether a target path exists in a target area in a line on which the train runs, wherein the target path comprises a turnout and a station boundary, the turnout is used for representing that an off-station branch line exists in the line from the target area, the station boundary is used for representing that an on-station branch line exists in the line from the target area, and the target area is an area in a preset range with the preset transponder as a center;

and if the target area is determined to not have the target path, determining that the train positioning system is in a normal state.

In this embodiment, after the electronic map is updated, whether a target area in a line where the train runs has a target path is detected, and if it is determined that the target area does not have a target path, that is, if a bifurcation path does not exist on the line, it is determined that the train positioning system is in a normal state. The target path comprises a turnout and a station boundary, wherein the turnout represents that an off-station branch line exists in a line from a target area, the station boundary represents that an on-station branch line exists in the line from the target area, and the target area is an area in a preset range taking a preset transponder as a center, and particularly refers to an area between a train and the preset transponder.

Therefore, when the condition that the turnout or the station boundary does not exist between the train and the preset transponder is determined, the condition that the train does not have a branch route can be ensured, and the problem that the position determined by using the electronic map and the preset trigger is inaccurate is avoided, so that the train positioning system can be used for positioning under the condition, and the train positioning system can be determined to be in a normal state. Meanwhile, whether a branch line exists on the train line is judged, so that the situation that the specific track number of the train is difficult to determine due to the fact that the train enters the branch line in the prior art is avoided, and the accuracy of train positioning is improved.

Still further, as can be seen from the above description, in an actual situation, after the electronic map is updated, it may also be determined that a target path exists in a route of a train running, and at this time, accuracy of a train positioning system is difficult to ensure.

In this embodiment, after the electronic map is updated, if a target path exists in a line on which a train runs, that is, after a latest preset trigger is triggered, it is found that a switch or a station boundary is included in a vicinity (target area) of the preset trigger, it is possible that the train may run to a different branch line, if the position is located according to a previous route, a positioning error is possible, and then a safety risk exists in the positioning system, so after the electronic map is updated, whether the target path exists in the target area in the line on which the train runs is detected, if it is determined that the target path exists in the target area, it is indicated that the branch path exists in the line, and then it is determined that the positioning system of the train is in an abnormal state, and warning information is output to a user.

Therefore, when the switch or the station boundary exists between the train and the preset transponder, the train positioning system can be determined to be in an abnormal state, whether a branch line exists on the train line or not is judged, and the user is prompted that the train positioning system is in the abnormal state, so that the user can be reminded of paying attention to the train positioning system in real time, and the accuracy of train positioning is improved.

207. If the train positioning system is determined to be in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication.

In practical application, after determining that the train positioning system is in a normal state, the current initial positioning information of the train can be determined according to the specific parameter information, then the position information indication is received, and if the position confirmed by the driver is inconsistent with the position confirmed by the train positioning system, the driver can modify the positioning into the actual positioning information on the DMI interface.

208. And when the initial positioning position of the train is matched with the position information indication, the train positioning system is successfully initialized.

In practical application, when the initial positioning position of the train is matched with the position information indication, that is, the Kalman position is consistent with the position information input by the driver, the train positioning system can be determined to be successfully initialized.

Based on the method, in the process, once the initial positioning position of the train is successfully matched with the position information indication, the successful initialization of the train positioning system can be determined, and then the real-time train positioning operation is carried out, so that the running safety of the train is ensured.

Further, in this embodiment, after the positioning of the train, before the initialization is determined to be successful, the running direction of the train may be further confirmed, so, before the initialization of the train positioning system is determined to be successful in this embodiment, the method further includes:

when the hook type of the train is consistent with the hook type selected by the cab of the train, determining the hook type direction of the train as the running direction of the train, wherein the hook type of the train is determined based on the antenna of the train, and the hook type comprises a long head and a short head;

And when the hook type of the train is inconsistent with the hook type selected by the cab of the train, determining the opposite direction of the hook type of the train as the running direction of the train.

In this embodiment, when the hook type of the train is consistent with the hook type selected by the cab of the train, the hook type orientation of the train is determined as the running direction of the train, and when the hook type of the train is inconsistent with the hook type selected by the cab of the train, the opposite direction of the hook type orientation of the train is determined as the running direction of the train, wherein the hook type of the train is determined based on the antenna of the train, specifically, according to the installation positions of the GNSS (Global Navigation Satellite System ) antenna and the BTM (BaliseTransmmision Module, transponder transmission unit) antenna on the train.

When the hook type of the train is the long head, the cab selects the hook type as the long head during startup registration, and the running direction of the train is the upward direction; when the hook type is long head, the cab selects the hook type as short head during start-up registration, and the running direction of the train is downward; when the hook type is long head, the cab selects the hook type as long head during startup registration, the train running direction is downward, and when the cab selects the type as short head during startup registration, the train running direction is upward.

Based on the method, whether the hook type of the train is consistent with the hook type selected by the cab of the train or not can be judged, so that the running direction of the train can be determined, and convenience is provided for a driver to control the direction of the train.

Further, as an implementation of the method shown in fig. 1 and fig. 2, another embodiment of the present application further provides a positioning device for a train. The embodiment of the positioning device of the train corresponds to the embodiment of the method, and for convenience of reading, the embodiment of the positioning device of the train does not describe the details of the embodiment of the method one by one, but it should be clear that the device of the embodiment can correspondingly realize all the contents of the embodiment of the method. As shown in fig. 3, the positioning device of the train includes:

an acquiring unit 31, configured to acquire parameter information of a train positioning system, where the parameter information includes at least one of electronic map information and satellite information;

a first determining unit 32, configured to determine, based on the parameter information, whether the train positioning system is in a normal state, where the normal state is used to characterize that the train positioning system meets a positioning requirement;

a second determining unit 33, configured to determine a current initial positioning position of the train based on the parameter information and receive a position information indication if it is determined that the train positioning system is in a normal state, wherein the position information indication is position information input by a driver of the train;

The third determining unit 34 may be configured to determine that the initialization of the train positioning system is successful when it is determined that the initial positioning position of the train matches the position information indication, so as to perform a real-time train positioning operation based on the train positioning system that is successfully initialized.

Further, as shown in fig. 4, the obtaining unit 31 includes:

the first obtaining module 311 may be configured to obtain, when the parameter information is electronic map information, an electronic map version of the train positioning system as a first version, and obtain, from a preset server, the electronic map version as a second version;

a first determining module 312, configured to determine that the electronic map is in a valid state if it is determined that the first version is consistent with the second version;

the first determining unit 32 includes:

the first determining module 321 may be configured to determine that the train positioning system is in a normal state if the electronic map is in a valid state.

Further, as shown in fig. 4, the obtaining unit 31 includes:

a receiving module 313, which may be used to transmit a test signal to a target satellite based on the train positioning system and receive a feedback signal of the target satellite when the parameter information includes satellite information;

A second determining module 314, configured to determine that the satellite of the train positioning system is in an active state if the feedback signal is determined to match the test signal;

the first determining unit 32 includes:

the second determining module 322 may be configured to determine that the train positioning system is in a normal state if the satellite state is in an active state.

Further, as shown in fig. 4, the parameter information further includes a location parameter;

the acquisition unit 31 includes:

the second obtaining module 315 may be configured to obtain, by the train positioning system, a location parameter of the train from a preset transponder, where the location parameter includes trigger information and distance information, and the preset transponder includes at least one of a physical transponder and a virtual transponder.

Further, as shown in fig. 4, the triggering information includes a position of the triggered transponder;

the second obtaining module 315 is specifically configured to determine a last transponder to be triggered from the plurality of triggered transponders as the preset transponder, and obtain the trigger information and the distance information of the train from the preset transponder based on the preset transponder, where the distance information is determined based on the speed of the train and the duration of time after the preset transponder is triggered.

Further, as shown in fig. 4, the apparatus further includes:

a fourth determining unit 35, configured to determine that, when the parameter information includes the electronic map information and the satellite information and it is determined that at least one of the electronic map and the satellite is in a failure state, the train positioning system is in an abnormal state, where the abnormal state is used to indicate that a security risk exists in using the train positioning system, and at least one of the electronic map and the satellite is in the failure state to indicate that a version of the electronic map is out of date or that communication of the satellite is abnormal;

the output unit 36 may be configured to output warning information to a user so as to prompt that the train positioning system is in an abnormal state.

Further, as shown in fig. 4, the apparatus further includes:

an updating unit 37, configured to obtain update data from a preset server when the parameter information includes the electronic map information and the satellite information and when it is determined that both the electronic map and the satellite are in a failure state, and update the electronic map based on the update data;

the fifth determining unit 38 may be configured to determine that the train positioning system is in a normal state when the electronic map is updated.

Further, as shown in fig. 4, the fifth determining unit 38 includes:

the detection module 381 may be configured to detect, when the electronic map is updated, whether a target area in a line on which the train runs has a target path, where the target path includes a switch and a station boundary, the switch is used to characterize that an off-station branch line exists in the line from the target area, the station boundary is used to characterize that an on-station branch line exists in the line from the target area, and the target area is an area within a predetermined range centered on the preset transponder;

the determining module 382 may be configured to determine that the train positioning system is in a normal state if it is determined that the target area does not have a target path.

Further, as shown in fig. 4, the apparatus further includes:

and a sixth determining unit 39, configured to determine that the train positioning system is in an abnormal state when the electronic map is updated and it is determined that the target area in the route along which the train runs has a target path, and output warning information to a user so as to prompt the train positioning system to be in an abnormal state.

Further, as shown in fig. 4, the apparatus further includes:

A seventh determining unit 40 that may be configured to determine a hook type orientation of the train as a traveling direction of the train when a hook type of the train is identical to a hook type selected by a cab of the train, the hook type of the train being determined based on an antenna of the train, the hook type including a long head and a short head;

the eighth determining unit 41 may be configured to determine, as the traveling direction of the train, an opposite direction of the hook type of the train when the hook type of the train is inconsistent with the hook type selected by the cab of the train.

In the embodiment of the application, parameter information of a train positioning system is acquired, wherein the parameter information at least comprises one of electronic map information and satellite information; secondly, determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements; thirdly, if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is position information input by a driver of the train; and finally, when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized, and thus the positioning function of the train is realized. Compared with the prior art, the method and the system can determine whether the train positioning system is in a normal state according to the acquired electronic map information and satellite information, then determine the current initial positioning position of the train based on the parameter information when the train positioning system is in the normal state, and receive the position information indication, and finally determine that the train positioning system is successfully initialized when the initial positioning position of the train is matched with the position information indication, in the process, whether the train positioning system is normal can be determined based on various parameters, and the train positioning system is successfully initialized only when the train positioning system is normal and the initial positioning position of the train is matched with the position information indication, namely, the accuracy of the train positioning system can be checked based on the initializing mode, and the subsequent actual positioning operation of the train is performed after the initialization is successfully determined, so that the positioning result is accurate, and the problem that the current actual positioning result is affected due to inaccurate initial position of the train is determined according to the area where the train is located by the SDLU is located in the line is avoided, the accuracy of the positioning result is low, and the driving safety of the train is affected.

The embodiment of the application provides a storage medium, which comprises a stored program, wherein when the program runs, equipment where the storage medium is controlled to execute the train positioning method.

The storage medium may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the application also provides a positioning device of the train, which comprises a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; and executing the train positioning method when the program instruction runs.

The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: acquiring parameter information of a train positioning system, wherein the parameter information at least comprises one of electronic map information and satellite information; determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements; if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is the position information input by a driver of the train; and when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

Further, the acquiring parameter information of the train positioning system includes:

if the first version is consistent with the second version, determining that the electronic map is in a valid state:

the determining whether the train positioning system is in a normal state based on the parameter information comprises:

if the feedback signal is matched with the test signal, determining that the satellite of the train positioning system is in an effective state;

Further, the parameter information further comprises a position parameter;

Further, the triggering information comprises the position of the triggered transponder;

Further, after the determining whether the train positioning system is in a normal state based on the parameter information, the method further includes:

when the parameter information comprises the electronic map information and the satellite information and at least one of the electronic map and the satellite is determined to be in a failure state, determining that the train positioning system is in an abnormal state, wherein the abnormal state is used for representing that the safety risk exists in using the train positioning system, and at least one of the electronic map and the satellite is in the failure state and is used for representing that the version of the electronic map is out of date or the communication of the satellite is abnormal;

And outputting warning information to a user so as to prompt the train positioning system to be in an abnormal state.

when the parameter information comprises the electronic map information and the satellite information and the electronic map and the satellite are determined to be in a failure state, acquiring update data from a preset server, and updating the electronic map based on the update data;

and after the electronic map is updated, determining that the train positioning system is in a normal state.

Further, the determining that the train positioning system is in a normal state after the electronic map is updated includes:

and after the electronic map is updated, and the target area in the line on which the train runs is determined to have a target path, determining that the train positioning system is in an abnormal state, and outputting warning information to a user so as to prompt the train positioning system to be in the abnormal state.

Further, before determining that the train positioning system is successfully initialized, the method further comprises:

The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program code initialized with the method steps of: acquiring parameter information of a train positioning system, wherein the parameter information at least comprises one of electronic map information and satellite information; determining whether the train positioning system is in a normal state or not based on the parameter information, wherein the normal state is used for representing that the train positioning system meets positioning requirements; if the train positioning system is in a normal state, determining the current initial positioning position of the train based on the parameter information, and receiving a position information indication, wherein the position information indication is the position information input by a driver of the train; and when the initial positioning position of the train is determined to be matched with the position information indication, determining that the train positioning system is successfully initialized, so that real-time train positioning operation is performed based on the train positioning system which is successfully initialized.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, 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 specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A method of locating a train, comprising:

2. The method of claim 1, wherein the obtaining parameter information of the train positioning system comprises:

3. The method of claim 1, wherein the obtaining parameter information of the train positioning system comprises:

4. The method of claim 1, wherein the parameter information further comprises a location parameter;

5. The method of claim 4, wherein the trigger information includes a location of a transponder that is triggered;

6. The method of claim 4, wherein after said determining whether said train positioning system is in a normal state based on said parameter information, said method further comprises:

7. The method of claim 4, wherein after said determining whether said train positioning system is in a normal state based on said parameter information, said method further comprises:

8. The method of claim 7, wherein determining that the train positioning system is in a normal state when the electronic map is updated comprises:

9. The method of claim 8, wherein after said determining whether the train positioning system is in a normal state based on the parameter information, the method further comprises:

10. The method of any of claims 1-9, wherein prior to determining that the train positioning system initialization was successful, the method further comprises:

11. A positioning device for a train, comprising:

12. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of positioning a train of any one of claims 1 to 10.

13. A positioning device for a train, the device comprising a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; the program instructions, when executed, perform the method of locating a train of any one of claims 1 to 10.