CN107878511B - The localization method and system of train and trackside element - Google Patents
The localization method and system of train and trackside element Download PDFInfo
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- CN107878511B CN107878511B CN201611226126.6A CN201611226126A CN107878511B CN 107878511 B CN107878511 B CN 107878511B CN 201611226126 A CN201611226126 A CN 201611226126A CN 107878511 B CN107878511 B CN 107878511B
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- coordinate
- train
- trackside
- location
- trackside element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/06—Indicating or recording the setting of track apparatus, e.g. of points, of signals
Abstract
The invention discloses a kind of train and the localization methods and system of trackside element, wherein the described method comprises the following steps: calling the position data of train operation track data and trackside element, establishes the location coordinate based on train and trackside element absolute position；Obtain the coordinate system data in location coordinate, wherein coordinate system data include coordinate value of the trackside element in location coordinate；According to the location information of coordinate system data acquisition train and/or trackside element.According to the method for the present invention, the processing logic and calculating logic when train or the positioning of trackside element can be simplified, substantially increase location efficiency.
Description
Technical field
The present invention relates to technical field of rail traffic, in particular to the localization method and one kind of a kind of train and trackside element
The positioning system of train and trackside element.
Background technique
Track database describes position, attribute and the connection relationship of various trackside elements in operating line and route.Route
In trackside element include track section, platform, transponder, semaphore, car stop, automatic control equipment etc..Track database is logical
The mode for crossing track logic block ID (Identification, identity code) plus offset describes each element in route
Position.Subsystem for control also by the logic block ID calculating for adding the mode of offset to position train and is retouched
It states, and obtains position, attribute and the connection relationship of each trackside element by way of inquiring database.
Currently, the positioning method based on track database needs frequently inquiry track database, and track database packet
The data for having included whole operating line, under data volume is bigger, therefore efficiency is relatively low.For example ATP receives transponder progress
When positioning initialization or positioning correcting, position and the attribute of transponder can just be obtained by requiring inquiry database.
Also, logic block ID adds the positioning describing mode of offset not intuitive and is not easy to various calculating.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose the localization method of a kind of train and trackside element, can simplify train or place when trackside element positions
Logic and calculating logic are managed, location efficiency is greatly improved.
Second object of the present invention is to propose the positioning system of a kind of train and trackside element.
In order to achieve the above objectives, first aspect present invention embodiment proposes the positioning side of a kind of train and trackside element
Method is established method includes the following steps: calling the position data of train operation track data and trackside element and is based on train
And the location coordinate of trackside element absolute position；Obtain the coordinate system data in the location coordinate, wherein the coordinate
Coefficient is according to including coordinate value of the trackside element in the location coordinate；It is arranged according to the coordinate system data acquisition
The location information of vehicle and/or the trackside element.
The localization method of train according to an embodiment of the present invention and trackside element, by call train operation track data with
And the position data of trackside element to be to establish location coordinate, and according to the coordinate system data acquisition train in location coordinate
And/or the location information of trackside element can be according to location coordinate to train or rail as a result, after establishing location coordinate
Other element is positioned, without the track database of access huge equal in each positioning, to simplify train or trackside
Processing logic and calculating logic when element positions, substantially increase location efficiency.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes the positioning system of a kind of train and trackside element
System, which includes: to establish module, and the module of establishing is for calling the position of train operation track data and trackside element
Data establish the location coordinate based on train and trackside element absolute position；First obtains module, and described first obtains module
For obtaining the coordinate system data in the location coordinate, wherein the coordinate system data include the trackside element in institute
State the coordinate value in location coordinate；Second obtains module, and the second acquisition module according to the coordinate system data for obtaining
Take the location information of the train and/or the trackside element.
The positioning system of train according to an embodiment of the present invention and trackside element, by call train operation track data with
And the position data of trackside element to be to establish location coordinate, and according to the coordinate system data acquisition train in location coordinate
And/or the location information of trackside element can be according to location coordinate to train or rail as a result, after establishing location coordinate
Other element is positioned, without the track database of access huge equal in each positioning, to simplify train or trackside
Processing logic and calculating logic when element positions, substantially increase location efficiency.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or by recognizing practice of the invention.
Detailed description of the invention
Fig. 1 is the flow chart according to the localization method of the train and trackside element of the embodiment of the present invention；
Fig. 2 is the flow chart that the method for location coordinate is created according to the ATP of one embodiment of the invention；
Fig. 3 is the schematic diagram according to the location coordinate of one embodiment of the invention；
Fig. 4 is the flow chart according to the method for the acquisition train location information of one embodiment of the invention；
Fig. 5 is the block diagram according to the positioning system of the train and trackside element of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The train of the embodiment of the present invention and the localization method and system of trackside element described with reference to the accompanying drawing.
Fig. 1 is the flow chart according to the localization method of the train and trackside element of the embodiment of the present invention.
As shown in Figure 1, the train of the embodiment of the present invention and the localization method of trackside element, comprising the following steps:
S1 calls the position data of train operation track data and trackside element, establishes and is based on train and trackside element
The location coordinate of absolute position.
In an embodiment of the present invention, in track database can train car operating line data, such as train operation exists
Uplink path or downing track.Trackside element may include transponder, track section, platform, fixed speed limit, the gradient, curvature and
Semaphore and track switch etc..In one embodiment of the invention, positioning train and the subsystem of trackside element demand may be selected
It the is paid close attention to or higher trackside member of access frequency usually establishes corresponding location coordinate.
S2 obtains the coordinate system data in location coordinate, wherein coordinate system data include trackside element in positioning coordinate
Coordinate value in system.
In an embodiment of the present invention, location coordinate can be one-dimensional coordinate system, and each location coordinate includes corresponding to
Coordinate system data, specifically, it may include the origin of location coordinate, the positive direction of location coordinate, trackside element are positioning
The ID of coordinate value, trackside element in coordinate system and the common attribute of trackside element.
When establishing location coordinate, origin and positive direction can be determined according to actual applicable cases, for example, can
Using the starting point of a certain track section as the origin of location coordinate, and can be using up direction as the pros of location coordinate
To.The ID of trackside element and the common attribute of trackside element can directly be read from track database, and trackside element is positioning
Coordinate value in coordinate system can be converted according to the position data of the trackside element and the origin of location coordinate.
S3, according to the location information of coordinate system data acquisition train and/or trackside element.
Since location coordinate has been established, coordinate value of the trackside element in location coordinate is also it has been determined that can thus lead to
Access coordinate system data are crossed to obtain the location information of trackside element.It specifically, can be according to trackside element in location coordinate
Coordinate value obtain position and the distance between any two trackside element of trackside element.
It, can also be further by the way that the positional relationship of the location information of trackside element and train and trackside element to be combined
Obtain the location information of train.
The localization method of train according to an embodiment of the present invention and trackside element, by call train operation track data with
And the position data of trackside element to be to establish location coordinate, and according to the coordinate system data acquisition train in location coordinate
And/or the location information of trackside element can be according to location coordinate to train or rail as a result, after establishing location coordinate
Other element is positioned, without the track database of access huge equal in each positioning, to simplify train or trackside
Processing logic and calculating logic when element positions, substantially increase location efficiency.
In addition, obtain trackside element position and any two trackside element between apart from while, can also obtain
The information such as the common attribute to trackside element.As a result, by inquiry coordinate system data, search and inquiry trackside element can reduce
The Time & Space Complexity of attribute.
In one embodiment of the invention, (Automatic Train Protection System, train are automatic by ATP
Guard system), ZC (Zone Controller, zone controller), CI (Computer Interlocking, computer interlocking)
It can be established with subsystems such as ATS (Automatic Train Supervision System, train new style of auto-supervisory)
The location coordinate stated, and positioned according to coordinate system data.Different subsystems is of interest or access frequency is higher
Trackside element is different, therefore the trackside element configured is different.Such as ATP can configure track section, platform, transponder, consolidate
Fixed limit speed, the gradient and curvature etc., and CI can configure semaphore, transponder, road and platform etc..Subsystems can root in this way
According to demand flexible configuration trackside element, to create corresponding location coordinate.
It should be noted that each subsystem can create the coordinate system in a certain partial orbit section as the case may be,
Coordinate system is updated or rebuild again after corresponding condition variation, without being disposably created that the coordinate system of whole track circuit
Come.When subsystem needs for location information to be sent to other subsystems, positioning coordinate is converted into track section ID biasing and is moved
The describing mode of amount.
In one particular embodiment of the present invention, when ATP subsystem receives MA (Movement Authority, movement
Authorization) after packet, its corresponding location coordinate can be created, and after the completion of location coordinate creation, according to positioning coordinate
System carries out the positioning of train and trackside element.
Specifically, as shown in Fig. 2, the process of ATP creation location coordinate is as follows:
S201, according to switch status and MA start position search track section ID list.
Assuming that in CBTC, (Communication Based Train Control System, the train based on communication is certainly
Autocontrol system) under mode, ATP receives the MA data packet of ZC transmission, and parsing obtains route information, including switch status list and
Then the track section ID and offset of MA beginning and end are arranged by the track section ID that search track database obtains route
Table, such as T201, T202, T203, T204 can be obtained, track section ID is respectively 201,202,203,204.
S202, selecting starting point is coordinate origin, and current of traffic is positive direction.The starting point of i.e. selected T201 track is
Coordinate origin.
Next the trackside element that ATP needs to use, root can be searched for from track database according to track section ID list
Its coordinate value is converted according to the position data saved in track database, and according to demand protects other necessary common attributes together
It is stored in coordinate system data in the coordinate information list of each trackside element.
S203, inquiry track database obtain each track section length and common attribute, and according to origin position and each
The coordinate value of the starting point of each track section of the length computation of track section generates the list of track section coordinate information.
Track section coordinate information list can record starting point coordinate value, the length of section, track section ID of track section
And section property.In one particular embodiment of the present invention, if the length of track section T201, T202, T203, T204 are distinguished
It is 40,70,110,40, common attribute is respectively generic uplink, generic uplink, generic uplink, platform section, the seat of section starting point
Mark be respectively 0,40,110,220, then the list of track section coordinate information be { 0,40,201, generic uplink }, 40,70,202,
Generic uplink }, { 110,110,203, generic uplink }, { 220,40,204, platform section } }.Each track section root in lists
According to coordinate value ascending order arrange, below the sequence of each trackside element in lists use the same manner.
S204 searches for transponder according to the track section searched one by one, is calculated according to the position of origin and transponder each
The corresponding coordinate value of transponder generates the list of transponder coordinate information.
Transponder coordinate information list can record coordinate value, transponder india D and the transponder attribute of transponder.In the present invention
A specific embodiment in, transponder coordinate information list generated is { { 20,301, fixed transponder }, 60,302,
Predict transponder }, { 90,303, active balise }, { 150,304, fixed transponder }, { 180,305, fixed transponder },
{ 230,306, fixed transponder } }.
S205 generates platform, fixed speed limit, the gradient, curvature coordinate information with search similar to the above and calculation method
List.
The starting point coordinate value of track section where platform coordinate information list can record platform, track section where platform
Length, the coordinate value of platform ID and platform stop, in one particular embodiment of the present invention, platform coordinate letter generated
Cease only one record { { 220,40,401,240 } } of list.
The starting point coordinate value of the fixed recordable fixed speed limit track section of speed limit coordinate information list, speed limit track section
Length and speed limit value, in one particular embodiment of the present invention, fixed speed limit coordinate information list generated be 0,
220,100 }, { 220,40,40 } }.
Temporary speed limitation coordinate information list can record the starting point coordinate value of temporary speed limitation track section, speed limit track section
Length and speed limit value, temporary speed limitation are temporarily to be sent to ATP, and ATP receives rear coordinates computed value and updates to temporary speed limitation and sits
It marks in information list, it is assumed that without temporary speed limitation in the embodiment of the present invention.
The gradient/curvature coordinate information list can record the starting point coordinate value of the gradient/curve track section, the gradient/curve rail
The length and the gradient/curvature value of road section, it is assumed that the embodiment of the present invention middle orbit is flat line, without correlation in track database
Record.
By the above process, the embodiment of the present invention sets up location coordinate as shown in Figure 3.
After setting up the location coordinate, ATP is convenient to obtain the location information of each trackside element.And for column
The location information of vehicle may include the position of train, in one embodiment of the invention, can calculate train by accumulation ranging
Current location, then obtain coordinate value of the transponder in location coordinate, and judge transponder in location coordinate
Whether coordinate value, which is located at preset transponder, receives within window.If coordinate value of the transponder in location coordinate is located at pre-
If transponder receive within window, then the coordinate value according to transponder in location coordinate carries out the current location of train
Correction.
Specifically, as shown in figure 4, the process for obtaining train location information is as follows:
When S401, ATP receive the information of new transponder, coordinate system data are inquired according to transponder india D, are somebody's turn to do
The coordinate value of transponder, and calculate transponder and receive window.
In one particular embodiment of the present invention, it is assumed that the transponder india D that the ATP last time receives information is 304, this
Receiving new transponder india D is 305, then is from the readable coordinate value for taking out the transponder of above-mentioned transponder coordinate information list
180.It is [175,185] that the transponder being calculated, which receives window,.
S402, judges whether the coordinate value of transponder is located at transponder and receives within window.If so, thening follow the steps
S403；If not, thening follow the steps S2404.
180 are located within [175,185].
S403 updates the coordinate value that train positioning coordinate value is transponder, accumulative range error is reset, positioning school is completed
Just.
When passing through the transponder due to train, ATP just receives the information of the transponder, therefore the position of transponder can generation
The position of the table train.Assuming that in one embodiment of the invention, ATP calculates the coordinate value of current train by accumulation ranging
It is 183, then adding up range error is 3, and accumulative range error is reset, the coordinate value of current train is corrected to 180.
S404 carries out loss localization process.
To realize the train of above-described embodiment and the localization method of trackside element, the present invention also proposes a kind of train and trackside
The positioning system of element.
As shown in figure 5, the train of the embodiment of the present invention and the positioning system of trackside element, comprising: establish module 10, first
It obtains module 20 and second and obtains module 30.
Wherein, module 10 is established for calling the position data of train operation track data and trackside element, establishes base
Location coordinate in train and trackside element absolute position；First acquisition module 20 is used to obtain the coordinate in location coordinate
Coefficient evidence, wherein coordinate system data include coordinate value of the trackside element in location coordinate；Second, which obtains module 30, is used for root
According to the location information of coordinate system data acquisition train and/or trackside element.
In an embodiment of the present invention, in track database can train car operating line data, such as train operation exists
Uplink path or downing track.Trackside element may include transponder, track section, platform, fixed speed limit, the gradient, curvature and
Semaphore and track switch etc..In one embodiment of the invention, positioning train and the subsystem of trackside element demand may be selected
It the is paid close attention to or higher trackside member of access frequency usually establishes corresponding location coordinate.
In an embodiment of the present invention, location coordinate can be one-dimensional coordinate system, and each location coordinate includes corresponding to
Coordinate system data, specifically, it may include the origin of location coordinate, the positive direction of location coordinate, trackside element are positioning
The ID of coordinate value, trackside element in coordinate system and the common attribute of trackside element.
When establishing location coordinate, the origin and positive direction of location coordinate can carry out true according to actual applicable cases
It is fixed, for example, can be using the starting point of a certain track section as the origin of location coordinate, and it can be using up direction as positioning coordinate
The positive direction of system.The ID of trackside element and the common attribute of trackside element can directly be read from track database, and trackside is first
Coordinate value of the element in location coordinate can be converted according to the position data of the trackside element and the origin of location coordinate.
Since location coordinate has been established, coordinate value of the trackside element in location coordinate is also it has been determined that thus second
The location information of trackside element can be obtained by access coordinate system data by obtaining module 30.Specifically, second module 30 is obtained
It can be according to trackside element between the position and any two trackside element that the coordinate value in location coordinate obtains trackside element
Distance.
Second obtains module 30 by carrying out the location information of trackside element and the positional relationship of train and trackside element
In conjunction with can also further obtaining the location information of train.
The positioning system of train according to an embodiment of the present invention and trackside element passes through train operation track data and rail
The position data of other element to establish location coordinate, and according in location coordinate coordinate system data acquisition train and/or
The location information of trackside element can be according to location coordinate to train or trackside element as a result, after establishing location coordinate
It is positioned, without the track database of access huge equal in each positioning, to simplify train or trackside element is fixed
Processing logic and calculating logic when position, substantially increase location efficiency.
In addition, second obtains the same of distance of the module between the position and any two trackside element for obtaining trackside element
When, it can also get the information such as the common attribute of trackside element.As a result, by inquiry coordinate system data, can reduce search and
Inquire the Time & Space Complexity of trackside element property.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (12)
1. the localization method of a kind of train and trackside element, which comprises the following steps:
The position data of train operation track data and trackside element is called, establishes and is based on train and trackside element absolute position
Location coordinate；
Obtain the coordinate system data in the location coordinate, wherein the coordinate system data include the trackside element in institute
State the coordinate value in location coordinate；
According to the location information of train described in the coordinate system data acquisition and/or the trackside element.
2. the localization method of train according to claim 1 and trackside element, which is characterized in that the coordinate system data are also
The positive direction of origin, the location coordinate including the location coordinate, the ID of the trackside element and trackside member
The common attribute of element.
3. the localization method of train according to claim 2 and trackside element, which is characterized in that according to the coordinate coefficient
According to the location information for obtaining the trackside element, comprising:
The position and any two of the trackside element is obtained according to coordinate value of the trackside element in the location coordinate
The distance between a described trackside element.
4. the localization method of train according to claim 2 and trackside element, which is characterized in that the trackside element includes
Transponder, the location information of the train include the position of the train, wherein are arranged according to the coordinate system data acquisition
The location information of vehicle, comprising:
The current location of the train is calculated by accumulating ranging；
Coordinate value of the transponder in the location coordinate is obtained, and judges the transponder in the location coordinate
In coordinate value whether be located at preset transponder and receive within window；
It is received within window if the transponder is located at the preset transponder in the coordinate value in the location coordinate,
Then the coordinate value according to the transponder in the location coordinate is corrected the current location of the train.
5. the localization method of train described in any one of -4 and trackside element according to claim 1, which is characterized in that the rail
Other element further includes track section, platform, fixed speed limit, the gradient and curvature.
6. the localization method of train according to claim 5 and trackside element, which is characterized in that with any one of rail
Origin of the starting point of road section as the location coordinate, and just using the up direction of track as the location coordinate
Direction, to establish the location coordinate.
7. the positioning system of a kind of train and trackside element characterized by comprising
Module is established, the module of establishing is established for calling the position data of train operation track data and trackside element
Location coordinate based on train and trackside element absolute position；
First obtains module, and the first acquisition module is used to obtain the coordinate system data in the location coordinate, wherein institute
Stating coordinate system data includes coordinate value of the trackside element in the location coordinate；
Second obtains module, and described second obtains module for the train according to the coordinate system data acquisition and/or described
The location information of trackside element.
8. the positioning system of train according to claim 7 and trackside element, which is characterized in that the coordinate system data are also
The positive direction of origin, the location coordinate including the location coordinate, the ID of the trackside element and trackside member
The common attribute of element.
9. the positioning system of train according to claim 8 and trackside element, which is characterized in that described second obtains module
Position and any two institute of the trackside element are obtained according to coordinate value of the trackside element in the location coordinate
State the distance between trackside element.
10. the positioning system of train according to claim 8 and trackside element, which is characterized in that the trackside element packet
Transponder is included, the location information of the train includes the position of the train, wherein described second, which obtains module, is used for by tired
Product ranging calculates the current location of the train, and obtains coordinate value of the transponder in the location coordinate, and
Judge that the transponder receives within window whether the coordinate value in the location coordinate is located at preset transponder, in institute
Transponder is stated when the coordinate value in the location coordinate is located at the preset transponder and receives within window, described second
Module is obtained to be corrected the current location of the train according to coordinate value of the transponder in the location coordinate.
11. the positioning system of the train according to any one of claim 7-10 and trackside element, which is characterized in that described
Trackside element further includes track section, platform, fixed speed limit, the gradient and curvature.
12. the positioning system of train according to claim 11 and trackside element, which is characterized in that it is described establish module with
Origin of the starting point of any one of track section as the location coordinate, and using the up direction of track described in
The positive direction of location coordinate, to establish the location coordinate.
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| CN109606430B (en) * | 2018-10-15 | 2021-04-06 | 西北铁道电子股份有限公司 | Automatic positioning method, automatic positioning system and automatic driving device for rail car |
| CN111288942B (en) * | 2018-12-07 | 2021-09-03 | 比亚迪股份有限公司 | Track transponder position measuring method and device and computer equipment |
| CN110827354B (en) * | 2019-11-01 | 2022-07-22 | 北京交通大学 | Train positioning method based on trackside power grid pole counting |
| CN113442975B (en) * | 2020-03-27 | 2022-08-09 | 比亚迪股份有限公司 | Train jump stop control method, device, system, storage medium and computer equipment |
| CN113468281A (en) * | 2020-03-31 | 2021-10-01 | 比亚迪股份有限公司 | Coordinate system construction method, device and equipment, storage medium and positioning method |
| CN112455506B (en) * | 2020-11-30 | 2022-06-24 | 株洲中车时代电气股份有限公司 | Multi-dimensional self-calibration method and system for accurately positioning train running position |
| CN115320670A (en) * | 2022-08-04 | 2022-11-11 | 卡斯柯信号有限公司 | Train positioning method based on dynamic map |
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