CN108333613A - A kind of global position system being suitable for heavily loaded movable block - Google Patents
A kind of global position system being suitable for heavily loaded movable block Download PDFInfo
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- CN108333613A CN108333613A CN201711386124.8A CN201711386124A CN108333613A CN 108333613 A CN108333613 A CN 108333613A CN 201711386124 A CN201711386124 A CN 201711386124A CN 108333613 A CN108333613 A CN 108333613A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention provides a kind of global position system being suitable for heavily loaded movable block, including earth station equipment, mobile unit and satellite；The earth station equipment includes satellite difference base station and temporary speed limitation server；The mobile unit includes movable block host, wherein：The actual position of first position location of the satellite difference base station represented by the first location information and the satellite difference base station being obtained ahead of time obtains difference information；The temporary speed limitation server receives difference information and forwards the difference information to the movable block host, so that the movable block host is corrected the second location information of train according to the difference information；To obtain train actual position, wherein second location information is sent by the satellite.The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can be not only restricted to special scenes, can get accurate train position location.
Description
Technical field
The present embodiments relate to technical field of rail traffic, and in particular to a kind of satellite being suitable for heavily loaded movable block
Positioning system.
Background technology
Location technology is one of most important technology in heavily loaded moving block system, the height of accuracy and practicability
Power determines the control effect of heavily loaded moving block system.
The prior art obtains the fixed position of train by track equipment (such as transponder), then obtains the average vehicle of train
Speed determines the real time position of train according to average speed and fixed position, but this method is limited to some special scenes, example
Such as：The fixed position of train can be got by being only equipped with transponder, and transponder higher price, and application is not also very
Extensively；The emergency cases such as train power-off, train can not get average speed etc., and then can not also be positioned to train.
Therefore, above-mentioned technological deficiency how is avoided, special scenes can be not only restricted to, accurate train can be got
Position location, becoming need solve the problems, such as.
Invention content
In view of the problems of the existing technology, the embodiment of the present invention provides a kind of satellite being suitable for heavily loaded movable block
Position system, including earth station equipment, mobile unit and satellite；The earth station equipment includes satellite difference base station and temporary speed limitation
Server；The mobile unit includes movable block host, wherein：
The first location information to the satellite difference base station that the satellite difference base station reception satellite is sent, and according to
The actual position of the first position location and the satellite difference base station being obtained ahead of time represented by first location information, it is described to defend
Star difference base station obtains the difference information for indicating offset between first position location and the actual position；
The temporary speed limitation server receives the difference information that the satellite difference base station is sent and forwards the difference
Point information to the movable block host, for the movable block host according to the difference information to the movable block master
The second location information of train is corrected where machine；And by the second position location represented by the second location information after correction
Actual position as the train, wherein second location information is sent by the satellite.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can be not only restricted to specific field
Scape can get accurate train position location.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram for the global position system that the embodiment of the present invention is suitable for heavily loaded movable block；
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram for the global position system that the embodiment of the present invention is suitable for heavily loaded movable block, such as Fig. 1 institutes
Show, the global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, including earth station equipment 1, vehicle-mounted sets
Standby 2 and satellite 3；The earth station equipment 1 includes satellite difference base station 11 and temporary speed limitation server 12；The mobile unit 2
Including movable block host 22, wherein：
The satellite difference base station 11 receives the first location information to the satellite difference base station 11 that satellite 3 is sent,
And the true position of the first position location represented by first location information and the satellite difference base station 11 being obtained ahead of time
It sets, the satellite difference base station, which obtains, indicates that the difference of offset between first position location and the actual position is believed
Breath；Earth station equipment 1 can include two sub- equipment, be satellite difference base station 11 and temporary speed limitation server 12 respectively.It is vehicle-mounted
Equipment 2 includes three sub- equipment, i.e. signal receives server 21, speed measuring device 23, movable block host 22.Satellite 3 is heavy duty
Location information (including the first location information and second location information) sender in moving block system, effect are by fixed
Position technology, in signal cover institute its oriented location request positioning device (may include train) transmission satellite
Position information；Due to satellite difference base station 11 first stage of construction can by dedicated positioning device to satellite difference base station 11 itself into
Row location position obtains a high position coordinates of accuracy (actual position for the satellite difference base station 11 being obtained ahead of time),
It, can be by the first location information institute after satellite difference base station 11 is started to work and receives the first location information of the transmission of satellite 3
The first position location indicated is compared with the actual position for the satellite difference base station 11 being obtained ahead of time, and obtains an offset
Amount, this offset are exactly the difference information that final satellite difference base station 11 exports.In certain adjacent model of satellite difference base station 11
In enclosing, it is believed that the satellite positioning information that remaining mobile satellite location equipment (may include train) is received all has this offset special
Property, it needs to be corrected with the difference information, to obtain accurate location information.
The temporary speed limitation server 12 receives the difference information of the transmission of the satellite difference base station 11 and forwards institute
Difference information is stated to the movable block host 22, for the movable block host 22 according to the difference information to the shifting
Second location information of dynamic occlusion 22 place train of host is corrected；And by represented by the second location information after correction
Actual position of two position locations as the train, wherein second location information is sent by the satellite 3.Face
When speed limit server 12 be to be responsible for storage temporary information (such as letters such as temporary speed limitation, temporary parking in heavily loaded moving block system
Breath) earth station equipment 1, the effect of itself is the movable block to the mobile unit 2 in institute's compass of competency by LTE network
Host 22 issues temporary information, therefore, satellite difference base station 11 need first by the difference information calculated by network cable transmission extremely
Temporary speed limitation server 12, then by temporary speed limitation server 12 be issued to its administer section in all mobile units 2 movement
Occlude host 22.If the difference information is positive number, indicate that the first position location is bigger than normal than actual position, can be positioned to second
Make the correction turned down in the second position location represented by information；If the difference information is negative, the first position location ratio is indicated
Actual position is less than normal, and the correction that can make to tune up to the second position location represented by the second location information further may be used also
According to the size of positive number or the concrete numerical value of negative, the second position location of work is turned or be adjusted down significantly correcting.
Since most of section of heavy haul railway belongs to the open outdoor location of property, convenient for receiving satellite positioning signal；Heavy duty
The setting at 20 kilometers of stations of railway, meets the construction requirements of satellite difference base station；The difference information of satellite difference base station can lead to
Cross all trains that the existing temporary speed limitation server of each Railways Stations is issued in its compass of competency.Therefore, heavy duty is based on to move
The global position system of dynamic occlusion has wider applicability, it is not necessary to be limited to some special scenes.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can be not only restricted to specific field
Scape can get accurate train position location.
On the basis of the above embodiments, the mobile unit 2 further includes speed measuring device 23：
The movable block host 22 obtains train fixed position information and first and obtains the moment；
The movable block host 22 obtains the real-time speed of the train of the transmission of the speed measuring device 23；And according to the reality
When speed second obtain the moment, the real-time speed, described first obtain moment and train fixed position information, correction
Train stationary positioned position, the movable block host 22 is using the train stationary positioned position after correction as the reality of the train
When position.The time interval between the second acquisition moment and the first acquisition moment can be calculated, further according to the time interval and reality
When speed (can also be the average speed in the time interval) calculate train displacement, the displacement of train is consolidated with train
Position location addition is determined, to obtain the real time position of train.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can pass through train fixed bit
The real-time speed of train that confidence is ceased and obtained by speed measuring device, gets the real time position of train.
On the basis of the above embodiments, the mobile unit 2 further includes that signal receives server 21, the satellite positioning
System further includes track equipment 4：
The signal receives server 21 and receives the train fixed position information of the transmission of the track equipment 4 and/or described
Second location information that satellite 3 is sent；
The signal receives server 21 and forwards train fixed position information and/or second location information to institute
Movable block host 22 is stated, so that the movable block host 22 carries out second location information according to the difference information
Correction；And using the second position location represented by the second location information after correction as the actual position of the train；It can join
According to above-described embodiment, repeat no more.
And/or
So that the movable block host 22 obtains moment, the real-time speed, first acquisition according to described second
Moment and train fixed position information, correction train stationary positioned position, the movable block host 22 will be after correction
Real time position of the train stationary positioned position as the train.Above-described embodiment is can refer to, is repeated no more.
It should be noted that：Undesirable tunnel or remote mountains area can be covered in satellite-signal, laying is fixed by ground
Transponder obtains accurate location information, and the real time position of train is calculated in conjunction with speed measuring device；It can also can not pass through
Transponder and speed measuring device obtain under the scene of train real time position, are got by way of receiving and correcting satellite-signal
Accurate train position location.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can not only be solid by train
The real-time speed of train determined location information and obtained by speed measuring device, obtains the real time position of train, additionally it is possible to pass through difference
The second satellite information of information pair corrects, and to get accurate train position location, can accurately be obtained under special scenes
Train position location.
On the basis of the above embodiments, the track equipment 4 is the transponder on the railroad track being fixedly mounted.In weight
It carries under moving block system, will arrange a transponder every several distances on railroad track, the position of transponder is installation
Preceding to survey in advance measured, when there is train by right over transponder, location information will be passed through shortwave radiation by transponder
Mode is sent to the movable block host 22 on train, and train can obtain accurate position.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, passes through the railway of fixed installation
Transponder on track can get the fixed position information of train.
On the basis of the above embodiments, the temporary speed limitation server 12 forwards the difference information by LTE network
To the movable block host 22.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block, passes through LTE network, Neng Goubao
Card movable block host receives difference information.
On the basis of the above embodiments, the temporary speed limitation server 12 receives the satellite difference base station by cable
11 difference informations sent.
The global position system provided in an embodiment of the present invention for being suitable for heavily loaded movable block can be ensured by cable
Temporary speed limitation server receives difference information.
The embodiment of the present invention additionally provides a kind of defending suitable for heavily loaded movable block using above-mentioned global position system
Star positioning method, the method includes：
The first location information to the satellite difference base station that the satellite difference base station reception satellite is sent, and according to
The actual position of the first position location and the satellite difference base station being obtained ahead of time represented by first location information, it is described to defend
Star difference base station obtains the difference information for indicating offset between first position location and the actual position；
The temporary speed limitation server receives the difference information that the satellite difference base station is sent and forwards the difference
Point information to the movable block host, for the movable block host according to the difference information to the movable block master
The second location information of train is corrected where machine；And by the second position location represented by the second location information after correction
Actual position as the train, wherein second location information is sent by the satellite.
The satellite positioning method provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can be not only restricted to specific field
Scape can get accurate train position location.
On the basis of the above embodiments, the mobile unit further includes speed measuring device；Correspondingly, the method includes：
The movable block host obtains train fixed position information and first and obtains the moment；
The movable block host obtains the real-time speed for the train that the speed measuring device is sent；And according to the real-time vehicle
The second of speed obtains moment, the real-time speed, the first acquisition moment and train fixed position information, corrects train
Stationary positioned position, the movable block host is using the train stationary positioned position after correction as the real-time position of the train
It sets.
The satellite positioning method provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can pass through train fixed bit
The real-time speed of train that confidence is ceased and obtained by speed measuring device, gets the real time position of train.
On the basis of the above embodiments, the mobile unit further includes that signal receives server, the satellite positioning system
System further includes track equipment；Correspondingly, the method includes：
The signal receives server and receives the train fixed position information and/or the satellite that the track equipment is sent
Second location information sent；
The signal receives server forwarding train fixed position information and/or second location information to described
Movable block host, so that the movable block host is corrected second location information according to the difference information；
And using the second position location represented by the second location information after correction as the actual position of the train；
And/or
When obtaining moment, the real-time speed, first acquisition according to described second for the movable block host
It carves and train fixed position information, correction train stationary positioned position, the movable block host is by the train after correction
Real time position of the stationary positioned position as the train.
The satellite positioning method provided in an embodiment of the present invention for being suitable for heavily loaded movable block, can not only be solid by train
The real-time speed of train determined location information and obtained by speed measuring device, obtains the real time position of train, additionally it is possible to pass through difference
The second satellite information of information pair corrects, and to get accurate train position location, can accurately be obtained under special scenes
Train position location.
This method step is made below described briefly below：
I. satellite difference base station is after receiving the first location information, can calculate difference information, and by cable by difference
Information is sent to temporary speed limitation server；
Ii. temporary speed limitation server is communicated with the train in its compass of competency by LTE network, and communication may be used
Acknowledgement mechanism, that is, movable block host on train can the active call temporary speed limitation server nearest apart from oneself, and to it
Ask difference information, temporary speed limitation server that can be sent to difference information by LTE network after receiving the request of train
The movable block host of train；
Iii. the signal on train receives the train that server can receive the second location information in real time and transponder is sent
Fixed position information, and this two parts information is sent to by movable block host by cable.When train fixed position, information obtains
It is full 0 packet to take and then, be not transferred to this partial information of movable block host, similarly, in no second positioning signal,
This partial information for being transferred to movable block host is also full 0 packet.
Iv. speed measuring device can measure the current real-time speed of train in real time, and real-time speed is sent to movable block master
Machine.
V. movable block host can integrate all information received, in conjunction with different application scenarios, using rational side
Method obtains the position location of train.
The satellite positioning method provided in an embodiment of the present invention for being suitable for heavily loaded movable block specifically can be used for above-mentioned system
The process flow for embodiment of uniting, details are not described herein for function, is referred to the detailed description of above method embodiment.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
Embodiments described above is only schematical, wherein the unit illustrated as separating component can be
Or may not be and be physically separated, the component shown as unit may or may not be physical unit, i.e.,
A place can be located at, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of module achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case of dynamic, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the embodiment of the present invention rather than right
It is limited；Although the embodiment of the present invention is described in detail with reference to foregoing embodiments, the ordinary skill of this field
Personnel should understand that：It still can be with technical scheme described in the above embodiments is modified, or to which part
Or all technical features carries out equivalent replacement；And these modifications or replacements, it does not separate the essence of the corresponding technical solution
The range of each embodiment technical solution of the embodiment of the present invention.
Claims (9)
1. a kind of global position system being suitable for heavily loaded movable block, which is characterized in that including earth station equipment, mobile unit
And satellite；The earth station equipment includes satellite difference base station and temporary speed limitation server；The mobile unit includes that movement is closed
Host is filled in, wherein：
The satellite difference base station receives the first location information to the satellite difference base station that satellite is sent, and according to described
The actual position of the first position location and the satellite difference base station being obtained ahead of time represented by first location information, the satellite are poor
Base station is divided to obtain the difference information for indicating offset between first position location and the actual position；
The temporary speed limitation server receives the difference information that the satellite difference base station is sent and the difference is forwarded to believe
Breath to the movable block host, for the movable block host according to the difference information to the movable block host institute
It is corrected in the second location information of train；And using the second position location represented by the second location information after correction as
The actual position of the train, wherein second location information is sent by the satellite.
2. global position system according to claim 1, which is characterized in that the mobile unit further includes speed measuring device：
The movable block host obtains train fixed position information and first and obtains the moment；
The movable block host obtains the real-time speed for the train that the speed measuring device is sent；And according to the real-time speed
Second, which obtains moment, the real-time speed, the first acquisition moment and train fixed position information, correction train, fixes
Position location, the movable block host is using the train stationary positioned position after correction as the real time position of the train.
3. global position system according to claim 2, which is characterized in that the mobile unit further includes that signal receives clothes
Device, the global position system of being engaged in further include track equipment：
The signal receives server and receives the train fixed position information and/or satellite transmission that the track equipment is sent
Second location information；
The signal receives server forwarding train fixed position information and/or second location information to the movement
Host is occluded, so that the movable block host is corrected second location information according to the difference information；And it will
Actual position of the second position location represented by the second location information as the train after correction；
And/or
For the movable block host according to it is described second obtain the moment, the real-time speed, it is described first obtain the moment and
Train fixed position information, correction train stationary positioned position, the movable block host fix the train after correction
Real time position of the position location as the train.
4. global position system according to claim 3, which is characterized in that the track equipment is the railway being fixedly mounted
Transponder on track.
5. global position system according to any one of claims 1 to 4, which is characterized in that the temporary speed limitation server is logical
Crossing LTE network forwards the difference information to the movable block host.
6. global position system according to any one of claims 1 to 4, which is characterized in that the temporary speed limitation server is logical
It crosses cable and receives the difference information that the satellite difference base station is sent.
7. a kind of satellite positioning side for being suitable for heavily loaded movable block using global position system as described in claim 1
Method, which is characterized in that the method includes：
The satellite difference base station receives the first location information to the satellite difference base station that satellite is sent, and according to described
The actual position of the first position location and the satellite difference base station being obtained ahead of time represented by first location information, the satellite are poor
Base station is divided to obtain the difference information for indicating offset between first position location and the actual position；
The temporary speed limitation server receives the difference information that the satellite difference base station is sent and the difference is forwarded to believe
Breath to the movable block host, for the movable block host according to the difference information to the movable block host institute
It is corrected in the second location information of train；And using the second position location represented by the second location information after correction as
The actual position of the train, wherein second location information is sent by the satellite.
8. the method according to the description of claim 7 is characterized in that the mobile unit further includes speed measuring device；Correspondingly, institute
The method of stating includes：
The movable block host obtains train fixed position information and first and obtains the moment；
The movable block host obtains the real-time speed for the train that the speed measuring device is sent；And according to the real-time speed
Second, which obtains moment, the real-time speed, the first acquisition moment and train fixed position information, correction train, fixes
Position location, the movable block host is using the train stationary positioned position after correction as the real time position of the train.
9. according to the method described in claim 8, it is characterized in that, the mobile unit, which further includes signal, receives server, institute
It further includes track equipment to state global position system；Correspondingly, the method includes：
The signal receives server and receives the train fixed position information and/or satellite transmission that the track equipment is sent
Second location information；
The signal receives server forwarding train fixed position information and/or second location information to the movement
Host is occluded, so that the movable block host is corrected second location information according to the difference information；And it will
Actual position of the second position location represented by the second location information as the train after correction；
And/or
For the movable block host according to it is described second obtain the moment, the real-time speed, it is described first obtain the moment and
Train fixed position information, correction train stationary positioned position, the movable block host fix the train after correction
Real time position of the position location as the train.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711386124.8A CN108333613A (en) | 2017-12-20 | 2017-12-20 | A kind of global position system being suitable for heavily loaded movable block |
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| CN201711386124.8A CN108333613A (en) | 2017-12-20 | 2017-12-20 | A kind of global position system being suitable for heavily loaded movable block |
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| CN109752745A (en) * | 2019-01-28 | 2019-05-14 | Oppo广东移动通信有限公司 | Split type equipment localization method, device, split type equipment and storage medium |
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| CN112698377A (en) * | 2021-03-25 | 2021-04-23 | 北京全路通信信号研究设计院集团有限公司 | High-precision train positioning method and system |
| WO2023160036A1 (en) * | 2022-02-24 | 2023-08-31 | 腾讯科技（深圳）有限公司 | Positioning method and apparatus, and device and storage medium |
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| 张洪: "列车定位系统安全性研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| CN109677466B (en) * | 2019-01-18 | 2024-04-16 | 卡斯柯信号有限公司 | Automatic control system of light train for China heavy haul railway |
| CN109752745A (en) * | 2019-01-28 | 2019-05-14 | Oppo广东移动通信有限公司 | Split type equipment localization method, device, split type equipment and storage medium |
| CN110435721A (en) * | 2019-09-04 | 2019-11-12 | 大连科技学院 | A kind of railroad train track block detection system and method based on 5G communication |
| CN111077558A (en) * | 2019-12-25 | 2020-04-28 | 交控科技股份有限公司 | Positioning system of rail vehicle and rail transit system |
| CN111812695A (en) * | 2020-06-30 | 2020-10-23 | 湖北北斗梦创信息技术有限公司 | Multi-unit differential positioning Beidou navigation training system and method |
| CN112260906A (en) * | 2020-12-24 | 2021-01-22 | 卡斯柯信号(北京)有限公司 | Simulation test system and simulation test method of foundation enhancement system |
| CN112698377A (en) * | 2021-03-25 | 2021-04-23 | 北京全路通信信号研究设计院集团有限公司 | High-precision train positioning method and system |
| CN112698377B (en) * | 2021-03-25 | 2021-07-06 | 北京全路通信信号研究设计院集团有限公司 | High-precision train positioning method and system |
| WO2023160036A1 (en) * | 2022-02-24 | 2023-08-31 | 腾讯科技（深圳）有限公司 | Positioning method and apparatus, and device and storage medium |
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Application publication date: 20180727 |