CN109484434A - Train integrated positioning device and method - Google Patents
Train integrated positioning device and method Download PDFInfo
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- CN109484434A CN109484434A CN201810841177.2A CN201810841177A CN109484434A CN 109484434 A CN109484434 A CN 109484434A CN 201810841177 A CN201810841177 A CN 201810841177A CN 109484434 A CN109484434 A CN 109484434A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
Abstract
The present invention provides a kind of train integrated positioning device and methods, are related to field of track traffic.The train integrated positioning device and method are by receiving the Acceleration pulse of the start position information and train of the train that intelligent terminal is sent in operation；Then the feature for the longitudinal acceleration waveform that Acceleration pulse includes is extracted；The corresponding calibration location information of feature of at least two longitudinal accelerations waveform therein is found out according to the feature of longitudinal acceleration waveform and presetting position feature template again；Go out first locator value at each moment according to Acceleration pulse, at least two calibration positional information calculations, without constructing a large amount of trackside monitoring devices, later maintenance cost is low, and in the case where no GPS signal, accurate positioning in real time can also be carried out to train, it is practical.
Description
Technical field
The present invention relates to field of track traffic, in particular to a kind of train integrated positioning device and method.
Background technique
Train Positioning Technology relies primarily on vehicle-mounted odometer and the ground transponder based on radio-frequency technique realizes determining for train
Position.Odometer will cause the Accumulated deviation of positioning due to counting deviation and wheel footpath abrasion caused by dallying or slide etc..This
Kind of mode needs to construct a large amount of trackside monitoring devices, invests huge in process of construction, and later maintenance cost is higher.And in obtaining
Number of passes is not open to other non-vehicle system monitoring equipment according to being stored in train control system, therefore is difficult to obtain in external equipment
It picks up the car and carries mileage and be used.Moreover, it is achieved that train positioning depends on GPS technology, but in subway tunnel or general
In logical Large Railway Tunnel, due to no GPS signal, accurate positioning in real time can not be carried out to train.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of train integrated positioning device and method, to improve
Above-mentioned problem.
In a first aspect, the embodiment of the invention provides a kind of train integrated positioning device, the train integrated positioning device
Include:
Information receiving unit, start position information and train for receiving the train of intelligent terminal transmission are in operation
Acceleration pulse；
Feature extraction unit, for extracting the feature for the longitudinal acceleration waveform that Acceleration pulse includes；
Searching unit is found out therein for the feature of foundation longitudinal acceleration waveform and presetting position feature template
The corresponding calibration location information of the feature of at least two longitudinal acceleration waveforms；
Positioning unit, for going out each moment according to Acceleration pulse, at least two calibration positional information calculations
Locator value.
Second aspect, the embodiment of the invention also provides a kind of train synthesized positioning method, the comprehensive positioning side of the train
Method includes:
Receive the Acceleration pulse of the start position information and train of the train that intelligent terminal is sent in operation；
Extract the feature for the longitudinal acceleration waveform that Acceleration pulse includes；
It is longitudinal that therein at least two are found out according to the feature of longitudinal acceleration waveform and presetting position feature template
The corresponding calibration location information of the feature of Acceleration pulse；
Go out the locator value at each moment according to Acceleration pulse, at least two calibration positional information calculations.
Compared with prior art, train integrated positioning device provided by the invention and method, by receiving intelligent terminal hair
The Acceleration pulse of the start position information and train of the train sent in operation；Then extract what Acceleration pulse included
The feature of longitudinal acceleration waveform；It is found out wherein according to the feature of longitudinal acceleration waveform and presetting position feature template again
At least two longitudinal acceleration waveforms the corresponding calibration location information of feature；According to described in Acceleration pulse, at least two
Calibration positional information calculation goes out first locator value at each moment, without constructing a large amount of trackside monitoring devices, later maintenance cost
It is low, and in the case where no GPS signal, accurate positioning in real time can also be carried out to train, it is practical.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
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.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the interaction schematic diagram of intelligent terminal provided in an embodiment of the present invention and server；
Fig. 2 is the structural block diagram of server provided in an embodiment of the present invention；
Fig. 3 is the functional block diagram of train integrated positioning device provided in an embodiment of the present invention；
Fig. 4 is the flow chart of train synthesized positioning method provided in an embodiment of the present invention.
Icon: 100- intelligent terminal；200- server；300- wireless network；400- train integrated positioning device；101- is deposited
Reservoir；102- storage control；103- processor；104- Peripheral Interface；301- information receiving unit；302- feature extraction list
Member；303- searching unit；304- positioning unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Train integrated positioning device provided by present pre-ferred embodiments and method can be applied to application as shown in Figure 1
In environment.As shown in Figure 1, intelligent terminal 100, server 200 are located in wireless network 300, pass through the wireless network 300, intelligence
It can terminal 100 and the progress data interaction of server 200.In the embodiment of the present invention, intelligent terminal 100 is installed in train, with
Train movement.It include acceleration transducer, controller, wireless communication module and GPS positioning mould in intelligent terminal 100
Block, it is corresponding with server 200.In the embodiment of the present invention, intelligent terminal 100 is preferably mobile terminal device, such as can be with
Including smart phone, tablet computer, pocket computer on knee, wearable mobile terminal etc..
Fig. 2 shows the structural block diagrams of the server 200 in the embodiment of the present invention.As shown in Fig. 2, server 200 includes
Train integrated positioning device 400, memory 101, storage control 102, one or more (one is only shown in figure) processors
103, Peripheral Interface 104 etc..These components are mutually communicated by one or more communication bus/signal wire.The train is comprehensive
Positioning device 400 include at least one can be stored in the form of software or firmware (firmware) in the memory 101 or
The software function module being solidificated in the operating system (operating system, OS) of the server 200.
Memory 101 can be used for storing software program and module, such as the comprehensive positioning dress of train in the embodiment of the present invention
Set and method corresponding to program instruction/module, processor 103 by the software program that is stored in memory 101 of operation with
And module, thereby executing various function application and data processing, such as train synthesized positioning method provided in an embodiment of the present invention.
Memory 101 may include high speed random access memory, may also include nonvolatile memory, as one or more magnetic storage fills
It sets, flash memory or other non-volatile solid state memories.Processor 103 and other visits of possible component to memory 101
Asking can carry out under the control of storage control 102.
Various input/output devices are couple processor 103 and memory 101 by Peripheral Interface 104.In some implementations
In example, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
It is appreciated that structure shown in Fig. 2 is only to illustrate, server 200 may also include than shown in Fig. 2 more or more
Few component, or with the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can use hardware, software or its group
It closes and realizes.
Referring to Fig. 3, the embodiment of the invention provides a kind of train integrated positioning device, the train integrated positioning device
Including information receiving unit 301, feature extraction unit 302, searching unit and positioning unit 304.
Information receiving unit 301 is used to receive the start position information of the train of intelligent terminal transmission and train is being run
In Acceleration pulse.
Assuming that train travels in underground railway track, by the initial position that is used as of website each in underground railway track, and subway rail
The position of each website is known in road, therefore can be directly obtained.For example, intelligent terminal can directly pass through GPS positioning
Module collects, therefore can receive the start position information of the train of intelligent terminal transmission.Since intelligent terminal is with train
Movement, therefore the Acceleration pulse of intelligent terminal is equal to the Acceleration pulse of train operation, therefore, can receive intelligent terminal hair
The Acceleration pulse sent.
Feature extraction unit 302 is used to extract the feature for the longitudinal acceleration waveform that Acceleration pulse includes.
Searching unit is used to find out according to the feature of longitudinal acceleration waveform and presetting position feature template therein
The corresponding calibration location information of the feature of at least two longitudinal acceleration waveforms.
When train operation passes through the plane vertical section characteristic point of route, absolute mileage information when such as point of tangent to spiral, track switch is
Know, Acceleration pulse is also different at this time, therefore extracts the feature for the longitudinal acceleration waveform that Acceleration pulse includes i.e.
It can be by the corresponding calibration location information of feature that presetting position feature template finds out longitudinal acceleration waveform.Wherein, it indulges
It is the waveform for the acceleration that This train is bound for XXX to Acceleration pulse.
Positioning unit 304 is used to go out each moment according to Acceleration pulse, at least two calibration positional information calculations
The first locator value.
Specifically, positioning unit 304 is used for according to formula
The locator value at each moment is calculated,
Wherein, v (t) is the train speed of t moment, and v (k) is the speed in initial position, and a (t) is the train acceleration of t moment, s
It (k) is initial position, s、It (t) is the first locator value of t moment, s (t) is the coarse positioning value of t moment, s (tk+1) it is tk+1Moment
Coarse positioning value, s (tk) it is tkThe coarse positioning value at moment, xk+1For tk+1The calibration location information at moment, xkFor tkThe calibration at moment
Location information.If the Acceleration pulse of train is directly carried out quadratic integral, the coarse positioning value of train at this time can be obtained, still
The integral of long range, there is certain errors, therefore can use above-mentioned calibration location information and determine the thick of each moment
Place value is modified, so that coarse positioning value s (t) will be modified to the first locator value s、(t).Furthermore it is also possible to by above-mentioned mark
Location information is determined and will be converted to the short-range integral of multistage over long distances to sum again, so that it is fixed that coarse positioning value s (t) is modified to first
Place value s、(t)。
Since in the sampling process of the inertial acceleration sensor of intelligent terminal, the factors such as random signal noise influence, obtain
The current of traffic acceleration and its true value got are constantly present certain difference, seek the process of displacement in quadratic integral
In, error can accumulate to a certain extent, therefore the integral localization method based on train longitudinal acceleration, only a kind of rough fixed
Position, for into a step reduce this kind of random errors affect, need through the Waveform Matching with standard track checking car car body acceleration, into
One step improves positioning accuracy.Therefore, the train integrated positioning device further include:
Dependency analysis unit 303, for being carried out to the Acceleration pulse, the pre-stored normal acceleration waveform that receive
Correlation analysis, and calculate phase equivocation value.
In the present embodiment, the Acceleration pulse that the intelligent terminal of acquisition is sent is { (s, ac(s)) | c=1,2,3 }, serial number
1,2,3 respectively indicates vertical, laterally and longitudinally three measurement directions, examines car test measured data, note three for presetting standard gauge
The acceleration signal in a direction is { (s, gc(s)) | c=1,2,3 }.Specifically, the dependency analysis unit 303 is used for foundation
FormulaTo receive Acceleration pulse, pre-stored normal acceleration waveform into
Row correlation analysis, and calculate phase equivocation value, wherein Rc(i, j) is phase equivocation value, and l is time window
Degree, ac(m, j) is the partial waveform of the Acceleration pulse that receives at the i of position, gc(m, j) is pre-stored normal acceleration
Partial waveform of the waveform at the j of position.
Amending unit for being modified according to phase equivocation value to first locator value, and calculates each
Second locator value at moment.
Specifically, amending unit is used for according to formulaFirst locator value is repaired
Just, and second locator value at each moment is calculated, wherein s*It (t) is the second locator value, s ' (t) is the first locator value,
For final deviation,wcFor the weight coefficient in c-th of channel being calculated, δc(l) at i
The best amendment deviation set, wherein δc(i)=arg maxRc(i,j)-i；C=1,2,3.
Specifically, according to formulaCalculate the weight in c-th of channel
Coefficient,Wherein, | | | | indicate vector model
Number, pcIt (i) is waveform correlation coefficient, the influence in order to avoid Wave anomaly situation to result gives a lesser positive numberWork as ρe(l) when too small, its value is covered as 0, i.e.,
In the present embodiment, system local positioning precision is can be improved in the above-mentioned method by Waveform Matching, but due to adding
The influence interfered extremely in velocity measuring result, single waveform matching rate is lower namely Waveform Matching correlation coefficient ρc(l) it is greater than
The ratio of threshold value Δ is lower, so that lower matching rate causes many positions not corrected, which has limited local positionings
Precision further increases.
For the interference for inhibiting random error unusual waveforms, local positioning precision is improved, multiple (all previous) track can be merged
The multi-channel detection data (referring mainly to three vertical, transverse direction, longitudinal acceleration channels) for detecting vehicle, pass through melting for multi-channel data
Analysis is closed, the effective information in history detection data is made full use of, inhibits random error and exception to interfere, to further increase office
Portion's positioning accuracy.
Therefore, the dependency analysis unit 303 is used to add the Acceleration pulse that receives, pre-stored a plurality of standard
Velocity wave form carries out correlation analysis, and calculates multiple phase equivocation values, and find out the smallest phase equivocation value.
Amending unit is calculated for being modified according to the smallest phase equivocation value to first locator value
Second locator value at each moment.
Specifically, intelligent terminal measuring data sample { (s, a obtained for measurementc(s)) | c=1,2,3 }, obtained
Obtain the corresponding mileage information of channel measurement waveform；Further, for presetting multiple track checking car detection dataConsider n times track checking car detection data, extracts track checking car every time and measure 3 acceleration
Spend channel.It, being capable of mileage deviation according to previous step computational intelligence terminal in the position i for the r times detection dataUtilize formula s*(t)=s ' (t)+δ*(i) the second final locator value can be calculated, for intelligence
Correction value of the energy terminal detection data in the position i is δ*(l),
Referring to Fig. 4, the embodiment of the invention also provides a kind of train synthesized positioning methods, it should be noted that this reality
Apply train synthesized positioning method provided by example, the technical effect of basic principle and generation is identical with above-described embodiment, for letter
It describes, the present embodiment part does not refer to place, can refer to corresponding contents in the above embodiments.The comprehensive positioning side of the train
Method includes:
Step S401: the acceleration of the start position information and train of the train that intelligent terminal is sent in operation is received
Waveform.
Step S402: the feature for the longitudinal acceleration waveform that Acceleration pulse includes is extracted.
Step S403: according to longitudinal acceleration waveform feature and presetting position feature template find out it is therein at least
The corresponding calibration location information of the feature of two longitudinal acceleration waveforms.
Step S404: go out the first of each moment according to Acceleration pulse, at least two calibration positional information calculations
Locator value.
It specifically, can be according to formula Calculate the locator value at each moment, wherein v
It (t) is the train speed of t moment, v (k) is the speed in initial position, and a (t) is the train acceleration of t moment, and s (k) is
Beginning position, s、It (t) is the locator value of t moment, s (t) is the coarse positioning value of t moment, s (tk+1) it is tk+1The coarse positioning value at moment, s
(tk) it is tkThe coarse positioning value at moment, xk+1For tk+1The calibration location information at moment, xkFor tkThe calibration location information at moment.
Step S405: carrying out correlation analysis to the Acceleration pulse, the pre-stored normal acceleration waveform that receive, and
Calculate phase equivocation value.
It specifically, can be according to formulaTo the Acceleration pulse received, in advance
The normal acceleration waveform of storage carries out correlation analysis, and calculates phase equivocation value, wherein Rc(i, j) is phase
Estimation of deviation value, l are time window length, ac(m, j) is the partial waveform of the Acceleration pulse that receives at the i of position, gc(m,
J) partial waveform for pre-stored normal acceleration waveform at the j of position.
Step S406: being modified the first locator value according to phase equivocation value, and calculates the of each moment
Two locator values.
It specifically, can be according to formulaFirst locator value is modified, and is calculated
Second locator value at each moment out, wherein s*It (t) is the second locator value, s ' (t) is the first locator value,It is final inclined
Difference,wcFor the weight coefficient in c-th of channel being calculated, δc(l) in the best of the position i
Correct deviation, wherein δc(i)=arg max Rc(i,j)-i；C=1,2,3.
In addition, correlation analysis is carried out to the Acceleration pulse, the pre-stored a plurality of normal acceleration waveform that receive, and
Multiple phase equivocation values are calculated, and find out the smallest phase equivocation value.For example above-mentioned implementation of concrete implementation mode
It is no longer herein to repeat described in example more.
In conclusion train integrated positioning device provided by the invention and method, the column sent by receiving intelligent terminal
The Acceleration pulse of the start position information and train of vehicle in operation；Then the longitudinal direction that Acceleration pulse includes is extracted to add
The feature of velocity wave form；Again according to longitudinal acceleration waveform feature and presetting position feature template find out it is therein at least
The corresponding calibration location information of the feature of two longitudinal acceleration waveforms；According to Acceleration pulse, at least two calibration positions
Confidence ceases the first locator value for calculating each moment, then obtains more accurate second locator value by amendment, without building
A large amount of trackside monitoring devices, later maintenance cost is low, and in the case where no GPS signal, and it is accurate to carry out to train
Positioning in real time, it is practical.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of train integrated positioning device, which is characterized in that the train integrated positioning device includes:
Information receiving unit, for receive intelligent terminal transmission train start position information and train in operation plus
Velocity wave form；
Feature extraction unit, for extracting the feature for the longitudinal acceleration waveform that Acceleration pulse includes；
Searching unit, for according to longitudinal acceleration waveform feature and presetting position feature template find out it is therein at least
The corresponding calibration location information of the feature of two longitudinal acceleration waveforms；
Positioning unit, for going out the first of each moment according to Acceleration pulse, at least two calibration positional information calculations
Locator value.
2. train integrated positioning device according to claim 1, which is characterized in that the train integrated positioning device also wraps
It includes:
Dependency analysis unit, for carrying out correlation to the Acceleration pulse, the pre-stored normal acceleration waveform that receive
Analysis, and calculate phase equivocation value；
Amending unit for being modified according to phase equivocation value to first locator value, and calculates each moment
The second locator value.
3. train integrated positioning device according to claim 2, which is characterized in that the dependency analysis unit for pair
Acceleration pulse, the pre-stored a plurality of normal acceleration waveform received carries out correlation analysis, and calculates multiple phases
Estimation of deviation value, and find out the smallest phase equivocation value.
4. train integrated positioning device according to claim 2, which is characterized in that the dependency analysis unit be used for according to
According to formula
To receive Acceleration pulse, pre-stored normal acceleration waveform into
Row correlation analysis, and calculate phase equivocation value, wherein Rc(i, j) is phase equivocation value, and l is time window
Degree, ac(m, j) is the partial waveform of the Acceleration pulse that receives at the i of position, gc(m, j) is pre-stored normal acceleration
Partial waveform of the waveform at the j of position；
The amending unit is used for according to formulaFirst locator value is modified, and is calculated
Second locator value at each moment out, wherein s*It (t) is the second locator value, s ' (t) is the first locator value,It is final inclined
Difference,wcFor the weight coefficient in c-th of channel being calculated, δc(l) in the best of the position i
Correct deviation, wherein δc(i)=arg max Rc(i,j)-i；C=1,2,3.
5. train integrated positioning device according to claim 1, which is characterized in that the positioning unit is used for according to formula
The locator value at each moment is calculated,
In, v (t) is the train speed of t moment, and v (k) is the speed in initial position, and a (t) is the train acceleration of t moment, s (k)
For initial position, s` (t) is the locator value of t moment, and s (t) is the coarse positioning value of t moment, s (tk+1) it is tk+1The coarse positioning at moment
Value, s (tk) it is tkThe coarse positioning value at moment, xk+1For tk+1The calibration location information at moment, xkFor tkBelieve the calibration position at moment
Breath.
6. a kind of train synthesized positioning method, which is characterized in that the train synthesized positioning method includes:
Receive the Acceleration pulse of the start position information and train of the train that intelligent terminal is sent in operation；
Extract the feature for the longitudinal acceleration waveform that Acceleration pulse includes；
Therein at least two longitudinal acceleration are found out according to the feature of longitudinal acceleration waveform and presetting position feature template
Spend the corresponding calibration location information of feature of waveform；
Go out first locator value at each moment according to Acceleration pulse, at least two calibration positional information calculations.
7. train synthesized positioning method according to claim 6, which is characterized in that in the foundation Acceleration pulse, extremely
Before the step of few two calibration positional information calculations go out the locator value at each moment, the train synthesized positioning method is also
Include:
Correlation analysis is carried out to the Acceleration pulse, the pre-stored normal acceleration waveform that receive, and it is inclined to calculate phase
Poor estimated value；
The first locator value is modified according to phase equivocation value, and calculates second locator value at each moment.
8. train synthesized positioning method according to claim 7, which is characterized in that the described pair of acceleration wave received
Shape, pre-stored normal acceleration waveform carry out correlation analysis, and the step of calculating phase equivocation value includes:
Are carried out by correlation analysis, and is calculated more for the Acceleration pulse, the pre-stored a plurality of normal acceleration waveform that receive
A phase equivocation value, and find out the smallest phase equivocation value.
9. train synthesized positioning method according to claim 7, which is characterized in that the described pair of acceleration wave received
Shape, pre-stored normal acceleration waveform carry out correlation analysis, and the step of calculating phase equivocation value includes:
According to formula
To receive Acceleration pulse, pre-stored normal acceleration waveform into
Row correlation analysis, and calculate phase equivocation value, wherein Rc(i, j) is phase equivocation value, and l is time window
Degree, ac(m, j) is the partial waveform of the Acceleration pulse that receives at the i of position, gc(m, j) is pre-stored normal acceleration
Partial waveform of the waveform at the j of position；
It is described that the first locator value is modified according to phase equivocation value, and calculate second locator value at each moment
Step includes:
According to formulaFirst locator value is modified, and calculates the second of each moment
Locator value, wherein s*It (t) is the second locator value, s ' (t) is the first locator value,For final deviation,wcFor the weight coefficient in c-th of channel being calculated, δc(l) in the best amendment of the position i
Deviation, wherein δc(i)=arg max Rc(i,j)-i；C=1,2,3.
10. train synthesized positioning method according to claim 6, which is characterized in that described according to Acceleration pulse, at least
The step of two calibration positional information calculations go out the locator value at each moment includes: according to formula Calculate the locator value at each moment, wherein v
It (t) is the train speed of t moment, v (k) is the speed in initial position, and a (t) is the train acceleration of t moment, and s (k) is
Beginning position, s` (t) are the locator value of t moment, and s (t) is the coarse positioning value of t moment, s (tk+1) it is tk+1The coarse positioning value at moment, s
(tk) it is tkThe coarse positioning value at moment, xk+1For tk+1The calibration location information at moment, xkFor tkThe calibration location information at moment.
Priority Applications (1)
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| CN112268563A (en) * | 2020-10-23 | 2021-01-26 | 重庆越致科技有限公司 | Method and device for detecting traffic state and track of pedestrian on track |
| CN115465333A (en) * | 2022-09-01 | 2022-12-13 | 卡斯柯信号有限公司 | Safe coding method for trackside train positioning information |
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