CN109814142A - A kind of inspection localization method, device, medium and the equipment of patrolling railway - Google Patents
A kind of inspection localization method, device, medium and the equipment of patrolling railway Download PDFInfo
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Abstract
The present invention provides a kind of inspection localization methods of patrolling railway, comprising: the satellite positioning signal that real-time reception position location satellite is sent；Receive the Bluetooth signal that bluetooth railway spike is sent；Judge whether satellite positioning signal and Bluetooth signal are complete；If satellite positioning signal lacks, Bluetooth signal is complete, then determines current location information according to Bluetooth signal；If satellite positioning signal is complete, Bluetooth signal missing then determines current location information according to satellite positioning signal；If satellite positioning signal and Bluetooth signal lack, the sensing data of inertial navigation sensor is utilized, people's reckoning algorithm is based on, determines current location information；If satellite positioning signal and Bluetooth signal are complete, current location information is determined according to satellite positioning signal and Bluetooth signal.The determination method for having fully considered current location information in the case of four kinds in inspection position fixing process can guarantee the continuity of navigator fix, realize the accurate positioning under complex environment.
Description
Technical field
The present invention relates to inspection field of locating technology, and in particular to a kind of inspection localization method of patrolling railway, device, Jie
Matter and equipment.
Background technique
Patrolling railway terminal mostly uses common GPS to be positioned at present, and it is low that there are positioning accuracies, is unable to judge accurately railway
Orbital position.And occurs that deviations are larger, even cannot position, position flying spot in the case where awning etc. partly blocks environment etc. and ask
Topic, it is bad without satellite-signal or signal for the short time, or the region without Bluetooth signal, it can not be accurately positioned, continuity
It is poor, many difficulties are brought to practical popularization and use, are also unable to satisfy the demand of patrolling railway.
Summary of the invention
For the defects in the prior art, the present invention provide the inspection localization method of patrolling railway a kind of, device, medium and
Equipment can guarantee the continuity of navigator fix, realize the accurate positioning under complex environment.
In a first aspect, the present invention provides a kind of inspection localization methods of patrolling railway, comprising:
The satellite positioning signal that real-time reception position location satellite is sent；
Receive the Bluetooth signal that bluetooth railway spike is sent；
Judge whether the satellite positioning signal and the Bluetooth signal are complete；
If the satellite positioning signal missing, Bluetooth signal is complete, then determines present bit confidence according to the Bluetooth signal
Breath；
If the satellite positioning signal is complete, Bluetooth signal missing then determines present bit according to the satellite positioning signal
Confidence breath；
If the satellite positioning signal and the Bluetooth signal lack, the sensing data of inertial navigation sensor, base are utilized
In people's reckoning algorithm, current location information is determined；
If the satellite positioning signal and the Bluetooth signal are complete, according to the satellite positioning signal and the indigo plant
Tooth signal determines current location information.
It is optionally, described that current location information is determined according to the Bluetooth signal, comprising:
Current location information is determined using geometry location method according to the signal strength of Bluetooth signal.
It is optionally, described that current location information is determined according to the satellite positioning signal, comprising:
Receive the difference information that differential server is sent；
The satellite positioning signal is corrected according to the difference information；
Judge whether the intensity of revised satellite positioning signal is less than preset threshold；
If being less than, corresponding revised satellite positioning signal is deleted；If being not less than, retain corresponding revised satellite
Positioning signal；
Worked as according to the signal strength of the revised satellite positioning signal of reservation using weighted average calculation method
Prelocalization information.
Optionally, the sensing data, comprising: cadence data, course data and step length data；
The sensing data using inertial navigation sensor is based on people's reckoning algorithm, determines current location information, wraps
It includes:
Obtain the location information of last moment；
According to the location information of the cadence data, course data, offset data and last moment, using Kalman filtering
Algorithm carries out positioning calculation, obtains current location information.
It is optionally, described that current location information is determined according to the satellite positioning signal and the Bluetooth signal, comprising:
Present bit is determined according to the satellite positioning signal and the Bluetooth signal based on the Fingerprint Model pre-established
Confidence breath.
Second aspect, the present invention provides a kind of inspection positioning devices of patrolling railway characterized by comprising
Satellite signal reception module, the satellite positioning signal sent for real-time reception position location satellite；
Bluetooth signal receiving module, for receiving the Bluetooth signal of bluetooth railway spike transmission；
Signal judgment module, for judging whether the satellite positioning signal and the Bluetooth signal are complete；
First locating module, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal lacks
It loses, Bluetooth signal is complete, then determines current location information according to the Bluetooth signal；
Second locating module, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal is complete
Whole, Bluetooth signal missing then determines current location information according to the satellite positioning signal；
Third locating module, for work as the signal judgment module judging result are as follows: if the satellite positioning signal and
The Bluetooth signal lacks, then utilizes the sensing data of inertial navigation sensor, is based on people's reckoning algorithm, determines current location
Information；
4th locating module, for work as the signal judgment module judging result are as follows: if the satellite positioning signal and
The Bluetooth signal is complete, then determines current location information according to the satellite positioning signal and the Bluetooth signal.
The third aspect, the present invention provides a kind of inspection positioning device of patrolling railway, including processor, input equipment,
Output equipment and memory, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory
For storing computer program, the computer program includes program instruction, and the processor is configured for calling the journey
Sequence instruction, executes a kind of inspection localization method of the patrolling railway provided such as first aspect.
Fourth aspect, the present invention provides a kind of computer readable storage medium, the computer readable storage medium is deposited
Computer program is contained, the computer program includes program instruction, and described program instruction makes described when being executed by a processor
Processor executes a kind of inspection localization method of the patrolling railway provided such as first aspect.
The present invention provides a kind of inspection localization methods of patrolling railway, comprising: what real-time reception position location satellite was sent defends
Star positioning signal；Receive the Bluetooth signal that bluetooth railway spike is sent；Judge whether are the satellite positioning signal and the Bluetooth signal
Completely；If the satellite positioning signal missing, Bluetooth signal is complete, then determines current location information according to the Bluetooth signal；
If the satellite positioning signal is complete, Bluetooth signal missing then determines current location information according to the satellite positioning signal；If
The satellite positioning signal and the Bluetooth signal lack, then utilize the sensing data of inertial navigation sensor, pushed away based on people's track
Algorithm is calculated, determines current location information；If the satellite positioning signal and the Bluetooth signal are complete, according to the satellite
Positioning signal and the Bluetooth signal determine current location information.
The present invention has fully considered the determination method of current location information in the case of four kinds in inspection position fixing process, for short
Time is bad without satellite-signal or signal, or the region without Bluetooth signal is able to carry out accurate positioning, can guarantee navigator fix
Continuity, realize complex environment under accurate positioning.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is a kind of flow chart of the inspection localization method of patrolling railway provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the inspection positioning device of patrolling railway provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of the inspection positioning device of patrolling railway provided in an embodiment of the present invention.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be intended only as example, and cannot be used as a limitation and limit protection of the invention
Range.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
The present invention provides inspection localization method, device, medium and the equipment of a kind of patrolling railway.It is right with reference to the accompanying drawing
The embodiment of the present invention is illustrated.
Referring to FIG. 1, Fig. 1 is a kind of signal of the inspection localization method for patrolling railway that the specific embodiment of the invention provides
Figure, a kind of inspection localization method of patrolling railway provided in this embodiment, comprising:
Step S101: the satellite positioning signal that real-time reception position location satellite is sent.
The hardware that monitoring method provided by the invention is related to has: monitor terminal, inspection terminal and locating base station.To railway
When carrying out inspection, each patrol officer is each equipped with an inspection terminal, for positioning to current position.Each inspection
Terminal is connect with locating base station, and locating base station is connect with monitor terminal, and locating base station or multiple fixed can be set in the present invention
Position base station, executing subject of the invention are inspection terminal.
Inspection terminal is also used to the positioning to patrol officer for positioning, including railroad track, track switch etc. to monitoring point
Monitoring.Inspection device positioning accuracy in the prior art is low, is unable to judge accurately railway trackage position, and if positioning signal compared with
It is weak, then current location cannot be navigated to, continuity is poor.The present invention provides a kind of inspection terminals that can be accurately positioned.It should
Inspection terminal includes: difference block, 4G module, bluetooth module, processor and power supply module.
Power supply module is powered to processor, since difference block, 4G module and bluetooth module are connect with processor, because
This, processor can be difference block, 4G module and bluetooth module power supply.Power supply module may include: lithium battery and power supply pipe
Manage unit.Power Management Unit can carry out management of charging and discharging to lithium battery.Lithium battery is used to charge for processor.
Wherein, inspection terminal can also be communicated using 4G module with monitor terminal, report positioning to believe to monitor terminal
Breath.
Wherein, difference block can be BDS/GPS difference block.
Before positioning using the present invention, need that bluetooth railway spike is arranged in each monitoring point.
In the present invention, inspection terminal is provided with inertial navigation sensor, for acquire the cadence data of user, course data and
Step length data etc..
Difference block can receive the satellite positioning signal of position location satellite transmission, and 4G module receives the difference that communication base station is sent
Divide information, and be sent to processor, difference information is sent to difference block by processor, and difference block can be according to satellite positioning
Signal and difference information calculate the current location information of inspection terminal, and the current location information is sent to processor.
Step S102: the Bluetooth signal that bluetooth railway spike is sent is received.
The receive process of Bluetooth signal are as follows: when inspection terminal is close to bluetooth railway spike, bluetooth railway spike senses inspection terminal,
Bluetooth signal is sent to inspection terminal by 4G module, which indicates signal strength or weakness.
Step S103: judge whether the satellite positioning signal and the Bluetooth signal are complete.
Step S104: calculating current location information includes following four situation:
The first situation: if the satellite positioning signal lacks, Bluetooth signal is complete, then is determined according to the Bluetooth signal
Current location information.Specifically: current location information is determined using geometry location method according to the signal strength of Bluetooth signal.
If inspection terminal cannot obtain the positioning result of satellite positioning signal, it is only capable of receiving Bluetooth signal, then receives
The signal strength of Bluetooth signal is converted into the distance apart from bluetooth source, and giving for location information is carried out on whole coordinate frame
Out.Bluetooth positioning uses Geometrical localization method, and the location information of terminal is found out by the method that side length intersects.Due to the sight of bluetooth
Measurement is signal strength, therefore to establish signal strength with the functional relation of distance change.
Second situation: if the satellite positioning signal is complete, Bluetooth signal missing, then according to the satellite positioning signal
Determine current location information.
Current location information is determined according to the satellite positioning signal, comprising: receives the difference letter that differential server is sent
Breath；The satellite positioning signal is corrected according to the difference information；Judge whether the intensity of revised satellite positioning signal is small
In preset threshold；If being less than, corresponding revised satellite positioning signal is deleted；If being not less than, retain corresponding revised
Satellite positioning signal；It is obtained according to the signal strength of the revised satellite positioning signal of reservation using weighted average calculation method
Obtain current location information.
Under patrolling railway environment, awning etc., which blocks, to be blocked and interfere to satellite positioning signal generation, and what is be formed simultaneously is more
Situations such as positioning accuracy can be greatly reduced in path effects.And common satellite positioning module, it is fixed all to occur in such a case
Phenomena such as position error is big, positioning is inclined or even flying spot, the present invention is directed under this environment and has carried out the optimization of algorithm:
Step 1 receives satellite positioning signal,
The residual error of step 2, signal strength and original observed quantity data to the satellite positioning signal received is sentenced
It is disconnected.When signal strength is less than 39dbHz or the residual error of original observed quantity data is lower than the threshold value set, by corresponding satellite
It is rejected, it is allowed to be not involved in the resolving of positioning equation.
Step 3, remaining satellite in-position resolve equation group, according to signal strength, add to the satellite for participating in positioning
Power calculates, and obtains current location information.
In the present invention, it can also include: step 4, Kalman filtering is carried out to positioning result, abandon acnode, reduce sternly
Deviations caused by weight multipath, obtain high accuracy positioning result.
The third situation: if the satellite positioning signal and the Bluetooth signal lack, inertial navigation sensor is utilized
Sensing data is based on people's reckoning algorithm, determines current location information.
The sensing data, comprising: cadence data, course data and step length data.The biography using inertial navigation sensor
Feel data, is based on people's reckoning algorithm, determines current location information, comprising: obtain the location information of last moment；According to institute
Cadence data, course data, offset data and the location information of last moment are stated, positioning solution is carried out using people's reckoning algorithm
It calculates, obtains current location information.
Since terminal is personnel's wearing, people's reckoning (PDR) is introduced in algorithm design.When there is acnode deviation
When, the considerations of according to personnel's navigation attitude, satellite location data is constrained；It is bad without satellite-signal or signal for the short time
The accurate positioning in region comes moving distance and the side of computing staff's positioning terminal by built-in inertial navigation sensor and special algorithm
To, and then calculate current position coordinates, realize the accurate positioning under complex environment.
The method that Levi and Judd has been put forward for the first time pedestrian's reckoning PDR (Pedestrian Dead Reckoning),
And it applies in the PDR module of Point Research company exploitation.The basic thought of this algorithm is, based on pedestrian's gait
Athletic physiology feature, step number and estimation step-length when using accelerometer or pedometer measurement walking, combines and passes from angle
The course information that sensor obtains extrapolates the information such as position, travel distance, speed and the direction of pedestrian.So the algorithm includes
Four key problems: cadence detection, step-size estimation, course is determining and position calculates.It is most significant compared to inertia integrator system
Improvement be that of avoiding speed calculating in gravity acceleration compensation, solve speed and location error from platform inclination error
Decoupling is come, and the requirement in walking to platform alignment reduces.In addition, speed is calculated through estimation step-length and the period realization that strides,
Because the step-length upper limit has a physical limit, the error of velocity estimation be it is convergent, the evaluated error characteristic of distance is from inertia
Navigation, which changes over time, to be changed into the increase with travel distance and changes.PDR is a kind of relative positioning technology, it needs to provide one
A initial position, therefore it is usually as an auxiliary of certain absolute fix method, to guarantee the continuity of navigator fix.
The fundamental formular of PDR algorithm is as follows:
In formula, EkAnd NkRespectively the east of kth epoch to the north to coordinate；SkFor k-th of epoch movement away from
From；αkFor the course of k-th of epoch；Ek+1And Nk+1Respectively the east of+1 epoch of kth to the north to coordinate.
The fusion of different data can be carried out by Kalman filtering algorithm, it can observe self-contained sensor
Value, ubiquitous wireless signal positioning result organically combine, and discrete Kalman filtering algorithm can be used to carry out positioning solution
It calculates.This method does not need to store pervious observation, and can overcome Wiener filtering not and can solve but very common in practice
Non-stationary problem.
If the state vector that the k moment includes n variable is Xk, it is assumed that the dynamic rule of the system can be to offline
Property equation description, i.e. state equation:
Xk=ΦkXk-1+ωk (2)
The system has m observational variable, with vector ZkIt indicates, then observation and the relationship of state value can use linear measurement
Equation indicates:
Zk=HkXk+vk (3)
Wherein, ΦkIt represents n × n by state variable from k-1 moment recursion to the k moment and ties up state-transition matrix, HkFor table
M × the n for levying k moment observation vector and state vector corresponding relationship ties up calculation matrix, ωkState vector excitation is tieed up for n × 1 to make an uproar
Sound, vkObservation vector noise is tieed up for m × 1.Requiring excitation noise and observation noise to meet the following conditions simultaneously (is all white noise
And irrelevant):
Arbitrary k and i
The optimal estimation at k moment can be so found out by following step:
System state variables predicted value
State vector variance prediction matrix Pk -:
Calculate gain matrix Kk:
Calculate current time state optimization estimated value
Calculate the variance matrix P of k moment optimal estimation valuek +:
4th kind of situation: if the satellite positioning signal and the Bluetooth signal are complete, according to the satellite positioning
Signal and the Bluetooth signal determine current location information.
It is described that current location information is determined according to the satellite positioning signal and the Bluetooth signal, comprising: based on preparatory
The Fingerprint Model of foundation determines current location information according to the satellite positioning signal and the Bluetooth signal.
If can also position in satellite navigation while also receive Bluetooth signal, bluetooth signal intensity is judged, if signal
Intensity is higher than the threshold value of setting, can use and carries out carrying out fingerprint modeling, storage in advance to location information and satellite information, bluetooth
In on server, judging satellite information and Bluetooth information state in actual use, fingerprint comparison is carried out, obtains location information.
It is positioned using the method for pattern match and is generally divided into two stages: offline sample phase (offline-
) and the tuning on-line stage (real-time phase) phase.The purpose of first stage is to establish bluetooth signal intensity and adopt
The database of sampling point relationship, i.e. position fingerprint base (Fingerprint) or radio map (Radio Map).In order to generate
Database, operator will establish several sampled points in localization region, and the wireless of access point is then successively measured on sampled point
The intensity of signal, and by these data inputs to database.In second stage, when user, which connects, is moved to a certain position, by it
The algorithm of the use of information pattern match of the wireless signal strength information and location fingerprint library that receive finds out the position of user.Often
Matching algorithm has: k faces method and naive Bayesian method recently.This project uses naive Bayesian method, therefore introduces this
Method.
Naive Bayesian method is a kind of localization method based on probability statistics, and this method derives from Bayes's classification.Pattra leaves
This is classified based on Bayes' theorem, it is a kind of priori knowledge class and the statistics that the new information collected from data combines
Principle.Assuming that in fingerprint base sampled point coordinate set are as follows:
L={ L1,L2,…,LN}
Li=(xi,yi) (4)
Wherein xiAnd yiRespectively ith sample point plane coordinates；N is the number of sampled point.
The form that the signal strength of the bluetooth nodes observed on each sampled point can be written as follow:
Si=(si1,si2,sij,…,siM) (5)
Wherein sijFor the signal strength of corresponding j-th of the bluetooth nodes of ith sample point；M is of total bluetooth nodes
Number；SiWith LiIt is one-to-one relationship.In real-time positioning stage, if the signal strength that user observes is Su=(s1,
s2,…,sM), then naive Bayesian method is exactly to require SuPosterior probability P (the L of each sampled point in fingerprint basei|Su).According to shellfish
This theorem of leaf, the form that posterior probability can be expressed as:
In formula, P (Su|Li) it is SuIn the conditional probability of ith sample point；P(Li) surveyed for the position of ith sample point
Measure the prior probability in region.Typically, since user possibly is present at any position of localization region, therefore have been generally acknowledged that P
(Li) obey be uniformly distributed.Assuming that the signal strength indication of the different bluetooth nodes on each sampled point is independent from each other, then P (Su
|Li) can be calculated with following formula:
P(Su|Li)=P (s1|Li)·P(s2|Li)·P(sj|Li)…P(sM|Li) (7)
Conditional probability P (s of the signal strength indication of each bluetooth nodes on ith sample pointj|Li) can be by offline
The prior probability distribution function of the signal strength of the point of sample phase acquires.The side of common estimation prior probability distribution function
There are two types of methods: KERNEL FUNCTION METHOD and histogram method.
KERNEL FUNCTION METHOD.This method finds out the priori of the signal strength of each bluetooth nodes of each sampled point using kernel function
Probability distribution, more commonly used is gaussian kernel function
Histogram method.This method first draws the signal strength Distribution value of each each bluetooth nodes of sampled point off-line phase
Then histogram obtains falling in the probability of the signal strength in different sections using histogram.
User's observation signal intensity is being found out after the posterior probability distribution of each sampled point, maximum probability will be obtained
That sampled point position L final as useru, as a result it can be indicated with following formula:
Lu=max { P (Li|Su)}
The present invention has fully considered the determination method of current location information in the case of four kinds in inspection position fixing process, for short
Time is bad without satellite-signal or signal, or the region without Bluetooth signal is able to carry out accurate positioning, can guarantee navigator fix
Continuity, realize complex environment under accurate positioning.
Based on inventive concept identical with a kind of above-mentioned inspection localization method of patrolling railway, corresponding, this hair
Bright embodiment additionally provides a kind of inspection positioning device of patrolling railway, as shown in Figure 2.Due to Installation practice substantially it is similar with
Embodiment of the method, so describing fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
A kind of inspection positioning device of patrolling railway provided by the invention, comprising:
Satellite signal reception module 101, the satellite positioning signal sent for real-time reception position location satellite；
Bluetooth signal receiving module 102, for receiving the Bluetooth signal of bluetooth railway spike transmission；
Signal judgment module 103, for judging whether the satellite positioning signal and the Bluetooth signal are complete；
First locating module 104, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal
Missing, Bluetooth signal is complete, then determines current location information according to the Bluetooth signal；
Second locating module 105, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal
Completely, Bluetooth signal lacks, then determines current location information according to the satellite positioning signal；
Third locating module 106, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal
It is lacked with the Bluetooth signal, then utilizes the sensing data of inertial navigation sensor, be based on people's reckoning algorithm, determine present bit
Confidence breath；
4th locating module 107, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal
It is complete with the Bluetooth signal, then current location information is determined according to the satellite positioning signal and the Bluetooth signal.
In a specific embodiment provided by the invention, first locating module 104 is specifically used for:
When the judging result of the signal judgment module 103 are as follows: if the satellite positioning signal lacks, Bluetooth signal is complete
It is whole, then current location information is determined using geometry location method according to the signal strength of Bluetooth signal.
In a specific embodiment provided by the invention, second locating module 105 is specifically used for:
When the judging result of the signal judgment module 103 are as follows: if the satellite positioning signal is complete, Bluetooth signal is lacked
It loses, then:
Receive the difference information that differential server is sent；
The satellite positioning signal is corrected according to the difference information；
Judge whether the intensity of revised satellite positioning signal is less than preset threshold；
If being less than, corresponding revised satellite positioning signal is deleted；If being not less than, retain corresponding revised satellite
Positioning signal；
Worked as according to the signal strength of the revised satellite positioning signal of reservation using weighted average calculation method
Prelocalization information.
In a specific embodiment provided by the invention, the sensing data, comprising: cadence data, course data and
Step length data；
The third locating module 106, is specifically used for:
When the judging result of the signal judgment module 103 are as follows: if the satellite positioning signal and the Bluetooth signal are equal
Missing, then:
Obtain the location information of last moment；
According to the location information of the cadence data, course data, offset data and last moment, using people's reckoning
Algorithm carries out positioning calculation, obtains current location information.
In a specific embodiment provided by the invention, the 4th locating module 107 is specifically used for:
When the judging result of the signal judgment module 103 are as follows: if the satellite positioning signal and the Bluetooth signal are equal
Completely, then:
Present bit is determined according to the satellite positioning signal and the Bluetooth signal based on the Fingerprint Model pre-established
Confidence breath.
More than, it is a kind of inspection positioning device of patrolling railway provided by the invention.
Further, the basis of a kind of inspection localization method of the patrolling railway provided by above-described embodiment and device
On, the embodiment of the invention also provides a kind of inspection positioning devices of patrolling railway.As shown in figure 3, the equipment may include: one
A or multiple processors 201, one or more input equipments 202, one or more output equipments 203 and memory 204, it is above-mentioned
Processor 201, input equipment 202, output equipment 203 and memory 204 are connected with each other by bus 205.Memory 204 is used for
Computer program is stored, the computer program includes program instruction, and the processor 201 is configured for calling described program
The method of instruction execution above method embodiment part.
It should be appreciated that in embodiments of the present invention, alleged processor 201 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..
Input equipment 202 may include keyboard etc., and output equipment 203 may include display (LCD etc.), loudspeaker etc..
The memory 204 may include read-only memory and random access memory, and to processor 201 provide instruction and
Data.The a part of of memory 204 can also include nonvolatile RAM.For example, memory 204 can also be deposited
Store up the information of device type.
In the specific implementation, processor 201 described in the embodiment of the present invention, input equipment 202, output equipment 203 can
Implementation described in a kind of embodiment of the inspection localization method of patrolling railway provided in an embodiment of the present invention is executed,
This is repeated no more.
Correspondingly, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage mediums
Matter is stored with computer program, and the computer program includes program instruction, and described program instructs realization when being executed by processor:
A kind of inspection localization method of above-mentioned patrolling railway.
The computer readable storage medium can be the internal storage unit of system described in aforementioned any embodiment, example
Such as the hard disk or memory of system.The computer readable storage medium is also possible to the External memory equipment of the system, such as
The plug-in type hard disk being equipped in the system, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Further, the computer readable storage medium can also be wrapped both
The internal storage unit for including the system also includes External memory equipment.The computer readable storage medium is described for storing
Other programs and data needed for computer program and the system.The computer readable storage medium can be also used for temporarily
When store the data that has exported or will export.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.In addition, shown or discussed phase
Mutually between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication of device or unit
Connection is also possible to electricity, mechanical or other form connections.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, is also possible to two or more units and is integrated in one unit.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (8)
1. a kind of inspection localization method of patrolling railway characterized by comprising
The satellite positioning signal that real-time reception position location satellite is sent；
Receive the Bluetooth signal that bluetooth railway spike is sent；
Judge whether the satellite positioning signal and the Bluetooth signal are complete；
If the satellite positioning signal missing, Bluetooth signal is complete, then determines current location information according to the Bluetooth signal；
If the satellite positioning signal is complete, Bluetooth signal missing then determines present bit confidence according to the satellite positioning signal
Breath；
If the satellite positioning signal and the Bluetooth signal lack, the sensing data of inertial navigation sensor is utilized, is based on people
Reckoning algorithm, determines current location information；
If the satellite positioning signal and the Bluetooth signal are complete, believed according to the satellite positioning signal and the bluetooth
Number determine current location information.
2. the method according to claim 1, wherein described determine present bit confidence according to the Bluetooth signal
Breath, comprising:
Current location information is determined using geometry location method according to the signal strength of Bluetooth signal.
3. the method according to claim 1, wherein described determine current location according to the satellite positioning signal
Information, comprising:
Receive the difference information that differential server is sent；
The satellite positioning signal is corrected according to the difference information；
Judge whether the intensity of revised satellite positioning signal is less than preset threshold；
If being less than, corresponding revised satellite positioning signal is deleted；If being not less than, retain corresponding revised satellite positioning
Signal；
According to the signal strength of the revised satellite positioning signal of reservation, using weighted average calculation method, it is current fixed to obtain
Position information.
4. the method according to claim 1, wherein the sensing data, comprising: cadence data, course data
And step length data；
The sensing data using inertial navigation sensor is based on people's reckoning algorithm, determines current location information, comprising:
Obtain the location information of last moment；
According to the location information of the cadence data, course data, offset data and last moment, using people's reckoning algorithm
Positioning calculation is carried out, current location information is obtained.
5. the method according to claim 1, wherein described believe according to the satellite positioning signal and the bluetooth
Number determine current location information, comprising:
Present bit confidence is determined according to the satellite positioning signal and the Bluetooth signal based on the Fingerprint Model pre-established
Breath.
6. a kind of inspection positioning device of patrolling railway characterized by comprising
Satellite signal reception module, the satellite positioning signal sent for real-time reception position location satellite；
Bluetooth signal receiving module, for receiving the Bluetooth signal of bluetooth railway spike transmission；
Signal judgment module, for judging whether the satellite positioning signal and the Bluetooth signal are complete；
First locating module, for working as the judging result of the signal judgment module are as follows: blue if the satellite positioning signal lacks
Tooth signal integrity then determines current location information according to the Bluetooth signal；
Second locating module, for working as the judging result of the signal judgment module are as follows: blue if the satellite positioning signal is complete
Tooth signal deletion then determines current location information according to the satellite positioning signal；
Third locating module, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal and described
Bluetooth signal lacks, then utilizes the sensing data of inertial navigation sensor, is based on people's reckoning algorithm, determines present bit confidence
Breath；
4th locating module, for working as the judging result of the signal judgment module are as follows: if the satellite positioning signal and described
Bluetooth signal is complete, then determines current location information according to the satellite positioning signal and the Bluetooth signal.
7. a kind of inspection positioning device of patrolling railway, which is characterized in that including processor, input equipment, output equipment and deposit
Reservoir, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory is calculated for storing
Machine program, the computer program include program instruction, and the processor is configured for calling described program instruction, are executed such as
The described in any item methods of claim 1-5.
8. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence, the computer program include program instruction, and described program instruction executes the processor such as
The described in any item methods of claim 1-5.
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