CN109856595A - Rail traffic positioning system and method based on UWB - Google Patents
Rail traffic positioning system and method based on UWB Download PDFInfo
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Abstract
Rail traffic positioning system and method provided in an embodiment of the present invention based on UWB, the system include positioning label, locating base station and location-server；The positioning label is set in target to be positioned, and the positioning label is used to send the pulse information of setpoint frequency；The locating base station is set to along track and station, and the locating base station is equipped with the first antenna and the second antenna of known coordinate；The locating base station measures the first distance of the target to be positioned and the first antenna, the second distance of the target to be positioned and second antenna based on super-broadband tech UWB for receiving and identifying the pulse information；The location-server is used to obtain the coordinate of target to be positioned according to the known coordinate of the known coordinate of the first distance, second distance and first antenna, the second antenna.By realizing accurate positioning on the line by UWB technology.
Description
Technical field
The present embodiments relate to rail traffic field of locating technology, hand over more particularly, to a kind of track based on UWB
Logical positioning system and method.
Background technique
The rail traffic positioning positioning realized to train main at present, for personnel, equipment positioning currently without correlation
Technology and application.The purpose of positioning of train is mainly that train operation control system is controlled automatically by the positioning realization train of train
The functions such as system, automatic protection, automatic monitoring determine that the position of train in the line is to guarantee safety, play effect precisely in real time
Rate provides the premise of optimal service.Mainly there are beacon positioning, satellite, meter shaft or track circuit for the positioning of train at present
Etc. technical solutions.
Beacon positioning, beacon are mounted in the physical token for reflecting route absolute position along route.Beacon is similar to non-
Contact Type Ic Card, when train passes through beacon position, the excitation of electromagnetic wave beacon work of car antenna transmitting, and transmit exhausted
To location information to train.Beacon used in City Rail Transit System is largely passive tag, is mounted on track edge
Line.The effect of beacon is that accurate absolute position reference point is provided for train.Due to beacon provide position precision it is very high, up to li
Rice magnitude commonly uses means of the beacon as amendment train actual motion distance.
The radio navigation systems such as satellite positioning, including Beidou/GPS.Satellite is as earliest applied to navigation positioning system
New and high technology, have in the world, at any time, arbitrarily provided for user under meteorological condition it is continuously high-precision
The characteristics of spending three-dimensional position, speed and temporal information.Using only needed when GPS positioning on locomotive install receiver, but
The positioning accuracy of local train around more than obstacle will receive influence.
Track circuit or meter shaft positioning principle, in route design, requirement according to user to train operation density will be whole
A route is divided into several track sections, and carries out Unified number to all track sections.To route landform and line facility
Line map is formed after carrying out digitized description, is stored in trackside and/or car-mounted computer.When train is run in the line,
Track circuit/meter shaft where it can provide occupancy instruction, be continuously tracked, be also achieved that online to train to occupied state
Present position is continuously tracked in road.
It is intermittent for being transmitted using the information of beacon location technology, i.e., when train obtains terrestrial information from an information point
Afterwards, to arrive next information point could more new information just can not be immediately by the information of variation if surface state changes therebetween
Real-time delivery is to train, and therefore, beacon location technology is often used as the means of supplementing out economy of other location technologies；It is similar with beacon, it adopts
Train region can only be also determined with track circuit or meter shaft positioning, and positioning accuracy is generally at even several kilometers of several hundred rice, no
It can determine that train exact position；Face following problems using satellite positioning, 1) in the region (such as tunnel) of satellite low visibility, more
Diameter reflection critical regions (such as urban high-rise building area) and electromagnetic interference critical regions, positioning when satellite signal receiving is bad are asked
Topic；2) high accuracy positioning region, when accurately stopping such as switch section, platform, due to the intrinsic position error of satellite positioning tech,
There are problems that exact position amendment can not be carried out.
Summary of the invention
The embodiment of the present invention provides a kind of one kind for overcoming the above problem or at least being partially solved the above problem and is based on
The rail traffic positioning system and method for UWB.
In a first aspect, the embodiment of the present invention provides a kind of rail traffic positioning system based on UWB, including positioning label,
Locating base station and location-server；
The positioning label is set in target to be positioned, and the positioning label is used to send the pulse information of setpoint frequency；
It is provided with identifier on the positioning label, the identifier is matched with corresponding each target to be positioned, according to institute
The identifier on positioning label is stated, judges the target to be positioned that the positioning label represents；
The locating base station be set to track along and station, the locating base station be equipped with known coordinate first antenna and
Second antenna；When locating base station is set to along track, the first antenna and second antenna parallel are in orbital direction；Positioning
When base station is set to station, the first antenna and second antenna parallel are in any axis of map coordinates system；The positioning base
It stands for receiving and identifying the pulse information, the target to be positioned and described first day is measured based on super-broadband tech UWB
The second distance of the first distance of line, the target to be positioned and second antenna；
The location-server is used for according to the known coordinate of the first distance, second distance and first antenna, the
The known coordinate of two antennas obtains the coordinate of target to be positioned.
Optionally, according to the known coordinate of the first distance, second distance and first antenna, the second antenna
Know coordinate, obtain the coordinate of target to be positioned, specifically include:
Using straight line is right-angle side where the first antenna, second antenna, with target to be positioned and described first day
The line of line does right angled triangle as bevel edge, and the first distance is greater than the second distance；
Based on the third distance between the first distance, the second distance and first antenna and the second antenna, pass through
Triangle formula obtains the length of two right-angle sides in right angled triangle；And the coordinate based on first antenna obtains the seat of target to be positioned
Mark.
Optionally, the target to be positioned includes train, equipment and personnel.
Optionally, when locating base station is set to along track, the axis of abscissas of the base station coordinates system of the locating base station or perpendicular
Reference axis is parallel to orbital direction；When locating base station is set to station, the reference axis and ground of the base station coordinates system of the locating base station
The reference axis of figure coordinate system is parallel to each other.
Optionally, the positioning label is set to train both ends.
It optionally, further include monitoring computer, the monitoring computer is used to receive the coordinate in the location-server,
And the position of target to be positioned is shown.
Second aspect, the embodiment of the present invention provide a kind of rail traffic localization method based on UWB, comprising:
First distance, the target to be positioned and second of target and first antenna to be positioned are measured based on super-broadband tech UWB
The second distance of antenna；Known to the coordinate of the first antenna and second antenna；
Based on the first distance, the coordinate of the second distance and first antenna, the second antenna coordinate, obtain
The coordinate of target to be positioned.
Optionally, first distance, the target to be positioned of target and first antenna to be positioned are measured based on super-broadband tech UWB
Before the second distance of the second antenna, further includes:
Target to be positioned sends the pulse information of setpoint frequency in real time or at equal intervals, and first antenna, the second antenna receive simultaneously
Identify the pulse information.
Optionally, based on the first distance, the coordinate of the second distance and first antenna, the second antenna seat
Mark, obtains the coordinate of target to be positioned, specifically includes:
Using straight line is right-angle side where the first antenna, second antenna, with target to be positioned and described first day
The line of line does right angled triangle as bevel edge, and the first distance is greater than the second distance；
Based on the third distance between the first distance, the second distance and first antenna and the second antenna, pass through
Triangle formula obtains the length of two right-angle sides in right angled triangle；And the coordinate based on first antenna obtains the seat of target to be positioned
Mark.
Optionally, after the coordinate for obtaining target to be positioned, further includes:
Period or the coordinate information for obtaining target to be positioned in real time obtain motion profile, the speed of target to be positioned.
The embodiment of the present invention proposes a kind of rail traffic positioning system and method based on UWB, by along track,
Locating base station is arranged in station areas, setting positioning label in positioning target is waited in train, equipment and personnel, by relying on UWB
Technology realizes accurate positioning on the line.To provide train position for automatic control, security protection, the long-range monitoring to train
Confidence breath, and tracking and commander to personnel.
Detailed description of the invention
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 technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some 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 rail traffic positioning system schematic diagram based on UWB according to the embodiment of the present invention；
Fig. 2 is to obtain schematic illustration according to the coordinate of the target to be positioned of the embodiment of the present invention；
Fig. 3 is the rail traffic localization method schematic diagram based on UWB according to the embodiment of the present invention.
Specific embodiment
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
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Since the prior art is in the method for rail traffic positioning, being transmitted using the information of beacon location technology is interruption
, it can not be immediately by the information real-time delivery of variation to train, the often means of supplementing out economy as other location technologies；Using track
Circuit or meter shaft positioning can only also determine train region, and positioning accuracy at even several kilometers of several hundred rice, not can determine that generally
Train exact position；There is orientation problem when receiving bad using satellite positioning, in region (such as tunnel of satellite low visibility
Road), multipath reflection critical regions (such as urban high-rise building area) and electromagnetic interference critical regions, determine when satellite signal receiving is bad
Position problem；High accuracy positioning region, when accurately stopping such as switch section, platform, since the intrinsic positioning of satellite positioning tech misses
Difference there are problems that exact position amendment can not be carried out.
Therefore various embodiments of the present invention by along track, station areas arrange locating base station, in train, equipment and people
Member waits setting positioning label in positioning target, by realizing accurate positioning on the line by UWB (ultra wide band) technology.With
Under expansion explanation and introduction will be carried out by multiple embodiments.
Fig. 1 is a kind of rail traffic positioning system based on UWB provided in an embodiment of the present invention, including positions label 2, determines
Position base station 1 and location-server 3；
Above-mentioned positioning label 2 is set in target to be positioned, and above-mentioned positioning label 2 is used to send the pulse letter of setpoint frequency
Breath；
Above-mentioned locating base station 1 is set to along track and station, and above-mentioned locating base station 1 is equipped with the first antenna of known coordinate
11 and second antenna 12；When locating base station 1 is set to along track, the first antenna 11 is parallel to rail with second antenna 12
Road direction；When locating base station 1 is set to station, the first antenna 11 is parallel to appointing for map coordinates system with second antenna 12
One axis；Above-mentioned locating base station 1 for receiving and identifying above-mentioned pulse information, based on super-broadband tech (Ultra Wideband,
UWB the first distance, above-mentioned target to be positioned and above-mentioned second antenna of above-mentioned target to be positioned and above-mentioned first antenna 11) are measured
12 second distance；
Above-mentioned location-server 3 is used for the known seat according to above-mentioned first distance, second distance and first antenna 11
The known coordinate of mark, the second antenna 12, obtains the coordinate of target to be positioned.
On the basis of the various embodiments described above, above-mentioned positioning label 2 is equipped with identifier, pre- in above-mentioned location-server 3
There is the corresponding relationship of above-mentioned identifier Yu target to be positioned.
In the present embodiment, can in advance positioning label 2 on identifier is set, by above-mentioned identifier with it is corresponding respectively to
Positioning target is matched, i.e., according to the identifier on positioning label 2, it can be determined that the mesh to be positioned that the positioning label 2 represents
Mark, and then can be realized simultaneously the positioning to multiple targets to be positioned.
Specifically, by by train number, person number and device numbering it is corresponding with corresponding positioning label 2 binding, by
This can determine whether that target to be positioned is which train or which personnel or which equipment, in this way, relying solely on UWB location technology, i.e.,
It is each to need not rely on other technologies progress for the position that the position of each train, the position of personnel and equipment on route can be achieved
The positioning of train, personnel and equipment.
Meanwhile positioning label 2 and being sent to locating base station 1 when sending pulse information, while by identifier, so that positioning base
Stand 1 can know target to be positioned is which train or which personnel or which equipment accordingly.
In the present embodiment, UWB location technology is a kind of ranging localization technology based on wireless pulses step-out time, is passed through
Triangulation location principle determines the accurate coordinates of target object, by installing locating base station 1, target pair in the region for needing to position
As installation positions label 2, positioning of the realization to target object.
UWB ranging uses TOF measurement method, and TOF measurement method belongs to Bidirectional distance measurement technology, it mainly utilizes signal two
The flight time carrys out the distance between measuring node between a asynchronous receiver-transmitter (Transceiver).Because under sighting distance line-of-sight circumstances,
It is with apart from a linear relationship, so result can be more accurate based on TOF measurement method.By the data packet of transmitting terminal sending and connect
TTOT is denoted as between the time that withdrawal is answered, receiving end, which receives data packet and issues the time interval responded, is denoted as TTAT, then data
Wrapping the time TTOF unidirectionally to fly in the sky may be calculated: TTOF=(TTOT-TTAT)/2.Then according to TTOF and electromagnetic wave
The product of spread speed can calculate the distance D=C of point-to-point transmissionx* TTOF, CxFor propagation velocity of electromagnetic wave.
In the present embodiment, UWB technology, by along track, station setting locating base station 1, locating base station 1 are based on
Coordinate is known；Meanwhile the arrangement positioning label 2 in target to be positioned, it is matched between locating base station 1 and positioning label 2
The pulse information of setpoint frequency, positioning label 2 send the pulse information, and locating base station 1 receives the pulse information, and then to carrying
The target to be positioned of the positioning label 2 is positioned.
Specifically, in the present embodiment, set in locating base station 1 there are two antenna, respectively first antenna 11 and second day
Known to the coordinate of line 12, first antenna 11 and the second antenna 12；Based on UWB location technology measure respectively first antenna 11 with it is undetermined
The distance of position target, is denoted as first distance, measures the second antenna 12 at a distance from target to be positioned, be denoted as second distance；By
Distance is denoted as third distance between one antenna 11 and the second antenna 12, by above-mentioned first distance, second distance and third distance with
And the coordinate of first antenna 11 and the second antenna 12, it can be obtained the coordinate of target to be positioned.
Specifically, in the present embodiment, as shown in Fig. 2, A, B two o'clock are respectively first antenna 11 and the second antenna in figure
12, the coordinate of first antenna 11 is (Xa, Ya), and the coordinate of the second antenna 12 is (Xb, Yb), and C is target to be positioned.In this implementation
In example, first distance AC, second distance BC, third distance are that AB, AC and BC can be according to the originals of above-described embodiment introduction
Reason, utilizes formula D=Cx* TTOF is calculated, and is also known；It needs to seek (Xc, Yc) according to above-mentioned Given information.
According to Heron's formula: p=(AB+AC+BC)/2；
H=2S/AB；
Xc=Xa+AD；
Yc=Ya+h.
Finally obtained Xc, Yc are coordinate of the target to be positioned in base station coordinates system in formula, are based on pre-determined base
The seat of target to be positioned can be obtained in the transformational relation of station coordinates and map reference, the coordinate being converted into electronic map
Mark.
On the basis of the above embodiments, above-mentioned target to be positioned includes train, equipment and personnel.
In the present embodiment, target to be positioned can be the moving body in Rail Transit System, including train, personnel and set
Standby, the layout density of locating base station 1 meets the covering to area to be targeted, and 1 signal redundancy of locating base station covers land, with
Realize the continuous positioning to train.
Positioning label 2 is arranged in the both ends of train, the positioning to train both ends is realized, so that it is determined that the specific position of train
It sets.The positioning label 2 of personnel is taken by personnel to be taken with oneself；The positioning label 2 of equipment is placed directly onto equipment.
On the basis of the various embodiments described above, when locating base station 1 is set to along track, the base station of the locating base station 1 is sat
The axis of abscissas or vertical coordinate axis for marking system are parallel to orbital direction；When locating base station 1 is set to station, the base of the locating base station 1
The reference axis of station coordinates system and the reference axis of map coordinates system are parallel to each other.
In the present embodiment, first antenna 11, the arrangement of the second antenna 12 need to be parallel to orbital direction, in order to count
It calculates.By calculating coordinate of the target to be positioned in base station coordinates system, the coordinate being reconverted into map coordinates system.
It further include monitoring computer 4 on the basis of the various embodiments described above, above-mentioned monitoring computer 4 is above-mentioned for receiving
Coordinate in location-server 3, and the position of target to be positioned is shown.
On the basis of the above embodiments, above-mentioned location-server 3 can share one, and monitoring computer then can be
Each station setting one is used for from acquisition train position information in location-server 3 and the personnel in this station, equipment
Information.
In the present embodiment, location-server 3 is according to the ranging information received, in conjunction with electronic map and database obtain to
Body position, lasting train of the reception from the location-server 3/personnel/equipment location information of monitoring computer 4 are surveyed, and is shown
Show in instruction terminal, so that dispatcher makes according to the location information that terminal is shown the decision of dispatch control.
On the basis of the various embodiments described above, the train position provided by monitoring computer 4, dispatcher can be obtained
The position of all fronts train, under pilot steering operational mode, dispatcher dispatches train operation according to all fronts train position.To column
The positioning of vehicle can also be directly used in operation control, the security protection of train.
System in the various embodiments described above, moreover it is possible to realize the positioning of route, station employees and equipment.It is as tight in occurred AT STATION
When urgent thing part, such as elevator stops suddenly, platform has personnel to fall in a swoon, and nearest staff can be commanded immediately to handle.Or
When track power-equipment powers on, judge whether that someone is located at charging zone.Or work is repaired in section in staff
When industry, judge whether maintenance personal is located at the working region of permission, and after operational reception, leaves working region.
The present embodiment provides a kind of rail traffic localization method based on UWB, based in the various embodiments described above based on UWB
Rail traffic positioning system, as shown in Figure 3, comprising:
First distance, the target to be positioned and second of target and first antenna to be positioned are measured based on super-broadband tech UWB
The second distance of antenna；Known to the coordinate of above-mentioned first antenna and above-mentioned second antenna；
Based on above-mentioned first distance, the coordinate of above-mentioned second distance and first antenna, the second antenna coordinate, obtain
The coordinate of target to be positioned.
In the present embodiment, first antenna is measured at a distance from target to be positioned based on UWB location technology respectively, is denoted as
One distance measures the second antenna at a distance from target to be positioned, is denoted as second distance；By first antenna and the second antenna distance
Be denoted as third distance, by above-mentioned first distance, second distance and third distance and first antenna and the second antenna coordinate,
It can be obtained the coordinate of target to be positioned.
On the basis of the various embodiments described above, the of target and first antenna to be positioned is measured based on super-broadband tech UWB
Before the second distance of one distance, target to be positioned and the second antenna, further includes:
Target to be positioned sends the pulse information of setpoint frequency in real time or at equal intervals, and first antenna, the second antenna receive simultaneously
Identify above-mentioned pulse information.
In the present embodiment, the arrangement positioning label in target to be positioned matches between locating base station and positioning label
The pulse information of setpoint frequency, positioning label send the pulse information, and locating base station receives the pulse information, and then should to carrying
The target to be positioned of positioning label is positioned.
Identifier can be set on positioning label in advance, above-mentioned identifier is carried out in fact with corresponding each target to be positioned
It now matches, i.e., according to the identifier on positioning label, it can be determined that the target to be positioned that the positioning label represents, and then can be same
Positioning of the Shi Shixian to multiple targets to be positioned.
On the basis of the various embodiments described above, it is based on the seat of above-mentioned first distance, above-mentioned second distance and first antenna
The coordinate of mark, the second antenna, obtains the coordinate of target to be positioned, specifically includes:
Using straight line is right-angle side where above-mentioned first antenna, above-mentioned second antenna, with target to be positioned and above-mentioned first day
The line of line does right angled triangle as bevel edge, and above-mentioned first distance is greater than above-mentioned second distance；
Based on the third distance between above-mentioned first distance, above-mentioned second distance and first antenna and the second antenna, pass through
Triangle formula obtains the length of two right-angle sides in right angled triangle；And the coordinate based on first antenna obtains the seat of target to be positioned
Mark.
Specifically, in the present embodiment, as shown in Fig. 2, A, B two o'clock are respectively first antenna 11 and the second antenna in figure
12, the coordinate of first antenna 11 is (Xa, Ya), and the coordinate of the second antenna 12 is (Xb, Yb), and C is target to be positioned.In this implementation
In example, first distance AC, second distance BC, third distance are that AB, AC and BC can be according to the originals of above-described embodiment introduction
Reason, utilizes formula D=Cx* TTOF is calculated, and is also known；It needs to seek (Xc, Yc) according to above-mentioned Given information.
According to Heron's formula: p=(AB+AC+BC)/2；
H=2S/AB；
Xc=Xa+AD；
Yc=Ya+h.
Finally obtained Xc, Yc are coordinate of the target to be positioned in base station coordinates system in formula, are based on pre-determined base
The seat of target to be positioned can be obtained in the transformational relation of station coordinates and map reference, the coordinate being converted into electronic map
Mark.
On the basis of the various embodiments described above, after the coordinate for obtaining target to be positioned, further includes:
Period or the coordinate information for obtaining target to be positioned in real time obtain motion profile, the speed of target to be positioned.
According to the ranging information received, body position to be measured is obtained in conjunction with electronic map and database, persistently obtains train/people
The location information of member/equipment, and shown, so that dispatcher makes dispatch control according to the location information that terminal is shown
Decision.
On the basis of the various embodiments described above, by obtaining train position, dispatcher can obtain the position of all fronts train
It sets, under pilot steering operational mode, dispatcher dispatches train operation according to all fronts train position.It can also to the positioning of train
Enough it is directly used in operation control, the security protection of train.
System in the various embodiments described above, moreover it is possible to realize the positioning of route, station employees and equipment.It is as tight in occurred AT STATION
When urgent thing part, such as elevator stops suddenly, platform has personnel to fall in a swoon, and nearest staff can be commanded immediately to handle.Or
When track power-equipment powers on, judge whether that someone is located at charging zone.Or work is repaired in section in staff
When industry, judge whether maintenance personal is located at the working region of permission, and after operational reception, leaves working region.
In conclusion a kind of rail traffic positioning system and method based on UWB provided in an embodiment of the present invention, by
Along track, station areas arrange locating base station, train, equipment and personnel wait positioning target on setting positioning label, lead to
Cross the accurate positioning on the line by UWB technology realization.To for the automatic control of train, security protection, long-range monitoring
Train position information, and tracking and commander to personnel are provided.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary 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 embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, 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 embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of rail traffic positioning system based on UWB, which is characterized in that including positioning label, locating base station and positioning clothes
Business device；
The positioning label is set in target to be positioned, and the positioning label is used to send the pulse information of setpoint frequency；It is described
It is provided with identifier on positioning label, the identifier is matched with corresponding each target to be positioned, according to described fixed
Identifier on the label of position judges the target to be positioned that the positioning label represents；
The locating base station is set to along track and station, and the locating base station is equipped with the first antenna and second of known coordinate
Antenna；When locating base station is set to along track, the first antenna and second antenna parallel are in orbital direction；Locating base station
When set on station, the first antenna and second antenna parallel are in any axis of map coordinates system；The locating base station is used
In receiving and identifying the pulse information, the target to be positioned and the first antenna are measured based on super-broadband tech UWB
The second distance of first distance, the target to be positioned and second antenna；
The location-server is used for the known coordinate according to the first distance, second distance and first antenna, second day
The known coordinate of line obtains the coordinate of target to be positioned.
2. the rail traffic positioning system according to claim 1 based on UWB, which is characterized in that according to described first away from
From, second distance and the known coordinate of the known coordinate of first antenna, the second antenna, the coordinate of target to be positioned is obtained, is had
Body includes:
Using straight line where the first antenna, second antenna as right-angle side, with target to be positioned and the first antenna
Line does right angled triangle as bevel edge, and the first distance is greater than the second distance；
Based on the third distance between the first distance, the second distance and first antenna and the second antenna, pass through triangle
Formula obtains the length of two right-angle sides in right angled triangle；And the coordinate based on first antenna obtains the coordinate of target to be positioned.
3. the rail traffic positioning system according to claim 1 based on UWB, which is characterized in that the target to be positioned
Including train, equipment and personnel.
4. the rail traffic positioning system according to claim 1 based on UWB, which is characterized in that locating base station is set to rail
When along road, the axis of abscissas or vertical coordinate axis of the base station coordinates system of the locating base station are parallel to orbital direction；Locating base station
When set on station, the reference axis of base station coordinates system and the reference axis of map coordinates system of the locating base station are parallel to each other.
5. the rail traffic positioning system according to claim 1 based on UWB, which is characterized in that the positioning label is set
In train both ends.
6. the rail traffic positioning system according to claim 1 based on UWB, which is characterized in that further include multiple monitorings
Computer, the monitoring computer is used to receive the coordinate in the location-server, and carries out to the position of target to be positioned
Display.
7. a kind of rail traffic localization method based on UWB characterized by comprising
The first distance, target to be positioned and the second antenna of target and first antenna to be positioned are measured based on super-broadband tech UWB
Second distance；Known to the coordinate of the first antenna and second antenna；
Based on the first distance, the coordinate of the second distance and first antenna, the second antenna coordinate, obtain it is undetermined
The coordinate of position target.
8. the rail traffic localization method according to claim 7 based on UWB, which is characterized in that be based on super-broadband tech
Before UWB measures the second distance of the first distance of target and first antenna to be positioned, target to be positioned and the second antenna, also wrap
It includes:
Target to be positioned sends the pulse information of setpoint frequency in real time or at equal intervals, and first antenna, the second antenna receive and identify
The pulse information.
9. the rail traffic localization method according to claim 7 based on UWB, which is characterized in that based on described first away from
From, the second distance and the coordinate of the coordinate of first antenna, the second antenna, the coordinate of target to be positioned is obtained, it is specific to wrap
It includes:
Using straight line where the first antenna, second antenna as right-angle side, with target to be positioned and the first antenna
Line does right angled triangle as bevel edge, and the first distance is greater than the second distance；
Based on the third distance between the first distance, the second distance and first antenna and the second antenna, pass through triangle
Formula obtains the length of two right-angle sides in right angled triangle；And the coordinate based on first antenna obtains the coordinate of target to be positioned.
10. the rail traffic localization method according to claim 8 based on UWB, which is characterized in that obtain target to be positioned
Coordinate after, further includes:
Period or the coordinate information for obtaining target to be positioned in real time obtain motion profile, the speed of target to be positioned.
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