CN111243022A - Bottom layer absolute positioning method and positioning system based on track path - Google Patents
Bottom layer absolute positioning method and positioning system based on track path Download PDFInfo
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- CN111243022A CN111243022A CN202010028063.3A CN202010028063A CN111243022A CN 111243022 A CN111243022 A CN 111243022A CN 202010028063 A CN202010028063 A CN 202010028063A CN 111243022 A CN111243022 A CN 111243022A
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- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
The invention discloses a bottom layer absolute positioning method based on a track path, which comprises the following steps: s01, presetting independent positioning characteristic information; s02, collecting specific information of the independent positioning features; s03, storing the independent positioning characteristic information to a server; s04, collecting information pictures of real-time positioning features; and S05, analyzing the positioning features contained in the information picture. The invention also discloses a bottom layer absolute positioning system based on the track path. Compared with a contact type positioning method, the non-contact type positioning method has the advantages that the rail is positioned, the situation of positioning errors caused by abrasion of contact points can be avoided, and the positioning reliability is improved.
Description
Technical Field
The invention relates to the technical field of rail transit positioning, in particular to a bottom layer absolute positioning method and a positioning system based on a rail path.
Background
The information transmission of the beacon positioning technology is intermittent, namely, after the train obtains ground information from one information point, the information can be updated only when the train reaches the next information point, and if the ground condition changes, the changed information cannot be immediately transmitted to the train in real time, so the beacon positioning technology is often used as a supplementary means of other positioning technologies; similar to the beacon, the positioning by adopting a track circuit or axle counting can only determine the area where the train is located, and the accurate position of the train cannot be determined; the following problems are faced with satellite positioning: (1) the positioning problem when satellite signals are received badly in an area with low satellite visibility (such as a tunnel), a region with serious multipath reflection (such as a city high-rise area) and a region with serious electromagnetic interference; (2) in high-precision positioning areas, such as turnout sections and platforms, when parking accurately, due to inherent positioning errors of a satellite positioning technology, the problem that accurate position correction cannot be carried out exists.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a system for positioning an underlying layer on a track path.
The technical scheme of the invention is as follows: a method for the absolute positioning of a bottom layer on a track path comprises the following steps:
s01, presetting independent positioning characteristic information;
s02, collecting specific information of the independent positioning features;
s03, storing the independent positioning characteristic information to a server;
s04, collecting information pictures of real-time positioning features;
s05, analyzing the positioning features contained in the information picture;
and S06, reading the position data corresponding to the real-time positioning characteristic information.
Compared with a contact type positioning method, the non-contact type positioning method is adopted, and the rail positioning method is used for positioning the rail, so that the situation of positioning error caused by abrasion of a contact point can be avoided, and the positioning reliability is improved.
Preferably, the step S01 includes the following steps:
and S011, classifying the independent positioning characteristic information.
And the independent characteristic information is classified to facilitate later analysis and comparison.
Preferably, the step S04 includes the following steps:
and S041, sending the real-time positioning feature information to a server.
The real-time positioning characteristic information is sent to the server so as to facilitate real-time comparison of the server and improve positioning accuracy.
Preferably, the step S05 includes the following steps:
s051, identifying the category information of the real-time positioning characteristic information;
and S052, comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information, if so, entering the step S06, otherwise, returning to the step S051.
And identifying categories in the real-time positioning characteristic information, comparing the number, size, shape and relative position of each category, checking whether the categories are matched with the preset characteristic information, and if so, realizing the positioning of the vehicle.
In order to solve the above problems, the present invention further provides a bottom layer absolute positioning system based on a track path, which includes a preset module, a feature acquisition module, a storage module, an image acquisition module, and an analysis module, wherein:
the presetting module is used for presetting the independent positioning characteristic information;
the characteristic acquisition module is used for acquiring specific information of the independent positioning characteristics;
the storage module is used for storing the independent positioning characteristic information to the server;
the image acquisition module is used for acquiring information pictures of the real-time positioning characteristics;
the analysis module is used for analyzing the positioning characteristics contained in the information picture;
and the reading module is used for reading the specific position data of the real-time positioning characteristic information.
Presetting independent characteristic information, wherein the independent characteristic information is elastic strips, bolts and the like arranged beside a track, naming each elastic strip or bolt and the like through a characteristic acquisition module, storing each named information to a server, acquiring the independent characteristic information on two sides of the track through an image acquisition module in the running process of a train, and analyzing and comparing through an analysis module, wherein the image acquisition module is a camera arranged outside the train; compared with a contact type positioning method, the non-contact type positioning method is adopted, and the rail positioning method is used for positioning the rail, so that the situation of positioning error caused by abrasion of a contact point can be avoided, and the positioning reliability is improved.
Preferably, the presetting module further comprises a classification sub-module, wherein:
and the classification submodule is used for classifying the independent positioning characteristic information.
And the collected elastic strips, bolts and the like are classified, so that the situation that the categories are unclear in the subsequent treatment is avoided.
Preferably, the storage module further comprises an information sending sub-module, wherein:
and the information sending submodule is used for sending the real-time positioning characteristic information to the server.
The independent positioning characteristic information is conveniently sent to the server for storage.
Preferably, the analysis module further comprises an identification sub-module and a comparison sub-module, wherein:
the identification submodule is used for identifying the category information of the real-time positioning characteristic information;
and the comparison submodule is used for comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information or not, and if so, the positioning of the vehicle is realized.
And identifying the collected real-time positioning characteristic information, processing useful characteristic information, comparing the processed characteristic information with preset independent positioning characteristic information, and realizing the positioning of the vehicle if all conditions are matched after comparison.
The invention has the beneficial effects that:
1. the precision is high, the selection of the positioning mark is flexible and convenient, the positioning precision can be improved by increasing the number of the positioning points, and the construction difficulty is reduced;
2. the maintenance is simple, the target detection is carried out by utilizing the image recognition, the positioning function is realized, and the operation and the maintenance of a user are simple and easy;
3. the cost is saved, the object characteristics of the track are used as the positioning marks, other equipment does not need to be added on the track, and the construction cost is greatly saved;
4. compared with a contact type positioning method, the method for positioning the rail has the advantages that the positioning error caused by abrasion of the contact point can be avoided, and the positioning reliability is improved.
Drawings
FIG. 1 is a block flow diagram of a method for bottom layer absolute positioning based on a track path according to embodiment 1 of the present invention;
FIG. 2 is a block flow diagram of a method for bottom layer absolute positioning based on a track path according to embodiment 2 of the present invention;
FIG. 3 is a block flow diagram of a method for bottom layer absolute positioning based on a track path according to embodiment 3 of the present invention;
FIG. 4 is a block flow diagram of a method for bottom layer absolute positioning based on a track path according to embodiment 4 of the present invention;
FIG. 5 is a signal flow diagram of an underlying absolute positioning system based on a track path according to embodiment 5 of the present invention;
FIG. 6 is a signal flow diagram of an underlying absolute positioning system based on a track path according to embodiment 6 of the present invention;
FIG. 7 is a signal flow diagram of an underlying absolute positioning system based on a track path according to embodiment 7 of the present invention;
FIG. 8 is a signal flow diagram of an underlying absolute positioning system based on a track path according to embodiment 8 of the present invention;
description of reference numerals:
1. presetting a module; 2. a feature acquisition module; 3. a storage module; 4. an image acquisition module; 5. an analysis module; 6. a reading module; 7. a classification submodule; 8. an information sending submodule; 9. identifying a sub-module and; 10. and a comparison submodule.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1:
as shown in fig. 1, a method for absolute positioning of a substrate on a track-based path includes the following steps:
s01, presetting independent positioning characteristic information, wherein the independent characteristic information comprises elastic strips, bolts, cables, spikes or sleepers arranged on two sides of the track;
s02, collecting specific information of the independent positioning characteristics, wherein the specific information comprises the number, size and shape of elastic strips, bolts, cables, spikes or sleepers;
s03, storing the independent positioning characteristic information to a server, and storing the data of the number, size and shape of the elastic strips, bolts, cables, spikes or sleepers to the server;
s04, collecting information pictures of real-time positioning features;
s05, analyzing the positioning characteristics contained in the information picture, and analyzing the data of the number, size and shape of the elastic strips, bolts, cables, spikes or sleepers in the picture;
and S06, reading the position data corresponding to the real-time positioning characteristic information, comparing the real-time positioning characteristic information with each item of data in the independent characteristic information, and if no difference exists, positioning the vehicle.
Compared with a contact type positioning method, the non-contact type positioning method is adopted, and the rail positioning method is used for positioning the rail, so that the situation of positioning error caused by abrasion of a contact point can be avoided, and the positioning reliability is improved.
Example 2:
as shown in fig. 2, in this embodiment, on the basis of embodiment 1, the step S01 includes the following steps:
and S011, classifying the independent positioning characteristic information, and classifying the elastic strips, the bolts, the cables, the spikes or the sleepers.
Example 3:
as shown in fig. 3, in this embodiment, on the basis of embodiment 1, the step S04 includes the following steps:
and S041, sending the real-time positioning feature information to a server.
The real-time positioning characteristic information is sent to the server so as to facilitate real-time comparison with independent characteristic positioning information stored in the server in advance, and the positioning accuracy is improved.
Example 4:
as shown in fig. 4, in this embodiment, on the basis of embodiment 1, the step S05 includes the following steps:
s051, identifying the category information of the real-time positioning characteristic information, and identifying elastic strips, bolts, cables, spikes or sleepers in the real-time positioning characteristic information;
and S052, comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information, if so, entering the step S06, otherwise, returning to the step S051.
And identifying categories in the real-time positioning characteristic information, comparing the number, size, shape and relative position of each category, checking whether the categories are matched with preset characteristic information, realizing positioning of the vehicle if the categories are matched with the preset characteristic information, and continuously driving to acquire the real-time characteristic information if the categories are not matched with the preset characteristic information.
The algorithm in the comparison method adopted by the invention is YOLO V3.
Example 5:
as shown in fig. 5, an underlying layer absolute positioning system based on a track path includes a preset module 1, a feature acquisition module 2, a storage module 3, an image acquisition module 4, and an analysis module 5, wherein: the device comprises a presetting module 1, a processing module and a processing module, wherein the presetting module 1 is used for presetting independent positioning characteristic information; the characteristic acquisition module 2 is used for acquiring specific information of the independent positioning characteristics; the storage module 3 is used for storing the independent positioning characteristic information to the server; the image acquisition module 4 is used for acquiring information pictures of real-time positioning characteristics; the analysis module 5 is used for analyzing the positioning characteristics contained in the information picture; and the reading module 6 is used for reading the position data corresponding to the real-time positioning characteristic information.
Example 6:
as shown in fig. 6, in this embodiment, on the basis of embodiment 5, the preset module 1 further includes a classification sub-module 7, where: and the classification submodule 7 is used for classifying the independent positioning characteristic information.
Example 7:
as shown in fig. 7, in this embodiment, on the basis of embodiment 5, the storage module 3 further includes an information sending sub-module 8, where:
and the information sending submodule 8 is used for sending the real-time positioning characteristic information to the server.
Example 8:
as shown in fig. 8, in this embodiment, on the basis of embodiment 5, the analysis module 5 further includes an identification sub-module and a 9 comparison sub-module 10, where:
the identification submodule is used for identifying the category information of the real-time positioning characteristic information;
and the comparison sub-module 10 is used for comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information or not, and if so, realizing the positioning of the vehicle.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (8)
1. A method for the absolute positioning of a bottom layer on a track path is characterized by comprising the following steps:
s01, presetting independent positioning characteristic information;
s02, collecting specific information of the independent positioning features;
s03, storing the independent positioning characteristic information to a server;
s04, collecting information pictures of real-time positioning features;
s05, analyzing the positioning features contained in the information picture;
and S06, reading the specific position data corresponding to the real-time positioning characteristic information.
2. The method for bottom layer absolute positioning on a track-based path according to claim 1, wherein the step S01 comprises the following steps:
and S011, classifying the independent positioning characteristic information.
3. The method for bottom layer absolute positioning on a track-based path according to claim 1, wherein the step S04 comprises the following steps:
and S041, sending the real-time positioning feature information to a server.
4. The method for bottom layer absolute positioning on a track-based path according to claim 1, wherein the step S05 comprises the following steps:
s051, identifying the category information of the real-time positioning characteristic information;
and S052, comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information, if so, entering the step S06, otherwise, returning to the step S051.
5. The utility model provides a bottom absolute positioning system based on track route which characterized in that, includes and predetermines module, characteristic acquisition module, storage module, image acquisition module, analysis module and reads the module, wherein:
the presetting module is used for presetting the independent positioning characteristic information;
the characteristic acquisition module is used for acquiring specific information of the independent positioning characteristics;
the storage module is used for storing the independent positioning characteristic information to the server;
the image acquisition module is used for acquiring information pictures of the real-time positioning characteristics;
the analysis module is used for analyzing the positioning characteristics contained in the information picture;
and the reading module is used for reading the specific position data corresponding to the real-time positioning characteristic information.
6. The method of claim 5, wherein the pre-defined module further comprises a classification sub-module, wherein:
and the classification submodule is used for classifying the independent positioning characteristic information.
7. The method of claim 5, wherein the storage module further comprises an information sending sub-module, wherein:
and the information sending submodule is used for sending the real-time positioning characteristic information to the server.
8. The method of claim 5, wherein the analysis module further comprises an identification sub-module and a comparison sub-module, wherein:
the identification submodule is used for identifying the category information of the real-time positioning characteristic information;
and the comparison submodule is used for comparing whether the category in the real-time positioning characteristic information is matched with the independent positioning characteristic information or not, and if so, the positioning of the vehicle is realized.
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| CN202010028063.3A CN111243022A (en) | 2020-01-10 | 2020-01-10 | Bottom layer absolute positioning method and positioning system based on track path |
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| CN112109774A (en) * | 2020-09-30 | 2020-12-22 | 西南交通大学 | Train positioning system based on sleeper defect characteristic detection |
| CN112164116A (en) * | 2020-09-27 | 2021-01-01 | 西南交通大学 | Train positioning method and system based on improved FCM algorithm |
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