CN111267911B - Train integrity detection method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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Abstract
The embodiment disclosed by the invention discloses a method for detecting the integrity of a train, which comprises the steps of respectively acquiring positioning information of a train head and positioning information of a train tail; matching the train head positioning information and the train tail positioning information with map track information, and determining the train head positioning information and the train tail positioning information when the matching error is within a preset range; and responding to the matching error of the matching within a preset range, determining whether the virtual responder captures the logical state of the train head and the logical state of the train tail, performing logical operation on the logical state of the train head and the logical state of the train tail, and determining the integrity of the train based on the logical operation result. The integrity detection efficiency of the train at higher safety requirements such as an interval demarcation point is improved.
Description
Technical Field
The invention relates to the technical field of rail detection, in particular to a method for detecting integrity of a train
Background
Today, the requirements on the reliability and safety of a railway system are increasingly improved in the high-speed development of railways in China. From the perspective of safe and reliable train operation, the research on train integrity detection technology has important significance and influence on the development of railway business in China.
At present, the integrity of railway trains in China is mainly detected by the following modes:
1. the method for checking the integrity of the train by the track circuit occupation detection mode is mainly applied to CTCS-2 and CTCS-3 train operation control systems, the track circuit mainly influences the current and voltage on the track when wheels of the train press the steel rail to cause the change of the state of a relay, the track occupation check is realized according to the state of the check relay, and the carriage left after the train coupler is separated can be detected through the track occupation state.
2. The method for realizing the integrity detection of the train through the train tail protection device mainly comprises a host machine arranged at the tail of the train and a control box arranged in a cab, and the main principle is that the air pressure of an air pipe at the tail of the train is detected in real time and the air pressure information is continuously transmitted to the control box of a locomotive driver, so that the function of air pressure alarm is realized when the air pressure is abnormal, and the driver is prompted to take the measure of emergency braking immediately.
3. The integrity detection method based on the satellite positioning technology calculates the head-tail distance of the train by detecting the position information of the head and the tail of the train, provides a specified value for comparison, and judges that the train is thrown if the specified value exceeds a threshold value.
For the mode 1, a large amount of ground equipment must be laid on the operation line based on the track circuit detection mode, so that the problems of high construction and maintenance cost and the like are faced, the low cost requirement of the train integrity detection function in the train operation control system facing the medium-low density line is difficult to meet, and the problem of red light band occurrence in severe weather cannot be solved, so that interference is caused.
In the mode 2, when the train is thrown and the air pipe is disconnected and air leakage occurs, the locomotive radio station immediately gives an alarm to locomotive crews through the wireless dispatching system. But still has the defects of insufficient query frequency, incapability of ensuring the real-time requirement and easy environmental influence due to the blind area of wireless communication.
As for the mode 3, although the method is simple, there are problems that the accuracy is not accurate, and the method is easily affected by interference and environmental factors.
The existing wireless positioning technology with GNSS satellite navigation, inertial navigation and other multi-sensor fusion is greatly applied in China, the positioning precision is increasingly improved, the detection on the integrity of the train in the running process of the train has higher requirements, the traditional train integrity detection technology cannot meet the development requirements along with the rapid development of the railway industry in China, and a set of more accurate and reliable train integrity detection system is not provided except the existing positioning technology.
Disclosure of Invention
Objects of the invention
The invention aims to overcome the defects of the prior art and provides a train integrity detection method.
(II) technical scheme
In order to solve the above problems, the present invention provides a method for detecting integrity of a train, comprising:
respectively acquiring train head positioning information and train tail positioning information;
performing first matching on the train head positioning information and the map track information, and determining whether the matching error of the first matching is within a first preset range;
performing second matching on the train tail positioning information and the map track information, and determining whether a second matching error is within a second preset range;
in response to the match error of the first match being within a first preset range, determining whether the virtual transponder has captured the train head state, and outputting a first logic state of the virtual transponder with respect to the determination result; determining whether the virtual transponder has captured the train tail state in response to the second matching error being within a second preset range, and outputting a second logic state of the virtual transponder with respect to the determination result;
and carrying out logical operation on the first logical state and the second logical state, and determining the integrity of the train based on a logical operation result.
As one embodiment, the virtual transponder determines whether the train head state has been captured through a state prediction algorithm.
As one example, the virtual transponder determines whether the train tail status has been captured by a capture radius discrimination algorithm.
As an embodiment, performing a logic operation on the first logic state and the second logic state to determine train integrity includes:
and performing logical AND operation on the first logical state and the second logical state, and determining the integrity of the train based on the logical AND operation result.
As an embodiment, in response to that the matching error of the first matching is within a first preset range, it is determined that the virtual transponder has captured the train head state, a sending function of a message is triggered, and a first logic state of the virtual transponder capturing the train head state is output; or, in response to the matching error of the first matching being within a preset range, determining that the first virtual transponder has not captured the train head state, and outputting the first logic state of the virtual transponder having not captured the train head state.
Responding to the second matching error within a second preset range, determining that the virtual transponder captures the train tail state, and outputting a second logic state of the virtual transponder capturing the train tail state; or, in response to the matching error of the second matching being within the preset range, determining that the first virtual transponder has not captured the train tail state, and outputting a second logic state of the virtual transponder having not captured the train tail state.
A second aspect of the present invention provides a terminal device, including:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement a method as in any embodiment of the first aspect.
A third aspect of the invention provides a computer readable medium, which when executed by a processor performs the method as in any one of the embodiments of the first aspect.
(III) advantageous effects
The invention relates to a train integrity detection method, which comprises the steps of respectively obtaining train head positioning information and train tail positioning information; performing first matching on the train head positioning information and the map track information, and determining whether the matching error of the first matching is within a first preset range; performing second matching on the train tail positioning information and the map track information, and determining whether a second matching error is within a second preset range; in response to the match error of the first match being within a first preset range, determining whether the virtual transponder has captured the train head state, and outputting a first logic state of the virtual transponder with respect to the determination result; determining whether the virtual transponder has captured the train tail state in response to the second matching error being within a second preset range, and outputting a second logic state of the virtual transponder with respect to the determination result; and carrying out logical operation on the first logical state and the second logical state, and determining the integrity of the train based on a logical operation result. The utilization rate of the multi-source positioning information fusion data is improved, the economic cost is saved, and the integrity detection efficiency of the train at the interval demarcation point and other safety requirements is improved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a train integrity test according to an embodiment of the present invention.
Fig. 2 is a flowchart of a train integrity detection method according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a train head capture method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a train tail capture method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
A method of train integrity detection, comprising:
respectively acquiring train head positioning information and train tail positioning information; performing first matching on the train head positioning information and the map track information, and determining whether the matching error of the first matching is within a first preset range; performing second matching on the train tail positioning information and the map track information, and determining whether a second matching error is within a second preset range; responding to the matching error of the first match being within a first preset range, determining whether the virtual transponder captures the train head state, and outputting a first logic state of the virtual transponder related to the determination result; determining whether the virtual transponder has captured the train tail state in response to the second matching error being within a second preset range, and outputting a second logic state of the virtual transponder with respect to the determination result; and performing logical operation on the first logical state and the second logical state, and determining the integrity of the train based on a logical operation result.
The virtual transponder determines whether the train tail state is captured through a capture radius discrimination algorithm.
The first logic state and the second logic state are subjected to logic operation to determine the integrity of the train, and the method comprises the following steps:
and performing logical AND operation on the first logical state and the second logical state, and determining the integrity of the train based on the logical AND operation result.
Determining whether the first virtual transponder has captured the train head state and outputs a first logic state of the virtual transponder with respect to a determination result in response to a match error of the first match being within a preset range, including:
responding to the first matching, namely the matching error is within a first preset range, determining that the virtual responder captures the train head state, triggering the message sending function and outputting a first logic state of the virtual responder capturing the train head state;
or, in response to the matching error of the first matching being within a preset range, determining that the first virtual transponder has not captured the train head state, and outputting a first logic state of the virtual transponder having not captured the train head state.
Determining whether the virtual transponder has captured the train tail state in response to the second matching error being within a second preset range, and outputting a second logic state of the virtual transponder with respect to the determination result, including determining that the virtual transponder has captured the train tail state in response to the matching error of the second matching being within the second preset range, and outputting the second logic state of the virtual transponder capturing the train tail state; or, in response to the matching error of the second matching being within the preset range, determining that the first virtual transponder has not captured the train tail state, and outputting a second logic state of the virtual transponder having not captured the train tail state.
The specific number of virtual transponders depends on the actual line condition, and in the specific embodiment, only any virtual transponder is used for illustration.
The locomotive and tail positioning devices respectively acquire information such as GNSS navigation data and IMU sensor data, and high-precision positioning information is obtained through data fusion processing.
The train head positioning information is transmitted to an on-board computer for map matching, the information is transmitted to a VB module within the maximum range allowed by the current error, the capturing precision of the train head positioning information is improved, the time measurement of the alignment between the train position and a virtual responder is determined by introducing the idea of position prediction, the capturing time estimation with higher precision is given by utilizing the result of state estimation and the behavior prediction of the train motion state, and the function of message sending is realized while the capturing state is determined.
And the same step two is adopted for processing the positioning information at the tail part of the train, but the method for capturing and judging by adopting the preset capturing radius is adopted, the message triggering does not need to be considered, and only the logic state needs to be obtained.
The train head and the train tail respectively pass through the virtual transponder, if the logic state of the virtual transponder is captured, the logic state of the virtual transponder is 1, and if the logic state of the virtual transponder is not captured, the logic state of the virtual transponder is 0.
And (3) performing logic AND operation on the logic states of the virtual transponders captured by the head and tail positioning devices of the middle train, wherein if the logic states of the virtual transponders are both passed (captured), the state is '1', and if the logic states of the virtual transponders are not passed or thrown, the state is '0', and giving an alarm.
The virtual responder software has an auxiliary function of detecting the integrity of the train, can realize the integrity detection of the train at the point by observing the capture state, needs to set a timing requirement, ensures that the state is recovered to 0 when the next train arrives, and cannot cause wrong logic calculation and disorder.
A train integrity detection system comprising: a train head and tail positioning device; train locomotive and rear of a vehicle positioner includes: the system comprises a GNSS satellite navigation device, an IMU data acquisition device and a multi-sensor data fusion board card. The system software part comprises: relevant railway electronic map software and virtual responder software;
the data fusion board card mainly fuses multi-path data, namely GNSS satellite navigation data, IMU data and the like, the railway electronic map software matches and corrects positioning information, and the virtual transponder software increases the function of auxiliary detection of the integrity of specific points.
The logic states of the virtual transponders are captured by the train head and tail positioning devices and compared, so that the function of simply judging the integrity of the train is realized. When the head and tail positioning devices of the train capture the virtual transponders respectively, the state is 1, the uncaptured state is 0, then the logical AND calculation of the state information is carried out, if the virtual transponders are passed (captured), the state is 1, and if the virtual transponders are not passed or lost, the state is 0. And setting time limit to ensure that the times of the next train passing are reset to 0, and providing an auxiliary detection means for the train tail safety device detection method.
Under the condition that the integrity of the train at a specific position point is ensured, whether the train is thrown in an interval can be judged by logical AND calculation of the states of two adjacent virtual transponders passed by the train, and if the logical AND is 0, the approximate range of the thrown train can be judged, so that a fault occurrence area can be found out in time, and the safe running of the train is ensured.
The positioning devices of the train head and the train tail are the same, and the position of the current train is calculated in real time according to the fusion information. In order to meet the requirement of bidirectional operation, a reliable master-slave antenna switching device is provided, so that the operation direction is convenient to identify. The data fusion board card is a board card with multi-path data effectively fused, and not only comprises GNSS satellite navigation positioning information and IMU positioning information, but also can be provided with other wireless positioning information, mileometers and other positioning information input ports, so that the reliability of the positioning information is ensured.
The track electronic map software continuously operates to update map data, so that the positioning point of an operating line is ensured to be more accurate, the head and the tail of the vehicle respectively draw the line in real time through respective GNSS satellite navigation devices and IMU data acquisition devices, the head and the tail of the vehicle can also eliminate a part of errors through algorithm comparison, the accuracy of the electronic map is improved, and the reliability is improved through the double sets of redundant devices.
The method can be distinguished, when the virtual responder is captured, the head main equipment can capture the trigger message information in advance, and the tail equipment only needs to capture the logic state of the trigger message information without triggering the message information to indicate that the tail of the vehicle passes through the virtual responder, so that the purposes of two sets of capture algorithms are very different, and the effectiveness and the real-time performance of integrity detection can be ensured through a reliable switching mechanism.
The capturing precision of the virtual responder software is realized by researching the relation among the speed, the frequency and the capturing radius of the virtual responder software and applying a high-precision virtual responder state prediction capturing algorithm, so that the capturing timeliness can be ensured, the capturing omission can be effectively avoided, the capturing residual error can be inhibited, the recapture can be eliminated, and the accuracy of realizing the message sending function of a simulated real responder can be ensured. In addition, the tail positioning device does not need to send messages after capturing the virtual transponder, and the traditional capture radius discrimination algorithm is adopted for coarse capture, so that the state of the virtual transponder is changed.
As shown in fig. 1-2, the system hardware part of the train integrity detection element based on the virtual transponder includes: a train head and tail positioning device; train locomotive and rear of a vehicle positioner includes: the system comprises a satellite navigation system, an IMU data acquisition device and a multi-sensor data fusion board card. The system software part comprises: relevant railway electronic map software and virtual responder software; the data fusion board card is a board card for effectively fusing multi-path data, fusing and resolving the two paths of data, and transmitting the data to the safety computer platform through serial port communication.
Positioning information is transmitted to track electronic map software to carry out track matching, map data is updated through continuous operation, the positioning point of an operation line is ensured to be more accurate, the positions of the two parts of the head and the tail of the vehicle are respectively drawn in real time through respective satellite navigation devices and IMU data acquisition devices, the two parts of the positions can also eliminate a part of errors through algorithm comparison, the accuracy of the electronic map is improved, and the reliability of the system can be improved through the double sets of redundant devices.
The positioning information of the train head enters a virtual responder module, the function of sending a message is realized after the positioning information is judged and captured by a high-precision state prediction algorithm, and the logic state of the virtual responder is '1' at the moment, which indicates that the train head passes through; if "0", it does not pass.
The train tail positioning information enters a virtual responder module, and is distinguished and captured through a traditional radius distinguishing algorithm, and the logic state of the virtual responder is 1 at the moment, which indicates that the train tail passes through; if "0", it does not pass.
The master-slave navigation equipment of the train head and the train tail is provided with a reliable switching mechanism, the master-slave properties of the head and tail devices can be distinguished when the two-way operation is realized, when the virtual transponder is captured, the head master equipment can capture the triggering message information in advance, and the tail equipment does not need to trigger the message information and only needs to capture the triggering message information to indicate that the train tail passes through the virtual transponder, so that the purposes of two sets of capturing algorithms are very different, and the effectiveness and the real-time performance of integrity detection can be ensured through the reliable switching mechanism. The auxiliary function of detecting the integrity of the train in the virtual transponder software can realize the integrity detection of the train at the point by observing the logic state of the virtual transponder, and a time limit requirement needs to be set to ensure that the logic state is '0' when the next train arrives.
Virtual transponder train integrity detection as part of virtual transponder technology, where related technologies such as satellite positioning technology are effectively compatible with existing train control system models.
When the train integrity auxiliary detection system is used for integrity verification, the train integrity auxiliary detection system is also considered as an active integrity auxiliary detection system taking vehicle-mounted equipment as a main body, and the train integrity auxiliary detection system is considered to be in communication connection with a ground control center and timely transmit information to the ground.
As shown in fig. 3, the train head capturing method adopts a state prediction algorithm, which relates to the time limit requirement of message transmission and the problem of missed capturing existing in the conventional radius capturing method, so that the precision of the method is improved by introducing the idea of position prediction to determine the time measurement of alignment between the train position and the virtual transponder, and the result of state estimation and the behavior prediction of the train motion state are utilized to give higher-precision capturing time estimation, and the specific time of message transmission is determined while the capturing state is determined.
As shown in fig. 4, the capturing of the state of the virtual transponder at the tail of the train adopts a method of presetting a capturing radius by taking the virtual transponder as a circle center to realize rough capturing of the state, at this time, message information does not need to be triggered, and the requirement of sending time limit does not exist.
The invention provides a train integrity detection method based on a virtual responder, and aims to increase the redundant detection of the train integrity of a fixed point, improve the reliability and the safety of detection, improve the utilization rate of positioning data and equipment and meet the requirement of low cost. The virtual responder database is established and compared with the fusion positioning information of multiple sensors such as GNSS/INS and the like, and the functions of a real responder are captured and realized. And at the positions with higher requirements on the integrity of the train, such as the section demarcation point, the entrance and exit ports, the front of the related large-number turnout and the like, the logic states of the virtual transponders are captured by the train head and tail positioning devices and compared, so that the function of simply judging the integrity of the train is realized. When the head and tail positioning devices of the train capture the virtual transponders respectively, the state is 1, the uncaptured state is 0, then the logical AND calculation of the state information is carried out, if the virtual transponders are passed (captured), the state is 1, and if the virtual transponders are not passed or thrown, the state is 0. Meanwhile, the logical state AND of two adjacent virtual responders which the train passes by is calculated, the range of the train throwing can be judged, the efficiency of troubleshooting is improved, and the running safety of the train is ensured. The train head positioning device captures a virtual responder by adopting a state prediction algorithm and triggers to send message data, the train tail positioning device captures the virtual responder by a capture radius discrimination algorithm, message information is not triggered, only the logic state of the virtual responder at the train tail is obtained, whether the train head and the train head pass through the same virtual responder is judged, so that capture failure caused by too fast speed is avoided, and data disorder caused by triggering message sending for many times is also avoided.
The invention adds train integrity detection means of specific points on the basis of the basic function of the virtual responder software, and ensures higher reliability at some special positioning points, such as section demarcation points, the front of a large-number turnout and other places with high requirement on train integrity by judging the logic state of the virtual responder captured by the train head positioning device and the train tail positioning device.
The head and tail devices of the train are the same, and the head and tail are determined according to the change of the running direction, so that the requirement of bidirectional running is met. The head virtual responder capturing algorithm has the consideration of factors such as pre-capturing and message triggering time, the tail part only considers the state capturing algorithm of radius judgment, the head and the tail are respectively provided with two sets of algorithms, and the effective implementation of the function is ensured through an effective switching mechanism.
As a means for assisting the integrity detection of the train, a reliable reference value is provided for the train tail safety device mainly applied at present, and the requirement of a railway signal system on the safety is met.
The virtual transponder can save construction cost, the integrity detection function of the virtual transponder enriches the existing train integrity detection technology, satellite navigation and other positioning information are effectively utilized, the availability of data is increased, and the economic requirement of low cost at medium and low density is met.
The head and tail of the train are positioned at the same time, the drawn track electronic map has higher precision through a comparison algorithm, and a more accurate map database is established continuously through updating
The method is used as the functional extension of the virtual responder software, not only has the characteristics of economy and effectiveness of the relevant virtual responder, but also supplements the mode of train initiative checking. More importantly, the integrity of the train is determined by respectively capturing the logic states of the virtual transponders by the train head and tail positioning device and calculating, the logic is simple and clear, the flexible processing of the head and tail capturing algorithm is highlighted, and the utilization rate of multi-source positioning information fusion data is improved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (6)
1. A method of train integrity detection, comprising:
respectively acquiring train head positioning information and train tail positioning information;
performing first matching on the train head positioning information and the map track information, and determining whether the matching error of the first matching is within a first preset range;
performing second matching on the train tail positioning information and the map track information, and determining whether a second matching error is within a second preset range;
responding to the matching error of the first matching being within a first preset range, determining whether the virtual transponder has captured the train head state, and outputting a first logic state of the virtual transponder related to the determination result, specifically comprising:
responding to the first matching error within a first preset range, determining that the virtual responder captures the train head state, triggering a message sending function and outputting a first logic state of the virtual responder capturing the train head state;
or, in response to the matching error of the first matching being within a preset range, determining that the first virtual transponder does not capture the train head state, and outputting a first logic state of the virtual transponder which does not capture the train head state;
responding to the second matching error within a second preset range, determining whether the virtual transponder has captured the train tail state, and outputting a second logic state of the virtual transponder related to the determination result, wherein the method specifically comprises the following steps:
responding to the second matching error within a second preset range, determining that the virtual transponder captures the train tail state, and outputting a second logic state of the virtual transponder capturing the train tail state;
or, in response to the matching error of the second matching being within the preset range, determining that the first virtual transponder does not capture the train tail state, and outputting a second logic state of the virtual transponder which does not capture the train tail state;
and carrying out logical operation on the first logical state and the second logical state, and determining the integrity of the train based on a logical operation result.
2. The train integrity detection method of claim 1, wherein the virtual transponder determines whether a train head state has been captured by a state prediction algorithm.
3. The train integrity detection method of claim 1, wherein the virtual transponder determines whether a train tail status has been captured by a capture radius discrimination algorithm.
4. The train integrity detection method of any one of claims 1-3, wherein performing a logical operation on the first logical state and the second logical state to determine train integrity comprises:
and performing logical AND operation on the first logical state and the second logical state, and determining the integrity of the train based on a logical AND operation result.
5. A terminal device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-4.
6. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-4.
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| CN112590863A (en) * | 2020-12-23 | 2021-04-02 | 交控科技股份有限公司 | Train length calculation method, device and system |
| CN112782740A (en) * | 2020-12-23 | 2021-05-11 | 交控科技股份有限公司 | Train tail positioning method and device based on satellite positioning technology |
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| CN101817354A (en) * | 2010-04-19 | 2010-09-01 | 北京交通大学 | Implementing method of virtual transponder |
| RU2584957C2 (en) * | 2010-07-12 | 2016-05-20 | Телеспацио С.П.А | System for locating trains with real-time check on position assessment integrity |
| CN104925090B (en) * | 2015-06-25 | 2017-03-01 | 株洲南车时代电气股份有限公司 | A kind of detection method of integrity of train |
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| CN108839677B (en) * | 2018-05-07 | 2021-04-13 | 中国铁路总公司 | Train integrity detection method and system |
| CN108725520B (en) * | 2018-06-22 | 2021-02-19 | 中国铁道科学研究院集团有限公司通信信号研究所 | Train operation control system suitable for low-density railway |
| CN109591849A (en) * | 2018-12-28 | 2019-04-09 | 卡斯柯信号有限公司 | A kind of inter-city passenger rail train control system based on satellite positioning tech |
| CN110203253B (en) * | 2019-05-31 | 2021-09-03 | 卡斯柯信号有限公司 | Method for realizing non-fixed virtual responder |
| CN110758470B (en) * | 2019-09-25 | 2022-02-15 | 交控科技股份有限公司 | Train positioning method and device |
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