CN111856396A - Positioning processing method and device and readable storage medium - Google Patents
Positioning processing method and device and readable storage medium Download PDFInfo
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- CN111856396A CN111856396A CN202010664457.8A CN202010664457A CN111856396A CN 111856396 A CN111856396 A CN 111856396A CN 202010664457 A CN202010664457 A CN 202010664457A CN 111856396 A CN111856396 A CN 111856396A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The embodiment of the invention provides a positioning processing method, a positioning processing device and a readable storage medium. In the embodiment of the method, the positioning signals radiated outwards through the first slot and the second slot of the leaky cable are received, and the current position of the train terminal is determined according to the corresponding receiving time, the transmission speed of the positioning signals in the leaky cable and the distance between the base station and the reflection point of the leaky cable. The current position of the train terminal is determined based on the receiving time corresponding to the positioning signal, the transmission speed of the positioning signal in the leaky cable and the distance between the base station and the reflection point of the leaky cable, and the positioning precision can be improved on the basis of realizing train positioning.
Description
Technical Field
The present invention relates to the field of rail transit technologies, and in particular, to a positioning processing method and apparatus, and a readable storage medium.
Background
Due to high running density of rail transit trains, close station spacing and high safety requirements, a train control system and the trains need to know the accurate positions of the trains in the line in real time so as to dynamically monitor, control, schedule and protect each train in real time.
Currently, two methods are generally adopted for positioning, the first is UWB (Ultra-Wide Band) positioning technology: the position estimation is realized by transmitting and receiving large-bandwidth pulses. The second is the TDOA (time Difference of arrival) location algorithm: by measuring the time of arrival of the signal at the monitoring station, the distance of the signal source can be determined. The location of the signal can be determined by the distance from the signal source to each monitoring station (taking the monitoring station as the center and the distance as the radius to make a circle).
However, the UWB-based positioning technology has a short transmission distance and a low transmission bandwidth, is difficult to carry a large amount of information, is usually present in a fixed-point positioning manner, and requires additional equipment to be installed; the TDOA algorithm principle is that the calculation is carried out according to the time difference from a transmitting end to a monitoring station, a fast train cannot continuously transmit the position of the fast train, and meanwhile, due to the characteristic of high-speed movement and the characteristic of track space base station deployment, the fast train is difficult to be simultaneously positioned in the coverage range of three base stations, and the train can be positioned only by base station signals transmitted by leaky cables; meanwhile, the traditional positioning technology does not consider the situation of a positioning object in a track space, does not consider the characteristics of Doppler frequency shift generated under the condition of rapid train operation, electromagnetic interference in a track space scene and the like, and is not high in positioning accuracy when used in the track space.
Disclosure of Invention
The embodiment of the invention provides a positioning processing method, a train terminal, a base station, electronic equipment and a readable storage medium, which are used for solving the defect of low positioning precision of a track space in the prior art and realizing high-precision positioning of a rapid train in the track space.
In a first aspect, an embodiment of the present invention provides a positioning processing method applied to a train terminal, including: receiving positioning signals radiated outwards through a first slot and a second slot of a leaky cable, wherein the positioning signals comprise position information of a base station, and the positioning signals sequentially comprise a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions;
and determining the current position of the train terminal based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable.
Optionally, according to a positioning processing method applied to a train terminal in an embodiment of the present invention, the current position of the train terminal is determined based on receiving times respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal, and the second slot reflected signal, a transmission speed of the positioning signal in the leaky cable, and a distance of a reflection point of the leaky cable, and is calculated according to the following formula:
the current position of the train terminal is (x, y), and the (x, y) is a position in a coordinate system with a base station position as an origin; t is t1Is the receiving time, t, of the first slot forward signal2Is the reception time, t, of the second slot forward signal3Is the receiving time, t, of the second slot reflected signal4And the receiving time of the first slot reflected signal is represented as v, the transmission speed of the positioning signal in the leaky cable is represented as L, the distance between a base station and a reflection point of the leaky cable is represented as L, and the angle theta is the included angle between the slot radiation direction and the normal line of the slot radiation direction.
Optionally, according to an embodiment of the present invention, the method for positioning a train terminal further includes:
And sequentially carrying out shadow effect compensation, antenna efficiency compensation and wireless attenuation compensation on the positioning signals.
Alternatively, a positioning processing method applied to a train terminal according to an embodiment of the present invention, the receiving a positioning signal radiated outward via a first slot and a second slot of a leaky cable, includes:
receiving diversity positioning signals radiated outwards on different diversity channels through a first slot and a second slot of a leaky cable, and carrying out combination processing on the received diversity positioning signals to obtain the positioning signals.
In a second aspect, an embodiment of the present invention further provides a positioning processing method applied to a base station, including:
the method comprises the steps that a positioning signal is radiated outwards through a first slot and a second slot of a leaky cable, so that a train terminal determines the current position of the train terminal based on the receiving time of the positioning signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable;
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
Optionally, according to an embodiment of the present invention, the method for positioning processing applied to a base station further includes:
and radiating diversity positioning signals outwards on different diversity channels through the first slot and the second slot of the leaky cable so that the train terminal can determine the positioning signals based on the diversity positioning signals.
In a third aspect, an embodiment of the present invention further provides a train terminal, including:
the receiving module is used for receiving positioning signals radiated outwards through a first slot and a second slot of the leaky cable, the positioning signals comprise position information of a base station, and the positioning signals sequentially comprise a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions;
and the positioning module is used for determining the current position of the train terminal based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable.
In a fourth aspect, an embodiment of the present invention further provides a base station, including:
the transmitting module is used for radiating a positioning signal outwards through a first slot and a second slot of the leaky cable so that a train terminal can determine the current position of the train terminal based on the receiving time of the positioning signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable;
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
In a fifth aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the positioning processing method according to the first aspect or the second aspect when executing the program.
In a sixth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the positioning processing method as provided in the first aspect or the second aspect.
According to the positioning processing method, the train terminal, the base station, the electronic device and the readable storage medium provided by the embodiment of the invention, the existing leaky cable is utilized to transmit the positioning signal, the deployment cost is saved, the positioning signal is radiated outwards through the first slot and the second slot of the leaky cable, the transmission distance of the positioning signal is increased, the precision influence of external interference on the positioning signal is reduced, meanwhile, the current position of the train terminal is determined based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable and the distance between the base station and the reflection point of the leaky cable, and the positioning precision can be improved on the basis of realizing train positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a positioning processing method applied to a train terminal according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a propagation process of a positioning signal according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a positioning processing method applied to a base station according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a train terminal provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base station according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, a UWB-based positioning technology has short transmission distance and low transmission bandwidth, is difficult to carry a large amount of information, mostly exists in a fixed-point positioning mode, and needs to be provided with additional equipment; the principle of the TDOA algorithm is that the calculation is carried out according to the time difference of signals from a transmitting end to a monitoring station, a fast train cannot continuously transmit the position of the fast train, and the fast train is difficult to be under the coverage of three base stations simultaneously due to the characteristic of high-speed movement and the characteristic of track space base station deployment.
Therefore, the embodiment of the invention provides a positioning processing method applied to a train terminal. Fig. 1 is a schematic flow chart of a positioning processing method applied to a train terminal according to an embodiment of the present invention, as shown in fig. 1, the method includes:
The positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to time sequence; wherein the first slot and the second slot have different radiation directions.
Specifically, the base station sends a positioning signal carrying its own position information through a leaky cable in a radiation environment. The leaky cable is sequentially provided with a plurality of groups of slotted holes, each group of slotted holes comprises a first slotted hole and a second slotted hole which have different radiation directions, and the included angle between the radiation direction of each slotted hole and the normal of the slotted hole is the same. The positioning signals transmitted in the leaky cable can radiate outwards through the slots, and because the radiation directions of the first slot and the second slot are different, and the included angle between the radiation direction of each slot and the normal line of each slot is the same, the radiated signals can converge towards the direction of the train, and the train terminal on the train can receive the positioning signals from the first slot and the second slot. In the practical application process, the train can only receive the positioning signals radiated from the same slot group at the same position by adjusting the arrangement distance of the slot holes, and when the train passes through the radiation area of a certain slot group, the positioning signals radiated by the slot group can be received.
The leaky cable also comprises an end point (namely a reflection point) in the signal transmission direction, and the signal transmitted in the leaky cable is reflected back after reaching the end point to perform reverse transmission. Therefore, the positioning signal radiated by the slot group sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflected signal and a second slot reflected signal according to time sequence, wherein the first slot forward signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable and radiated to a train by the first slot; the second slot forward signal is a positioning signal which is transmitted to a second slot from a base station through a leaky cable and radiated to a train by the second slot; the first slot reflected signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the first slot through the reflection point, and then is radiated to a train by the first slot; and the second slot reflected signal is a positioning signal which is transmitted to the second slot from the base station through the leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the second slot through the reflection point, and then is radiated to the train by the second slot.
And 120, determining the current position of the train terminal based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable, and the distance between a base station and a reflection point of the leaky cable.
Specifically, the positioning signal also carries the sending time of the signal, the train terminal can obtain the position of the base station and the sending time of the positioning signal according to the positioning signal of the base station, meanwhile, the receiving time corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal can be obtained, so that the transmission time of the four signals can be obtained, and the transmission speed of the positioning signal in the leaky cable, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable are known quantities, based on the position of the base station, the transmission distances of the four signals can be obtained, and the current position of the train terminal can be obtained according to the corresponding relation between the transmission distances and the transmission durations of the four signals.
The method provided by the embodiment of the invention has the advantages that the existing leaky cable is utilized to transmit the positioning signal, the deployment cost is saved, the positioning signal is radiated outwards through the first slotted hole and the second slotted hole of the leaky cable, the transmission distance of the positioning signal is increased, the influence of external interference on the precision of the positioning signal is reduced, meanwhile, the current position of the train terminal is determined based on the receiving time respectively corresponding to the first slotted hole forward signal, the second slotted hole forward signal, the first slotted hole reflection signal and the second slotted hole reflection signal, the transmission speed of the positioning signal in the leaky cable and the distance between the base station and the reflection point of the leaky cable, the positioning precision can be improved on the basis of realizing train positioning, and good support can be provided for a subsequent module which runs based on the positioning information.
Based on the foregoing embodiment, fig. 2 is a schematic diagram of a propagation process of a positioning signal according to an embodiment of the present invention, where the signal is sent from a base station and transmitted through a leaky cable, and an end point of the leaky cable is a reflection point, and on this basis, step 120 specifically includes:
calculated according to the following formula:
the current position of the train terminal is (x, y), and the (x, y) is a position in a coordinate system with a base station position as an origin; t is t 1Is the receiving time, t, of the first slot forward signal2Is the reception time, t, of the second slot forward signal3Is the receiving time, t, of the second slot reflected signal4The receiving time of the first slot reflected signal is represented as v, the transmission speed of the positioning signal in the leaky cable is represented as v, L is the distance between a base station and a reflection point of the leaky cable, and theta is an included angle between the slot radiation direction and a normal line where the slot radiation direction is located.
Specifically, a coordinate system is established with the base station position as an origin, the current position of the train terminal is (x, y), the position of the reflection point is (L, 0), and the transmission time of the bit signal is set to be t0Then, the corresponding relationship between the transmission distance and the transmission duration of the four signals is:
where c is the transmission speed of the positioning signal in the air, i.e., the speed of light. Subtracting the four formulas to obtain an expression of coordinates (x, y) as follows:
the method provided by the embodiment of the invention calculates the transmission time lengths of the four signals by utilizing the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal and the sending time of the positioning signal through the improved TDOA algorithm, obtains the transmission distances of the four signals by taking the position of the base station as a reference and combining the transmission speed of the positioning signal in the leaky cable, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable, obtains the current position of the train terminal according to the corresponding relation between the transmission distances and the transmission time lengths of the four signals, and realizes high-precision calculation of the train position.
In the processes of signal transmission, transmission and reception, factors such as antenna efficiency, shadow effect and wireless attenuation cause certain loss to signals, resulting in low signal quality.
Therefore, based on the above embodiment, the method further includes, between step 110 and step 120:
and sequentially carrying out shadow effect compensation, antenna efficiency compensation and wireless attenuation compensation on the positioning signals.
Specifically, because the base station positioning signal transmitted by the leaky cable is subjected to electromagnetic interference in the track space, and meanwhile, the signal is also lost and faded in the leaky cable and wireless transmission, the terminal receiver can compensate the positioning signal after receiving the positioning signal, so that the positioning accuracy obtained by the terminal is improved. Firstly, according to the shadow effect size estimated in advance by the position information of the base station, a compensation algorithm of the shadow effect is carried out on the signal, the compensation value obeys the average value of 0 and the variance of sigma2(ii) a gaussian distribution of; according to the signal transceiving efficiency of the transmitting antenna and the receiving antenna, the antenna efficiency of the signal is compensated, and the signal power is enhanced; and finally, according to the received positioning signals sent by the leaky cable, evaluating the fading generated by the signals sent in the track space, and simultaneously compensating the signals according to the path loss coefficient of the track space to restore the originally sent positioning information as much as possible.
According to the method provided by the embodiment of the invention, the shadow effect compensation, the antenna efficiency compensation and the wireless attenuation compensation are sequentially carried out on the positioning signal, so that the power loss of the positioning signal caused by the shadow effect, the antenna transceiving efficiency and the wireless attenuation is reduced, the precision of the base station positioning signal acquired by the terminal is improved, and the precision of the acquired train position is further ensured.
Because the train can produce doppler frequency shift in the quick motion process, lead to the positioning signal can't receive correctly, influence the positioning accuracy, in order to overcome above-mentioned problem, need to start with the mode of sending and receiving of positioning signal.
Therefore, according to the above embodiment, the receiving a positioning signal radiated outward via the first slot and the second slot of the leaky cable includes:
receiving diversity positioning signals radiated outwards on different diversity channels through a first slot and a second slot of a leaky cable, and carrying out combination processing on the received diversity positioning signals to obtain the positioning signals.
Specifically, in consideration of the doppler shift caused by high-speed train operation, the positioning signals of the base station are transmitted in diversity on a plurality of independent communication paths, and simultaneously, the signals are received in diversity at the train terminal, that is, the positioning signals are received on corresponding different diversity channels. Then, the signals received by diversity are merged, the difference between different signals is compared, and the base station positioning signal transmitted by the leaky cable is recovered. The diversity transmission method may be frequency diversity, which is not particularly limited in this embodiment of the present invention.
According to the method provided by the embodiment of the invention, the influence of Doppler frequency shift generated by high-speed running of the train on the positioning signal is reduced through a diversity transmitting and diversity receiving mode, and the precision of the obtained train position is further improved.
The embodiment of the invention also provides a positioning processing method applied to the base station. Fig. 3 is a schematic flowchart of a positioning processing method applied to a base station according to an embodiment of the present invention, as shown in fig. 3, the method includes:
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
Specifically, the base station sends a positioning signal carrying its own position information through a leaky cable in a radiation environment. The leaky cable is sequentially provided with a plurality of groups of slotted holes, each group of slotted holes comprises a first slotted hole and a second slotted hole which have different radiation directions, and the included angle between the radiation direction of each slotted hole and the normal of the slotted hole is the same. The positioning signals transmitted in the leaky cable can radiate outwards through the slots, and because the radiation directions of the first slot and the second slot are different, and the included angle between the radiation direction of each slot and the normal line of each slot is the same, the radiated signals can converge towards the direction of the train, and the train terminal on the train can receive the positioning signals from the first slot and the second slot. In the practical application process, the train can only receive the positioning signals radiated from the same slot group at the same position by adjusting the arrangement distance of the slot holes, and when the train passes through the radiation area of a certain slot group, the positioning signals radiated by the slot group can be received.
The leaky cable also comprises an end point (namely a reflection point) in the signal transmission direction, and the signal transmitted in the leaky cable is reflected back after reaching the end point to perform reverse transmission. Therefore, the positioning signal radiated by the slot group sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflected signal and a second slot reflected signal according to time sequence, wherein the first slot forward signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable and radiated to a train by the first slot; the second slot forward signal is a positioning signal which is transmitted to a second slot from a base station through a leaky cable and radiated to a train by the second slot; the first slot reflected signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the first slot through the reflection point, and then is radiated to a train by the first slot; and the second slot reflected signal is a positioning signal which is transmitted to the second slot from the base station through the leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the second slot through the reflection point, and then is radiated to the train by the second slot.
The positioning signal also carries the sending time of the signal, the train terminal can obtain the position of the base station and the sending time of the positioning signal according to the positioning signal of the base station, and can also obtain the receiving time corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal respectively, so that the transmission time of the four signals can be obtained, the transmission speed of the positioning signal in the leaky cable, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable are known quantities, the transmission distances of the four signals can be obtained by taking the position of the base station as a reference, and the current position of the train terminal can be obtained according to the corresponding relation between the transmission distances and the transmission time of the four signals.
The method provided by the embodiment of the invention has the advantages that the existing base station and the leaky cable are utilized to transmit the positioning signal, the deployment cost is saved, the positioning signal is radiated outwards through the first slotted hole and the second slotted hole of the leaky cable, the transmission distance of the positioning signal is increased, the influence of external interference on the precision of the positioning signal is reduced, meanwhile, the current position of the train terminal is determined based on the receiving time respectively corresponding to the first slotted hole forward signal, the second slotted hole forward signal, the first slotted hole reflection signal and the second slotted hole reflection signal, the transmission speed of the positioning signal in the leaky cable and the distance between the base station and the reflection point of the leaky cable, the positioning precision can be improved on the basis of realizing train positioning, and good support can be provided for a subsequent module which runs based on the positioning information.
Because the train can produce doppler frequency shift in the quick motion process, lead to the positioning signal can't receive correctly, influence the positioning accuracy, in order to overcome above-mentioned problem, need to start with the mode of sending and receiving of positioning signal. Therefore, based on the above embodiment, the method further comprises:
and radiating diversity positioning signals outwards on different diversity channels through the first slot and the second slot of the leaky cable so that the train terminal can determine the positioning signals based on the diversity positioning signals.
Specifically, in consideration of the doppler shift caused by high-speed train operation, the positioning signals of the base station are transmitted in diversity on a plurality of independent communication paths, and simultaneously, the signals are received in diversity at the train terminal, that is, the positioning signals are received on corresponding different diversity channels. Then, the signals received by diversity are merged, the difference between different signals is compared, and the base station positioning signal transmitted by the leaky cable is recovered. The diversity transmission method may be frequency diversity, which is not particularly limited in this embodiment of the present invention.
According to the method provided by the embodiment of the invention, the influence of Doppler frequency shift generated by high-speed running of the train on the positioning signal is reduced through a diversity transmitting and diversity receiving mode, and the precision of the obtained train position is further improved.
Based on any of the above embodiments, fig. 4 is a schematic structural diagram of a train terminal provided in an embodiment of the present invention, and as shown in fig. 4, the train terminal includes a receiving module 410 and a positioning module 420.
The receiving module 410 is configured to receive a positioning signal radiated outwards through a first slot and a second slot of a leaky cable, where the positioning signal includes position information of a base station, and the positioning signal sequentially includes a first slot forward signal, a second slot forward signal, a first slot reflected signal, and a second slot reflected signal in time sequence; wherein the first slot and the second slot have different radiation directions;
specifically, the base station sends a positioning signal carrying its own position information through a leaky cable in a radiation environment. The leaky cable is sequentially provided with a plurality of groups of slotted holes, each group of slotted holes comprises a first slotted hole and a second slotted hole which have different radiation directions, and the included angle between the radiation direction of each slotted hole and the normal of the slotted hole is the same. The positioning signals transmitted in the leaky cable can radiate outwards through the slots, and because the radiation directions of the first slot and the second slot are different, and the included angle between the radiation direction of each slot and the normal line of each slot is the same, the radiated signals can converge towards the direction of the train, and the train terminal on the train can receive the positioning signals from the first slot and the second slot. In practical application, by adjusting the distance between the slots, the train can only receive the positioning signals radiated from the same slot group at the same position, and when the train passes through the radiation area of a slot group, the receiving module 410 can receive the positioning signals radiated from the slot group.
The leaky cable also comprises an end point (namely a reflection point) in the signal transmission direction, and the signal transmitted in the leaky cable is reflected back after reaching the end point to perform reverse transmission. Therefore, the positioning signal radiated by the slot group sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflected signal and a second slot reflected signal according to time sequence, wherein the first slot forward signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable and radiated to a train by the first slot; the second slot forward signal is a positioning signal which is transmitted to a second slot from a base station through a leaky cable and radiated to a train by the second slot; the first slot reflected signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the first slot through the reflection point, and then is radiated to a train by the first slot; and the second slot reflected signal is a positioning signal which is transmitted to the second slot from the base station through the leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the second slot through the reflection point, and then is radiated to the train by the second slot.
The positioning module 420 is configured to determine a current position of the train terminal based on receiving times corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal, and the second slot reflected signal, a transmission speed of the positioning signal in the leaky cable, and a distance between a base station and a reflection point of the leaky cable.
Specifically, the positioning signal also carries the sending time of the signal, the positioning module 420 can obtain the position of the base station and the sending time of the positioning signal according to the positioning signal of the base station, meanwhile, the receiving time corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal can be obtained, so that the transmission time of the four signals can be obtained, and the transmission speed of the positioning signal in the leaky cable, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable are known quantities, based on the position of the base station, the transmission distances of the four signals can be obtained, and the positioning module 420 can obtain the current position of the train terminal according to the corresponding relationship between the transmission distances and the transmission durations of the four signals. The train terminal provided by the embodiment of the invention utilizes the existing leaky cable to transmit the positioning signal, receives the positioning signal transmitted by the leaky cable through the receiving module 410, saves the deployment cost, the positioning signals are radiated outwards through the first slot and the second slot of the leaky cable, the transmission distance of the positioning signals is increased, the influence of external interference on the precision of the positioning signals is reduced, meanwhile, the positioning module 420 is configured to determine, based on the receiving times corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, and the transmission speed of the positioning signal in the leaky cable, and the distance between the base station and the reflection point of the leaky cable, and the current position of the train terminal are determined, so that the positioning precision can be improved on the basis of realizing train positioning, and good support can be provided for a subsequent module which operates based on positioning information.
Based on the above embodiment, the positioning module specifically includes: the positioning algorithm module is used for calculating the train position according to the following formula:
the current position of the train terminal is (x, y), and the (x, y) is a position in a coordinate system with a base station position as an origin; t is t1Is the receiving time, t, of the first slot forward signal2Is the reception time, t, of the second slot forward signal3Is the receiving time, t, of the second slot reflected signal4The receiving time of the first slot reflected signal is represented as v, the transmission speed of the positioning signal in the leaky cable is represented as v, L is the distance between a base station and a reflection point of the leaky cable, and theta is an included angle between the slot radiation direction and a normal line where the slot radiation direction is located.
Specifically, a coordinate system is established with the base station position as an origin, the current position of the train terminal is (x, y), the position of the reflection point is (L, 0), and the transmission time of the bit signal is set to be t0Then, the corresponding relationship between the transmission distance and the transmission duration of the four signals is:
where c is the transmission speed of the positioning signal in the air, i.e., the speed of light. Subtracting the four formulas to obtain an expression of coordinates (x, y) as follows:
In the train terminal provided by the embodiment of the invention, the positioning algorithm module calculates the transmission time lengths of the four signals by using the receiving time corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal and the sending time of the positioning signal respectively, the transmission distances of the four signals are obtained by taking the position of the base station as a reference and combining the transmission speed of the positioning signal in the leaky cable, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable, and the current position of the train terminal is obtained according to the corresponding relation between the transmission distances and the transmission time lengths of the four signals, so that the high-precision calculation of the train position is realized.
Based on the above embodiment, the train terminal further includes: and the signal compensation module comprises a shadow effect compensation unit, an antenna efficiency compensation unit and a wireless attenuation compensation unit, and is used for sequentially performing shadow effect compensation, antenna efficiency compensation and wireless attenuation compensation on the positioning signal received by the receiving module 410.
Specifically, because the base station positioning signal transmitted by the leaky cable is subjected to electromagnetic interference in the track space, and meanwhile, the signal is also lost and faded in the leaky cable and wireless transmission, the positioning signal received by the receiving module 410 can be compensated by the signal compensation module, so that the positioning accuracy obtained by the terminal is improved. Firstly, a shadow effect compensation unit performs a shadow effect compensation algorithm on a signal according to the shadow effect size estimated in advance by the base station position information, and the compensation value follows Gaussian distribution with the mean value of 0 and the variance of 0; the antenna efficiency compensation unit compensates the antenna efficiency of the signal according to the signal transceiving efficiency of the transmitting antenna and the receiving antenna, and enhances the signal power; and finally, the wireless attenuation compensation unit evaluates the fading generated by the signal transmission in the track space according to the received positioning signal transmitted through the leaky cable, and compensates the signal according to the path loss coefficient of the track space to restore the originally transmitted positioning information as much as possible.
According to the train terminal provided by the embodiment of the invention, the shadow effect compensation, the antenna efficiency compensation and the wireless attenuation compensation are sequentially carried out on the positioning signal through the signal compensation module, so that the power loss of the shadow effect, the antenna transceiving efficiency and the wireless attenuation to the positioning signal is reduced, the precision of the base station positioning signal acquired by the terminal is improved, and the precision of the acquired train position is further ensured.
Based on the above embodiment, the receiving module 310 includes: a diversity receiving unit and a diversity combining unit.
The diversity receiving unit is used for receiving diversity positioning signals radiated outwards on different diversity channels through a first slot and a second slot of the leaky cable; the diversity combining unit is configured to perform combining processing on the received diversity positioning signals to obtain the positioning signals.
Specifically, the positioning signals of the base station are transmitted in a diversity mode on a plurality of independent communication paths in consideration of doppler shift caused by high-speed running of the train, and meanwhile, the signals are received in a diversity mode through a diversity receiving unit at a train terminal, namely, the positioning signals are received on corresponding different diversity channels. Then, the diversity combining unit combines the signals received in diversity, compares the difference between different signals, and recovers the base station positioning signal transmitted by the leaky cable. The diversity transmission method may be frequency diversity, which is not particularly limited in this embodiment of the present invention.
According to the train terminal provided by the embodiment of the invention, the influence of Doppler frequency shift generated by high-speed running of a train on a positioning signal is reduced through a diversity transmission and diversity reception mode, and the precision of the obtained train position is further improved.
Based on any of the above embodiments, fig. 5 is a schematic structural diagram of a base station provided in an embodiment of the present invention, and as shown in fig. 5, the base station includes a sending module 510.
The sending module 510 is configured to radiate a positioning signal outwards through a first slot and a second slot of a leaky cable, so that a train terminal determines a current position of the train terminal based on a receiving time of the positioning signal, a transmission speed of the positioning signal in the leaky cable, and a distance between a base station and a reflection point of the leaky cable;
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
Specifically, the base station transmits a positioning signal carrying its own position information through the transmission module 510 in a radiation environment by using a leaky cable. The leaky cable is sequentially provided with a plurality of groups of slotted holes, each group of slotted holes comprises a first slotted hole and a second slotted hole which have different radiation directions, and the included angle between the radiation direction of each slotted hole and the normal of the slotted hole is the same. The positioning signals transmitted in the leaky cable can radiate outwards through the slots, and because the radiation directions of the first slot and the second slot are different, and the included angle between the radiation direction of each slot and the normal line of each slot is the same, the radiated signals can converge towards the direction of the train, and the train terminal on the train can receive the positioning signals from the first slot and the second slot. In the practical application process, the train can only receive the positioning signals radiated from the same slot group at the same position by adjusting the arrangement distance of the slot holes, and when the train passes through the radiation area of a certain slot group, the positioning signals radiated by the slot group can be received.
The leaky cable also comprises an end point (namely a reflection point) in the signal transmission direction, and the signal transmitted in the leaky cable is reflected back after reaching the end point to perform reverse transmission. Therefore, the positioning signal radiated by the slot group sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflected signal and a second slot reflected signal according to time sequence, wherein the first slot forward signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable and radiated to a train by the first slot; the second slot forward signal is a positioning signal which is transmitted to a second slot from a base station through a leaky cable and radiated to a train by the second slot; the first slot reflected signal is a positioning signal which is transmitted to a first slot from a base station through a leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the first slot through the reflection point, and then is radiated to a train by the first slot; and the second slot reflected signal is a positioning signal which is transmitted to the second slot from the base station through the leaky cable, then is continuously transmitted in the leaky cable until reaching a reflection point, is reflected back to the second slot through the reflection point, and then is radiated to the train by the second slot.
The positioning signal also carries the sending time of the signal, the position of the base station and the sending time of the positioning signal can be obtained according to the positioning signal of the base station, and the receiving time corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal can be obtained at the same time, so that the transmission time of the four signals and the transmission speed of the positioning signal in the leaky cable can be obtained, the transmission speed of the positioning signal in the air and the distance between the base station and the reflection point of the leaky cable are known quantities, the transmission distances of the four signals can be obtained by taking the position of the base station as a reference, and the current position of the train terminal can be obtained according to the corresponding relation between the transmission distances and the transmission time of the four signals.
According to the base station provided by the embodiment of the invention, the existing base station and the leaky cable are utilized to transmit the positioning signal through the sending module 510, the deployment cost is saved, the positioning signal is radiated outwards through the first slotted hole and the second slotted hole of the leaky cable, the transmission distance of the positioning signal is increased, the precision influence of external interference on the positioning signal is reduced, meanwhile, the current position of the train terminal is determined based on the receiving time respectively corresponding to the first slotted hole forward signal, the second slotted hole forward signal, the first slotted hole reflection signal and the second slotted hole reflection signal, the transmission speed of the positioning signal in the leaky cable and the distance between the base station and the reflection point of the leaky cable, the positioning precision can be improved on the basis of realizing train positioning, and good support can be provided for a subsequent module which runs based on the positioning information.
Based on the above embodiment, the sending module 510 includes: and a diversity transmission unit.
The diversity transmitting unit is used for radiating diversity positioning signals outwards on different diversity channels through a first slot and a second slot of the leaky cable so that the train terminal can determine the positioning signals based on the diversity positioning signals.
Specifically, in consideration of the doppler shift caused by high-speed train operation, the positioning signal of the base station is diversity-transmitted on a plurality of independent communication paths by the diversity-transmitting unit, and the signal is diversity-received at the train terminal by the diversity-receiving unit, that is, the positioning signal is received on corresponding different diversity channels. Then the signals received by diversity are merged by a diversity merging unit, the difference between different signals is compared, and the base station positioning signal transmitted by the leaky cable is recovered. The diversity transmission method may be frequency diversity, which is not particularly limited in this embodiment of the present invention.
The base station provided by the embodiment of the invention reduces the influence of Doppler frequency shift generated by high-speed running of the train on the positioning signal by means of diversity transmission and diversity reception, thereby further improving the accuracy of the acquired train position.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform the flow of steps provided by the above-described method embodiments.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to execute the steps provided by the foregoing method embodiment when executed by a processor.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning processing method is applied to a train terminal and is characterized by comprising the following steps:
receiving positioning signals radiated outwards through a first slot and a second slot of a leaky cable, wherein the positioning signals comprise position information of a base station, and the positioning signals sequentially comprise a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions;
and determining the current position of the train terminal based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable.
2. The method according to claim 1, wherein the current position of the train terminal is determined based on the receiving times corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, respectively, the transmission speed of the positioning signal in the leaky cable, and the distance between the reflection points of the leaky cable, and is calculated according to the following formula:
the current position of the train terminal is (x, y), and the (x, y) is a position in a coordinate system with a base station position as an origin; t is t1Is the receiving time, t, of the first slot forward signal2Is the reception time, t, of the second slot forward signal3Is the receiving time, t, of the second slot reflected signal4And the receiving time of the first slot reflected signal is represented as v, the transmission speed of the positioning signal in the leaky cable is represented as L, the distance between a base station and a reflection point of the leaky cable is represented as L, and the angle theta is the included angle between the slot radiation direction and the normal line of the slot radiation direction.
3. The method of claim 1 or 2, wherein the method further comprises:
and sequentially carrying out shadow effect compensation, antenna efficiency compensation and wireless attenuation compensation on the positioning signals.
4. The method as claimed in claim 1 or 2, wherein said receiving the positioning signal radiated outward via the first slot and the second slot of the leaky cable comprises:
receiving diversity positioning signals radiated outwards on different diversity channels through a first slot and a second slot of a leaky cable, and carrying out combination processing on the received diversity positioning signals to obtain the positioning signals.
5. A positioning processing method is applied to a base station, and is characterized by comprising the following steps:
the method comprises the steps that a positioning signal is radiated outwards through a first slot and a second slot of a leaky cable, so that a train terminal determines the current position of the train terminal based on the receiving time of the positioning signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable;
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
6. The location processing method of claim 5, further comprising:
and radiating diversity positioning signals outwards on different diversity channels through the first slot and the second slot of the leaky cable so that the train terminal can determine the positioning signals based on the diversity positioning signals.
7. A train terminal, comprising:
the receiving module is used for receiving positioning signals radiated outwards through a first slot and a second slot of the leaky cable, the positioning signals comprise position information of a base station, and the positioning signals sequentially comprise a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions;
and the positioning module is used for determining the current position of the train terminal based on the receiving time respectively corresponding to the first slot forward signal, the second slot forward signal, the first slot reflected signal and the second slot reflected signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable.
8. A base station, comprising:
the transmitting module is used for radiating a positioning signal outwards through a first slot and a second slot of the leaky cable so that a train terminal can determine the current position of the train terminal based on the receiving time of the positioning signal, the transmission speed of the positioning signal in the leaky cable and the distance between a base station and a reflection point of the leaky cable;
the positioning signal comprises position information of a base station, and the positioning signal sequentially comprises a first slot forward signal, a second slot forward signal, a first slot reflection signal and a second slot reflection signal according to a time sequence; wherein the first slot and the second slot have different radiation directions.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the positioning processing method according to any of claims 1 to 4 or implements the steps of the positioning processing method according to any of claims 5 to 6 when executing the program.
10. A non-transitory computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the positioning processing method according to any one of claims 1 to 4, or carries out the steps of the positioning processing method according to any one of claims 5 to 6.
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