CN112141169B - Verification method, verification device, storage medium, train and electronic equipment - Google Patents
Verification method, verification device, storage medium, train and electronic equipment Download PDFInfo
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- CN112141169B CN112141169B CN201910574993.6A CN201910574993A CN112141169B CN 112141169 B CN112141169 B CN 112141169B CN 201910574993 A CN201910574993 A CN 201910574993A CN 112141169 B CN112141169 B CN 112141169B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/60—Testing or simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/70—Details of trackside communication
Abstract
The invention provides a checking method, a device, a storage medium, a train and electronic equipment, which are applied to a train positioning system, wherein the train positioning system supports ranging positioning based on ultra wide band wireless communication UWB, and comprises the following steps: the method comprises the steps of sending UWB ranging signals to a ground positioning base station; receiving a UWB response signal, wherein the response signal is a response of the ground positioning base station to the UWB ranging signal; determining an energy parameter of the UWB response signal; and checking the reliability of the UWB ranging signal according to the energy parameter. According to the invention, when the ultra-wideband wireless communication is applied to ranging and positioning of the tramcar system, the reliability of the ranging and positioning signal is verified, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
Description
Technical Field
The invention relates to the technical field of trains, in particular to a checking method, a checking device, a storage medium, a train and electronic equipment.
Background
In the technical field of trains, the Yunba is a small-traffic rubber-tyred tramcar system which does not occupy road resources and has independent right of way, and belongs to a new system in modern tramcars. Ultra Wide Band (UWB) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to microsecond level to transmit data. Because of the particularity of the bandwidth, the UWB is very suitable for ranging and positioning, and is also continuously and widely applied to various fields in recent years.
The inventor finds that it is necessary to verify the reliability of the ranging and positioning signal when the ultra-wideband wireless communication is applied to ranging and positioning of a tram system.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a verification method, a verification device, a storage medium, a train and electronic equipment, so that the reliability of a ranging and positioning signal is verified when the ultra-wideband wireless communication is applied to ranging and positioning of a tramcar system, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
In order to achieve the above object, a verification method provided in an embodiment of a first aspect of the present invention is applied to a train positioning system, where the train positioning system supports ranging positioning based on UWB (ultra wide band) wireless communication, and the train positioning system includes: vehicle-mounted positioning terminal to and ground location basic station includes: transmitting a UWB ranging signal to the ground positioning base station; receiving a UWB response signal, wherein the response signal is the response of the ground positioning base station to the UWB ranging signal; determining an energy parameter of the UWB response signal; and checking the reliability of the UWB ranging signal according to the energy parameter.
According to the verification method provided by the embodiment of the first aspect of the invention, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, and the reliability of the UWB ranging signals is verified according to the energy parameters, so that when the ultra-wideband wireless communication is applied to ranging and positioning of a tramcar system, the reliability of the ranging and positioning signals is verified, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
In order to achieve the above object, a calibration apparatus according to a second aspect of the present invention is applied to a train positioning system, where the train positioning system supports ranging positioning based on UWB (ultra wide band) wireless communication, and the train positioning system includes: vehicle-mounted positioning terminal to and ground location basic station includes: the first control module is used for sending a UWB ranging signal to the ground positioning base station; a receiving module, configured to receive a UWB response signal, where the response signal is a response made by the ground positioning base station to the UWB ranging signal; a first determining module for determining an energy parameter of the UWB response signal; and the checking module is used for checking the credibility of the UWB ranging signal according to the energy parameter.
According to the verification device provided by the embodiment of the second aspect of the invention, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, and the reliability of the UWB ranging signals is verified according to the energy parameters, so that when the ultra-wideband wireless communication is applied to ranging and positioning of a tramcar system, the reliability of the ranging and positioning signals is verified, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
To achieve the above object, a computer-readable storage medium according to a third embodiment of the present invention stores thereon a computer program, which when executed by a processor, implements: the embodiment of the first aspect of the invention provides a verification method.
According to the computer-readable storage medium provided by the embodiment of the third aspect of the invention, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, and the reliability of the UWB ranging signals is checked according to the energy parameters, so that when the ultra-wideband wireless communication is applied to ranging and positioning of a tram system, the reliability of the ranging and positioning signals is checked, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
In order to achieve the above object, a fourth aspect of the present invention provides a train, including: the embodiment of the second aspect of the invention provides a verification device.
According to the train provided by the embodiment of the fourth aspect of the invention, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, and the reliability of the UWB ranging signals is verified according to the energy parameters, so that when the ultra-wideband wireless communication is applied to ranging positioning of a tramcar system, the reliability of the ranging positioning signals is verified, and the application of the ultra-wideband wireless communication in the ranging positioning is effectively assisted.
To achieve the above object, an embodiment of a fifth aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the verification method as described above when executing the program.
According to the electronic device provided by the embodiment of the fifth aspect of the invention, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, and the reliability of the UWB ranging signals is verified according to the energy parameters, so that when the ultra-wideband wireless communication is applied to ranging and positioning of a tramcar system, the reliability of the ranging and positioning signals is verified, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a verification method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a verification method according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a verification apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a verification apparatus according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a train 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
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of a verification method according to an embodiment of the present invention.
The present embodiment is exemplified in that the verification method is configured as a verification apparatus. In this embodiment, the verification method may be configured in a verification apparatus, and the verification apparatus may be disposed in a server, or may also be disposed in an electronic device, and the electronic device may be disposed in a cloud, where the electronic device is a hardware device having various operating systems, which is not limited in this embodiment of the present invention.
As an example, the verification method in the embodiment of the present invention may be applied to a vehicle positioning device, which may be disposed in a central console of a baboon, or may be disposed in a background dispatching system of the baboon, which is not limited herein.
The embodiment of the invention is applied to a train positioning system, the train positioning system supports the ranging positioning based on Ultra Wide Band (UWB), and the train positioning system comprises: the positioning accuracy verification method can be particularly applied to a tramcar system, such as a Yunba system.
Referring to fig. 1, the method includes:
s101: UWB ranging signals sent to the ground positioning base station.
In the embodiment of the invention, the ultra-wideband wireless communication is applied to the train positioning system, so that the train positioning system adopts the ultra-wideband wireless communication technology, and can control the vehicle-mounted positioning terminal to send the UWB ranging signal to the ground positioning base station so as to position the train in real time according to the UWB response signal.
In the specific implementation process, the ground positioning base stations are arranged on the platform, the vehicle-mounted positioning terminals are arranged on the train, the ground positioning base stations can be multiple, the vehicle-mounted positioning terminals can be multiple, and the multiple vehicle-mounted positioning terminals and the multiple ground positioning base stations are in real-time data communication based on the ultra-wideband wireless communication technology, so that the multiple ground positioning base stations are adopted to position the vehicle-mounted positioning terminals.
The embodiment of the invention can be applied to the ultra-wideband wireless communication process between any vehicle-mounted positioning terminal and the corresponding ground positioning base station.
In the specific implementation process, the vehicle-mounted positioning terminal is controlled to send UWB ranging signals to the ground positioning base station, and whether UWB response signals aiming at the UWB ranging signals are received or not is monitored in real time.
S102: and receiving a UWB response signal, wherein the response signal is the response of the ground positioning base station to the UWB ranging signal.
S103: an energy parameter of the UWB response signal is determined.
In the specific implementation process of the embodiment of the invention, if monitoring and receiving a UWB response signal of a ground positioning base station for the UWB ranging signal, the energy parameter of the UWB response signal is determined in real time, wherein after receiving the UWB ranging signal sent by the vehicle-mounted positioning terminal, the ground positioning base station may generate a corresponding response signal based on the UWB ranging signal, add a preamble to the response signal, use the response signal with the preamble added as the UWB response signal, and feed back the UWB response signal to the vehicle-mounted positioning terminal.
The preamble is a group of bit groups located at the start of the data packet, the receiver can synchronize and prepare to receive actual data accordingly, the response signal added with the preamble is used as a UWB response signal, and the UWB response signal is fed back to the vehicle-mounted positioning terminal, so that the influence of credibility check on the actual response signal can be avoided, and the credibility check method is more practical.
Alternatively, the energy parameter may be, for example, an energy value at the current time point, or may be an energy value within a certain time range, or may also be an energy intensity value of a preamble of the UWB response signal.
In the embodiment of the present invention, the energy parameter is an energy intensity value of a preamble of the UWB response signal.
S104: and checking the reliability of the UWB ranging signal according to the energy parameter.
When the reliability of the UWB ranging signal is verified according to the energy parameter, the energy parameter can be compared with the standard parameter; and verifying the reliability of the UWB ranging signals according to the comparison result.
The standard parameters may be calibrated in advance, specifically, the calibration may be performed by performing a ranging experiment based on a large amount of UWB sample ranging signals, or calibration may be performed by a calibration staff according to actual use requirements, which is not limited to this.
In some embodiments, if the similarity of the energy parameter to the standard parameter satisfies a threshold, it may be determined that the UWB response signal satisfies the confidence measure, and if the similarity of the energy parameter to the standard parameter does not satisfy the threshold, it may be determined that the UWB response signal does not satisfy the confidence measure.
Optionally, in the embodiment of the present invention, referring to fig. 2, before controlling the vehicle-mounted positioning terminal to send the UWB ranging signal to the ground positioning base station, the method further includes:
s201: and controlling the vehicle-mounted positioning terminal to send a UWB sample ranging signal to the ground positioning base station and receive a UWB sample response signal, wherein the UWB sample response signal is a response made by the ground positioning base station aiming at the UWB sample ranging signal.
In the process of determining the standard parameters, the vehicle-mounted positioning terminal can be controlled to send some sample UWB ranging signals for experiments to the ground positioning base station, the sample UWB ranging signals for experiments can be referred to as UWB sample ranging signals, and correspondingly, response signals made by the ground positioning base station for the UWB sample ranging signals can be referred to as UWB sample response signals.
S202: and (4) obtaining the ranging distance by combining a time of flight ranging method TOF according to the UWB sample ranging signal.
The distance measurement may be performed by using a Time of flight (TOF) method, and a distance obtained by the distance measurement is used as a distance measurement distance.
In the specific in-process of carrying out, before controlling the UWB sample range finding signal that on-vehicle positioning terminal sent to ground location basic station, can insert timestamp 1 at UWB sample range finding signal, then, when ground location basic station received UWB sample range finding signal, insert UWB sample response signal with timestamp 2 that receives UWB sample range finding signal, and feed back UWB sample response signal to on-vehicle positioning terminal, on-vehicle positioning terminal receives behind the UWB sample response signal, according to timestamp 3 of receipt, combine timestamp 1 and timestamp 2, combine time of flight ranging method TOF to obtain the range finding distance.
S203: a sample energy parameter of the UWB sample response signal is determined.
The energy parameter obtained by analyzing the UWB sample response signal may be referred to as a sample energy parameter, and the sample energy parameter is, for example, an energy intensity value of the UWB sample response signal.
S204: and taking the sample energy parameter as a standard parameter corresponding to the ranging distance.
In the specific implementation process, while the ranging distance is obtained by combining with a time of flight ranging method TOF, the energy intensity value of the UWB sample response signal can be determined and used as a sample energy parameter, and then the ranging distance and the sample energy parameter of the corresponding UWB sample response signal are correspondingly recorded for subsequent credibility matching.
In the process of determining the standard parameters, ranging can be performed by combining mass UWB sample ranging signals to obtain the standard parameters corresponding to the ranging distances, so that the accuracy of the determined standard parameters is guaranteed, and the verification effect of subsequent reliability is guaranteed.
In the above process of determining the standard parameter, the energy error range may also be determined according to the error range of the corresponding ranging distance, so that when checking the reliability of the UWB ranging signal according to the comparison result, if the comparison result is: the difference value of the energy parameter and the standard parameter is in the energy error range, the reliability of the UWB ranging signal is determined to meet the check index, ranging positioning can be carried out according to the UWB ranging signal with the reliability meeting the check index, and if the comparison result is that: the difference value of the energy parameter and the standard parameter is not in the energy error range, the reliability of the UWB ranging signal is determined not to meet the check index, the UWB ranging signal which does not meet the check index is directly discarded, the UWB ranging signal which is adopted during ranging and positioning can be effectively guaranteed to be safe and effective, and the train running safety is guaranteed.
As an example, assuming that the ranging distance is a, the maximum error of the ranging distance a is plus or minus 5 centimeters, that is, the error range is between the ranging distance a-5cm and the ranging distance a +5cm, then, in the above experiment using the UWB sample ranging signal, a sample energy parameter (for example, a first energy intensity value) corresponding to the ranging distance a-5cm is determined, and a sample energy parameter (for example, a second energy intensity value) corresponding to the ranging distance a +5cm is determined, and then, assuming that the first energy intensity value is smaller than the second energy intensity value, the intensity value range between the first energy intensity value and the second energy intensity value is used as the energy error range, which is not limited.
In the embodiment, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, the reliability of the UWB ranging signals is verified according to the energy parameters, when the ultra-wideband wireless communication is applied to ranging positioning of a tramcar system, the reliability of the ranging positioning signals is verified, and the application of the ultra-wideband wireless communication in ranging positioning is effectively assisted.
Fig. 3 is a schematic structural diagram of a verification apparatus according to an embodiment of the present invention.
The embodiment of the invention is applied to a train positioning system, the train positioning system supports the ranging positioning based on the ultra wide band wireless communication UWB, and the train positioning system comprises: the vehicle-mounted positioning terminal and the ground positioning base station are particularly applied to a tramcar system, such as a cloud bus system.
Referring to fig. 3, the apparatus 300 includes:
a first control module 301, configured to send a UWB ranging signal to a ground positioning base station;
a receiving module 302, configured to receive a UWB response signal, where the response signal is a response made by the ground positioning base station for the UWB ranging signal;
a first determining module 303 for determining an energy parameter of the UWB response signal;
and the checking module 304 is configured to check the reliability of the UWB ranging signal according to the energy parameter.
Optionally, in some embodiments, the checking module 304 is specifically configured to:
comparing the energy parameter with a standard parameter;
and verifying the reliability of the UWB ranging signals according to the comparison result.
Optionally, in some embodiments, referring to fig. 4, further comprising:
a second control module 305, configured to control the vehicle-mounted positioning terminal to send a UWB sample ranging signal to the ground positioning base station, and receive a UWB sample response signal, where the UWB sample response signal is a response made by the ground positioning base station to the UWB sample ranging signal;
the ranging module 306 is used for obtaining a ranging distance according to the ranging signal of the UWB sample and by combining a time of flight ranging (TOF);
a second determining module 307, configured to determine a sample energy parameter of the UWB sample response signal, and use the sample energy parameter as a standard parameter corresponding to the ranging distance.
Optionally, in some embodiments, referring to fig. 4, further comprising:
a third determining module 308, configured to determine an energy error range according to the error range of the corresponding ranging distance;
the verification module 304 is specifically configured to:
if the comparison result is: and if the difference value of the energy parameter and the standard parameter is within the energy error range, determining that the reliability of the UWB ranging signal meets the check index.
Optionally, in some embodiments, the energy parameter is an energy strength value of a preamble of the UWB response signal.
It should be noted that the explanation of the embodiment of the verification method in the foregoing embodiments of fig. 1-2 is also applicable to the verification apparatus 300 of this embodiment, and the implementation principle is similar, and is not repeated here.
In the embodiment, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, the reliability of the UWB ranging signals is verified according to the energy parameters, when the ultra-wideband wireless communication is applied to ranging positioning of a tramcar system, the reliability of the ranging positioning signals is verified, and the application of the ultra-wideband wireless communication in ranging positioning is effectively assisted.
Fig. 5 is a schematic structural diagram of a train according to an embodiment of the present invention.
Referring to fig. 5, the train 500 includes:
the verification apparatus 300 in the above embodiment.
In the embodiment, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, the reliability of the UWB ranging signals is verified according to the energy parameters, when the ultra-wideband wireless communication is applied to ranging positioning of a tramcar system, the reliability of the ranging positioning signals is verified, and the application of the ultra-wideband wireless communication in ranging positioning is effectively assisted.
To achieve the above embodiments, the present invention also proposes a computer-readable storage medium, in which instructions, when executed by a processor of an encoding apparatus, enable the encoding apparatus to perform a verification method, the method comprising:
controlling a UWB ranging signal sent by the vehicle-mounted positioning terminal to the ground positioning base station;
receiving a UWB response signal of the ground positioning base station aiming at the UWB ranging signal;
determining an energy parameter of the UWB response signal;
and checking the reliability of the UWB ranging signal according to the energy parameter.
The computer-readable storage medium in the embodiment is used for transmitting the UWB ranging signal to the ground positioning base station, receiving the UWB response signal of the ground positioning base station to the UWB ranging signal, determining the energy parameter of the UWB response signal, and checking the reliability of the UWB ranging signal according to the energy parameter, so that when the ultra-wideband wireless communication is applied to ranging and positioning of the tramcar system, the reliability of the ranging and positioning signal is checked, and the application of the ultra-wideband wireless communication in the ranging and positioning is effectively assisted.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
The electronic device includes: a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602. The processor 602 executes the program to implement the verification method provided in the above-described embodiments.
In a possible implementation, the electronic device further comprises a communication interface 603 for communicating between the memory 601 and the processor 602.
In the embodiment, the UWB ranging signals are sent to the ground positioning base station, the UWB response signals of the ground positioning base station aiming at the UWB ranging signals are received, the energy parameters of the UWB response signals are determined, the reliability of the UWB ranging signals is verified according to the energy parameters, when the ultra-wideband wireless communication is applied to ranging positioning of a tramcar system, the reliability of the ranging positioning signals is verified, and the application of the ultra-wideband wireless communication in ranging positioning is effectively assisted.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A checking method is characterized in that the checking method is applied to a train positioning system, the train positioning system supports ranging positioning based on ultra wide band wireless communication UWB, and the train positioning system comprises: vehicle-mounted positioning terminal to and ground location basic station includes:
transmitting a UWB ranging signal to the ground positioning base station;
receiving a UWB response signal, wherein the response signal is a response of the ground positioning base station to the UWB ranging signal, and the UWB response signal comprises a lead code;
determining an energy parameter of the UWB response signal, wherein the energy parameter is an energy intensity value of the preamble of the UWB response signal;
verifying the reliability of the UWB ranging signals according to the energy parameters, comprising:
comparing the energy parameter with a standard parameter;
and verifying the reliability of the UWB ranging signals according to the comparison result.
2. The verification method of claim 1, wherein before said transmitting the UWB ranging signal to the terrestrial positioning base station, further comprising:
controlling the vehicle-mounted positioning terminal to send a UWB sample ranging signal to the ground positioning base station and receive a UWB sample response signal, wherein the UWB sample response signal is a response made by the ground positioning base station aiming at the UWB sample ranging signal;
obtaining a ranging distance by combining a time of flight ranging (TOF) method according to the UWB sample ranging signal;
determining a sample energy parameter of the UWB sample response signal;
and taking the sample energy parameter as a standard parameter corresponding to the ranging distance.
3. The verification method of claim 2, further comprising:
determining an energy error range according to the error range of the corresponding ranging distance;
the checking the reliability of the UWB ranging signals according to the comparison result comprises the following steps:
if the comparison result is: and if the difference value of the energy parameter and the standard parameter is within the energy error range, determining that the reliability of the UWB ranging signal meets a check index.
4. The utility model provides a calibration equipment, its characterized in that is applied to among the train positioning system, the train positioning system supports range finding location based on ultra wide band radio communication UWB, the train positioning system includes: vehicle-mounted positioning terminal to and ground location basic station includes:
the first control module is used for sending a UWB ranging signal to the ground positioning base station;
a receiving module, configured to receive a UWB response signal, where the response signal is a response of the terrestrial positioning base station to the UWB ranging signal, and the UWB response signal includes a preamble;
a first determining module, configured to determine an energy parameter of the UWB response signal, where the energy parameter is an energy intensity value of the preamble of the UWB response signal;
the checking module is used for checking the credibility of the UWB ranging signal according to the energy parameter, and comprises the following steps:
comparing the energy parameter with a standard parameter;
and verifying the reliability of the UWB ranging signals according to the comparison result.
5. The verification apparatus of claim 4, further comprising:
the second control module is used for controlling the vehicle-mounted positioning terminal to send a UWB sample ranging signal to the ground positioning base station and receive a UWB sample response signal, wherein the UWB sample response signal is a response made by the ground positioning base station aiming at the UWB sample ranging signal;
the ranging module is used for obtaining a ranging distance according to the UWB sample ranging signal by combining with a time of flight ranging (TOF);
and the second determining module is used for determining a sample energy parameter of the UWB sample response signal and taking the sample energy parameter as a standard parameter corresponding to the ranging distance.
6. The verification apparatus of claim 5, further comprising:
the third determining module is used for determining an energy error range according to the error range of the corresponding distance measuring distance;
the verification module is specifically configured to:
if the comparison result is: and if the difference value of the energy parameter and the standard parameter is within the energy error range, determining that the reliability of the UWB ranging signal meets a check index.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the verification method according to any one of claims 1 to 3.
8. A train, comprising:
a verification device according to any one of claims 4 to 6.
9. An electronic device, comprising:
memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the verification method according to any of claims 1-3 when executing the program.
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