CN113050144B - Method, terminal and storage medium for positioning train at curved track - Google Patents
Method, terminal and storage medium for positioning train at curved track Download PDFInfo
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- CN113050144B CN113050144B CN202110389129.6A CN202110389129A CN113050144B CN 113050144 B CN113050144 B CN 113050144B CN 202110389129 A CN202110389129 A CN 202110389129A CN 113050144 B CN113050144 B CN 113050144B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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Abstract
A method, terminal and storage medium for locating a train at a curved track, wherein the method comprises: acquiring the position information of a satellite positioning point of a train entering a curve track; determining the position information of the train satellite positioning point at the mapping point of the curve orbit according to the position information of the train satellite positioning point; determining an arc distance between the mapping point and a position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track; and positioning the train according to the arc distance.
Description
Technical Field
The present invention relates to a train positioning technology, and in particular, to a method, a terminal and a storage medium for positioning a train at a curved track.
Background
The train positioning method based on the satellite navigation equipment is one of key technologies of a new generation train control system, accurate train positioning is an operation premise and safety guarantee of train operation, the train positioning based on the satellite navigation system can be converged constantly, positioning accuracy is always kept within a certain range, and a smaller confidence interval can be obtained compared with the train positioning method based on an odometer and an entity transponder. However, the attribute of satellite positioning determines that the linear orbit section on the orbit can ensure good positioning accuracy, and the positioning accuracy on the curve orbit section is not ideal.
Disclosure of Invention
The application provides a method, a terminal and a storage medium for positioning a train at a curved track, which can improve the positioning precision of the train at the curved track.
The method for positioning the curved track train comprises the following steps:
acquiring the position information of a satellite positioning point of a train entering a curve track;
determining the position information of the train satellite positioning point at the mapping point of the curve orbit according to the position information of the train satellite positioning point;
determining an arc distance between the mapping point and a position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track;
and positioning the train according to the arc distance.
Optionally, the method for selecting the position reference point on the curved track includes:
the selected arc line between the position reference point and the mapping point has the same curve radius, deflection angle and direction.
Optionally, determining the arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track includes:
determining a linear distance between the mapping point and a position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track;
determining a deflection angle between the mapping point and the position reference point according to the linear distance and the curvature radius of the curve track;
and determining the arc distance according to the deflection angle and the curvature radius.
Optionally, determining the position information of the mapping point of the train satellite positioning point on the curve track according to the position information of the train satellite positioning point includes:
determining the center coordinates of the curve track;
determining the bending direction of the curve track according to the circle center coordinates;
and mapping the position information of the train satellite positioning points on the curve orbit with the determined bending direction to obtain the position information of the mapping points.
Optionally, the determining the circle center coordinates of the curve track includes:
2 sections of curved rails are selected on the curved rail, and two ends of each section of curved rail are two position reference points on the curved rail;
determining 2 circle center coordinates according to each section of curved rail;
respectively calculating the distance between any two circle center coordinates corresponding to different curved track sections;
respectively taking the two circle center coordinates with the minimum distance as circle center coordinates of the corresponding 2 sections of curved rails;
and determining the center coordinates of the curve track according to the center coordinates of the 2-section curved track.
Optionally, selecting 2 sections of curved rails on the curved track includes:
and selecting 2 adjacent curved tracks on the curved track.
The present application provides a computer readable storage medium storing one or more programs executable by one or more processors to implement the methods as described above.
The terminal for positioning the train at the curved track comprises a memory and a processor, wherein the memory stores a program, and the program realizes the method when being read and executed by the processor.
Compared with the related art, the application comprises the following steps: the method comprises the steps of obtaining the position information of a satellite positioning point of a train entering a curve track, and determining the position information of a mapping point of the satellite positioning point of the train on the curve track according to the position information of the satellite positioning point of the train, so that the positioning of the satellite positioning point of the train on the curve track is realized; and determining an arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position reference point on the curve track, and positioning the train according to the arc distance.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Other advantages of the present application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide an understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.
FIG. 1 is a flowchart of a method for locating a train at a curved track according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for determining an arc distance between a mapping point and a position reference point according to position information of the mapping point and position information of the position reference point on the selected curve track according to an embodiment of the present application;
FIG. 3 is an exemplary diagram of calculating an arc distance between a train setpoint and a position reference point provided herein;
FIG. 4 is an exemplary diagram of a segment of a curved track having 2 center coordinates provided in an embodiment of the present application;
FIG. 5 is an exemplary diagram for determining 2 center coordinates of a 2-segment curved track provided in an embodiment of the present application;
fig. 6 is a terminal block diagram for positioning a train at a curved track according to an embodiment of the present application.
Detailed Description
The present application describes a number of embodiments, but the description is illustrative and not limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or in place of any other feature or element of any other embodiment unless specifically limited.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements of the present disclosure may also be combined with any conventional features or elements to form a unique inventive arrangement as defined in the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined in the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be restricted except in light of the attached claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.
Furthermore, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
The inventor of the application finds that the related technology adopts a geodetic distance calculation formula for positioning the train, and the geodetic distance calculation formula can only calculate the straight line distance, so that positioning errors can be generated when the calculation formula is used for positioning the train at the curve track.
Based on the above findings, the embodiment of the present application provides a method for positioning a train at a curved track, as shown in fig. 1, the method includes:
step S101, acquiring position information of satellite positioning points of a train entering a curve track;
the satellite positioning points refer to position points captured by satellites, the position information of the satellite positioning points is used for representing the position of a train on a sphere, and the position information is represented by longitude and latitude;
step S102, determining the position information of the train satellite positioning point at the mapping point of the curve orbit according to the position information of the train satellite positioning point;
due to positioning errors, satellite positioning points of a train entering a curve track may actually fall outside the curve track, after the satellite positioning points of the train are obtained, mapping points of the train positioning points on the curve track are further obtained, and the mapping points are subsequently used for participating in train positioning calculation, so that the accuracy of positioning calculation can be ensured;
step S103, determining an arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track;
the position reference points on the curve track refer to the position points with accurate positioning, which are measured on the track, and the position information is used for indicating the position of the position reference points on the curve track, and the position information can be represented by longitude and latitude or can be in other forms of coordinates;
step S104, positioning the train according to the arc distance.
The method and the device acquire the position information of the satellite positioning points of the train entering the curve track, and determine the position information of the mapping points of the satellite positioning points of the train on the curve track according to the position information of the satellite positioning points of the train, so that the positioning of the satellite positioning points of the train on the curve track is realized; the method comprises the steps of determining the arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position reference point on the curve track, and positioning the train according to the arc distance.
In an exemplary embodiment, step S103 determines an arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position information of the position reference point on the selected curve track, as shown in fig. 2, including:
step S102-1, determining a linear distance between the mapping point and a position reference point on the curve track according to the position information of the mapping point and the position information of the position reference point;
the formula for calculating the linear distance in the embodiment of the application is not limited to the geodetic coordinate distance calculation formula;
step S102-2, determining a deflection angle between the mapping point and the position reference point according to the linear distance and the curvature radius of the curve track;
step S102-3 determines the arc distance from the deflection angle and the radius of curvature.
An application example of calculating the arc distance between the train locating point and the position reference point is given below, in which the selected arc between the position reference point and the mapping point has a consistent curve radius, deflection angle and direction, as shown in fig. 3, the mapping point is P 0 (x 0 ,y 0 ) The position reference point is P 1 (x 1 ,y 1 )，x 0 ，y 0 Longitude and latitude of the mapping point respectively; x is x 1 ，y 1 Longitude and latitude of the location reference point, respectively.
Firstly, calculating a linear distance between the mapping point and the position reference point by using a geodetic coordinate distance calculation formula, setting the linear distance as S,
in the formula (1), the unit of S is meter (m); r is the earth radius, generally 6378137m; the longitude and latitude in the formula are expressed by radians;
secondly, calculating a deflection angle by using a trigonometric function formula:
in the formulas (2) and (3), R 0 A radius of curvature that is the curved track; θ is the deflection angle between the mapping point and the position reference point;
thirdly, calculating the arc distance between the mapping point and the position reference point according to an arc formula;
in the formula (4), L 0 For the arc distance, pi is the circumference ratio.
In other application examples, when the selected arc line between the position reference point and the mapping point has a consistent deflection angle and direction, and a small error exists in the radius of the curve, the arc line distance between the mapping point and the position reference point can be determined in the manner described above, and although the accuracy of the determined arc line distance is slightly reduced, the linear distance between two points on the curve track can only be calculated by using a geodetic coordinate distance calculation formula in comparison with the related art, and the positioning is still more accurate.
In an exemplary embodiment, determining the position information of the mapping point of the train satellite positioning point on the curved track according to the position information of the train satellite positioning point includes:
determining the center coordinates of the curve track;
determining the bending direction of the curve track according to the circle center coordinates;
mapping the position information of the train satellite positioning points on a curve orbit with the determined bending direction to obtain the position information of the mapping points; the mapping may be vertical mapping.
In an exemplary embodiment, the determining the center coordinates of the curved track includes:
2 sections of curved rails are selected on the curved rail, and two ends of each section of curved rail are two position reference points on the curved rail;
determining 2 circle center coordinates according to each section of curved rail;
respectively calculating the distance between any two circle center coordinates corresponding to different curved track sections;
respectively taking the two circle center coordinates with the minimum distance as circle center coordinates of the corresponding 2 sections of curved rails;
and determining the center coordinates of the curve track according to the center coordinates of the 2-section curved track.
If the curvatures of the 2-section curved rails are different, the circle center coordinates of the 2-section curved rails determined according to the method cannot be completely overlapped, and then the circle center coordinates of the curved rails are not unique.
FIG. 4 shows a schematic view of a section of curved track having 2 center coordinates, P in the drawing 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) Two end points of a section of curved rail, namely two position reference points; radius of curvature R at curved track 0 Under the known condition, the possible circle centers of the curved rails are 2, respectivelyP c11 (x c11 ,y c11 ) And P c12 (x c12 ,y c12 ) The two circle centers are positioned at P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) Is a straight line L of connection 1 Upper line segment P 1 P 2 Is a perpendicular bisector L of (2) 2 The calculation method comprises the following steps:
d 2 ＝(x 2 -x 1 ) 2 +(y 2 -y 1 ) 2 (7)
wherein x is h 、y h For point P 1 (x 1 ,y 1 ) Sum point P 2 (x 2 ,y 2 ) Intermediate point P between h (x h ,y h ) Is the horizontal and vertical coordinates of (2); r is the curvature radius of the curved rail; d is the point P 1 (x 1 ,y 1 ) Sum point P 2 (x 2 ,y 2 ) A distance therebetween; k1 is a straight line L 2 Is a slope of (2).
As shown in fig. 5, when adjacent 2 curved tracks T are selected, each curved track has 2 possible centers, wherein the curved track 1 (P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) Two end points of the curved rail 1 respectively) with 2 possible circle centers P c11 (x c11 ,y c11 ) And P c12 (x c12 ,y c12 ) The method comprises the steps of carrying out a first treatment on the surface of the Bent rail 2 (P) 2 (x 2 ,y 2 ) And P 3 (x 3 ,y 3 ) Two end points of the curved rail 2 respectively) with 2 possible circle centers P c21 (x c21 ,y c21 ) And P c22 (x c22 ,y c22 )；
Calculating the possible center point P c11 (x c11 ,y c11 ) With the center point P c21 (x c21 ,y c21 ) Distance d between 1 Calculate the possible center point P c11 (x c11 ,y c11 ) With the center point P c22 (x c22 ,y c22 ) Distance d between 2 Calculate the possible center point P c12 (x c12 ,y c12 ) With the center point P c21 (x c21 ,y c21 ) Distance d between 3 Calculate the possible center point P c12 (x c12 ,y c12 ) With the center point P c22 (x c22 ,y c22 ) Distance d between 4 Comparison d 1 、d 2 、d 3 、d 4 ；
When d 1 Minimum, P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) The center coordinates of the curved rails are P c11 (x c11 ,y c11 )，P 2 (x 2 ,y 2 ) And P 3 (x 3 ,y 3 ) The center coordinates of the curved rails are P c21 (x c21 ,y c21 )；
When d 2 Minimum, P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) The center coordinates of the curved rails are P c11 (x c11 ,y c11 )，P 2 (x 2 ,y 2 ) And P 3 (x 3 ,y 3 ) The center coordinates of the curved rails are P c22 (x c22 ,y c22 )；
When d 3 Minimum, P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) The center coordinates of the curved rails are P c12 (x c12 ,y c12 )，P 2 (x 2 ,y 2 ) And P 3 (x 3 ,y 3 ) The center coordinates of the curved rails are P c21 (x c21 ,y c21 )；
When d 4 Minimum, P 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) The center coordinates of the curved rails are P c12 (x c12 ,y c12 ) The center coordinates of the curved track between the second point and the third point are P c22 (x c22 ,y c22 )。
The calculation d described above in the embodiment of the present application 1 、d 2 、d 3 、d 4 The formula of (a) is not limited to formulas (10) to (13).
In an exemplary embodiment, after calculating the center coordinates of the curved track, the method may further include: and writing the center coordinates serving as parameters of the curve track into an electronic map. The current parameters describing the orbit on the electronic map comprise position reference point coordinates and orbit curvature, but the bending direction of the bent orbit cannot be determined only according to the two parameters, and further the mapping points of the satellite positioning points of the train at the bent orbit on the electronic map cannot be accurately acquired. The embodiment of the invention determines the bending direction of the curved track by determining the circle center position of the curved track, and lays a foundation for accurately obtaining the mapping points of the train satellite positioning points on the curved track on the electronic map. And the curve track and the mapping points are presented on the electronic map, so that the train position can be intuitively and clearly displayed.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs executable by one or more processors to implement the method as described in the previous embodiments.
The embodiment of the application also provides a terminal for positioning a train at a curved track, as shown in fig. 6, which comprises a memory 601 and a processor 602, wherein the memory 601 stores a program, and the program realizes the method described in the previous embodiment when being read and executed by the processor 602.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
Claims (5)
1. A method of locating a train at a curved track, comprising:
acquiring position information of a satellite positioning point of a train entering a curve track;
determining the position information of the train satellite positioning point at the mapping point of the curve orbit according to the position information of the train satellite positioning point;
determining an arc distance between the mapping point and a position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track;
positioning the train according to the arc distance;
determining an arc distance between the mapping point and the position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track, wherein the arc distance comprises the following steps:
determining a linear distance between the mapping point and a position reference point according to the position information of the mapping point and the position information of the position reference point on the curve track;
determining a deflection angle between the mapping point and the position reference point according to the linear distance and the curvature radius of the curve track;
determining the arc distance according to the deflection angle and the curvature radius;
determining the position information of the mapping point of the train satellite positioning point on the curve track according to the position information of the train satellite positioning point, wherein the method comprises the following steps:
determining the center coordinates of the curve track;
determining the bending direction of the curve track according to the circle center coordinates;
mapping the position information of the train satellite positioning points on a curve orbit with the determined bending direction to obtain the position information of the mapping points;
the method for determining the center coordinates of the curve track comprises the following steps:
2 sections of curved rails are selected on the curved rail, and two ends of each section of curved rail are two position reference points on the curved rail;
determining 2 circle center coordinates according to each section of curved rail;
respectively calculating the distance between any two circle center coordinates corresponding to different curved track sections;
respectively taking the two circle center coordinates with the minimum distance as circle center coordinates of the corresponding 2 sections of curved rails;
and determining the center coordinates of the curve track according to the center coordinates of the 2-section curved track.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the method for selecting the position reference point on the curve track comprises the following steps:
the selected arc line between the position reference point and the mapping point has the same curve radius, deflection angle and direction.
3. The method according to claim 1, characterized in that
Selecting 2 sections of curved rails on the curved track, wherein the method comprises the following steps:
and selecting 2 adjacent curved tracks on the curved track.
4. A computer readable storage medium storing one or more programs executable by one or more processors to implement the method of any of claims 1 to 3.
5. A terminal for locating a train at a curved track, comprising a memory and a processor, the memory storing a program which, when read by the processor for execution, implements the method of any one of claims 1 to 3.
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| CN115793012B (en) * | 2023-01-30 | 2023-07-25 | 北京全路通信信号研究设计院集团有限公司 | Train satellite positioning method, device, equipment and storage medium |
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