CN113715872B - Rail transit train real-time position conversion method, storage medium and system - Google Patents
Rail transit train real-time position conversion method, storage medium and system Download PDFInfo
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- CN113715872B CN113715872B CN202110708790.9A CN202110708790A CN113715872B CN 113715872 B CN113715872 B CN 113715872B CN 202110708790 A CN202110708790 A CN 202110708790A CN 113715872 B CN113715872 B CN 113715872B
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a rail transit train real-time position conversion method, a storage medium and a system, comprising the following steps: acquiring GNSS position information of a sampling point and establishing a GNSS database of an orbit line; establishing a special positioning database according to the GNSS database and the track line topological structure of the track traffic train vehicle-mounted positioning system; and matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of the track section where the rail transit train is positioned in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is positioned according to the position error of the rail transit train. According to the invention, positioning is carried out independently from traditional trackside equipment and vehicle-mounted positioning equipment, when the vehicle-mounted equipment fails, GNSS is utilized to provide accurate position information of the rail transit train, positioning accuracy is not affected by problems such as slipping or idling in the running process of the rail transit train, robustness and adaptability of a rail transit train system can be improved, and stable running of the rail transit train positioning system is ensured.
Description
Technical Field
The invention relates to the field of rail transit, in particular to a real-time position conversion method of a rail transit train. A computer readable storage medium for performing steps in the rail transit train real-time position conversion method; and a real-time position conversion system of the rail transit train.
Background
In a rail transit driving safety and command system, rail transit train positioning is a key technology. The positioning of the rail transit train is to accurately grasp key information such as the actual geographic position of the rail transit train on an operation line in real time through the existing technical equipment, and can transmit the position information of the rail transit train to a rail transit command and control terminal through a transmission medium in real time. The rail transit train positioning technology can provide basic data of the rail transit train position for the rail transit train automatic control technology, is the basis of the rail transit train automatic control technology, and the accurate positioning of the rail transit train position directly determines the accurate realization of the rail transit train automatic control function.
The existing rail transit train position representation method mainly adopts a positioning technology based on a track circuit or a beacon and a traditional vehicle-mounted positioning technology. The rail transit train positioning technology based on the track circuit mainly adopts the steel rail and the lead wire to carry out connection operation, and then the circuit structure is used for transmitting and receiving signals to reflect the running condition and the vehicle position of the rail transit train. In addition, the beacon positioning technology realizes effective information transmission and feedback for rail transit trains by means of active beacons and passive beacons, but the positioning technology has higher requirements on the accuracy of beacon installation. The traditional vehicle-mounted positioning technology mainly generates corresponding pulses by means of corresponding photoelectric sensors, combines wheel movements of the rail transit trains to carry out coding processing to obtain speed and distance values of the rail transit trains, but with the increase of driving mileage, accumulated errors brought by the technology are larger and larger, and skidding or idling problems in the running process of the rail transit trains can also interfere final positioning effects and precision, so that positioning errors are increased.
In the prior art, the Chinese patent application with the application number of CN201410668045.6 realizes the position representation of the rail transit train by utilizing a beacon database and a turnout database which comprise track numbers and offset mileage, and the special rail transit positioning mode can realize the efficient positioning of the rail transit train, but the technology relies on an accurate beacon device and has higher installation and maintenance cost. Therefore, how to combine the general positioning technology and the special rail transit positioning method solves the problem of the position representation conversion of the rail transit train, improves the positioning efficiency and accuracy of the rail transit train, and becomes an important subject in the field of rail transit at home and abroad.
Disclosure of Invention
In the summary section, a series of simplified form concepts are introduced that are all prior art simplifications in the section, which are described in further detail in the detailed description section. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The technical problem to be solved by the invention is to provide a rail transit train real-time position conversion method capable of realizing position representation conversion of a general positioning method and a rail transit special positioning method.
Correspondingly, the invention also provides a computer readable storage medium for executing the steps in the rail transit train real-time position conversion method; and a real-time position conversion system of the rail transit train.
In order to solve the technical problems, the real-time position conversion method of the rail transit train provided by the invention comprises the following steps:
s1, acquiring GNSS position information of a sampling point on an orbit line, and establishing a GNSS database of the orbit line;
s2, establishing a special positioning database according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of the track section where the rail transit train is positioned in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is positioned according to the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
Optionally, the real-time position conversion method of the rail transit train is further improved, the sampling point GNSS position information is obtained by uniformly running the rail transit train carrying the GNSS system from a start point of the track to an end point of the track at a specified speed, and the GNSS positioning system uniformly samples along the track at a specified frequency.
Optionally, the method for converting the real-time position of the rail transit train is further improved, multiple times of sampling is performed on the designated key point, the line starting point and/or the line ending point on the rail line, the average value of the multiple times of sampling is used as sampling point position information, and the sampling point position information comprises longitude and latitude of the sampling point.
Optionally, the method for converting the real-time position of the rail transit train is further improved, and the matching sampling points are obtained in the following manner;
starting iterative search from a track start point in a special positioning database sampling point set in the running direction of the rail transit train, and ending the search from the track end point;
and calculating Euclidean distance between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.
To solve the above technical problem, the present invention provides a computer readable storage medium for executing the steps in the rail transit train real-time position conversion method described in any one of the above.
In order to solve the technical problems, the invention provides a real-time position conversion system of a rail transit train, comprising:
the sampling module is used for collecting the GNSS position information of the sampling point on the track line;
a GNSS database for storing the sampling point GNSS location information;
the special positioning database is established according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, and the storage of the special positioning database comprises the following steps: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
the matching module is used for matching the real-time GNSS position of the train with sampling points in the special positioning database to obtain matched sampling points;
the searching module is used for searching the proprietary positioning database to obtain the track section number of the rail transit train in real time through the sampling point;
the calculation module calculates the actual offset mileage of the track section where the rail transit train is located according to the track section number where the rail transit train is located in real time and the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
Optionally, the real-time position conversion system of the rail transit train is further improved, the sampling point GNSS position information is obtained by uniformly running the rail transit train from a start point to an end point of the track at a specified speed, and the GNSS positioning system uniformly samples along the track at a specified frequency.
Optionally, the real-time position conversion system of the rail transit train is further improved, multiple times of sampling is performed on the designated key points, the line starting points and/or the line ending points on the rail line, and the average value of the multiple times of sampling is used as the position information of the sampling points.
Optionally, the real-time position conversion system of the rail transit train is further improved, and the matching module obtains the matching sampling points in the following way;
starting iterative search from a track start point in a special positioning database sampling point set in the running direction of the rail transit train, and ending the search from the track end point;
and calculating Euclidean distance between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.
According to the invention, the GNSS database of the track line is built by collecting the GNSS position information of the sampling points on the track line, and the special positioning database of the track traffic train is built by combining the line topology format of the vehicle-mounted positioning system, so that the accurate positioning of the track traffic train is realized. Compared with the prior art, the method has the following beneficial effects:
the invention maps the position information provided by the GNSS positioning system into the special data suitable for the vehicle-mounted system line topology format, can solve the problem of conversion of the GNSS positioning technology and the position representation of the special track traffic positioning system, realizes the efficient processing of the line information, and improves the safety of the rail transit train system; the invention is not limited by the track type, and can adapt to the conditions of curves or other roads of rail transit trains; according to the invention, positioning is carried out independently from traditional trackside equipment and vehicle-mounted positioning equipment, when the vehicle-mounted equipment fails, GNSS is utilized to provide accurate position information of the rail transit train, positioning accuracy is not affected by problems such as slipping or idling in the running process of the rail transit train, robustness and adaptability of a rail transit train system can be improved, and stable running of the rail transit train positioning system is ensured.
Drawings
The accompanying drawings are intended to illustrate the general features of methods, structures and/or materials used in accordance with certain exemplary embodiments of the invention, and supplement the description in this specification. The drawings of the present invention, however, are schematic illustrations that are not to scale and, thus, may not be able to accurately reflect the precise structural or performance characteristics of any given embodiment, the present invention should not be construed as limiting or restricting the scope of the numerical values or attributes encompassed by the exemplary embodiments according to the present invention. The invention is described in further detail below with reference to the attached drawings and detailed description:
fig. 1 is a flow chart of a real-time position conversion method of a rail transit train.
Detailed Description
Other advantages and technical effects of the present invention will become more fully apparent to those skilled in the art from the following disclosure, which is a detailed description of the present invention given by way of specific examples. The invention may be practiced or carried out in different embodiments, and details in this description may be applied from different points of view, without departing from the general inventive concept. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solution of these exemplary embodiments to those skilled in the art.
A first embodiment;
as shown in fig. 1, the invention provides a real-time position conversion method of a rail transit train, which comprises the following steps:
s1, acquiring GNSS position information of a sampling point on an orbit line, and establishing a GNSS database of the orbit line;
s2, establishing a special positioning database according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of the track section where the rail transit train is positioned in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is positioned according to the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
A second embodiment;
s1, a rail transit train carrying a GNSS system on a track line runs at a low speed (for example, the speed per hour is lower than 20 KM) from a line starting point to a line ending point, a GNSS positioning system uniformly samples along the track line at a certain frequency, samples key nodes in the track line for multiple times, takes an average value of sampling points at each key node in the track line as key node sampling data, stores the key node sampling data into a database, obtains sampling point GNSS position information, and assumes that the number of the key node sampling points stored in the database is n1 and the total number of the line sampling points is n; storing GNSS position information of n sampling points into a field 1 of a database, wherein the position information of the field 1 comprises longitude and latitude of the sampling points to establish a GNSS database of an orbit line;
s2, establishing a special positioning database according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
illustratively, proprietary positioning database segment compositions are shown in Table 1;
TABLE 1
| Field name | Field 1 | Field 2 | Field 3 |
| Field element | GNSS longitude and GNSS latitude | Track section number | Number of sector departure mileage |
Wherein the section number represents the section address where the sampling point is located, and the section deviation mileage is the track distance between the sampling point and the starting point of the offline section;
further describing, the process of establishing a proprietary positioning database is as follows;
setting N line nodes in a sampling point set in a GNSS database, and dividing the line into N-1 sections according to key nodes in the acquired line, line starting points and line ending points, namely the nodes comprise line starting points, line ending points and N-2 key nodes;
calculating offset mileage of track section of rail transit train along running direction based on sampling point
Assuming that a point k is an arbitrary point on the line, GNSS position information of the point k is (lngk, latk), where lngk represents longitude of the point k, and latk represents latitude of the point k. After converting the position information into radians, the GNSS position information at point k may be denoted as (radlngk, radlatk), the GNSS position information at the start of the line may be denoted as (radlng 1, radlat 1), and the GNSS position information at the end of the line may be denoted as (radlngn, radlatn). When the sampling point rule is large enough, the track between adjacent sampling points can be regarded as a straight line, so that the track distance between the point k and the adjacent point k-1 is calculated as follows:
wherein k is greater than or equal to 2, and point k is located in the P-th section of the line. Let the P-th section number of the line be k edge The starting point of the section along the running direction of the rail transit train is a point p, and GNSS position information of the point p is (radlngp, radlatp). Assuming that the track distance between the point k (radlngk, radlatk) and the start point P (radlngp, radlatp) of the P-th section of the line along the running direction of the rail train is the offset mileage dkp of the point k, the offset mileage d kp Can be regarded as the accumulation of the track distance between two adjacent sampling points, so the offset mileage d of the point k kp The calculation formula is as follows:
d kp ＝d kk-1 +d k-1k-2 +d k-2k-3 +…d p+1p
segment number K of the sampling point set edge And (3) storing the offset mileage D of the sampling point set into a field 3 of the database.
S3, matching the real-time GNSS position information in the running process of the rail transit train with a field 1 of a sampling point set in a proprietary positioning database, and calculating expected matching points by using GNSS longitude and latitude; searching a special positioning database, indexing the longitude and latitude information of an expected matching point to the track section number of the rail transit train and the actual offset mileage of the track section of the rail transit train, and realizing the position conversion of the rail transit train, wherein the position conversion is realized in an exemplary manner by the following steps of:
and in the running direction of the rail transit train, starting iterative search from a track starting point in the sampling point set of the proprietary positioning database, ending the search from the track ending point, and finding out the expected matching point. Assuming that the position of the rail transit train is represented by a point j, the position information of the point j is converted intoThe radian measure may be denoted (radlngj, radlatj). Sampling point set in proprietary positioning database is A= { a 1 ,a 2 ,...,a i ,...,a n }. The Euclidean distance e between the current position point j of the rail transit train and the sampling point ai is calculated as follows:
so it is desirable to match point a * The calculation formula is as follows:
e * ＝min{e j1 ,e j2 ,…,e ji ,…,e jn }
wherein e * The corresponding special positioning database sampling point is a desired matching point a * ，e * A position error between the real-time position of the rail transit train and the desired matching point is represented.
The longitude and latitude information of the expected matching point obtained in the searching step of the proprietary positioning database is further obtained, and then the track section number a of the rail transit train is obtained * edge Actual offset mileage of track section where rail transit train is locatedWherein the actual offset mileage of the track section in which the rail transit train is located +.>The calculation formula is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the offset mileage of the track section where the expected matching point is located, e * Is the position error between the rail transit train position and the desired matching point.
A third embodiment;
the present invention provides a computer readable storage medium for storing the steps in the rail transit train real-time position conversion method according to any one of the first embodiment or the second embodiment.
A fourth embodiment;
the invention provides a real-time position conversion system of a rail transit train, which comprises the following components:
the sampling module is used for collecting the GNSS position information of the sampling point on the track line;
a GNSS database for storing the sampling point GNSS location information;
the special positioning database is established according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, and the storage of the special positioning database comprises the following steps: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
the matching module is used for matching the real-time GNSS position of the train with sampling points in the special positioning database to obtain matched sampling points;
the searching module is used for searching the proprietary positioning database to obtain the track section number of the rail transit train in real time through the sampling point;
the calculation module calculates the actual offset mileage of the track section where the rail transit train is located according to the track section number where the rail transit train is located in real time and the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
A fifth embodiment;
the invention provides a real-time position conversion system of a rail transit train, which comprises the following components:
the sampling module is used for collecting the GNSS position information of the sampling point on the track line; the GNSS positioning system uniformly samples the specified key points, the line starting point and/or the line ending point on the track line at a specified frequency, and takes the average value of the multiple samples as the position information of the sampling points.
A GNSS database for storing the sampling point GNSS location information;
the special positioning database is established according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, and the storage of the special positioning database comprises the following steps: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
the matching module is used for matching the real-time GNSS position of the train with sampling points in the special positioning database to obtain matched sampling points; the matching module obtains matching sampling points in the following way;
starting iterative search from a track start point in a special positioning database sampling point set in the running direction of the rail transit train, and ending the search from the track end point;
calculating Euclidean distance between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point;
the searching module is used for searching the proprietary positioning database to obtain the track section number of the rail transit train in real time through the sampling point;
the calculation module calculates the actual offset mileage of the track section where the rail transit train is located according to the track section number where the rail transit train is located in real time and the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail by way of specific embodiments and examples, but these should not be construed as limiting the invention. Many variations and modifications may be made by one skilled in the art without departing from the principles of the invention, which is also considered to be within the scope of the invention.
Claims (7)
1. The real-time position conversion method of the rail transit train is characterized by comprising the following steps of:
s1, acquiring GNSS position information of a sampling point on an orbit line, and establishing a GNSS database of the orbit line;
s2, establishing a special positioning database according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of the track section where the rail transit train is positioned in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is positioned according to the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section, and the matching sampling point is obtained in the following way;
starting iterative search from a track start point in a special positioning database sampling point set in the running direction of the rail transit train, and ending the search from the track end point;
and calculating Euclidean distance between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.
2. The rail transit train real-time position conversion method as claimed in claim 1, wherein: and the GNSS positioning system performs uniform sampling along the track line at a specified frequency to obtain the GNSS position information of the sampling point.
3. The rail transit train real-time position conversion method according to claim 2, wherein: and carrying out multiple sampling on the appointed key points, the line starting points and/or the line ending points on the track line, and taking the average value of the multiple sampling as the position information of the sampling points.
4. A computer readable storage medium performing the steps of the rail transit train real-time position conversion method of any one of claims 1 to 3.
5. A rail transit train real-time position conversion system, comprising:
the sampling module is used for collecting the GNSS position information of the sampling point on the track line;
a GNSS database for storing the sampling point GNSS location information;
the special positioning database is established according to a GNSS database and a track line topological structure of a track traffic train vehicle-mounted positioning system, and the storage of the special positioning database comprises the following steps: the GNSS position of the sampling point, the track section number of the sampling point and the offset mileage of the track section of the sampling point;
the matching module is used for matching the real-time GNSS position of the train with sampling points in the special positioning database to obtain matching sampling points, and the following method is adopted to obtain the matching sampling points;
starting iterative search from a track start point in a special positioning database sampling point set in the running direction of the rail transit train, and ending the search from the track end point;
calculating Euclidean distance between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point;
the searching module is used for searching the proprietary positioning database to obtain the track section number of the rail transit train in real time through the sampling point;
the calculation module calculates the actual offset mileage of the track section where the rail transit train is located according to the track section number where the rail transit train is located in real time and the position error of the rail transit train;
the offset mileage is the track distance between the sampling point and the starting point of the offline section.
6. The rail transit train real-time position conversion system according to claim 5, wherein: and the GNSS positioning system performs uniform sampling along the track line at a specified frequency to obtain the GNSS position information of the sampling point.
7. The rail transit train real-time position conversion system according to claim 5, wherein: and carrying out multiple sampling on the appointed key points, the line starting points and/or the line ending points on the track line, and taking the average value of the multiple sampling as the position information of the sampling points.
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