CN113771916B - Train initial positioning method and device, electronic equipment and storage medium - Google Patents
Train initial positioning method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/023—Determination of driving direction of vehicle or train
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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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a train initial positioning method, a train initial positioning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points; screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information; determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna; and determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of the target train, and the efficiency and accuracy of train initial positioning are improved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train initial positioning method, a train initial positioning device, electronic equipment and a storage medium.
Background
A locomotive (a locomotive is a self-propelled vehicle which pulls or pushes a railway vehicle to run and is not loaded with business load, commonly called a locomotive) of a Communication-Based Train automatic Control (CBTC) freight railway Train is provided with a Train Control system, Beidou equipment is arranged in the locomotive, and transponder receiving antennas are arranged under two carriages of the locomotive. The train initial positioning refers to performing first positioning on a train, including first positioning in a stationary state and first positioning in a running state of the train, and the subsequent positioning method may be the same as the initial positioning or different from the initial positioning.
The existing train initial positioning method comprises the following steps: the train is positioned by passing through the double transponders, and the train is manually input into the uplink and downlink directions and positioned by adding the single transponder.
The train passing through the double-transponder positioning device has the characteristics that manual intervention is not needed, and the train can be automatically positioned after passing through two continuous transponders, but the defect is obvious, namely the positioning running distance is long, and the train can be positioned by at least 500m of distance. The positioning method of the single responder is characterized in that after the uplink and downlink information is manually input on the operation interface, the train running direction is defined, and the positioning can be completed only by an accurate position point.
Disclosure of Invention
The invention provides a train initial positioning method, a train initial positioning device, electronic equipment and a storage medium, which are used for overcoming the defects that the initial positioning distance measurement is long and manual intervention is needed in the prior art and realizing high-efficiency and accurate train initial positioning.
The invention provides a train initial positioning method, which comprises the following steps:
acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of the target train.
According to the train initial positioning method provided by the invention, before the Beidou positioning points in the first positioning point information are screened to obtain the second positioning point information, the method further comprises the following steps:
and converting the Beidou positioning points into mileage information.
According to the train initial positioning method provided by the invention, the step of screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain the second positioning point information comprises the following steps:
determining a Beidou ranging error;
and screening the Beidou positioning points in the first positioning point information based on the Beidou ranging error and the distance between the Beidou positioning points to obtain second positioning point information.
According to the train initial positioning method provided by the invention, before carrying out error check on the Beidou point envelope and the transponder envelope, the method further comprises the following steps:
determining a first position of a target train based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and obtaining the transponder envelope based on the first position of the target train, the periodic running distance of the target train and the ranging error.
According to the train initial positioning method provided by the invention, the step of determining the first position of the target train based on the message sent by the fixed transponder and received by the vehicle-mounted transponder antenna comprises the following steps:
under the condition that a first vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of a train based on the following formula, wherein the first vehicle-mounted transponder antenna is positioned at a first locomotive:
T L ＝A+v 1 *t+l 2 -l 3
wherein, T L Is the first position of the target train, A is the position of the fixed transponder, v 1 The running speed of a target train when a first vehicle-mounted transponder antenna receives a message, t is the time delay of the transponder message, l 2 For the first vehicle-mounted transponder antenna to the vehicle head distance,/ 3 Is the radiation range of the fixed transponder;
under the condition that a second vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of the train based on the following formula, wherein the second vehicle-mounted transponder antenna is positioned at the head of a second locomotive:
T L ＝A+v 2 *t+l 2 -l 3 +l 4
wherein v is 2 For the running speed of the target train when the second on-board transponder antenna receives the message,/ 4 Is the distance between the first and second vehicle-mounted transponder antennas.
According to the train initial positioning method provided by the invention, the transponder envelope is obtained based on the first position of the target train, the periodic running distance of the target train and the ranging error:
determining a check point position of a target train based on the first position of the target train and the periodic running distance of the target train;
and obtaining the envelope of the transponder according to the position of the check point and the ranging error.
The invention provides a train initial positioning device, comprising:
the Beidou positioning system comprises a position acquisition module, a positioning module and a positioning module, wherein the position acquisition module is used for acquiring first positioning point information acquired by Beidou equipment, and the first positioning point information comprises at least two Beidou positioning points;
the position screening module is used for screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
the position checking module is used for determining a Beidou point envelope based on the second positioning point information, carrying out error checking on the Beidou point envelope and a transponder envelope and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and the positioning module is used for determining train initial positioning information based on the available Beidou positioning points, and the train initial positioning information comprises the running direction and mileage information of a target train.
The invention provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the train initial positioning method when executing the program.
The present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the train initial positioning method.
The invention provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method for initial train positioning.
According to the train initial positioning method, the train initial positioning device, the electronic equipment and the storage medium, the data collected by the Beidou equipment and the data sent by the fixed transponder and received by the vehicle-mounted transponder antenna are combined, so that the train initial positioning efficiency and the train initial positioning accuracy are improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a train initial positioning method provided by the present invention;
FIG. 2 is a schematic diagram of the position of the Beidou point envelope provided by the invention;
FIG. 3 is a schematic flow chart of acquiring an envelope of a transponder according to the present invention;
FIG. 4 is a schematic illustration of the location of a transponder envelope provided by the present invention;
FIG. 5 is a schematic structural diagram of an initial train positioning device provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a train initial positioning method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the following steps:
Optionally, the Beidou equipment is installed at the locomotive of the train, and Beidou positioning points acquired by the Beidou equipment are expressed in a form of longitude and latitude high three-dimensional coordinates.
It can be understood that, because the judgment of the running direction of the target train is carried out according to the information of the first positioning point, the Beidou equipment at least acquires two Beidou positioning points.
In addition, the double Beidou board cards are used for redundant positioning in the embodiment, so that the first positioning point information can be still obtained when one board card fails, the use of a system is not influenced, the availability of the initial positioning of the train is increased, and the train positioning efficiency is improved to the greatest extent.
Optionally, the first positioning point information is continuously acquired, but the acquired excessive beidou positioning points do not have a gain for judging the train running direction, and particularly when the train runs at zero speed, a large amount of repeated position information may even cause misjudgment of the direction. For example, when a train runs at zero speed or low speed, due to Beidou positioning errors, a Beidou positioning point acquired at the previous moment in two continuous Beidou positioning points acquired by the train may be in front of the Beidou positioning point acquired at the later moment of the train, and if the running direction of the train is determined according to the two continuous Beidou positioning points, misjudgment can be caused.
Therefore, the Beidou positioning points in the first positioning point information need to be screened according to the distance between the Beidou positioning points, points with errors are eliminated, for example, the distance between every two Beidou positioning points in the first positioning point information is calculated, and two Beidou positioning points with the distance larger than a preset value are eliminated; or in order to save calculation resources, the distance between the Beidou positioning points acquired at adjacent moments is calculated, and the two Beidou positioning points with the distance larger than the preset value are deleted to obtain the information of the second positioning point.
Optionally, the Beidou equipment is non-safety equipment, and the acquired Beidou position point can deviate from the real position of the target train under the influence of the approximate relation among the information transmission time among the Beidou board cards, the program operation time and the coordinate system conversion. In addition, external factors such as the influence of geographical position or weather can also cause a big error between the Beidou position point and the real position of the target train.
Therefore, the collected Beidou position needs to be verified, the verification can participate in the calculation of the initial positioning of the train, and the position point is directly abandoned if the verification fails.
The second positioning point information comprises Beidou positioning points acquired at a plurality of moments, the center of the sphere is determined according to longitude and latitude height coordinates of the Beidou positioning points, the radius is determined according to the ranging error, a ball representing the position of the target train can be obtained, and a section of envelope can be determined according to the crossed position of the ball and the rail. The envelope determined by all the Beidou positioning points in the second positioning point information forms the Beidou point envelope. Fig. 2 is a schematic position diagram of a Beidou point envelope provided by the embodiment of the present invention. As shown in fig. 2, when the train travels in the direction toward the fixed transponder a, the preset distance before the train reaches the fixed transponder a is the verification range of the beidou recording point, for example, the preset distance is 40 meters. Within 40 meters before the fixed transponder, m Beidou recording points, namely Beidou positioning points, are collected, and each recording point can determine a section of envelope.
For example, 40 big dipper anchor points have been gathered to the target train operation in-process, and through the screening, the interval of big dipper anchor point is whole at reasonable within range, converts these 40 big dipper anchor points into 40 big dipper point envelopes, and big dipper point envelopes can be expressed as b (1, 1), b (1, 2), b (2, 1), b (2, 2) … … b (40, 1), b (40, 2). It will be appreciated that b (1, 1) is a first intersection of the ball with the rail as determined from the first Beidou anchor point and b (1, 2) is a second intersection of the ball with the rail as determined from the first Beidou anchor point.
And carrying out error check on the Beidou point envelope and the transponder envelope, wherein the Beidou positioning point corresponding to the envelope which is successfully checked is the available Beidou positioning point.
Wherein the transponder envelope is determined based on a message sent by a fixed transponder received by a vehicle-mounted transponder antenna.
And 103, determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of a target train.
Optionally, the train initial positioning needs to acquire 2 elements: train running direction and train mileage information in the line.
And connecting the available Beidou positioning points end to end according to a time sequence to obtain a direction which is the running direction of the target train, and converting the positions of the available Beidou positioning points into mileage information to obtain the mileage information of the target train.
According to the train initial positioning method provided by the embodiment of the invention, the first positioning point information acquired by the Beidou equipment is firstly screened according to the position of the coordinate point, then the Beidou positioning point is converted into an envelope form to be verified with the envelope of the transponder, so that an available Beidou positioning point is obtained, and finally the train initial positioning is realized based on the available Beidou positioning point.
In an embodiment, before the filtering the beidou positioning point in the first positioning point information to obtain the second positioning point information, the method further includes:
and converting the Beidou positioning points into mileage information.
Optionally, the Beidou positioning point represented by longitude and latitude three-dimensional coordinates is converted into a form of mileage information, and then the mileage information participates in subsequent calculation.
The mileage information is expressed in the form of Link + offset in the topological graph of the running line, wherein Link represents a straight line segment in the running line, and the offset represents the distance from any point on the straight line segment of the Link to the starting point of the Link. Therefore, the mileage information is also referred to as a relative position in the route, that is, a specific connection straight line segment where the train is currently running to the entire route, and an offset of the current train on the connection straight line segment is given.
The Beidou board card transmits Beidou positioning point data containing longitude and latitude height information to the vehicle-mounted mainboard, and the longitude and latitude height information is quickly converted into mileage information, namely Link + offset. Here, a map supporting the interconversion between the longitude and latitude height information and the Link + offset information needs to be constructed first. In principle, the spatial coordinate points are mapped on a two-dimensional plane and can be approximately composed of straight lines, easement lines and arc lines, and the mapping relation between the map and the kilometer post map can be accurately measured and then written into an electronic map. Therefore, the Beidou board card collects longitude and latitude height information and then sends the longitude and latitude height information to a vehicle-mounted train automatic protection (ATP) mainboard, a mainboard program finds a corresponding relation in an electronic map, and available Beidou points represented by longitude and latitude height coordinates are converted into a form of mileage information.
According to the train initial positioning method provided by the embodiment of the invention, the Beidou positioning point represented in the form of longitude and latitude height three-dimensional coordinates is converted into mileage information, and then the mileage information participates in the subsequent positioning process, so that the efficiency and the accuracy of train initial positioning are improved.
In an embodiment, the screening the beidou positioning points in the first positioning point information based on the distance between the beidou positioning points to obtain second positioning point information includes:
determining a Beidou ranging error;
and screening the Beidou positioning points in the first positioning point information based on the Beidou ranging error and the distance based on the Beidou positioning points to obtain second positioning point information.
Optionally, the big dipper ranging error is obtained by performing error statistics on a big dipper positioning point acquired by the big dipper equipment. The big dipper anchor point that can understand, because the existence of error, big dipper equipment gathered is not necessarily the accurate position of train, and the actual position of train can be seen to be located and use this big dipper anchor point as the centre of sphere, uses big dipper range finding error as arbitrary position in the radial ball.
Therefore, the three-dimensional coordinate points in the first positioning point information are screened according to the Beidou ranging error and the distance between the three-dimensional coordinates, and second positioning point information is obtained.
Optionally, based on the Beidou ranging error and the distance based on the Beidou positioning point, the Beidou positioning point in the first positioning point information is screened to obtain second positioning point information, and the method specifically includes:
and deleting the Beidou positioning points of which the distance is greater than the preset multiple of the Beidou ranging error in the first positioning point information to obtain second positioning point information.
For example, the distance between every two Beidou positioning points in the first positioning point information is calculated, and two Beidou positioning points with the distance smaller than twice of the Beidou ranging error are deleted to obtain second positioning point information.
According to the train initial positioning method provided by the embodiment of the invention, the Beidou positioning points are screened according to the Beidou ranging errors, so that error points are effectively eliminated, and the efficiency and the accuracy of train initial positioning are improved.
Fig. 3 is a schematic flow chart of acquiring a transponder envelope according to an embodiment of the present invention, as shown in fig. 3, in an embodiment, before performing error check on the Beidou point envelope and the transponder envelope, the method further includes acquiring the transponder envelope, where the acquiring the transponder envelope includes the following steps:
and step 300, determining a first position of the target train based on the message sent by the fixed transponder and received by the vehicle-mounted transponder antenna.
Optionally, the vehicle-mounted transponder antenna is installed in a carriage of a locomotive of the target train, the fixed transponder is fixed on a rail on which the target train runs, when the target train runs above the vehicle-mounted transponder, the vehicle-mounted transponder antenna receives a message sent by the fixed transponder, and the first position of the target train can be determined based on the delay time of the message and the position of the fixed transponder.
It should be noted that, due to the existence of the error, the first position may not be at the same position as the fixed transponder, and the first position needs to be calculated based on the delay time of the message.
301, obtaining a transponder envelope based on the first position of the target train, the periodic travel distance of the target train and the ranging error.
Optionally, an internal sensor of the target train may acquire a periodic travel distance of the target train, and according to the first position of the target train acquired in step 300 and the periodic travel distance acquired by the internal sensor, position information of each time point before the target train runs to the position of the fixed transponder may be obtained. According to the positions of all time points of the target train obtained by backward extrapolation, the position information of all the time points which are the same as the acquisition time of the Beidou positioning points can be determined. And obtaining the envelope of the transponder according to the ranging error and the position information of each moment.
According to the train initial positioning method provided by the embodiment of the invention, the transponder envelope is obtained based on the message sent by the fixed transponder and received by the vehicle-mounted transponder antenna and the periodic running distance of the target train, the Beidou point envelope is verified according to the transponder envelope, the Beidou points with larger errors are removed, and the efficiency and the accuracy of train initial positioning are improved.
In one embodiment, the determining the first position of the target train based on the message sent by the fixed transponder and received by the vehicle-mounted transponder antenna comprises:
under the condition that a first vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of a train based on the following formula, wherein the first vehicle-mounted transponder antenna is positioned at a first locomotive:
T L ＝A+v 1 *t+l 2 -l 3
wherein, T L Is the first position of the target train, A is the position of the fixed transponder, v 1 The running speed of a target train when a first vehicle-mounted transponder antenna receives a message, t is the time delay of the transponder message, l 2 Is the first vehicle-mounted transponder antennaDistance from the wire to the head of the vehicle, /) 3 Is the radiation range of the fixed transponder;
under the condition that a second vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of the train based on the following formula, wherein the second vehicle-mounted transponder antenna is positioned at the second locomotive:
T L ＝A+v 2 *t+l 2 -l 3 +l 4
wherein v is 2 For the running speed of the target train when the second vehicle-mounted transponder antenna receives the message, l 4 Is the distance between the first and second vehicle-mounted transponder antennas.
It can be understood that the first position of the target train needs to be represented by a position of a certain point, and in this embodiment, the first position is a head position of the target train. It should be noted that the Beidou positioning points acquired by the Beidou equipment need to be converted to the positions the same as the first positions, that is, under the condition that the first position is the position of the locomotive of the target train, the corresponding Beidou positioning points acquired by the Beidou equipment also represent the position of the locomotive of the target train.
Optionally, the target train includes two locomotive heads, a first locomotive head and a second locomotive head, and a vehicle-mounted transponder antenna is mounted on each of the two locomotive heads. And under the condition that the first vehicle-mounted transponder antenna receives the message sent by the fixed transponder, calculating the first position of the target train according to a formula (1), and under the condition that the second vehicle-mounted transponder antenna receives the message sent by the fixed transponder, calculating the first position of the target train according to a formula (2).
According to the train initial positioning method provided by the embodiment of the invention, different first position calculation modes are provided for the vehicle-mounted transponder antennas arranged at different positions, the train position calculation accuracy is improved, and the train initial positioning efficiency and accuracy are improved.
In one embodiment, in step 301, a transponder envelope is derived based on the first position of the target train, the periodic travel distance of the target train, and the ranging error:
determining a check point position of a target train based on the first position of the target train and the periodic running distance of the target train;
and obtaining the envelope of the transponder according to the position of the check point and the ranging error.
Optionally, backward pushing is performed in time according to the first position of the target train obtained in step 300 and the periodic travel distance acquired by the internal sensor of the target train, so as to obtain the position information of each time point before the target train travels to the position of the fixed transponder.
For example, if 200ms is taken as one period, and the travel distances of the train in the three periods before the train reaches the first position are 1 meter, 2 meters and 4 meters in this order, it can be determined that the position 600ms before the train reaches the first position is the first position minus 7 meters, the position 400ms before the train reaches the first position is the first position minus 6 meters, and the position 200ms before the train reaches the first position is the first position minus 4 meters.
Fig. 4 is a schematic position diagram of an envelope of the transponder according to an embodiment of the present invention, and as shown in fig. 4, according to the position of each time point of the target train obtained by backward motion, position information, that is, a check point position, at each time point that is the same as the acquisition time point of the beidou positioning point can be determined.
And obtaining the envelope of the transponder according to the ranging error and the position information of each moment. For example, the position information at each time is moved forward by a distance of a certain ranging error and moved backward by a distance of a ranging error, and a leftmost point and a rightmost point of the envelope corresponding to each check point are obtained. Envelopes corresponding to all check points constitute a transponder envelope, which is expressed as: a (1, 1), a (1, 2), a (2, 1), a (2, 2) … … a (40, 1), a (40, 2). Where a (1, 1) is a position point obtained by moving the verification point 1 in the train traveling direction by a distance of one distance measurement error, and a (1, 2) is a position point obtained by moving the verification point 1 in the opposite direction to the train traveling direction by a distance of one distance measurement error.
According to the train initial positioning method provided by the embodiment of the invention, the positions of all check points are obtained by adopting a backward pushing method according to the first position of the target train and the periodic running distance of the target train, and the envelope of the transponder is obtained based on the ranging error, so that the accuracy of envelope calculation of the transponder is improved, and the efficiency and the accuracy of train initial positioning are improved.
The train initial positioning device provided by the invention is described below, and the train initial positioning device described below and the train initial positioning method described above can be referred to correspondingly.
Fig. 5 is a schematic structural diagram of a train initial positioning device provided in an embodiment of the present invention. As shown in fig. 5, the train initial positioning device includes a position collecting module 510, a position filtering module 520, a position checking module 530 and a positioning module 540, wherein,
the position acquisition module 510 is configured to acquire first positioning point information acquired by the Beidou equipment, where the first positioning point information includes at least two Beidou positioning points;
the position screening module 520 is used for screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
the position checking module 530 is configured to determine a Beidou point envelope based on the second positioning point information, perform error checking on the Beidou point envelope and a transponder envelope, and determine an available Beidou positioning point, where the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and the positioning module 540 is configured to determine train initial positioning information based on the available beidou positioning point, where the train initial positioning information includes a running direction and mileage information of a target train.
In one embodiment, the position screening module 520 is specifically configured to determine a beidou ranging error;
and screening the Beidou positioning points in the first positioning point information to obtain second positioning point information.
In an embodiment, the train initial positioning device further includes an information conversion module, configured to convert the beidou positioning point into mileage information before the beidou positioning point in the first positioning point information is screened to obtain second positioning point information.
In one embodiment, the train initial positioning device further comprises a transponder envelope determining module, configured to determine a first position of a target train based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and obtaining a transponder envelope based on the first position of the target train, the periodic travel distance of the target train and the ranging error.
In one embodiment, the determining the first position of the target train based on the message sent by the fixed transponder and received by the vehicle-mounted transponder antenna comprises:
under the condition that a first vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of a train based on the following formula, wherein the first vehicle-mounted transponder antenna is positioned at a first locomotive:
T L ＝A+v 1 *t+l 2 -l 3
wherein, T L Is the first position of the target train, A is the position of the fixed transponder, v 1 The running speed of a target train when a first vehicle-mounted transponder antenna receives a message, t is the time delay of the transponder message, l 2 For the first vehicle-mounted transponder antenna to the vehicle head distance,/ 3 Is the radiation range of the fixed transponder;
under the condition that a second vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of the train based on the following formula, wherein the second vehicle-mounted transponder antenna is positioned at the head of a second locomotive:
T L ＝A+v 2 *t+l 2 -l 3 +l 4
wherein v is 2 For the running speed of the target train when the second vehicle-mounted transponder antenna receives the message, l 4 Is the distance between the first and second vehicle-mounted transponder antennas.
In one embodiment, the deriving a transponder envelope based on the first position of the target train, the range of the target train, and the ranging error:
determining a check point position of a target train based on the first position of the target train and the periodic running distance of the target train;
and obtaining the envelope of the transponder according to the position of the check point and the ranging error.
It should be noted that, the apparatus provided in the embodiment of the present invention can implement all the method steps implemented by the method embodiment and achieve the same technical effect, and detailed descriptions of the same parts and beneficial effects as the method embodiment in this embodiment are omitted here.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a train initial positioning method comprising:
acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of the target train.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the train initial positioning method provided by the above methods, and the method comprises:
acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of the target train.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being implemented by a processor to perform the train initial positioning method provided by the above methods, the method comprising:
acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
and determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of the target train.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A train initial positioning method is characterized by comprising the following steps:
acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
determining a Beidou point envelope based on the second positioning point information, carrying out error check on the Beidou point envelope and a transponder envelope, and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
determining train initial positioning information based on the available Beidou positioning points, wherein the train initial positioning information comprises the running direction and mileage information of a target train;
before performing error check on the Beidou point envelope and the transponder envelope, the method further comprises the following steps:
determining a first position of a target train based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
obtaining the transponder envelope based on the first position of the target train, the periodic travel distance of the target train, and the ranging error;
wherein the determining of the Beidou point envelope based on the second positioning point information comprises:
determining a sphere center according to longitude and latitude height coordinates of the Beidou positioning points, determining a radius according to the ranging error to obtain a sphere representing the position of the target train, determining a section of envelope according to the intersection position of the sphere and the rail, and forming the Beidou point envelope by the envelopes determined by all the Beidou positioning points in the second positioning point information.
2. The train initial positioning method according to claim 1, wherein before the screening of the beidou positioning points in the first positioning point information to obtain the second positioning point information, the method further comprises:
and converting the Beidou positioning points into mileage information.
3. The train initial positioning method of claim 1, wherein the screening of the beidou positioning points in the first positioning point information based on the distance between the beidou positioning points to obtain second positioning point information comprises:
determining a Beidou ranging error;
and screening the Beidou positioning points in the first positioning point information based on the Beidou ranging error and the distance between the Beidou positioning points to obtain second positioning point information.
4. The train initial positioning method according to claim 1, wherein the determining the first position of the target train based on the message sent by the fixed transponder received by the on-board transponder antenna comprises:
under the condition that a first vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of a train based on the following formula, wherein the first vehicle-mounted transponder antenna is positioned at a first locomotive:
wherein the content of the first and second substances,
for the first position of the target train,
in order to fix the position of the transponder,
for the operating speed of the target train when the first on-board transponder antenna receives the message,
the delay time for the transponder message is,
for the distance of the first vehicle-mounted transponder antenna from the vehicle head,
is the radiation range of the fixed transponder;
under the condition that a second vehicle-mounted transponder antenna receives a message sent by a fixed transponder, calculating the real-time position of the train based on the following formula, wherein the second vehicle-mounted transponder antenna is positioned at the head of a second locomotive:
wherein, the first and the second end of the pipe are connected with each other,
for the operating speed of the target train when the second on-board transponder antenna receives the message,
is carried on the first vehicleThe distance between the transponder antenna and the second on-board transponder antenna.
5. The train initial positioning method of claim 1, wherein the obtaining a transponder envelope based on the first position of the target train, the target train's distance traveled and the ranging error:
determining a check point position of a target train based on the first position of the target train and the periodic running distance of the target train;
and obtaining the envelope of the transponder according to the position of the check point and the ranging error.
6. An initial train positioning device, comprising:
the position acquisition module is used for acquiring first positioning point information acquired by Beidou equipment, wherein the first positioning point information comprises at least two Beidou positioning points;
the position screening module is used for screening the Beidou positioning points in the first positioning point information based on the distance between the Beidou positioning points to obtain second positioning point information;
the position checking module is used for determining a Beidou point envelope based on the second positioning point information, carrying out error checking on the Beidou point envelope and a transponder envelope and determining an available Beidou positioning point, wherein the transponder envelope is determined based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
the positioning module is used for determining train initial positioning information based on the available Beidou positioning points, and the train initial positioning information comprises the running direction and mileage information of a target train;
wherein, before carrying out error check on the Beidou point envelope and the transponder envelope, the method further comprises the following steps:
determining a first position of a target train based on a message sent by a fixed transponder and received by a vehicle-mounted transponder antenna;
obtaining the transponder envelope based on the first position of the target train, the periodic travel distance of the target train, and the ranging error;
wherein the determining of the Beidou point envelope based on the second positioning point information comprises:
determining a sphere center according to longitude and latitude height coordinates of the Beidou positioning points, determining a radius according to the ranging error to obtain a sphere representing the position of the target train, determining a section of envelope according to the intersection position of the sphere and the rail, and forming the Beidou point envelope by the envelopes determined by all the Beidou positioning points in the second positioning point information.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the train initial positioning method according to any one of claims 1 to 5.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method for initial positioning of a train as claimed in any one of claims 1 to 5.
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| CN114407980B (en) * | 2021-12-28 | 2023-01-24 | 西门子交通技术(北京)有限公司 | Method, system and storage medium for train positioning |
| CN114932928B (en) * | 2022-05-24 | 2023-12-01 | 卡斯柯信号有限公司 | Train running direction calculation method based on Beidou satellite positioning |
| CN115009329B (en) * | 2022-05-30 | 2023-06-30 | 卡斯柯信号有限公司 | Train initial positioning calculation method and positioning system based on Beidou satellite |
| CN115366947B (en) * | 2022-08-30 | 2024-03-29 | 通号城市轨道交通技术有限公司 | Quick positioning method and device for train |
| CN116047550B (en) * | 2023-03-30 | 2023-07-11 | 卡斯柯信号(北京)有限公司 | Train satellite positioning initialization function test method and device |
| CN117022388B (en) * | 2023-10-08 | 2024-01-30 | 成都交控轨道科技有限公司 | Train positioning method based on vehicle-mounted sensing system and transponder system |
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