CN114044027A - Method for realizing train positioning on two-dimensional electronic map - Google Patents
Method for realizing train positioning on two-dimensional electronic map Download PDFInfo
- Publication number
- CN114044027A CN114044027A CN202111607231.5A CN202111607231A CN114044027A CN 114044027 A CN114044027 A CN 114044027A CN 202111607231 A CN202111607231 A CN 202111607231A CN 114044027 A CN114044027 A CN 114044027A
- Authority
- CN
- China
- Prior art keywords
- train
- data object
- positioning
- electronic map
- new
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 1
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 102100024013 Golgi SNAP receptor complex member 2 Human genes 0.000 description 1
- 101000904234 Homo sapiens Golgi SNAP receptor complex member 2 Proteins 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Images
Classifications
-
- 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
Abstract
The invention discloses a method for realizing train positioning on a two-dimensional electronic map, which comprises the following steps: s1, acquiring a current data object of the train, a data object in front of the train running and an original data object link based on the current data object of the train and the data object in front of the train running according to the satellite navigation, the train running state and the two-dimensional electronic map; s2, updating the original data object link according to different types of data objects in front of the running train to obtain a new data object link; s3, monitoring and correcting the real-time train positioning result according to the new data object link and the running state of the train, and determining the final train positioning; and S4, outputting the final train positioning. The invention improves the stability and the accuracy of satellite navigation positioning and provides credible positioning support for driving command and intelligent management of train operation.
Description
Technical Field
The invention relates to the field of train operation control, in particular to a method for positioning a train on a two-dimensional electronic map.
Background
Train positioning is a key technology of a train operation control system, and high-precision train position information and accurate track occupation information are of great importance to safe operation of trains in intervals and crossing, meeting or shunting operation in stations. The traditional train positioning projects the satellite signal position on a one-dimensional rail section to obtain the parallel offset value of a train relative to a rail end point, after the train changes a running line on a rail network, the position of the train is converted by widely adopting a transponder mode, the train rail occupation inspection is carried out by adopting a rail circuit mode, and a large amount of ground equipment required by the two modes brings the problems of high construction cost, difficult maintenance and the like.
Satellite positioning technology has gained wide attention and application due to its characteristics of real-time, high precision, all weather, etc. The satellite positioning technology is applied to the field of train positioning, trackside equipment can be reduced, and the cost of safe operation of a train is reduced. However, in a scene where the tracks in the station are dense and the distance is short, due to the accuracy limit of a GNSS (global navigation satellite system) receiver and adverse effects on satellite signals caused by shielding of the station and surrounding buildings, the position of the train is determined by selecting the nearest point on the two-dimensional electronic map by using GNSS measurement values, and the situation that the train positioning changes between different track sections occurs, so that the positioning reliability and safety are lost.
In order to solve the problems, the invention provides a method for realizing train positioning on a two-dimensional electronic map. In the method, a track electronic map used for train positioning is a two-dimensional electronic map from an RMU (resource management system), and the auxiliary vehicle-mounted equipment is used for knowing line information, including track geographic information data and fixed application data. On the basis of solving and one-dimensional projecting satellite signals received by a receiver in real time, the running state of the train is judged, and a data object with a link relation in a line network and a line signal in an MA (traffic permission) range provided by an RMU (remote management unit) are fused to continuously monitor and correct the real-time train position.
Disclosure of Invention
In the prior art, the problem of positioning error caused by instability of GNSS signals exists when complex scenes of operation lines are possibly switched through station administration boundaries, throat areas and the like, and in order to solve the problem, the invention provides a method which can improve the stability and the accuracy of satellite navigation positioning and provide credible positioning support for driving command and intelligent management of train operation.
In order to achieve the purpose, the turnout and the jurisdiction boundary are introduced into the electronic map as data objects, the track section of the complex railway station yard is described through the link relation of the data objects, and the track section running in front of the train and the key point for positioning the track section are deduced based on the line state and the train running state provided by the ground RMU. The invention provides a fixed application data description-based track structure, which performs one-dimensional projection on a predicted track section, solves the problem of positioning error caused by instability of GNSS signals when complex scenes of operation lines are possibly switched through station administration boundaries, throat areas and the like, improves the stability and accuracy of satellite navigation positioning, and provides credible positioning support for driving command and intelligent train operation management.
The scheme of the invention is a method for realizing train positioning on a two-dimensional electronic map, which comprises the following steps: s1, acquiring a current data object of the train, a data object in front of the train in operation and an original data object link obtained according to the current data object of the train and the data object in front of the train in operation according to the satellite navigation, the train operation condition and the two-dimensional electronic map; s2, updating the original data object link according to different types of data objects in front of the running train to obtain a new data object link; s3, monitoring and correcting the real-time train positioning result according to the new data object link and the running state of the train to obtain the final train positioning; and S4, outputting the final train positioning.
Preferably, the method is used in the case where the satellite navigation signals received by the receiver of the train are good and the two-dimensional electronic map obtained by the RMU of the onboard system of the train is available.
Preferably, step S1 further includes the steps of:
s11, performing fusion calculation on data in the satellite navigation signals received by the train in real time, and projecting on the track electronic map to obtain the current position of the train;
s12, initializing the train running direction according to the running state of the train;
s13, searching in fixed application data of the two-dimensional electronic map based on the current position of the train to obtain a data object corresponding to the current position of the train;
and S14, searching a data object in front of the train in the fixed application data of the two-dimensional electronic map along the train running direction based on the data object corresponding to the current position of the train, and forming an original data object link.
Preferably, the step S2 further includes the steps of:
s21, when the data object in front of train operation is a turnout, the state of the turnout can be obtained according to RMU, if the track line in front of train operation changes after passing through the turnout, the fixed application data link relation corresponding to the data object on the new track after change is searched, the data objects corresponding to the new track are put into the original data object link, and a first new data object link is obtained;
and S22, when the data object in front of the train is the jurisdiction boundary, searching for the fixed application data link relation corresponding to the data object on the next train station after crossing the jurisdiction boundary, and adding the data objects corresponding to the next train station into the original data object link to obtain a second new data object link.
Preferably, if the original data object link of the train is updated to a new data object link, the new data object link is a first new data object link or a second new data object link.
Preferably, the switch ahead of the train operation must be within range of the train MA to update the original data object link according to the switch status.
Preferably, only data objects of the first and second new data links that are within range of the train MA can participate in forming the new data object link.
Preferably, the step S3 further includes the steps of:
s31, acquiring the current one-dimensional position of the train according to the current position of the train;
s32, taking out the first data object in the original data object link as a reference data object;
and S33, comparing the length range of the reference data object with the current one-dimensional position of the train, and determining the final train positioning.
Preferably, the one-dimensional position of the train includes a station number, a track number and a track offset of the train.
Preferably, the step S33 includes the steps of:
s331, if the current one-dimensional position of the train is within the length range of the reference data object, the current one-dimensional position of the train is the final train positioning;
s332, if the current one-dimensional position of the train is not within the length range of the reference data object, updating the position of the train to obtain the final train positioning.
Preferably, the step S332 specifically includes the following steps:
s3321, according to the train operation sequence, taking out the next data object in front of the train operation in the new data object link as a new reference data object;
and S3322, updating the one-dimensional position of the train based on the new reference data object to be used as the final train positioning.
Preferably, the step S3322 specifically includes: respectively updating the station number and the track number of the train to the station number and the track number of the new reference data object; calculating a new track offset, which is the new reference data object boundary value + the original track offset-the original reference data object boundary value.
Preferably, the reference data object boundary value is a boundary location of the reference data along the train advancing direction.
Preferably, step S4 specifically includes: if the train position does not need to be updated, outputting the current one-dimensional position of the train obtained according to the satellite navigation data projection as the final train positioning; and if the train position needs to be updated, outputting the station number and the track number corresponding to the new reference data object and the calculated new track offset as final train positioning.
In summary, compared with the prior art, the invention has the following advantages:
(1) on the premise of not changing the one-dimensional positioning working mode of the original satellite navigation train, description on fixed key points on the line is added, and basic data of the operation of the vehicle-mounted equipment is provided;
(2) the train running state and the information of the electronic map element points are fused, the positioning result of the train with the unified dimension is monitored and corrected in real time, the two-dimensional positioning effect is realized, and the active positioning and the accurate positioning of the vehicle-mounted equipment by utilizing the satellite navigation signal are achieved;
(3) a description method for describing a track section topological structure by taking a two-dimensional electronic map data object as a basic element is provided by using the link information of key points.
Drawings
FIG. 1 is a flow chart of a method for implementing train positioning on a two-dimensional electronic map according to the present invention;
FIG. 2 is a schematic illustration of a train track;
FIG. 3 is a data object link diagram based on the fixed application data representation of FIG. 1 using a two-dimensional electronic map;
FIG. 4 is a flowchart of steps S1 and S2 of a method for implementing train positioning on a two-dimensional electronic map according to the present invention;
fig. 5 is a flowchart of steps S3 and S4 of a method for implementing train positioning on a two-dimensional electronic map according to the present invention.
Detailed Description
The technical solution, the structural features, the achieved objects and the effects of the embodiments of the present invention will be described in detail with reference to fig. 1 to 5 in the embodiments of the present invention.
It should be noted that the drawings are simplified in form and not to precise scale, and are only used for convenience and clarity to assist in describing the embodiments of the present invention, but not for limiting the conditions of the embodiments of the present invention, and therefore, the present invention is not limited by the technical spirit, and any structural modifications, changes in the proportional relationship, or adjustments in size, should fall within the scope of the technical content of the present invention without affecting the function and the achievable purpose of the present invention.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
A method for realizing train positioning on a two-dimensional electronic map is used under the condition that satellite navigation signals received by a train receiver are good and the two-dimensional electronic map obtained by a train-mounted system through an RMU is available, as shown in figure 1, and comprises the following steps:
s1, acquiring a current data object of the train and a data object in front of the train according to satellite navigation, train operation conditions and the two-dimensional electronic map, and acquiring an original data object link based on the current data object of the train and the data object in front of the train;
fig. 2 is a schematic diagram of a train track structure, on which common data objects of a train are shown, including data of jurisdiction boundaries (such as BOS1 and BOS2 in fig. 2), virtual transponder groups (such as XQ1 and XQ2 in fig. 2), entity transponder groups (such as B1, B2 in fig. 2, etc.), switches (such as SW1, SW2 in fig. 2, etc.), and the like.
Describing the data object in fig. 2 with fixed application data of a two-dimensional electronic map, a data object link map as shown in fig. 3 can be obtained.
Based on the satellite navigation, the train operation condition and the two-dimensional electronic map, a current data object, a data object in front of the train operation and an original data object link of the train can be obtained, as shown in fig. 4, the method comprises the following steps:
s11, performing fusion calculation on data in the satellite navigation signals received by the train in real time, and projecting on the track electronic map to obtain the current position of the train;
and obtaining the current position of the train mapped on the track according to the satellite navigation signal received by the receiver of the train and the track electronic map.
The fixed application data of the track electronic map and the fixed application data of the two-dimensional electronic map both belong to train line information, and the train line information is obtained according to the RMU and train-mounted equipment.
S12, initializing the running direction of the train according to the running state of the train;
s13, searching in fixed application data of the two-dimensional electronic map based on the current position of the train to obtain a data object corresponding to the current position of the train;
and S14, searching a data object in front of train operation in the fixed application data of the two-dimensional electronic map along the train operation direction in S12 based on the data object corresponding to the current position of the train obtained in S13, and connecting the data object corresponding to the current position of the train with the searched data object in front of train operation to form an original data object link.
S2, updating the data object link according to different types of data objects in front of the train operation;
the types of data objects that contribute to train positioning include switches and jurisdictional boundaries: when the train meets a turnout, the possibility of switching the running line of the train is indicated; when the train meets the jurisdiction boundary, the train is shown to run to the edge of the station, and the train enters the range of the next station when the train continues to move forwards. In both cases, the positioning range of the train needs to be updated, but when the train is in operation, at any time, at most one of the two cases can be met.
S21, when the data object in front of train operation is a turnout, the state of the turnout can be obtained according to RMU, if the track line in front of train operation changes after passing through the turnout, the fixed application data link relation corresponding to the data object on the new track after change is searched, the data objects corresponding to the new track are put into the original data object link, and a first new data object link is obtained;
and S22, when the data object in front of the train is the jurisdiction boundary, searching for the fixed application data link relation corresponding to the data object on the next train station after crossing the jurisdiction boundary, and adding the data objects corresponding to the next train station into the original data object link to obtain a second new data object link.
Since the train only encounters at least one of the two situations when in operation, at a certain time, if the original data object link of the train is updated to the new data object link, the new data object link is the first new data object link or the second new data object link.
The turnout in front of the train operation is required to be within the MA (train operation permission) range of the train, and the original data object link can be updated according to the state of the turnout; data objects of the first and second new data links that are within range of the train MA can only participate in forming the new data object link.
S3, as shown in figure 5, monitoring and correcting the real-time train positioning result according to the new data object link and the running state of the train to obtain the final train positioning;
s31, acquiring the current one-dimensional position of the train according to the satellite navigation data projection;
and obtaining a one-dimensional position of the train mapped on the track according to the current position of the train obtained by projecting the satellite navigation data in the step S11, wherein the one-dimensional position of the train comprises a station number, a track number and a track offset of the train.
And projecting the satellite navigation data on the orbit of the orbit electronic map to obtain the parallel offset of the train relative to the endpoint of the orbit, wherein the parallel offset relative to the endpoint of the orbit is the orbit offset.
S32, taking out the first data object in the original data object link (or the new data object link) as a reference data object;
and the first data object in the original data object link and the first data object in the new data object link are both data objects corresponding to the current position of the train.
S33, comparing the length range of the reference data object with the current one-dimensional position of the train, and judging whether the current one-dimensional position of the train can be used as the final train positioning;
s331, if the current one-dimensional position of the train is within the length range of the reference data object, the current one-dimensional position of the train can be used as the final train positioning;
s332, if the current one-dimensional position of the train is not within the length range of the reference data object, updating the position of the train to obtain the final train positioning;
if the current one-dimensional position of the train is not within the length range of the reference data object, because the satellite navigation data projection positioning has an error relative to the actual operation position of the train, the train may not be in the original data object link at this time, and therefore the position of the train needs to be corrected, and the step of correcting the position of the train is as follows:
s3321, according to the train operation sequence, taking out the next data object in front of the train operation in the new data object link as a new reference data object;
s3322, updating the one-dimensional position of the train as the final train positioning based on the new reference data object;
respectively updating the station number and the track number of the train to the station number and the track number of the new reference data object; a new track offset is calculated, which is (new reference data object boundary value + original track offset-original reference data object boundary value).
In the above formula, the original orbit offset is the orbit offset of the current one-dimensional position of the train obtained according to the satellite navigation data; the reference data object boundary value refers to the boundary location of the reference data in the train advance direction, since there is a certain length range for the location of the data object.
Specifically, assuming that the positioning range of the new reference data object is a 1-a 2, when the train passes through a1 and then a2, the boundary along the advancing direction of the train is positioned as a 2; the original positioning range of the reference data object is B1-B2, when the train runs through B1 first and then passes through B2, the boundary along the advancing direction of the train is positioned as B2; the new track offset is A2+ original track offset-B2.
S4, outputting the final train positioning;
if the train position does not need to be updated, outputting the current one-dimensional position of the train obtained according to the satellite navigation data projection; and if the train position needs to be updated, outputting the station number and the track number corresponding to the new reference data object and calculating the new track offset.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (14)
1. A method for realizing train positioning on a two-dimensional electronic map is characterized by comprising the following steps:
s1, acquiring a current data object of the train, a data object in front of the train running and an original data object link based on the current data object of the train and the data object in front of the train running according to the satellite navigation, the train running state and the two-dimensional electronic map;
s2, updating the original data object link according to different types of data objects in front of the running train to obtain a new data object link;
s3, monitoring and correcting the real-time train positioning result according to the new data object link and the running state of the train, and determining the final train positioning;
and S4, outputting the final train positioning.
2. A method of train positioning on a two-dimensional electronic map as claimed in claim 1, wherein the method is used in case the satellite navigation signals received by the receiver of the train are good and the two-dimensional electronic map obtained by RMU of the onboard system of the train is available.
3. The method for implementing train positioning on two-dimensional electronic map as claimed in claim 2, wherein step S1 further comprises the steps of:
s11, performing fusion calculation on data in the satellite navigation signals received by the train in real time, and projecting on the track electronic map to obtain the current position of the train;
s12, initializing the train running direction according to the running state of the train;
s13, searching in fixed application data of the two-dimensional electronic map based on the current position of the train to obtain a data object corresponding to the current position of the train;
and S14, searching a data object in front of the train in the fixed application data of the two-dimensional electronic map along the train running direction based on the data object corresponding to the current position of the train, and forming an original data object link.
4. The method for implementing train positioning on two-dimensional electronic map as claimed in claim 1, wherein said step S2 further comprises the steps of:
s21, when the data object in front of train operation is a turnout, the state of the turnout can be obtained according to RMU, if the track line in front of train operation changes after passing through the turnout, the fixed application data link relation corresponding to the data object on the new track after change is searched, the data objects corresponding to the new track are put into the original data object link, and a first new data object link is obtained;
and S22, when the data object in front of the train is the jurisdiction boundary, searching for the fixed application data link relation corresponding to the data object on the next train station after crossing the jurisdiction boundary, and adding the data objects corresponding to the next train station into the original data object link to obtain a second new data object link.
5. The method of claim 4, wherein if the original data object link of the train is updated to a new data object link, the new data object link is the first new data object link or the second new data object link.
6. A method for train location on a two-dimensional electronic map as claimed in claim 5 wherein the switch points ahead of the train must be within range of the MA train to update the original data object link based on the switch point status.
7. A method for train localization on a two-dimensional electronic map as claimed in claim 5, wherein data objects of said first and second new data links that are within range of the MA train can only participate in forming the new data object link.
8. The method for implementing train positioning on two-dimensional electronic map as claimed in claim 3, wherein said step S3 further comprises the steps of:
s31, acquiring the current one-dimensional position of the train according to the current position of the train;
s32, taking out the first data object in the original data object link as a reference data object;
and S33, comparing the length range of the reference data object with the current one-dimensional position of the train, and determining the final train positioning.
9. The method as claimed in claim 8, wherein the train one-dimensional position includes a station number, a track number and a track offset of the train.
10. The method for implementing train positioning on two-dimensional electronic map as claimed in claim 9, wherein said step S33 includes the steps of:
s331, if the current one-dimensional position of the train is within the length range of the reference data object, the current one-dimensional position of the train is the final train positioning;
s332, if the current one-dimensional position of the train is not within the length range of the reference data object, updating the position of the train to obtain the final train positioning.
11. The method according to claim 10, wherein the step S332 specifically comprises the following steps:
s3321, according to the train operation sequence, taking out the next data object in front of the train operation in the new data object link as a new reference data object;
and S3322, updating the one-dimensional position of the train based on the new reference data object to be used as the final train positioning.
12. The method for positioning a train on a two-dimensional electronic map as claimed in claim 11, wherein said step S3322 specifically comprises: respectively updating the station number and the track number of the train to the station number and the track number of the new reference data object; calculating a new track offset, which is the new reference data object boundary value + the original track offset-the original reference data object boundary value.
13. The method as claimed in claim 12, wherein the reference data object boundary value refers to a boundary location of the reference data along a train proceeding direction.
14. The method for implementing train positioning on the two-dimensional electronic map as claimed in claim 12, wherein step S4 specifically comprises: if the train position does not need to be updated, outputting the current one-dimensional position of the train obtained according to the satellite navigation data projection as the final train positioning; and if the train position needs to be updated, outputting the station number and the track number corresponding to the new reference data object and the calculated new track offset as final train positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111607231.5A CN114044027B (en) | 2021-12-24 | 2021-12-24 | Method for realizing train positioning on two-dimensional electronic map |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111607231.5A CN114044027B (en) | 2021-12-24 | 2021-12-24 | Method for realizing train positioning on two-dimensional electronic map |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114044027A true CN114044027A (en) | 2022-02-15 |
| CN114044027B CN114044027B (en) | 2024-03-26 |
Family
ID=80213512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111607231.5A Active CN114044027B (en) | 2021-12-24 | 2021-12-24 | Method for realizing train positioning on two-dimensional electronic map |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044027B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932928A (en) * | 2022-05-24 | 2022-08-23 | 卡斯柯信号有限公司 | Train running direction calculation method based on Beidou satellite positioning |
| CN115009329A (en) * | 2022-05-30 | 2022-09-06 | 卡斯柯信号有限公司 | Train initial positioning calculation method and positioning system based on Beidou satellite |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163015A (en) * | 2017-11-27 | 2018-06-15 | 天津津航计算技术研究所 | A kind of urban rail signal system electronic map based on point type link describes method |
| CN112429037A (en) * | 2020-11-05 | 2021-03-02 | 北京全路通信信号研究设计院集团有限公司 | Electronic map processing method and device based on satellite positioning |
| CN112429041A (en) * | 2020-11-06 | 2021-03-02 | 北京全路通信信号研究设计院集团有限公司 | Method and device for judging train running direction based on satellite positioning |
| CN112722013A (en) * | 2021-01-22 | 2021-04-30 | 北京交通大学 | Train positioning track distinguishing method |
| CN113335341A (en) * | 2021-05-31 | 2021-09-03 | 卡斯柯信号有限公司 | Train positioning system and method based on GNSS and electronic map topological structure |
| CN113428190A (en) * | 2021-07-27 | 2021-09-24 | 卡斯柯信号有限公司 | Train positioning method, device, equipment and medium based on railway electronic map |
| CN113562023A (en) * | 2021-08-29 | 2021-10-29 | 陈建明 | Communication-based train operation control method with train positioning and integrity judgment |
-
2021
- 2021-12-24 CN CN202111607231.5A patent/CN114044027B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163015A (en) * | 2017-11-27 | 2018-06-15 | 天津津航计算技术研究所 | A kind of urban rail signal system electronic map based on point type link describes method |
| CN112429037A (en) * | 2020-11-05 | 2021-03-02 | 北京全路通信信号研究设计院集团有限公司 | Electronic map processing method and device based on satellite positioning |
| CN112429041A (en) * | 2020-11-06 | 2021-03-02 | 北京全路通信信号研究设计院集团有限公司 | Method and device for judging train running direction based on satellite positioning |
| CN112722013A (en) * | 2021-01-22 | 2021-04-30 | 北京交通大学 | Train positioning track distinguishing method |
| CN113335341A (en) * | 2021-05-31 | 2021-09-03 | 卡斯柯信号有限公司 | Train positioning system and method based on GNSS and electronic map topological structure |
| CN113428190A (en) * | 2021-07-27 | 2021-09-24 | 卡斯柯信号有限公司 | Train positioning method, device, equipment and medium based on railway electronic map |
| CN113562023A (en) * | 2021-08-29 | 2021-10-29 | 陈建明 | Communication-based train operation control method with train positioning and integrity judgment |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932928A (en) * | 2022-05-24 | 2022-08-23 | 卡斯柯信号有限公司 | Train running direction calculation method based on Beidou satellite 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 |
| CN115009329A (en) * | 2022-05-30 | 2022-09-06 | 卡斯柯信号有限公司 | Train initial positioning calculation method and positioning system based on Beidou satellite |
| WO2023231302A1 (en) * | 2022-05-30 | 2023-12-07 | 卡斯柯信号有限公司 | Beidou satellite-based initial positioning calculation method for train and positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114044027B (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111856541B (en) | Fixed line vehicle track monitoring system and method | |
| CN114044027A (en) | Method for realizing train positioning on two-dimensional electronic map | |
| CN110758476B (en) | Train positioning method and system | |
| Albrecht et al. | A precise and reliable train positioning system and its use for automation of train operation | |
| CN102096702B (en) | Process system of vehicle travel mileage and process method thereof | |
| EP3957541A1 (en) | Beidou location automatic sensing-based pre-warning protection system | |
| CN109946730A (en) | Ultra-wideband-based high-reliability fusion positioning method for vehicles under cooperation of vehicle and road | |
| CN113428190B (en) | Train positioning method, device, equipment and medium based on railway electronic map | |
| CN107219535B (en) | Dynamic compensation satellite navigation positioning enhancement system and method | |
| CN102795248A (en) | System for dynamically tracking and monitoring train running based on precise satellite positioning | |
| CN108415057A (en) | A kind of relative positioning method that unmanned fleet cooperates with roadside unit | |
| CN103587555A (en) | Train running seamless monitoring system based on satellite differential positioning and UWB positioning | |
| CA2711252A1 (en) | Methods and systems for mapping railroad tracks | |
| CN112009522B (en) | Train control system and method for mountain track | |
| JP3759141B2 (en) | Railway vehicle | |
| CN104880725A (en) | Railroad locomotive accurate positioning system | |
| CN112977548B (en) | Train positioning system and method combining instant positioning and map construction | |
| CN113970769A (en) | Train operation positioning method and device based on Beidou navigation satellite system | |
| CN101408434B (en) | Zero drift double-mould positioning and single-mould positioning method | |
| CN110297261A (en) | A kind of satellite navigation analogue system and method for simulating train operation track | |
| CN110203253A (en) | A kind of free-standing virtual transponder implementation method | |
| CN112863202A (en) | Station monitoring method and device, electronic equipment and storage medium | |
| CN112135764B (en) | High integrity autonomous system for locating trains in a rail network reference frame | |
| EP3687879B1 (en) | Locating of rail vehicles | |
| CN110667651A (en) | Train autonomous operation management system based on high-precision position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Ziwei Inventor after: Cui Junxiao Inventor after: Wang Mengxue Inventor after: Xu Xianliang Inventor after: Zhao Guozhi Inventor after: An Hongfei Inventor after: Yuan Huaming Inventor after: Yang Fengwei Inventor after: Su Tianqi Inventor after: Yan Qi Inventor after: Zhang Jianyu Inventor before: Li Ziwei Inventor before: Cui Junxiao Inventor before: Wang Mengxue Inventor before: Xu Xianliang Inventor before: Zhao Guozhi Inventor before: An Hongfei Inventor before: Yuan Huaming Inventor before: Yang Fengwei Inventor before: Su Tianqi Inventor before: Yan Qi Inventor before: Zhang Jianyu |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231016 Address after: 200435 Room 1101, No. 21, Lane 1401, Jiangchang Road, Jing'an District, Shanghai Applicant after: Casco Signal Ltd. Applicant after: Shaanxi Jingshen Railway Co.,Ltd. Address before: 200070 Block C / D, 27th floor, triumphal arch building, 428 Tianmu Middle Road, Jing'an District, Shanghai Applicant before: Casco Signal Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |