CN114084201B - Train position and speed determining method and device based on grating array - Google Patents
Train position and speed determining method and device based on grating array Download PDFInfo
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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
- B61L25/021—Measuring and recording of train speed
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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Abstract
The invention provides a train position speed determining method and device based on a grating array, wherein the method comprises the following steps: acquiring grating data of a grating array; determining a current position of the train based on the raster data; updating the current position according to the grating data and a particle filtering algorithm to obtain an updated position; and determining the running speed of the train based on the updated position. According to the invention, the current position is updated according to the grating data and the particle filtering algorithm, so that the updated position is obtained, the problem of inaccurate current position caused by the production interval of the grating array is solved, and the accuracy of the obtained updated position is improved, thereby improving the accuracy of the train running speed.
Description
Technical Field
The invention relates to the technical field of grating sensing, in particular to a train position and speed determining method and device based on a grating array.
Background
The rail transit is used as an important backbone of public transportation, and has the advantages of high speed, energy conservation, environmental protection, punctual and convenient operation and the like, and becomes a necessary tool for people to travel daily, and the safe running of the train is required to be realized. The real-time accurate acquisition of train state information is a precondition for ensuring the safe operation of rail transit.
The traditional rail transit speed measuring and positioning method comprises an axle speed measuring method, a Doppler radar speed measuring method, an accelerometer speed measuring method and the like, and makes due contribution to travel guarantee of people, but the practical requirements of people on safe running of trains cannot be met due to the influence of factors such as technical limitations, environmental changes and the like. The method comprises the following steps: the speed measurement of the wheel axle is easily affected by weather, and the train runs in bad weather and easily slips and idles, so that the speed measurement error is larger. The Doppler radar speed measurement utilizes the Doppler radar to emit electromagnetic waves to the rail surface for speed measurement, so that the influence of wheel abrasion, spin and skid is avoided, but the electromagnetic waves are easily influenced by the environment to cause serious scattering phenomenon, so that the error is larger. The accelerometer speed measurement can avoid the defects of the two methods, but the accelerometer speed measurement is influenced by factors such as track gradient and the like to cause the error to become larger. And the sensors are all active devices, and the later maintenance cost is high.
The grating array optical fiber has the characteristic of strong electromagnetic interference resistance. The adoption of the grating array technology for speed measurement and positioning of rail transit is a new scheme in recent years, the scheme demodulates a train running vibration signal through an interferometer, and adopts wavelet noise reduction and short-time energy quantization of the train running vibration signal for speed measurement and positioning, so that the defects that the traditional speed measurement and positioning method is easily influenced by environment, train wheels and the like are overcome.
However, the following technical problems exist in positioning and measuring the speed of the train based on the grating array optical fiber: due to the influence of the grating array optical fiber production interval, the train runs between two gratings and is positioned inaccurately, so that the train has positioning error, and the determined train position and running speed have low accuracy.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, a device, an electronic device and a storage medium for determining a train position and a train speed based on a raster array, so as to solve the technical problems of low accuracy of the determined train position and running speed in the prior art.
In order to solve the technical problems, the invention provides a train position and speed determining method based on a grating array, which comprises the following steps:
acquiring grating data of a grating array;
determining a current position of the train based on the raster data;
updating the current position according to the grating data and a particle filtering algorithm to obtain an updated position;
and determining the running speed of the train based on the updated position.
In some possible implementations, the grating data includes a grating signal of a grating and a grating position of the grating; the determining the current position of the train based on the raster data comprises the following steps:
judging whether the train is in a running state or not based on the grating signal and the threshold signal;
and if the train is in the running state, the grating position is the current position of the train.
In some possible implementations, the updating the current location according to the raster data and the particle filtering algorithm to obtain an updated location includes:
dividing the grating data into a plurality of groups of grating sub-data based on a preset grouping rule;
step two, reading the multiple groups of grating sub-data, and extracting an initialization state according to prior distribution at the initial moment;
step three, sampling the multiple groups of grating sub-data according to a sequence importance sampling method to obtain a combined particle set;
calculating the weight of each particle in the combined particle set based on a weight calculation formula, and calculating the normalized weight of the particle;
resampling the multiple groups of grating sub-data based on approximate distribution to obtain multiple new particle sets, and combining each new particle set in the multiple new particle sets with the normalized weights to form multiple ordered pairs;
step six, screening the new particle sets based on a preset screening rule, and judging whether only one new particle set exists after screening;
step seven, if only one new particle set exists after screening, determining the updating position according to the new particle set; if there is not only one new particle set after screening, repeating the steps five-seven.
In some possible implementations, the sampling the multiple sets of grating sub-data according to the sequence importance sampling method to obtain a combined particle set includes:
obtaining a sample set from the plurality of groups of grating sub-data according to a reference distribution;
obtaining sample points from the sample set according to an importance function;
combining the sample points with the initialization state to form the combined particle set.
In some possible implementations, the determining the running speed of the train based on the updated location includes:
acquiring the current moment of the updated position;
acquiring a historical moment position of the train at a moment before the current moment;
and determining the running speed of the train according to the current moment, the previous moment, the updated position and the historical moment position.
In some possible implementations, the method for determining the train position and speed based on the grating array further includes:
and optimizing the running speed based on a preset smoothing algorithm to obtain an optimized speed.
In some possible implementations, the operating speeds include at least five operating sub-speeds; the preset smoothing algorithm is as follows:
in the method, in the process of the invention,v is -2 An improvement value of (2); />V is -1 An improvement value of (2); />V is 0 An improvement value of (2); />V is 1 An improvement value of (2);v is 2 Improved values of (2).
On the other hand, the invention also provides a train position and speed determining device based on the grating array, which comprises the following steps:
the grating data acquisition unit is used for acquiring grating data of the grating array;
a current position determining unit for determining a current position of the train based on the raster data;
the updating position determining unit is used for updating the current position according to the grating data and a particle filtering algorithm to obtain an updating position;
and the running speed determining unit is used for determining the running speed of the train based on the updated position.
In another aspect, the invention also provides an electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the method for determining a train position speed based on a raster array in any one of the above implementations.
In another aspect, the present invention further provides a computer readable storage medium, configured to store a computer readable program or instructions, where the program or instructions, when executed by a processor, implement the steps in the method for determining a train position speed based on a raster array in any of the above implementations.
The beneficial effects of adopting the embodiment are as follows: according to the train position speed determining method based on the grating array, the current position of the train is determined based on the grating data, then the current position is updated according to the grating data and the particle filtering algorithm, the updated position is obtained, the problem that the current position is inaccurate due to the production interval of the grating array is solved, the accuracy of the obtained updated position is improved, and therefore the accuracy of the train running speed can be improved.
Furthermore, the invention updates the current position according to the grating data and the particle filtering algorithm to obtain the updated position, and can eliminate the influence of external noise on the updated position, thereby improving the anti-interference performance of the train position speed determining method based on the grating array.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of one embodiment of a method for determining train position and speed based on a raster array provided by the invention;
FIG. 2 is a flow chart of one embodiment of S102 of FIG. 1 according to the present invention;
FIG. 3 is a flow chart of one embodiment of S103 of FIG. 1 according to the present invention;
FIG. 4 is a schematic diagram illustrating the structure of an embodiment of grouping raster data according to the present invention;
FIG. 5 is a flowchart illustrating the step S303 of FIG. 3 according to an embodiment of the present invention;
FIG. 6 is a flow chart of the embodiment of S104 in FIG. 1 according to the present invention;
FIG. 7 is a flow chart of an embodiment of optimizing the operation speed according to the present invention;
FIG. 8 is a schematic diagram of an embodiment of a train position and speed determining device based on a grating array according to the present invention;
fig. 9 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention provides a train position and speed determining method and device based on a grating array, electronic equipment and a storage medium, and the method and the device and the storage medium are described below respectively.
Fig. 1 is a schematic flow chart of an embodiment of a train position speed determining method based on a grating array, where the train position speed determining method based on the grating array shown in fig. 1 includes:
s101, acquiring grating data of a grating array;
s102, determining the current position of the train based on the grating data;
s103, updating the current position according to the grating data and the particle filtering algorithm to obtain an updated position;
s104, determining the running speed of the train based on the updated position.
Compared with the prior art, the train position speed determining method based on the grating array provided by the embodiment of the invention has the advantages that firstly, the current position of the train is determined based on the grating data, then, the current position is updated according to the grating data and the particle filtering algorithm, the updated position is obtained, the problem of inaccurate current position caused by the production interval of the grating array is solved, and the accuracy of the obtained updated position is improved, so that the accuracy of the running speed of the train can be improved.
Furthermore, the embodiment of the invention updates the current position according to the grating data and the particle filtering algorithm to obtain the updated position, so that the influence of external noise on the updated position can be eliminated, and the anti-interference performance of the train position speed determining method based on the grating array is improved.
In some embodiments of the present invention, the grating data includes the grating signal of the grating and the grating position of the grating, and as shown in fig. 2, step S102 includes:
s201, judging whether the train is in a running state or not based on the grating signal and the threshold signal;
and S202, if the train is in a running state, the grating position is the current position of the train.
Specifically: the grating array comprises a plurality of gratings, each grating can acquire grating signals in a grating area, when a train is in a running state, the grating signals are far larger than grating signals in an undriven state, and therefore, by setting a threshold value signal, when the grating signals are larger than the threshold value signal, the train can be determined to be in the running state. And the current position of the train can be determined by determining the grating position of the grating corresponding to the grating signal of the train in the running state.
In some embodiments of the present invention, as shown in fig. 3, step S103 includes:
s301, dividing grating data into a plurality of groups of grating sub-data based on a preset grouping rule;
s302, reading a plurality of groups of grating sub-data, and according to the prior distribution p (a) of the initial time 0 ) Extracting initialization state
S303, sampling a plurality of groups of grating sub-data according to a sequence importance sampling method to obtain a combined particle set;
s304, calculating the weight of each particle in the combined particle set based on a weight calculation formula, and calculating the normalized weight of the particles;
s305 based on approximate distributionResampling multiple groups of grating sub-data to obtain multiple new particle groups +.>Combining each new particle set in the plurality of new particle sets with the normalized weights to form a plurality of ordered pairs;
s306, screening the new particle sets based on a preset screening rule, and judging whether only one new particle set exists after screening;
s307, if only one new particle set exists after screening, determining an updating position according to the new particle set; if there is more than one new particle set after the screening, steps S305-S307 are repeated.
In some embodiments of the present invention, the grouping rule preset in step S301 may be set by a preset step size and a preset step, for example: in a specific embodiment, as shown in fig. 4, n gratings are used to obtain grating data, the step length is 100 groups of data, the step length is 50 groups of data, the sampling frequency of the grating data is 1000Hz, and 1000 groups of data collected in 1S are used as the grating data in the embodiment of the present invention, and the preset grouping rule is as follows: rearranging the grating data according to the grating number according to the rows to generate n rows of grating data, grouping the re-shot grating data by taking 100 groups of data as one group and stepping the data as 50 groups of data, wherein the first group of grating sub-data is as follows: a, a 1 ，a 2 ，…，a 99 ，a 100 The method comprises the steps of carrying out a first treatment on the surface of the The second set of raster data is: a, a 51 ，a 52 ，…，a 149 ，a 150 The method comprises the steps of carrying out a first treatment on the surface of the The third set of raster sub-data is: a, a 101 ，a 102 ，…，a 199 ，a 200 The method comprises the steps of carrying out a first treatment on the surface of the And so on. Wherein a is 1 And obtaining grating data for all gratings at the first sampling moment.
In some embodiments of the present invention, N in step S302 is the number of data in each set of raster data.
In some embodiments of the present invention, the weight calculation formula in step 304 is:
wherein w is k (i) As the weight at the time of k,w k-1 (i) the weight at the moment k-1;is an importance function; />A state transition equation at the moment k; />Is the observation equation at time k.
Wherein, the normalized weight is:
in the method, in the process of the invention,is normalized weight; />Is the sum of the weights of all particles in the combined particle set.
In some embodiments of the present invention, as shown in fig. 5, step S303 includes:
s501, according to the reference distributionObtaining a sample set from a plurality of groups of grating sub-data>
S502, obtaining sample points from the sample set according to the importance function
S503, combining the sample points with the initialization state to form a combined particle set
Wherein the sample setIncluding i samples a 0:k-1 I=1, 2, …, N is the number of data in each group of raster sub-data; a, a 0:k-1 ＝{a 0 ,a 1 ,...,a k-1 }；b 1:k ＝{a 1 ,a 2 ,...,a k }。
In some embodiments of the present invention, step S306 is specifically: and deleting the new particle set with the weight smaller than the threshold weight corresponding to the new particle set, and reserving the new particle set with the weight greater than or equal to the threshold weight. The method is characterized in that the larger the weight is, the closer the representative new particle set is to the real position of the train, so that the new particle set with the weight smaller than the threshold weight is deleted, and finally, the unique new particle set is obtained, namely, the new particle set corresponding to the updated position of the train.
In some embodiments of the present invention, as shown in fig. 6, step S104 includes:
s601, acquiring the current moment of the update position;
s602, acquiring a historical moment position of a train at a moment before the current moment;
s603, determining the running speed of the train according to the current time, the previous time, the updated position and the historical time.
Specifically, the calculation formula of step S603 is:
in the formula, v k The train running speed at the current moment; x is x k Updating the position for the current moment; x is x k-1 A historical time position for a previous time; Δt is the time difference between the current time and the previous time.
It should be understood that: in some embodiments of the present invention, an initial position of an initial time of the train may also be obtained, and based on the initial position, the current time, and the updated position, a speed of operation of the train may also be determined.
Since a speed abnormality (speed jump) may occur in the running speed of the train when external noise exists, in order to solve this technical problem, in some embodiments of the present invention, the method for determining the train position speed based on the grating array further includes:
and optimizing the running speed based on a preset smoothing algorithm to obtain an optimized speed.
According to the embodiment of the invention, the running speed is optimized based on the preset smoothing algorithm, so that the defect of speed jump can be eliminated, and the reliability and accuracy of the running speed of the train are improved.
In a specific embodiment of the present invention, the preset smoothing algorithm is a five-point three-time filtering smoothing algorithm, and the five-point three-time filtering smoothing algorithm is:
in the method, in the process of the invention,v is -2 An improvement value of (2); />V is -1 An improvement value of (2); />V is 0 An improvement value of (2); />V is 1 An improvement value of (2);v is 2 Improved values of (2).
It should be appreciated that since the five-point three-pass filter smoothing algorithm requires at least five points, the operating speeds in embodiments of the present invention include at least five operating sub-speeds.
It should be noted that: when the running speeds include six or more running sub-speeds, the other running sub-speeds are smoothed by using the formula (3) except that the running sub-speeds at both ends are smoothed by using the formulas (1), (2), (4) and (5).
For example, when the operation speed includes 19 operation sub-speeds, the first operation sub-speed, the second operation sub-speed, the 18 th operation sub-speed, and the 19 th operation sub-speed are each smoothed by using the formula (3) except for the smoothing processing by using the formulas (1), (2), (4), and (5).
In some embodiments of the present invention, step S101 is specifically: grating data of the grating array is obtained from the grating array distributed vibration detection system. As shown in fig. 7, the grating array distributed vibration detection system 700 includes a grating array sensing optical fiber 701, a light source module 702, a grating array demodulator 703, a first detector 704, a second detector 705, a third detector 706, a high-speed data acquisition module 707, and an upper computer 708. The light source module 702 is connected with the grating array sensing optical fiber 701, and provides an optical pulse signal for the grating array sensing optical fiber 701, the first detector 704 detects the reflected light of the grating array optical fiber, interference occurs at the grating array demodulator 703, the second detector 705 detects the interference signal change, the light signal demodulated into an external vibration light signal at the grating array demodulator 703, the third detector 706 converts the light signal demodulated by the grating array demodulator 703 into an electrical signal and transmits the electrical signal to the high-speed data acquisition module 707, and the high-speed data acquisition module 707 transmits the electrical signal to the upper computer 708 in real time through a network port and stores the electrical signal in the upper computer 708.
In order to better implement the train position speed determining method based on the grating array in the embodiment of the present invention, correspondingly, as shown in fig. 8, the embodiment of the present invention further provides a train position speed determining device 800 based on the grating array, which includes:
a grating data obtaining unit 801, configured to obtain grating data of a grating array;
a current position determining unit 802 for determining a current position of the train based on the raster data;
an update position determining unit 803, configured to update the current position according to the grating data and the particle filtering algorithm, and obtain an updated position;
an operation speed determining unit 804 for determining the operation speed of the train based on the updated position.
The train position and speed determining device 800 based on a grating array provided in the foregoing embodiment may implement the technical solution described in the foregoing embodiment of the train position and speed determining method based on a grating array, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing embodiment of the train position and speed determining method based on a grating array, which is not repeated herein.
As shown in fig. 9, the present invention further provides an electronic device 900 accordingly. The electronic device 900 comprises a processor 901, a memory 902 and a display 903. Fig. 9 shows only some of the components of the electronic device 900, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The memory 902 may be an internal storage unit of the electronic device 900, such as a hard disk or memory of the electronic device 900, in some embodiments. The memory 902 may also be an external storage device of the electronic device 900 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 900.
Further, the memory 902 may also include both internal storage units and external storage devices of the electronic device 900. The memory 902 is used for storing application software and various types of data for installing the electronic device 900.
The processor 901 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 902, such as the raster array based train position and speed determination method of the present invention.
The display 903 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like in some embodiments. The display 903 is used to display information at the electronic device 900 and to display a visual user interface. The components 901-903 of the electronic device 900 communicate with each other over a system bus.
In one embodiment, when the processor 901 executes the raster array based train position speed determination program in the memory 902, the following steps may be implemented:
acquiring grating data of a grating array;
determining a current position of the train based on the raster data;
updating the current position according to the grating data and the particle filtering algorithm to obtain an updated position;
the operating speed of the train is determined based on the updated position.
It should be understood that: the processor 901 may perform other functions in addition to the above functions when executing the raster array based train position speed determination program in the memory 902, see in particular the description of the corresponding method embodiments above.
Further, the type of the electronic device 900 is not particularly limited in the embodiment of the present invention, and the electronic device 900 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (personal digital assistant, PDA), a wearable device, a laptop (laptop), etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices that carry IOS, android, microsoft or other operating systems. The portable electronic device described above may also be other portable electronic devices, such as a laptop computer (laptop) or the like having a touch-sensitive surface, e.g. a touch panel. It should also be appreciated that in other embodiments of the invention, electronic device 900 may not be a portable electronic device, but rather a desktop computer having a touch-sensitive surface (e.g., a touch panel).
Accordingly, the embodiments of the present application further provide a computer readable storage medium, where the computer readable storage medium is used to store a computer readable program or instructions, and when the program or instructions are executed by a processor, the method steps or functions provided in the foregoing method embodiments can be implemented.
According to the train position speed determining method and device based on the grating array, the current position of the train is determined based on the grating data, then the current position is updated according to the grating data and the particle filtering algorithm, the updated position is obtained, the problem that the current position is inaccurate due to the production interval of the grating array is solved, the accuracy of the obtained updated position is improved, and therefore the accuracy of the train running speed can be improved.
Further, by optimizing the running speed based on a preset smoothing algorithm, the defect of speed jump can be eliminated, and the reliability and accuracy of the running speed of the train are further improved.
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program stored in a computer readable storage medium, instructing the relevant hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The method and the device for determining the train position and speed based on the grating array provided by the invention are described in detail, and specific examples are applied to the principle and the implementation mode of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present invention, the present description should not be construed as limiting the present invention.
Claims (9)
1. A method for determining a train position velocity based on a raster array, comprising:
acquiring grating data of a grating array;
determining a current position of the train based on the raster data;
updating the current position according to the grating data and a particle filtering algorithm to obtain an updated position;
determining a speed of operation of the train based on the updated location;
the updating the current position according to the grating data and the particle filtering algorithm to obtain an updated position comprises the following steps:
dividing the grating data into a plurality of groups of grating sub-data based on a preset grouping rule;
step two, reading the multiple groups of grating sub-data, and extracting an initialization state according to prior distribution at the initial moment;
step three, sampling the multiple groups of grating sub-data according to a sequence importance sampling method to obtain a combined particle set;
calculating the weight of each particle in the combined particle set based on a weight calculation formula, and calculating the normalized weight of the particle;
resampling the multiple groups of grating sub-data based on approximate distribution to obtain multiple new particle sets, and combining each new particle set in the multiple new particle sets with the normalized weights to form multiple ordered pairs;
step six, screening the new particle sets based on a preset screening rule, and judging whether only one new particle set exists after screening;
step seven, if only one new particle set exists after screening, determining the updating position according to the new particle set; if there is not only one new particle set after screening, repeating the steps five-seven.
2. The method of claim 1, wherein the raster data includes a raster signal of a raster and a raster position of the raster; the determining the current position of the train based on the raster data comprises the following steps:
judging whether the train is in a running state or not based on the grating signal and the threshold signal;
and if the train is in the running state, the grating position is the current position of the train.
3. The method for determining the train position and speed based on the grating array according to claim 1, wherein the sampling the plurality of groups of grating sub-data according to the sequence importance sampling method to obtain the combined particle set comprises:
obtaining a sample set from the plurality of groups of grating sub-data according to a reference distribution;
obtaining sample points from the sample set according to an importance function;
combining the sample points with the initialization state to form the combined particle set.
4. The method of determining a train position velocity based on a raster array of claim 1, wherein the determining the train operating velocity based on the updated position comprises:
acquiring the current moment of the updated position;
acquiring a historical moment position of the train at a moment before the current moment;
and determining the running speed of the train according to the current moment, the previous moment, the updated position and the historical moment position.
5. The grating-array-based train position speed determination method of claim 1, further comprising:
and optimizing the running speed based on a preset smoothing algorithm to obtain an optimized speed.
6. The method of determining train position velocity based on a raster array of claim 5 wherein the operating velocity comprises at least five operating sub-velocities; the preset smoothing algorithm is as follows:
in the method, in the process of the invention,is->An improvement value of (2); />Is->An improvement value of (2); />Is->An improvement value of (2); />Is->An improvement value of (2); />Is->An improvement value of (2); />For a first operational sub-speed; />For a second operational sub-speed; />For a third operational sub-speed; />A fourth operational sub-speed; />And is the fifth operational sub-speed.
7. A train position and speed determining apparatus based on a raster array, comprising:
the grating data acquisition unit is used for acquiring grating data of the grating array;
a current position determining unit for determining a current position of the train based on the raster data;
the updating position determining unit is used for updating the current position according to the grating data and a particle filtering algorithm to obtain an updating position;
an operation speed determining unit configured to determine an operation speed of the train based on the updated position;
the updating the current position according to the grating data and the particle filtering algorithm to obtain an updated position comprises the following steps:
dividing the grating data into a plurality of groups of grating sub-data based on a preset grouping rule;
step two, reading the multiple groups of grating sub-data, and extracting an initialization state according to prior distribution at the initial moment;
step three, sampling the multiple groups of grating sub-data according to a sequence importance sampling method to obtain a combined particle set;
calculating the weight of each particle in the combined particle set based on a weight calculation formula, and calculating the normalized weight of the particle;
resampling the multiple groups of grating sub-data based on approximate distribution to obtain multiple new particle sets, and combining each new particle set in the multiple new particle sets with the normalized weights to form multiple ordered pairs;
step six, screening the new particle sets based on a preset screening rule, and judging whether only one new particle set exists after screening;
step seven, if only one new particle set exists after screening, determining the updating position according to the new particle set; if there is not only one new particle set after screening, repeating the steps five-seven.
8. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps in the method for determining train position speed based on a raster array as set forth in any one of claims 1 to 6.
9. A computer readable storage medium storing a computer readable program or instructions which when executed by a processor is capable of carrying out the steps of the raster array based train position speed determination method of any one of claims 1 to 6.
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| CN114659612B (en) * | 2022-03-16 | 2024-05-03 | 武汉理工大学 | Rail transit train positioning system and method based on fiber bragg grating array |
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