CN114312919B - Beidou high-precision safety protection method for personnel and shunting operation on railway line - Google Patents
Beidou high-precision safety protection method for personnel and shunting operation on railway line Download PDFInfo
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Abstract
The invention discloses a Beidou high-precision safety protection method for personnel on a railway line and shunting operation, which relates to the technical field of railway shunting operation and comprises the following steps: after the system is powered on, the server is used for loading station interval basic map data and acquiring accurate positioning and corresponding speeds of personnel and shunting vehicles through a Beidou positioning instrument in the intelligent terminal; the dispatching center matches the accurate positioning with a map of the station area, and judges the positions of the personnel and the shunting vehicles in the station area according to the position and the speed; the server judges whether the shunting vehicle and the personnel have the risk of mutual contact according to the location, the speed and the deviation angle of the shunting vehicle and the personnel, so that the accurate display of the positions of the personnel and the vehicles and the real-time prediction of protection and alarm are realized; in the shunting operation process, the working state of field workers or shunting vehicle operators is evaluated according to the alarm information, whether the dispatching personnel needs to be arranged for alternation is judged, the safety consciousness of the personnel is enhanced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of railway shunting operation, in particular to a Beidou high-precision safety protection method for personnel on a railway line and shunting operation.
Background
Along with the rapid development of the informatization technology in the railway industry and the rapid rise of the Beidou industry, the geographic information technology is rapidly applied to the railway industry, the informatization and intelligentization level of the railway industry is rapidly developed, in the safety protection operation of railway personnel, a dispatching center and a station-parking protection personnel need to accurately control personnel, the positions of vehicles and the mutual danger relation among the personnel, the information such as the distance, the speed, the contact time and the like among the personnel need to be obtained intuitively and accurately, an early warning notice can be sent out in time to inform the personnel to evacuate in time, and the vehicles take braking measures in time; because daily operation of railways is very various, a rapid and convenient method is needed for accurately displaying the positions of people and vehicles and forecasting protection alarm in real time;
the existing safety protection method for people and vehicle operation on a railway line is implemented by manually staring at and controlling, but too many unpredictable human factors exist in manual staring and controlling, and meanwhile, under the severe environments such as night, fog, rainstorm, noise and the like, the manual identification accuracy is reduced, the probability of safety accidents is increased, and great potential safety hazards are brought to personnel operation; in addition, due to the increase of the vehicle transportation frequency and the personnel operation frequency, the station is continuously expanded, the personnel fatigue operation makes the management and prevention work more difficult, the position of the operator and the position of the vehicle cannot be accurately known by the manual staring and controlling, the relation between the operator and the vehicle cannot be quantized, whether potential safety hazards exist or not can not be accurately judged, and great uncertainty exists.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a Beidou high-precision safety protection method for personnel and shunting operation on a railway line.
In order to achieve the above object, an embodiment according to a first aspect of the present invention provides a Beidou high-precision safety protection method for on-line personnel and shunting operation of a railway, comprising the following steps:
the method comprises the following steps: after the system is powered on, the server is used for loading station interval basic map data;
step two: the method comprises the following steps that a field worker and a shunting vehicle input login requests through an intelligent terminal respectively and upload the login requests to a server, wherein the server is used for verifying the login requests of the field worker and the shunting vehicle;
step three: after the verification is successful, the server acquires the accurate positioning and corresponding speed of the field workers and the shunting vehicles through a Beidou positioning instrument in the intelligent terminal and uploads the accurate positioning and corresponding speed to a dispatching center;
step four: the dispatching center receives the reported accurate positioning and the corresponding speed, matches the accurate positioning with a station area map, and judges the positions of field workers and shunting vehicles in the station area according to the positions and the speeds;
Step five: the server calculates the distance, the speed and the deflection angle between the shunting vehicles and the field workers according to the places of the shunting vehicles and the field workers, and judges whether the shunting vehicles and the field workers have the risk of mutual contact;
step six: in the shunting operation process on a railway line, recording alarm information of field workers or shunting vehicles, evaluating the working states of the field workers or shunting vehicle operators according to the alarm information, and judging whether scheduling personnel need to be arranged for alternation.
Further, the specific process of judging whether the two have mutual contact risks is as follows:
calculating the straight-line distance between the shunting vehicle and the field worker as L1 according to the places of the shunting vehicle and the field worker in the station area, and marking the current speed of the shunting vehicle as V1;
acquiring a deviation angle theta of a shunting vehicle; establishing a curve graph of the change of the linear distance L1 along with time, and dividing the curve graph into an ascending stage, a static stage and a descending stage according to the change condition of L1;
when L1 is in the descending stage, when L1 is less than or equal to the first distance threshold, calculating a contact risk coefficient FX by using the formula FX (V1 × a1)/(L1 × a2+ θ × a3), wherein a1, a2 and a3 are all coefficient factors; and if the FX is not less than the risk coefficient threshold value, judging that the shunting vehicle and the field worker have mutual contact risk, and generating an early warning signal.
Further, the acquisition process of the deviation angle θ is: and connecting the shunting vehicle and field workers at a site of the station area to form a straight line section, wherein the included angle between the straight line section and the current heading angle of the shunting vehicle is the deviation angle theta of the shunting vehicle at the moment, and the value of the theta is 0-180 degrees.
Further, if no risk exists, the positions of shunting vehicles and field workers are marked on a station yard interval map and displayed on a display screen of a dispatching center; if the system is in danger, the system gives an alarm to the shunting vehicles, the field workers and the background management personnel through the audible and visual alarm, and the positions of the shunting vehicles and the field workers are displayed on a map of the station area.
Further, the verification mode is face identification or fingerprint identification; the intelligent terminal is a mobile phone or a vehicle-mounted terminal.
Furthermore, the server is used for acquiring and sorting a plurality of vehicle front road image frames and a plurality of vehicle instrument panel image frames in the operation process of the shunting vehicle to obtain real-time position and attitude information in the operation process of the shunting vehicle, wherein the position and attitude information comprises position information, acceleration, speed and course angle.
Further, the controller automatically limits the speed of the engine of the shunting vehicle after receiving the early warning signal, so that the speed of the shunting vehicle is automatically reduced;
When the audible and visual alarm gives an alarm, continuously observing the time-varying curve graph of the linear distance L1; if the L1 is still in the descending stage, the necessary evasion measures are not taken by a shunting vehicle operator or a field worker or the evasion measure effect is not good, and when the L1 is less than or equal to a second distance threshold value, a braking signal is generated, wherein the second distance threshold value is less than the first distance threshold value;
the controller brakes an engine of the shunting vehicle after receiving the braking signal so as to stop the shunting vehicle; when the site worker leaves the safe distance, the shunting vehicle is restarted.
Further, the specific process of evaluating the working status of the field worker or the shunting vehicle operator is as follows:
in the shunting operation process, when field workers or shunting vehicle operators receive alarm information, recording the alarm time at the moment; counting the total times of receiving the alarm information as C1;
counting the number of times that the alarm interval Gi is smaller than the interval threshold value is C2; when Gi is smaller than the interval threshold, summing the difference between Gi and the interval threshold to obtain a difference GT; calculating a difference coefficient CT by using a formula CT which is C2 × b1+ GT × b2, wherein b1 and b2 are coefficient factors;
The time difference between the current alarm time and the previous alarm time is marked as buffering time length HT, and a state coefficient ZT of a field worker/shunting vehicle operator is obtained by calculating a formula ZT (C1 × b3+ CT × b4)/(HT × b5), wherein b3 and b4 are coefficient factors;
if ZT is not less than the state threshold, indicating that the state of field workers/shunting vehicle operators is not good, and generating a dispatching signal; and after receiving the dispatching signal, the dispatching center reasonably arranges corresponding dispatchers to alternate with field workers/shunting vehicle operators.
Compared with the prior art, the invention has the beneficial effects that:
1. after field workers and shunting vehicles log in a system through an intelligent terminal, uploading accurate positioning and corresponding speed of the workers and the shunting vehicles to a dispatching center through a Beidou positioning instrument, matching the accurate positioning with a station area map by the dispatching center, judging the positions of the workers and the shunting vehicles in the station area according to the positions and the speed, and calculating the distance, the speed and the deviation angle among the workers by a server according to the positions of the shunting vehicles and the personnel to judge whether mutual contact risks exist or not; if the system is in danger, the system gives an alarm to shunting vehicles, field workers and background management personnel through the audible and visual alarm, and displays the shunting vehicles and the positions of the personnel on a station area map, so that the system is fast and convenient, the accurate display of the positions of the personnel and the vehicles and the real-time prediction of protection alarm are realized, and the operation efficiency and the safety are effectively improved;
2. In the shunting operation process on the railway line, the alarm information of field workers or shunting vehicles is recorded, the working state of the field workers or shunting vehicle operators is evaluated according to the alarm information, the total times of receiving the alarm information, the alarm interval and the buffering time length in the shunting operation process are counted, the state coefficient ZT of the field workers/shunting vehicle operators is obtained through calculation, if the ZT is not less than a state threshold value, the situation that the field workers/shunting vehicle operators are fatigued can be generated, the attention of the surrounding environment is not concentrated, the state is not good, corresponding dispatchers are reasonably arranged to take a rest alternately, and the operation efficiency and the safety are effectively improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic block diagram of a Beidou high-precision safety protection method for personnel and shunting operation on a railway line.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in FIG. 1, the Beidou high-precision safety protection method for personnel and shunting operation on a railway line comprises the following steps:
the method comprises the following steps: after the system is powered on, the server is used for loading station interval basic map data;
step two: the method comprises the following steps that a field worker and a shunting vehicle input login requests through an intelligent terminal respectively and upload the login requests to a server, and the server is used for verifying the login requests of the field worker and the shunting vehicle; the verification mode is face identification or fingerprint identification; the intelligent terminal is a mobile phone or a vehicle-mounted terminal;
step three: after the verification is successful, the server acquires the accurate positioning and corresponding speed of the field workers and the shunting vehicles through a Beidou positioning instrument in the intelligent terminal and uploads the accurate positioning and corresponding speed to a dispatching center;
The system comprises a server, a plurality of shunting vehicles and a plurality of image processing units, wherein the server is used for acquiring and sorting a plurality of road image frames in front of the vehicles and a plurality of vehicle instrument panel image frames in the operation process of the shunting vehicles to obtain real-time position and attitude information in the operation process of the shunting vehicles, and the position and attitude information comprises position information, acceleration, speed and course angle;
step four: the dispatching center receives the reported accurate positioning and corresponding speed of the field workers and the shunting vehicles, matches the accurate positioning with a station yard interval map, judges the positions of the shunting vehicles in the station yard interval according to the positions and the speeds of the shunting vehicles, and judges the positions of the field workers in the station yard interval according to the positions and the speeds of the field workers;
step five: the server calculates the distance, the speed and the deflection angle among the shunting vehicles and the field workers according to the places of the shunting vehicles and the field workers, and judges whether the shunting vehicles and the field workers have the risks of mutual contact; if no risk exists, the positions of shunting vehicles and field workers are marked on the station area map and displayed on a display screen of the dispatching center; if the station yard is in danger, alarming the shunting vehicle, the field workers and the background management personnel through an audible and visual alarm, and displaying the positions of the shunting vehicle and the field workers on a station yard interval map;
In the embodiment, the field workers are usually located in one place and are still when working, and the moving speed of the workers is almost negligible relative to the shunting vehicle, so that the field workers are regarded as being relatively static when judging whether the risks of mutual contact exist or not;
wherein the concrete process that the server judges whether shunting vehicle and site work personnel have the risk of contacting each other does:
calculating the straight-line distance between the shunting vehicle and the field worker as L1 according to the places of the shunting vehicle and the field worker in the station area, and marking the current speed of the shunting vehicle as V1;
acquiring a deviation angle theta of a shunting vehicle, specifically: connecting the shunting vehicle and field workers to form a straight line section at a site of a station interval, wherein the included angle between the straight line section and the current course angle of the shunting vehicle is the deviation angle theta of the shunting vehicle at the moment, and the value of the theta is 0-180 degrees;
establishing a curve graph of the change of the linear distance L1 along with time, and dividing the curve graph into an ascending stage, a static stage and a descending stage according to the change condition of L1;
when L1 is in the descending stage and L1 is not greater than the first distance threshold, the state is to be verified, and then the contact risk coefficient FX is calculated by using the formula FX (V1 × a1)/(L1 × a2+ θ × a3), where a1, a2, and a3 are all coefficient factors;
Comparing the contact risk coefficient FX with a risk coefficient threshold, if the FX is more than or equal to the risk coefficient threshold, judging that the shunting vehicle and field workers have mutual contact risk, generating an early warning signal, and giving an alarm to the shunting vehicle, the field workers and background managers through an audible and visual alarm;
in the embodiment, the controller automatically limits the speed of the engine of the shunting vehicle after receiving the early warning signal, so that the speed of the shunting vehicle is automatically reduced, and the contact risk is reduced;
when the audible and visual alarm gives an alarm, a curve graph of the linear distance L1 changing along with time is continuously observed, if the L1 is still in a descending stage, it indicates that a shunting vehicle operator or a field worker does not take necessary evasive measures or the evasive measures are poor in effect, and when the L1 is less than or equal to a second distance threshold value, a braking signal is generated, wherein the second distance threshold value is less than the first distance threshold value;
the controller brakes an engine of the shunting vehicle after receiving the braking signal so as to stop the shunting vehicle and reduce the contact risk; when the field worker leaves and reaches a safe distance, the shunting vehicle is restarted;
in this embodiment, the method further includes: in the shunting operation process on the railway line, recording the alarm information of field workers or shunting vehicles, and evaluating the working state of the field workers or shunting vehicle operators according to the alarm information, wherein the specific analysis process is as follows:
In the shunting operation process, when field workers/shunting vehicles receive alarm information, recording the alarm time at the moment;
counting the total number of times of receiving alarm information to be C1, and calculating the time difference of adjacent alarm moments to obtain an alarm interval Gi; comparing the alarm interval Gi to an interval threshold;
counting the number of times that Gi is smaller than the interval threshold value to be C2; when Gi is smaller than the interval threshold, summing the difference between Gi and the interval threshold to obtain a difference GT; calculating a difference coefficient CT by using a formula CT which is C2 × b1+ GT × b2, wherein b1 and b2 are coefficient factors;
marking the time difference between the current alarm time and the previous alarm time as a buffering time length HT, and calculating a state coefficient ZT of the field worker/shunting vehicle operator by using a formula ZT (C1 × b3+ CT × b4)/(HT × b5), wherein b3 and b4 are coefficient factors; the larger ZT is, the more alarming times of personnel/vehicles are shown, the shorter interval is, and at the moment, the fatigue feeling can be generated by field workers/shunting vehicle operators, the attention to the surrounding environment is not concentrated, and the collision danger is easy to generate;
comparing the state coefficient ZT with a state threshold value, and if the ZT is not less than the state threshold value, indicating that the state of a field worker/shunting vehicle operator is not good, and generating a dispatching signal;
After receiving the dispatching signals, the dispatching center reasonably arranges corresponding dispatchers to take a rest alternately with field workers/shunting vehicle operators, so that the safety awareness of the operators is enhanced, and the working efficiency is improved.
The above formulas are all calculated by removing dimensions and taking numerical values thereof, the formula is a formula which is obtained by acquiring a large amount of data and performing software simulation to obtain the most approximate real condition, and the preset parameters and the preset threshold values in the formula are set by the technical personnel in the field according to the actual condition or obtained by simulating a large amount of data.
The working principle of the invention is as follows:
a Beidou high-precision safety protection method for personnel and shunting operation on a railway line is characterized in that during working, after a system is powered on, a server is used for loading station interval basic map data; after field workers and shunting vehicles log in the system through the intelligent terminal, the server acquires accurate positioning and corresponding speeds of the workers and the shunting vehicles through a Beidou positioning instrument in the intelligent terminal and uploads the accurate positioning and corresponding speeds to a dispatching center; the dispatching center receives the reported accurate positioning and corresponding speed of the personnel and the shunting vehicle, matches the accurate positioning with a station yard interval map, judges the position of the shunting vehicle in the station yard interval according to the position and the speed of the shunting vehicle, and judges the position of the personnel in the station yard interval according to the position and the speed of the personnel; the server calculates the distance, the speed and the deviation angle among the shunting vehicles and the personnel according to the places of the shunting vehicles and the personnel, and judges whether the shunting vehicles and the personnel are in contact with each other or not; if the emergency call is dangerous, the audible and visual alarm gives an alarm to the shunting vehicles, field workers and background management personnel, and the shunting vehicles and the personnel positions are displayed on a station area map, so that the emergency call is quick and convenient, the accurate display of the personnel and vehicle positions and the real-time prediction of protection alarm are realized, and the operating efficiency and the safety are effectively improved;
In the shunting operation process on a railway line, the alarm information of field workers or shunting vehicles is recorded, the working state of the field workers or shunting vehicle operators is evaluated according to the alarm information, the total times of receiving the alarm information, the alarm interval and the buffering time length in the shunting operation process are counted, the state coefficient ZT of the field workers/shunting vehicle operators is obtained through calculation, if ZT is not less than a state threshold value, the fact that the field workers/shunting vehicle operators can generate fatigue is indicated, the attention of the surrounding environment is not concentrated, the state is not good, corresponding dispatchers are reasonably arranged to take turns to take a rest at this moment, and the operation efficiency and the safety are effectively improved.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. The Beidou high-precision safety protection method for personnel on railway lines and shunting operation is characterized by comprising the following steps of:
the method comprises the following steps: after the system is powered on, the server is used for loading station interval basic map data;
step two: the method comprises the following steps that a field worker and a shunting vehicle input login requests through an intelligent terminal respectively and upload the login requests to a server, wherein the server is used for verifying the login requests of the field worker and the shunting vehicle;
step three: after the verification is successful, the server acquires the accurate positioning and corresponding speed of the field workers and the shunting vehicles through a Beidou positioning instrument in the intelligent terminal and uploads the accurate positioning and corresponding speed to a dispatching center;
Step four: the dispatching center receives the reported accurate positioning and the corresponding speed, matches the accurate positioning with a station area map, and judges the positions of field workers and shunting vehicles in the station area according to the positions and the speeds;
step five: the server calculates the distance, the speed and the deflection angle between the shunting vehicles and the field workers according to the places of the shunting vehicles and the field workers, and judges whether the shunting vehicles and the field workers have the risk of mutual contact; the specific process is as follows:
calculating the linear distance between the shunting vehicle and the field worker to be L1 according to the positions of the shunting vehicle and the field worker in the station field, and marking the current speed of the shunting vehicle to be V1;
acquiring a deviation angle theta of a shunting vehicle; establishing a curve graph of the change of the linear distance L1 along with time, and dividing the curve graph into an ascending stage, a static stage and a descending stage according to the change condition of L1;
when L1 is in the descending stage, when L1 is less than or equal to the first distance threshold, calculating a contact risk coefficient FX by using a formula FX = (V1 × a1)/(L1 × a2+ θ × a3), wherein a1, a2 and a3 are all coefficient factors; if the FX is not less than the risk coefficient threshold, judging that the shunting vehicle and the field worker have mutual contact risk, and generating an early warning signal;
The controller automatically limits the speed of an engine of the shunting vehicle after receiving the early warning signal, so that the speed of the shunting vehicle is automatically reduced; when the audible and visual alarm gives an alarm, continuously observing the time-varying curve graph of the linear distance L1; if the L1 is still in the descending stage, the necessary evasion measures are not taken by a shunting vehicle operator or a field worker or the evasion measure effect is not good, and when the L1 is less than or equal to a second distance threshold value, a braking signal is generated, wherein the second distance threshold value is less than the first distance threshold value;
the controller brakes an engine of the shunting vehicle after receiving the braking signal so as to stop the shunting vehicle; when the field worker leaves and reaches a safe distance, the shunting vehicle is restarted;
step six: recording alarm information of field workers or shunting vehicles in the shunting operation process on a railway line, evaluating the working state of the field workers or shunting vehicle operators according to the alarm information, and judging whether the scheduling personnel need to be arranged for alternation; the specific process is as follows:
in the shunting operation process, when field workers or shunting vehicle operators receive alarm information, recording the alarm time at the moment; counting the total number of times of receiving the alarm information as C1;
Counting the number of times that the alarm interval Gi is smaller than the interval threshold value to be C2; when Gi is smaller than the interval threshold, summing the difference between Gi and the interval threshold to obtain a difference value GT; calculating a difference coefficient CT by using a formula CT = C2 × b1+ GT × b2, wherein b1 and b2 are coefficient factors;
marking the time difference between the current alarm time and the previous alarm time as a buffering time length HT, and calculating a state coefficient ZT of the field worker/shunting vehicle operator by using a formula ZT = (C1 × b3+ CT × b4)/(HT × b5), wherein b3, b4 and b5 are coefficient factors;
if ZT is not less than the state threshold, indicating that the state of the field worker/shunting vehicle operator is not good, and generating a dispatching signal; and after receiving the dispatching signal, the dispatching center reasonably arranges corresponding dispatching personnel to take turns with field workers/shunting vehicle operators.
2. The Beidou high-precision safety protection method for personnel and shunting operation on the railway line according to claim 1, is characterized in that the obtaining process of the deviation angle theta is as follows: and connecting the shunting vehicle with field workers at a site of the station interval to form a straight line segment, wherein the included angle between the straight line segment and the current course angle of the shunting vehicle is the deviation angle theta of the shunting vehicle at the moment, and the value of the theta is 0-180 degrees.
3. The Beidou high-precision safety protection method for personnel and shunting operation on the railway line is characterized in that if no risk exists, positions of shunting vehicles and field workers are marked on a map of a station yard section and displayed on a display screen of a dispatching center; and if the accident is dangerous, alarming the shunting vehicle, the field working personnel and the background management personnel through an audible and visual alarm, and displaying the positions of the shunting vehicle and the field working personnel on a station yard interval map.
4. The Beidou high-precision safety protection method for personnel and shunting operation on the railway line is characterized in that the verification mode is face identification or fingerprint identification; the intelligent terminal is a mobile phone or a vehicle-mounted terminal.
5. The Beidou high-precision safety protection method for personnel and shunting operation on the railway line is characterized in that the server is used for acquiring and arranging a plurality of image frames of roads in front of the shunting vehicle and a plurality of image frames of instrument panels of the shunting vehicle in the running process to obtain real-time pose information in the running process of the shunting vehicle, wherein the pose information comprises position information, acceleration, speed and course angle.
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| CN101890969A (en) * | 2009-05-22 | 2010-11-24 | 北京中研国辰测控技术有限公司 | Method and system for safety caution of railway operation |
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| CN107010088B (en) * | 2017-02-22 | 2019-05-31 | 武汉捷讯信息技术有限公司 | A kind of railway track construction safety pre-warning system and method |
| CN110435718A (en) * | 2018-05-04 | 2019-11-12 | 河南蓝信科技有限责任公司 | Vehicle ground institutional operation security protection system and method |
| CN109606428A (en) * | 2018-12-06 | 2019-04-12 | 中国铁道科学研究院集团有限公司运输及经济研究所 | Railway plane shunting service intelligent safety protection system based on satellite positioning |
| CN110239595A (en) * | 2019-07-10 | 2019-09-17 | 中国铁路沈阳局集团有限公司科学技术研究所 | Construction of railways operation safety protection system based on Big Dipper high-precision location technique |
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| CN101890969A (en) * | 2009-05-22 | 2010-11-24 | 北京中研国辰测控技术有限公司 | Method and system for safety caution of railway operation |
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