CN114475722A - Train satellite positioning method and system suitable for annular railway - Google Patents
Train satellite positioning method and system suitable for annular railway Download PDFInfo
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a train satellite positioning method and system suitable for an annular railway, belonging to the technical field of rail transit, wherein the method comprises the following steps: acquiring a plurality of track section information of the annular railway from the electronic map, and dividing track sections based on turnouts and station administration boundary information of the annular railway; acquiring train satellite positioning reference information through a transponder and a speed sensor; and performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information. The invention effectively prevents the situation that the satellite positioning repeatedly searches and positions a certain orbit by combining the satellite positioning reference information and the orbit segment judgment algorithm according to the characteristics of the railway loop line, and further improves the efficiency of the train satellite positioning.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a train satellite positioning method and system suitable for an annular railway.
Background
The train satellite positioning technology is one of the train positioning technologies of the next generation of train control system, and can effectively reduce the dependence of a train on ground positioning equipment, thereby reducing the cost of the ground positioning equipment and the installation and maintenance cost of personnel. At present, a Beidou satellite navigation system is established, the railway field starts more extensive and deep research aiming at the application of a Beidou positioning technology in a train control system, and the method mainly adopts satellite positioning based on an electronic map.
The general railway line has no looped line, so the research and design of the general train control system function does not need to consider the looped line scene, and the research on the train satellite positioning is generally only carried out in the railway line scene without looping. However, under the test requirements of some special systems, the train needs to be wound around the looped railway line for a long time, and the satellite positioning technology needs to consider the situations of repeated positioning of the track section and the like.
In the prior art, a satellite positioning algorithm based on an electronic map mainly obtains a satellite positioning result by traversing an orbit satellite reference point, pre-matching a nearest satellite reference point and then performing orbit matching operation. The method does not make clear the satellite positioning end condition, does not relate to research and analysis of a railway line with a loop, and has the possibility of invalid search and repeated positioning in the satellite positioning process, thereby influencing the satellite positioning efficiency of the train.
Disclosure of Invention
Aiming at the problems, the invention provides a train satellite positioning method and a train satellite positioning system which are suitable for an annular railway, so that repeated search and positioning of a track section in the satellite positioning process are prevented, and the positioning efficiency is improved.
A train satellite positioning method suitable for a circular railway comprises the following steps:
acquiring a plurality of track section information of the annular railway from the electronic map, and dividing track sections based on turnouts and station administration boundary information of the annular railway;
acquiring train satellite positioning reference information through a transponder and a speed sensor;
and performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
Further, the train satellite positioning reference information includes reference position information and a farthest travel distance based on the reference position.
Further, track sections are divided based on turnout and station administration boundary information of the annular railway, and the method specifically comprises the following steps:
the electronic map divides the annular line into a first section and a second section according to the administration boundary information of the station;
the electronic map divides the first section and the second section according to turnouts to generate a plurality of track sections.
Further, the train satellite positioning comprises the following steps: confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on a satellite reference point on the track section traversed in the running direction of the train track according to the position where the train is located at the last time;
determining the next track segment according to the connection relation of turnouts or jurisdiction boundaries on the end point positions of the track segments, and traversing satellite reference points on the track segments according to the new track direction to perform electronic map track matching operation;
and traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversing distance to obtain a train satellite positioning result.
Further, the first section includes a first track segment, a second track segment, a third track segment, and a fourth track segment.
Further, traversing all track segments of the electronic map comprises the following steps:
s31, firstly, satellite positioning of the first orbit segment is carried out, if the train traversal distance is smaller than the maximum driving distance, whether the first orbit segment is in the traversed orbit segment is judged, if not, the first orbit segment is cached to the traversed orbit segment, and the orbit segment is continuously searched forwards and satellite positioning is carried out; if so, stopping satellite positioning; if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning;
s32, continuing satellite positioning of a fourth track section according to the first turnout positioning and positioning information, accumulating the distance of the fourth track section by the train traversal distance, judging whether the fourth track section is in the traversed track section if the train traversal distance is less than the farthest driving distance, caching the fourth track section to the traversed track section if the train traversal distance is not greater than the farthest driving distance, and continuing searching the track section forwards and performing satellite positioning; if so, stopping satellite positioning; if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning;
s33, continuing satellite positioning of the third track section according to the second turnout positioning and reversing information, accumulating the distance of the third track section by the train traversing distance, judging whether the third track section is in the traversed track section if the train traversing distance is less than the farthest driving distance, caching the third track section to the traversed track section if the train traversing distance is not in the traversed track section, and continuing searching the track section forwards and performing satellite positioning; if so, stopping satellite positioning; if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning;
s34, repeating the steps S31-S33, and traversing the connected track segments.
Further, the determination process of whether the current track segment is traversing the track segment is specifically as follows:
when satellite positioning starts, initializing a cache queue to store traversed track segment information, wherein the traversed track segment information comprises a track segment number, a station number, a track segment starting point and a track segment end point;
in the satellite positioning process, after traversing one track segment, comparing the track segment with track segment information in a traversed track segment queue, if the track segment number, the station number, the track segment starting point and the track segment end point are all inconsistent, judging that the current track segment is a non-traversed track segment, and inserting the current track segment into the tail of the traversed track segment queue; if the two orbit segments are consistent, the current orbit segment is judged to be a traversed orbit segment, and the satellite positioning is stopped.
Further, the farthest travel distance of the train based on the reference position is specifically as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
The present invention also provides a train satellite positioning system suitable for an annular railway, comprising:
the acquisition module is used for acquiring a plurality of track section information of the annular railway from the electronic map and dividing track sections based on turnouts and station administration boundary information of the annular railway;
the calculating module is used for acquiring train satellite positioning reference information through the transponder and the speed sensor;
and the positioning module is used for performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
Further, the train satellite positioning reference information includes reference position information and a farthest travel distance based on the reference position.
Further, track sections are divided based on turnout and station administration boundary information of the annular railway, and the method specifically comprises the following steps:
the electronic map divides the annular line into a first section and a second section according to the administration boundary information of the station;
the electronic map divides the first section and the second section according to turnouts to generate a plurality of track sections.
Further, the positioning module is used for train satellite positioning, and specifically comprises the following steps:
confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on a satellite reference point on the track section traversed in the running direction of the train track according to the position where the train is located at the last time;
determining the next track segment according to the connection relation of turnouts or jurisdiction boundaries on the end point positions of the track segments, and traversing satellite reference points on the track segments according to the new track direction to perform electronic map track matching operation;
and traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversing distance to obtain a train satellite positioning result.
Further, the calculation module is configured to calculate a farthest travel distance of the train based on the reference position as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
The invention has the beneficial effects that: the invention combines the satellite positioning reference information and the track section judgment algorithm according to the characteristics of the railway loop line, effectively prevents the situation that the satellite positioning repeatedly searches and positions a certain track, and further improves the efficiency of the train satellite positioning.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
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 description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a train satellite positioning method for a circular railway according to an embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a circular railway station track division according to an embodiment of the present invention;
FIG. 3 shows a first sector track segment division schematic in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating a train satellite positioning orbit traversal process according to an embodiment of the invention;
FIG. 5 is a schematic diagram illustrating a train single-track satellite positioning process according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a train satellite positioning system suitable for a circular railway according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an optimization method of train satellite positioning for a railway annular line aiming at the characteristics of the railway annular line, which effectively prevents the situations that the satellite positioning carries out invalid search and repeated positioning on a certain track, and further improves the efficiency of the train satellite positioning.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a train satellite positioning method for a circular railway according to an embodiment of the present invention.
A train satellite positioning method suitable for a circular railway comprises the following steps: acquiring a plurality of track section information of the annular railway from the electronic map, and dividing track sections based on turnouts and station administration boundary information of the annular railway; acquiring train satellite positioning reference information through a transponder and a speed sensor; and performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
For the sake of understanding of the embodiments of the present application, the following description will be made by way of example of a circular railroad.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating division of a track of an annular railway station according to an embodiment of the present invention.
The annular railway between the station 1 and the station 2 is used for explanation, the station 1 and the station 2 both comprise IG and 3G, the station 1 and the station 2 form the annular railway through the IG, and the 3G is connected with the IG through turnouts from head to tail.
The endless railway is divided into track sections 1, 2, 3, 4, 5, 6, 7 and 8.
Dividing track sections based on turnout and station administration boundary information of an annular railway, which comprises the following specific steps:
and S11, dividing the annular line into a first section and a second section by the electronic map according to the station administration boundary information.
In the present embodiment, the two end points of the first zone are the first jurisdiction boundary and the second jurisdiction boundary of the station 1, respectively. The two end points of the second section are respectively a first jurisdiction boundary and a second jurisdiction boundary of the station 2.
And S12, dividing the first section and the second section according to the turnout by the electronic map to generate a plurality of track sections.
Specifically, the IG is divided into a plurality of track segments, and 3G is one track segment. Since the starting point and the ending point of the track segment are on the same train track, the path search in the satellite positioning process is carried out according to the track segment, and the unique path of the train can be defined.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a first segment track segment division according to an embodiment of the invention.
Illustratively, the IG and the 3G in the first zone are connected through a switch, the 3G is taken as a node, the IG is divided into a track segment 1, a track segment 2 and a track segment 3, and the 3G is taken as a track segment 4.
As shown in fig. 2, the second section divides IG into track segment 5, track segment 6, and track segment 7, with 3G being track segment 8.
The multiple track sections in the first section are taken for illustration, two end points of the track section 1 are respectively a first jurisdiction boundary and a first switch of the station 1, two end points of the track section 2 are respectively a first switch and a second switch, and two end points of the track section 3 are respectively a second switch and a second jurisdiction boundary of the station 1.
It should be noted that, in the process of matching the satellite positioning electronic map, if the search and positioning are directly performed according to the whole track line, each forward search needs to determine whether there is a turnout between the current satellite reference point and the next satellite reference point, and whether the track needs to be changed for positioning; if the track is divided into track sections according to turnouts in advance, the satellite positioning is carried out forward searching without considering whether the train passes the turnouts or not, and the turnouts or the jurisdiction boundary is determined when the track sections are searched.
In addition, in the used path judgment process of satellite positioning, compared with the recording of a certain section of area of each track which passes through in sequence, the advancing path of the train can be more simply and clearly represented by the division of the track sections.
Specifically, the train satellite positioning reference information includes reference position information and a farthest travel distance based on the reference position.
The reference position information can confirm the train specific track position information by using a transponder, wherein the transponder can be an entity or a virtual transponder, the satellite positioning reference position information is updated along with the continuous triggering of the transponder on the track, and the farthest driving distance of the train satellite positioning is newly calculated.
Based on the maximum driving distance of the reference position, the maximum speed information of the speed sensor and the system operation period can be used for carrying out accumulated calculation, and the maximum tolerance distance of satellite positioning is obtained, and the method specifically comprises the following steps:
the reference position P is a train satellite positioning nearest reference transponder group, and the farthest travel distance calculation formula of the train based on the reference position P is as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position P, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
Tsum＝T*N
Wherein T is the running period of the vehicle-mounted control system, and N is the running times of the vehicle-mounted control system.
It should be noted that, in the embodiment of the present invention, the vehicle-mounted control system software operates in a periodic scheduling manner, that is: and performing satellite positioning operation once every a fixed length of time.
The maximum tolerated distance of the train satellite positioning is determined according to the satellite positioning precision and the measurement error of the electronic map.
In the process of searching for a path forward in satellite positioning, if the satellite positioning data is abnormal, such as data per se is abnormal or external attack exists, invalid path searching, such as a position where a train cannot arrive, can be effectively prevented by using the farthest traveling distance information based on the reference position, and the satellite positioning efficiency is improved.
Specifically, the train satellite positioning comprises the following steps:
and S21, confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on the satellite reference points on the track section traversed by the train track running direction according to the position where the train is located at the last time.
The train track running direction is obtained according to the train position, the running direction and the electronic map track relation.
And S22, determining the next track segment according to the connection relation of the turnout or the jurisdiction boundary on the terminal position of the track segment, and traversing the satellite reference point on the track segment according to the new track direction to perform electronic map track matching operation.
The track direction is obtained according to the track direction on the train, turnout positioning and reversing information and the track connection relation of the electronic map.
The track direction can also be obtained according to the track direction on the train, the domination boundary connection relation and the electronic map track connection relation.
And S23, traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversal distance to obtain a train satellite positioning result.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a traversal process of a satellite positioning track of a train according to an embodiment of the invention.
In the process of entering and exiting a train from a first section, the reference position information of the train, the farthest travel distance and the switch positioning and reversing information of the train are obtained before the satellite track of the train traverses, and the process of traversing all track sections of the first section of the electronic map is as follows:
s31, firstly, satellite positioning of the track section 1 is carried out, if the train traversal distance is smaller than the maximum driving distance, whether the track section 1 is in the traversed track section is judged, if not, the track section 1 is cached to the traversed track section, and the track section is continuously searched forwards and satellite positioning is carried out; if so, stopping satellite positioning; and if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning.
In this step, the train traversal distance is the distance from the reference position to the end of the track segment 1.
S32, continuously carrying out satellite positioning on the track segment 4 according to the first turnout positioning and reversing information, accumulating the distance of the track segment 4 by the train traversal distance, judging whether the track segment 4 is in the traversed track segment if the train traversal distance is less than the farthest driving distance, caching the track segment 4 to the traversed track segment if the train traversal distance is not less than the farthest driving distance, and continuously searching the track segment forwards and carrying out satellite positioning; if so, stopping satellite positioning; and if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning.
In this step, the first turnout positioning reversal information is in a reversal state, that is, the track section 1 is connected with the track section 4.
S33, continuing satellite positioning of the track section 3 according to the second turnout positioning and reversing information, accumulating the distance of the track section 3 by the train traversing distance, judging whether the track section 3 is in the traversed track section if the train traversing distance is less than the farthest driving distance, caching the track section 3 to the traversed track section if the train traversing distance is not in the traversed track section, and continuing to search the track section forwards and perform satellite positioning; if so, stopping satellite positioning; and if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning.
In this step, the second turnout positioning inversion information is in an inversion state, that is, the track section 4 is connected with the track section 3.
And S34, repeating the steps S31-S33, and traversing the connected track segments.
In steps S31-S34, the determination process of whether the current track segment is traversing the track segment is specifically as follows:
and S41, when the satellite positioning starts, initializing a buffer queue to store the traversed track segment information, wherein the traversed track segment information comprises a track segment number, a station number, a track segment starting point and a track segment ending point.
S42, in the satellite positioning process, after traversing one track segment, comparing the track segment with track segment information in a traversed track segment queue, if the track segment number, the station number, the track segment starting point and the track segment end point are all inconsistent, judging that the current track segment is a non-traversed track segment, and inserting the current track segment into the tail of the traversed track segment queue; if the two orbit segments are consistent, the current orbit segment is judged to be a traversed orbit segment, and the satellite positioning is stopped.
The determination method for the traversed track segment in this embodiment is simpler and clearer than the method of directly recording track information.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a train single-track satellite positioning process according to an embodiment of the invention.
In the example, the train is started from a point a to a point b, and the matching algorithm of the satellite positioning electronic map of the single track section of the train adopts a vertical line matching operation: firstly, two satellite reference points on the track are searched, and if the train satellite positioning point is between the two satellite reference points, vertical line matching operation is carried out; if not, continuing to search a reference point of the next orbit satellite forward, and performing vertical line matching operation; and the vertical line matching algorithm calculates the distance by adopting a mode of making vertical lines by three points, and if the distance meets the requirement of a satellite positioning electronic map matching threshold, the satellite positioning is successful.
The train single track section is described by taking the track section 1 as an example, and the specific positioning process is as follows:
s51, firstly, according to the train positioning position, taking a front satellite reference point 1 and a rear satellite reference point 2 on the track to perform vertical line, and if the vertical line is between the two satellite reference points and meets the threshold requirement, the satellite positioning is successful; if the vertical line is not between the two satellite reference points, the satellite positioning fails, and two adjacent satellite reference points 2 and 3 are continuously taken to position along the train running direction;
s52, until the positioning is successful, or the last satellite reference point of the orbit segment is taken.
Referring to fig. 6, fig. 6 is a schematic structural diagram illustrating a train satellite positioning system for a circular railway according to an embodiment of the present invention.
The embodiment of the invention also provides a train satellite positioning system suitable for the annular railway, which comprises:
the acquisition module is used for acquiring a plurality of track section information of the annular railway from the electronic map and dividing track sections based on turnouts and station administration boundary information of the annular railway;
the calculating module is used for acquiring train satellite positioning reference information through the transponder and the speed sensor;
and the positioning module is used for performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
Further, the positioning module is used for train satellite positioning, and specifically comprises the following steps:
confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on a satellite reference point on the track section traversed in the running direction of the train track according to the position where the train is located at the last time;
determining the next track segment according to the connection relation of turnouts or jurisdiction boundaries on the end point positions of the track segments, and traversing satellite reference points on the track segments according to the new track direction to perform electronic map track matching operation;
and traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversing distance to obtain a train satellite positioning result.
Further, the calculation module is configured to calculate a farthest travel distance of the train based on the reference position as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
The specific implementation of each module of the system can be obtained from the specific implementation of the train screening method, and is not described in detail.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A train satellite positioning method suitable for a circular railway is characterized by comprising the following steps:
acquiring a plurality of track section information of the annular railway from the electronic map, and dividing track sections based on turnouts and station administration boundary information of the annular railway;
acquiring train satellite positioning reference information through a transponder and a speed sensor;
and performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
2. The train satellite positioning method for the looped railway according to claim 1, wherein the train satellite positioning reference information includes reference position information and a farthest travel distance based on the reference position.
3. The train satellite positioning method suitable for the circular railway according to claim 1, wherein the track segments are divided based on turnout and station administration boundary information of the circular railway, specifically as follows:
the electronic map divides the annular line into a first section and a second section according to the administration boundary information of the station;
the electronic map divides the first section and the second section according to turnouts to generate a plurality of track sections.
4. The train satellite positioning method for the looped railway according to claim 2, characterized in that the train satellite positioning comprises the steps of:
confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on a satellite reference point on the track section traversed in the running direction of the train track according to the position where the train is located at the last time;
determining the next track segment according to the connection relation of turnouts or jurisdiction boundaries on the end point positions of the track segments, and traversing satellite reference points on the track segments according to the new track direction to perform electronic map track matching operation;
and traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversing distance to obtain a train satellite positioning result.
5. The train satellite positioning method for a looped railway according to claim 3, characterized in that the first section includes a first track segment, a second track segment, a third track segment and a fourth track segment.
6. The train satellite positioning method for the looped railway according to claim 5, wherein traversing all track segments of the electronic map comprises the steps of:
s31, firstly, satellite positioning of the first orbit segment is carried out, if the train traversal distance is smaller than the maximum driving distance, whether the first orbit segment is in the traversed orbit segment is judged, if not, the first orbit segment is cached to the traversed orbit segment, and the orbit segment is continuously searched forwards and satellite positioning is carried out; if so, stopping satellite positioning; if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning;
s32, continuing satellite positioning of a fourth track section according to the first turnout positioning and positioning information, accumulating the distance of the fourth track section by the train traversal distance, judging whether the fourth track section is in the traversed track section if the train traversal distance is less than the farthest driving distance, caching the fourth track section to the traversed track section if the train traversal distance is not greater than the farthest driving distance, and continuing searching the track section forwards and performing satellite positioning; if so, stopping satellite positioning; if the train traversal distance is greater than the maximum driving distance, stopping satellite positioning;
s33, continuing satellite positioning of the third track section according to the second turnout positioning and reversing information, accumulating the distance of the third track section by the train traversing distance, judging whether the third track section is in the traversed track section if the train traversing distance is less than the farthest driving distance, caching the third track section to the traversed track section if the train traversing distance is not in the traversed track section, and continuing searching the track section forwards and performing satellite positioning; if so, stopping satellite positioning; if the traversing distance of the train is greater than the maximum driving distance, stopping satellite positioning;
and S34, repeating the steps S31-S33, and traversing the connected track segments.
7. The train satellite positioning method for the circular railway according to claim 6, wherein the determination process of whether the current track segment is traversing the track segment is specifically as follows:
when satellite positioning starts, initializing a cache queue to store traversed track segment information, wherein the traversed track segment information comprises a track segment number, a station number, a track segment starting point and a track segment end point;
in the satellite positioning process, after traversing one track segment, comparing the track segment with track segment information in a traversed track segment queue, if the track segment number, the station number, the track segment starting point and the track segment end point are all inconsistent, judging that the current track segment is a non-traversed track segment, and inserting the current track segment into the tail of the traversed track segment queue; if the two orbit segments are consistent, the current orbit segment is judged to be a traversed orbit segment, and the satellite positioning is stopped.
8. The train satellite positioning method for the circular railways according to any one of claims 2 to 7, characterized in that the farthest travel distance of the train based on the reference position is specifically as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
9. A train satellite positioning system adapted for use on a looped railway, comprising:
the acquisition module is used for acquiring a plurality of track section information of the annular railway from the electronic map and dividing track sections based on turnouts and station administration boundary information of the annular railway;
the calculating module is used for acquiring train satellite positioning reference information through the transponder and the speed sensor;
and the positioning module is used for performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information.
10. The train satellite positioning system for the looped railway according to claim 9, wherein the train satellite positioning reference information includes reference position information and a farthest travel distance based on the reference position.
11. The train satellite positioning system applicable to the ring-shaped railway according to claim 9, wherein the track segments are divided based on turnout and station administration boundary information of the ring-shaped railway, specifically as follows:
the electronic map divides the annular line into a first section and a second section according to the administration boundary information of the station;
the electronic map divides the first section and the second section according to turnouts to generate a plurality of track sections.
12. The train satellite positioning system suitable for the circular railway according to claim 10, wherein the positioning module is used for train satellite positioning, and comprises the following components:
confirming the track section where the train is located according to the reference position information, and performing electronic map track matching operation on a satellite reference point on the track section traversed in the running direction of the train track according to the position where the train is located at the last time;
determining the next track segment according to the connection relation of turnouts or jurisdiction boundaries on the end point positions of the track segments, and traversing satellite reference points on the track segments according to the new track direction to perform electronic map track matching operation;
and traversing all track sections of the electronic map, and judging whether the positioning is finished according to the traversing distance to obtain a train satellite positioning result.
13. The train satellite positioning system for the circular railway according to any one of claims 10 to 12, wherein the calculation module is configured to calculate the farthest travel distance of the train based on the reference position as follows:
Lmax＝Vmax*Tsum+Ltor
the Lmax is the farthest running distance of the train based on the reference position, the Vmax is the maximum running speed of the train when the train runs periodically, the Tsum is the total time length of the train passing when the distance between the train and the last satellite positioning reference position is updated, and the Ltor is the maximum tolerance distance of the train satellite positioning.
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