CN114475722B - 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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- CN114475722B CN114475722B CN202210019496.1A CN202210019496A CN114475722B CN 114475722 B CN114475722 B CN 114475722B CN 202210019496 A CN202210019496 A CN 202210019496A CN 114475722 B CN114475722 B CN 114475722B
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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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application provides a train satellite positioning method and a train satellite positioning system suitable for an annular railway, which belong to the technical field of rail transit, wherein the method comprises the following steps: acquiring a plurality of track segment information of an annular railway from an electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway; acquiring satellite positioning reference information of a train through a transponder and a speed sensor; and carrying out train satellite positioning according to the train satellite positioning reference information and the track segment information. The application aims at the characteristics of the railway loop line, combines satellite positioning reference information and an orbit segment judging algorithm, effectively prevents the condition that satellite positioning repeatedly searches and positions a certain orbit, and further improves the efficiency of train satellite positioning.
Description
Technical Field
The application 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 used as one of next generation train positioning technologies of a train control system, and can effectively reduce the dependence of a train on ground positioning equipment, so that the cost of the ground positioning equipment and the installation and maintenance cost of personnel of the ground positioning equipment are reduced. At present, the Beidou satellite navigation system is established, and the railway field starts a relatively extensive and intensive study aiming at the application of the Beidou positioning technology in the train control system, and mainly adopts the mode of satellite positioning based on an electronic map.
Since a general railway line does not have a loop-forming line, the research design of the general train control system function does not need to consider the loop-forming scene of the line, and the research on the satellite positioning of a train is generally only carried out under the non-loop-forming railway line scene. However, under some special system test requirements, the trains need to run around the looped railway lines for a long time, and satellite positioning technology needs to consider the situations of repeated positioning of the track segments and the like.
In the prior art, a satellite positioning algorithm based on an electronic map is mainly characterized in that an orbit satellite reference point is traversed, a nearest satellite reference point is pre-matched, and then orbit matching operation is carried out to obtain a satellite positioning result. The method does not clearly determine the satellite positioning ending condition, does not relate to research and analysis of railway lines with loops, and has the possibility of invalid searching 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 application provides a train satellite positioning method and a train satellite positioning system suitable for an annular railway, which prevent repeated searching and positioning of a track section in a satellite positioning process and improve positioning efficiency.
A train satellite positioning method suitable for a ring railway comprises the following steps:
acquiring a plurality of track segment information of an annular railway from an electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway;
acquiring satellite positioning reference information of a train through a transponder and a speed sensor;
and carrying out train satellite positioning according to the train satellite positioning reference information and the track segment information.
Further, the train satellite positioning reference information includes reference position information and a farthest traveling distance based on the reference position.
Further, the track segments are divided based on the turnout and station jurisdiction 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 station jurisdiction boundary information;
the electronic map divides the first section and the second section according to the turnout to generate a plurality of track sections.
Further, the satellite positioning of the train comprises the following steps: confirming the track section of the train according to the reference position information, and performing electronic map track matching operation according to the satellite reference points on the track section traversed in the track running direction of the train from the position of the last train positioning;
determining the next track section according to the connection relation of the turnout or the jurisdictional boundary at the end position of the track section, traversing the satellite reference point on the track section according to the new track direction, and performing electronic map track matching operation;
and traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining 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 a first track segment is carried out, if the train traversing distance is smaller than the most traveling distance, whether the first track segment is in a traversed track segment is judged, if not, the first track segment is cached to the traversed track segment, and the track segment is continuously searched forwards and satellite positioning is carried out; if yes, stopping satellite positioning; if the train traversing distance is greater than the maximum driving distance, stopping satellite positioning;
s32, continuing satellite positioning of a fourth track section according to the positioning and reversing information of the first turnout, accumulating the distance of the fourth track section by the train traversing distance, judging whether the fourth track section is in the traversed track section if the distance is smaller than the farthest travelling distance, and caching the fourth track section to the traversed track section if the distance is not in the same, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; if the train traversing distance is greater than the maximum driving distance, stopping satellite positioning;
s33, continuing to perform satellite positioning of the third track section according to the second turnout positioning 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 distance is smaller than the farthest travelling distance, and caching the third track section to the traversed track section if the third track section is not in the traversed track section, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; if the train traversing distance is greater than the maximum driving distance, stopping satellite positioning;
s34, repeating the steps S31-S33, and traversing the track segments connected after the steps.
Further, the determination process of whether the current track segment is already traversing the track segment is specifically as follows:
initializing a buffer queue to store traversed track segment information when satellite positioning starts, wherein the traversed track segment information comprises track segment numbers, station numbers, track segment start points and track segment end points;
in the satellite positioning process, after each track segment is traversed, comparing the track segment with track segment information in a traversed track segment queue, and if the track segment number, the station number, the track segment starting point and the track segment ending point are all inconsistent, judging that the current track segment is an unremoved track segment and inserting the current track segment into the end of the traversed track segment queue; if the track segments are consistent, judging that the current track segment is the traversed track segment, and stopping satellite positioning.
Further, the farthest traveling distance of the train based on the reference position is specifically as follows:
Lmax＝Vmax*Tsum+Ltor
wherein Lmax is the furthest running distance of the train based on the reference position, vmax is the maximum running speed of the train when running periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the train for satellite positioning.
The application 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 segment information of the annular railway from the electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway;
the calculation 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 traveling distance based on the reference position.
Further, the track segments are divided based on the turnout and station jurisdiction 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 station jurisdiction boundary information;
the electronic map divides the first section and the second section according to the turnout to generate a plurality of track sections.
Further, the positioning module is used for satellite positioning of the train, and specifically comprises the following steps:
confirming the track section of the train according to the reference position information, and performing electronic map track matching operation according to the satellite reference points on the track section traversed in the track running direction of the train from the position of the last train positioning;
determining the next track section according to the connection relation of the turnout or jurisdiction boundary on the end position of the track section, traversing the satellite reference point on the track section according to the new track direction, and performing electronic map track matching operation;
and traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining a train satellite positioning result.
Further, the calculation module is configured to calculate a farthest traveling distance of the train based on the reference position specifically as follows:
Lmax＝Vmax*Tsum+Ltor
wherein Lmax is the furthest running distance of the train based on the reference position, vmax is the maximum running speed of the train when running periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the train for satellite positioning.
The application has the beneficial effects that: the application aims at the characteristics of the railway loop line, combines satellite positioning reference information and an orbit segment judging algorithm, effectively prevents the condition that satellite positioning repeatedly searches and positions a certain orbit, and further improves the efficiency of train satellite positioning.
Additional features and advantages of the application 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 application. The objectives and other advantages of the application may 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 application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow diagram of a method for satellite positioning of a train applicable to a looped railroad in accordance with an embodiment of the present application;
FIG. 2 illustrates a schematic view of a ring railroad station track partition in accordance with an embodiment of the present application;
FIG. 3 illustrates a first segment track segment partitioning schematic in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram showing a train satellite positioning orbit traversal process according to an embodiment of the application;
FIG. 5 shows a schematic diagram of a train single track segment satellite positioning process according to an embodiment of the application;
fig. 6 shows a schematic diagram of a train satellite positioning system adapted for use in a ring railway according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Aiming at the characteristics of a railway annular line, the application provides an optimization method for train satellite positioning of the railway annular line, which effectively prevents the condition that the satellite positioning performs ineffective searching and repeated positioning on a certain orbit and further improves the efficiency of train satellite positioning.
Referring to fig. 1, fig. 1 is a flow chart of a satellite positioning method for a train applicable to a ring railway according to an embodiment of the application.
A train satellite positioning method suitable for a ring railway comprises the following steps: acquiring a plurality of track segment information of an annular railway from an electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway; acquiring satellite positioning reference information of a train through a transponder and a speed sensor; and carrying out train satellite positioning according to the train satellite positioning reference information and the track segment information.
To facilitate an understanding of embodiments of the present application, an exemplary description of a ring railway is provided below.
Referring to fig. 2, fig. 2 shows a schematic view of a ring railroad station track division in accordance with an embodiment of the present application.
Describing with the annular railway between station 1 and station 2, station 1 and station 2 all include IG and 3G, and station 1 and station 2 pass through the IG and form annular railway, and 3G head and tail pass through switch and are connected with the IG.
The looped railway is divided into a track section 1, a track section 2, a track section 3, a track section 4, a track section 5, a track section 6, a track section 7 and a track section 8.
The track segments are divided based on the turnout and station jurisdiction boundary information of the annular railway, and the method is as follows:
s11, dividing the annular line into a first section and a second section by the electronic map according to the station jurisdiction boundary information.
In this embodiment, two end points of the first section are a first administration boundary and a second administration boundary of the station 1 respectively. Two end points of the second section are a first jurisdictional boundary and a second jurisdictional boundary of the station 2 respectively.
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 start point and the end point of the track section are on the same train track, the searching path in the satellite positioning process is performed according to the track section, and the unique path of the train can be defined.
Referring to fig. 3, fig. 3 shows a first segment track segment partitioning diagram in accordance with an embodiment of the present application.
For example, the IG of the first section is connected to the 3G by a switch, and the IG is divided into track segment 1, track segment 2, and track segment 3,3G, with the switches at the two ends of the 3G as nodes, and track segment 4.
As shown in fig. 2, the second section divides the IG into track segment 5, track segment 6, and track segment 7,3G as track segment 8.
The first section is exemplified by a plurality of track sections, two end points of the track section 1 are respectively a first administration boundary and a first turnout of the station 1, two end points of the track section 2 are respectively a first turnout and a second turnout, and two end points of the track section 3 are respectively a second turnout and a second administration boundary of the station 1.
In the process of matching the satellite positioning electronic map, if searching and positioning are directly performed by using the whole orbit line, whether a turnout exists between the current satellite reference point and the next satellite reference point or not needs to be determined in each forward searching, and whether the orbit needs to be changed for positioning or not needs to be determined; if the track is divided into track sections according to the turnout in advance, the satellite positioning searches forwards without considering whether the train passes the turnout or not, and because the end of the track section is the turnout or the jurisdictional boundary, the method does not need to judge the turnout in the satellite positioning process, and improves the satellite positioning searching and positioning efficiency.
In addition, in the process of determining the used path for satellite positioning, the path of the train can be more simply and clearly represented by dividing the track segments than recording a certain segment region of each track sequentially passing.
Specifically, the train satellite positioning reference information includes reference position information and a farthest traveling distance based on the reference position.
The reference position information can be used for confirming the specific track position information of the train by using a transponder, the transponder can be an entity or a virtual transponder, and the satellite positioning reference position information is updated and the furthest running distance of the satellite positioning of the train is calculated from the new moment along with the continuous triggering of the transponder on the track.
Based on the furthest driving distance of the reference position, the maximum speed information of the speed sensor and the running period of the system can be utilized for carrying out accumulated calculation, and the maximum tolerance distance of satellite positioning is added, so that the method is obtained, and specifically comprises the following steps:
the reference position P is a train satellite positioning nearest reference transponder group, and the calculation formula of the farthest running distance of the train based on the reference position P is as follows:
Lmax＝Vmax*Tsum+Ltor
wherein Lmax is the farthest running distance of the train based on the reference position P, vmax is the maximum running speed of the train when running periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the train for 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, the vehicle-mounted control system software of the embodiment of the application operates in a periodic scheduling manner, namely: and carrying out satellite positioning operation every a fixed length of time.
And determining the maximum tolerance distance of the satellite positioning of the train according to the satellite positioning precision and the electronic map measurement error.
In the process of searching the path forward by satellite positioning, if satellite positioning data are abnormal, such as data are abnormal or come from external attack, invalid path searching, such as a position where a train cannot arrive, can be effectively prevented by using the furthest driving distance information based on the reference position, so that satellite positioning efficiency is improved.
Specifically, the satellite positioning of the train comprises the following steps:
s21, confirming the track section of the train according to the reference position information, and performing electronic map track matching operation on satellite reference points on the track section traversed in the track running direction of the train according to the position of the last train positioning.
The running direction of the train track is obtained according to the position of the train, the running direction and the track relation of the electronic map.
S22, determining the next track section according to the connection relation of the turnout or the jurisdictional boundary at the end position of the track section, and traversing the satellite reference point on the track section 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, the turnout positioning and reversing information and the track connection relation of the electronic map.
The track direction can also be obtained according to a track direction on the train, a jurisdictional boundary connection relationship and an electronic map track connection relationship.
S23, traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining a train satellite positioning result.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a process of traversing a satellite positioning orbit of a train according to an embodiment of the application.
In an example, in the process of entering and exiting the first section of the train, the reference position information of the train is obtained before the satellite orbit of the train traverses, the furthest driving distance and the turnout positioning and reversing information, and the process of traversing all the orbit 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 traversing distance is smaller than the most traveling 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 yes, stopping satellite positioning; and stopping satellite positioning if the train traversing distance is greater than the maximum travelling distance.
In this step, the train travel distance is the distance from the reference position to the end of the track segment 1.
S32, continuing to perform satellite positioning on the track section 4 according to the first track turnout positioning information, accumulating the distance of the track section 4 by the train traversing distance, judging whether the track section 4 is in the traversed track section if the train traversing distance is smaller than the farthest travelling distance, and caching the track section 4 to the traversed track section if the train traversing distance is not in the same, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; and stopping satellite positioning if the train traversing distance is greater than the maximum travelling distance.
In this step, the first track switch is positioned in the inverted state, i.e. track segment 1 is connected to track segment 4.
S33, continuing to perform satellite positioning on the track section 3 according to the second turnout positioning 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 smaller than the farthest travelling distance, and caching the track section 3 to the traversed track section if the train traversing distance is not in the same, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; and stopping satellite positioning if the train traversing distance is greater than the maximum travelling distance.
In this step, the second switch positioning and reversing information is in a reversing state, i.e. the track section 4 is connected with the track section 3.
S34, repeating the steps S31-S33, and traversing the track segments connected after the steps.
In steps S31-S34, the determination process of whether the current track segment is already traversing the track segment is specifically as follows:
s41, initializing a buffer queue to store traversed track segment information when satellite positioning starts, wherein the traversed track segment information comprises track segment numbers, station numbers, track segment start points and track segment end points.
S42, in the satellite positioning process, after each track segment is traversed, comparing the track segment information in the traversed track segment queue, and if the track segment number, the station number, the track segment starting point and the track segment ending point are all inconsistent, judging that the current track segment is an unremoved track segment and inserting the current track segment into the end of the traversed track segment queue; if the track segments are consistent, judging that the current track segment is the traversed track segment, and stopping satellite positioning.
The embodiment is a judgment mode of the traversed track segment, and is simpler and clearer than the mode of directly recording track information.
Referring to fig. 5, fig. 5 shows a schematic diagram of a satellite positioning process for a single track segment of a train according to an embodiment of the application.
For example, the train starts from the point a to the point b, and the single-track-section satellite positioning electronic map matching algorithm of the train adopts vertical matching operation: firstly, searching two satellite reference points on an orbit, and if a train satellite positioning point is between the two satellite reference points, performing vertical line matching operation; if not, continuing to search the next orbit satellite reference point forwards, and carrying out vertical line matching operation; the vertical line matching algorithm calculates the distance by adopting a mode of making vertical lines at three points, and if the distance meets the requirement of the satellite positioning electronic map matching threshold, the satellite positioning is successful.
The train single track section is illustrated by taking a track section 1 as an example, and the specific positioning process is as follows:
s51, firstly, taking a front satellite reference point 1, a rear satellite reference point 1 and a satellite reference point 2 on an orbit according to a train positioning position to carry out plumb line, and if the plumb line is between the two satellite reference points and meets the threshold requirement, then satellite positioning is successful; if the vertical line is not between the two satellite reference points, the satellite positioning fails, and the adjacent two satellite reference points 2 and 3 are continuously taken in the running direction of the train to be positioned;
s52, until the positioning is successful, or the last satellite reference point of the orbit segment is obtained.
Referring to fig. 6, fig. 6 is a schematic diagram showing a configuration of a satellite positioning system for a train adapted to a ring railway according to an embodiment of the present application.
The embodiment of the application also provides a train satellite positioning system suitable for the annular railway, which comprises the following steps:
the acquisition module is used for acquiring a plurality of track segment information of the annular railway from the electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway;
the calculation 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 satellite positioning of the train, and specifically comprises the following steps:
confirming the track section of the train according to the reference position information, and performing electronic map track matching operation according to the satellite reference points on the track section traversed in the track running direction of the train from the position of the last train positioning;
determining the next track section according to the connection relation of the turnout or jurisdiction boundary on the end position of the track section, traversing the satellite reference point on the track section according to the new track direction, and performing electronic map track matching operation;
and traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining a train satellite positioning result.
Further, the calculation module is configured to calculate a farthest traveling distance of the train based on the reference position specifically as follows:
Lmax＝Vmax*Tsum+Ltor
wherein Lmax is the furthest running distance of the train based on the reference position, vmax is the maximum running speed of the train when running periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the train for satellite positioning.
The specific implementation of each module of the system can be obtained from the specific implementation mode of the train screening method, and is not repeated.
Although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. The train satellite positioning method suitable for the annular railway is characterized by comprising the following steps of:
acquiring a plurality of track segment information of an annular railway from an electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway;
acquiring satellite positioning reference information of a train through a transponder and a speed sensor;
performing train satellite positioning according to the train satellite positioning reference information and the plurality of track segment information; the train satellite positioning reference information comprises reference position information and the farthest driving distance based on the reference position;
the reference position information confirms the specific track position information of the train by using a transponder, wherein the transponder is an entity or virtual transponder, and the satellite positioning reference position information is updated and the furthest running distance of the satellite positioning of the train is recalculated along with continuous triggering of the transponder on the track;
based on the furthest driving distance of the reference position, the maximum speed information of the speed sensor and the system operation period are utilized for carrying out accumulated calculation, and the maximum tolerance distance of satellite positioning is added, so that the method is obtained, specifically as follows:
the reference position P is a train satellite positioning nearest reference transponder group, and the calculation formula of the farthest running distance of the train based on the reference position P is as follows:
Lmax=Vmax *Tsum+Ltor；
wherein Lmax is the farthest running distance of the train based on the reference position P, vmax is the maximum running speed of the train when the train runs periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the satellite positioning of the train;
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;
the vehicle-mounted control system software operates in a periodic scheduling mode, namely: performing satellite positioning operation once every a period of fixed length time;
and determining the maximum tolerance distance of the satellite positioning of the train according to the satellite positioning precision and the electronic map measurement error.
2. The method for positioning a train satellite for a ring railway according to claim 1, wherein the dividing of the track segments is performed based on railroad switch and station administration boundary information of the ring railway, specifically as follows:
the electronic map divides the annular line into a first section and a second section according to the station jurisdiction boundary information;
the electronic map divides the first section and the second section according to the turnout to generate a plurality of track sections.
3. The method for positioning a train satellite for a ring railway according to claim 1, wherein the method for positioning the train satellite comprises the steps of:
confirming the track section of the train according to the reference position information, and performing electronic map track matching operation according to the satellite reference points on the track section traversed in the track running direction of the train from the position of the last train positioning;
determining the next track section according to the connection relation of the turnout or the jurisdictional boundary at the end position of the track section, traversing the satellite reference point on the track section according to the new track direction, and performing electronic map track matching operation;
and traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining a train satellite positioning result.
4. The method of positioning a train satellite for use in a looped railway according to claim 2 wherein the first section comprises a first track segment, a second track segment, a third track segment and a fourth track segment.
5. The method for positioning a train satellite for a ring railway according to claim 4, wherein traversing all track segments of the electronic map comprises the steps of:
s31, firstly, satellite positioning of a first track segment is carried out, if the train traversing distance is smaller than the farthest running distance, whether the first track segment is in the traversed track segment is judged, if not, the first track segment is cached to the traversed track segment, and the track segment is continuously searched forwards and satellite positioning is carried out; if yes, stopping satellite positioning; if the train traversing distance is greater than the farthest driving distance, stopping satellite positioning;
s32, continuing satellite positioning of a fourth track section according to the positioning and reversing information of the first turnout, accumulating the distance of the fourth track section by the train traversing distance, judging whether the fourth track section is in the traversed track section if the distance is smaller than the farthest travelling distance, and caching the fourth track section to the traversed track section if the distance is not in the same, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; if the train traversing distance is greater than the farthest driving distance, stopping satellite positioning;
s33, continuing to perform satellite positioning of the third track section according to the second turnout positioning 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 distance is smaller than the farthest travelling distance, and caching the third track section to the traversed track section if the third track section is not in the traversed track section, and continuing to search the track section forwards and performing satellite positioning; if yes, stopping satellite positioning; if the train traversing distance is greater than the farthest driving distance, stopping satellite positioning;
s34, repeating the steps S31-S33, and traversing the track segments connected after the steps.
6. The method for positioning a satellite for a train adapted to a looped railroad according to claim 5, wherein the determination of whether the current track segment is in the traversed track segment is specifically as follows:
initializing a buffer queue to store traversed track segment information when satellite positioning starts, wherein the traversed track segment information comprises track segment numbers, station numbers, track segment start points and track segment end points;
in the satellite positioning process, after each track segment is traversed, comparing the track segment with track segment information in a traversed track segment queue, and if the track segment number, the station number, the track segment starting point and the track segment ending point are all inconsistent, judging that the current track segment is an unremoved track segment and inserting the current track segment into the end of the traversed track segment queue; if the track segments are consistent, judging that the current track segment is the traversed track segment, and stopping satellite positioning.
7. A train satellite positioning system adapted for use in a ring railroad, comprising:
the acquisition module is used for acquiring a plurality of track segment information of the annular railway from the electronic map, and dividing the track segments based on turnout and station administration boundary information of the annular railway;
the calculation module is used for acquiring train satellite positioning reference information through the transponder and the speed sensor;
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; the train satellite positioning reference information comprises reference position information and the farthest driving distance based on the reference position;
the reference position information confirms the specific track position information of the train by using a transponder, wherein the transponder is an entity or virtual transponder, and the satellite positioning reference position information is updated and the furthest running distance of the satellite positioning of the train is recalculated along with continuous triggering of the transponder on the track;
based on the furthest driving distance of the reference position, the maximum speed information of the speed sensor and the system operation period are utilized for carrying out accumulated calculation, and the maximum tolerance distance of satellite positioning is added, so that the method is obtained, specifically as follows:
the reference position P is a train satellite positioning nearest reference transponder group, and the calculation module is used for calculating the furthest running distance calculation formula of the train based on the reference position P as follows:
Lmax=Vmax *Tsum+Ltor；
wherein Lmax is the farthest running distance of the train based on the reference position P, vmax is the maximum running speed of the train when the train runs periodically, tsum is the total time length of the train when the satellite positioning reference position is updated last time, and Ltor is the maximum tolerance distance of the satellite positioning of the train;
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;
the vehicle-mounted control system software operates in a periodic scheduling mode, namely: performing satellite positioning operation once every a period of fixed length time;
and determining the maximum tolerance distance of the satellite positioning of the train according to the satellite positioning precision and the electronic map measurement error.
8. The satellite positioning system for trains applicable to ring railways according to claim 7, wherein the dividing of the track segments is based on railroad switch and station jurisdiction boundary information of the ring railways, in particular as follows:
the electronic map divides the annular line into a first section and a second section according to the station jurisdiction boundary information;
the electronic map divides the first section and the second section according to the turnout to generate a plurality of track sections.
9. The train satellite positioning system for use in endless railways according to claim 7, wherein the positioning module is adapted for satellite positioning of trains, in particular as follows:
confirming the track section of the train according to the reference position information, and performing electronic map track matching operation according to the satellite reference points on the track section traversed in the track running direction of the train from the position of the last train positioning;
determining the next track section according to the connection relation of the turnout or jurisdiction boundary on the end position of the track section, traversing the satellite reference point on the track section according to the new track direction, and performing electronic map track matching operation;
and traversing all track segments of the electronic map, judging whether positioning is finished according to the traversed distance, and obtaining a train satellite positioning result.
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