CN114954580A - Mobile block column control method, device, equipment and medium based on Beidou positioning - Google Patents
Mobile block column control method, device, equipment and medium based on Beidou positioning Download PDFInfo
- Publication number
- CN114954580A CN114954580A CN202210541901.6A CN202210541901A CN114954580A CN 114954580 A CN114954580 A CN 114954580A CN 202210541901 A CN202210541901 A CN 202210541901A CN 114954580 A CN114954580 A CN 114954580A
- Authority
- CN
- China
- Prior art keywords
- train
- beidou
- coordinate
- calibration
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 71
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims abstract description 30
- 230000003137 locomotive effect Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012216 screening Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000005283 ground state Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a mobile block column control method, a mobile block column control device, mobile block column control equipment and a mobile block column control medium based on Beidou positioning, wherein the mobile block column control method comprises the following steps: acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and taking a Beidou error of the Beidou antenna as a radius; finding out a station track line of the train matched with the target Beidou coordinates from a pre-constructed Beidou calibration data table and a train station track calibration table; the crossing point between coordinate error circle and the station track line is obtained to confirm the biggest safe front end and the minimum safe front end of train according to the crossing point, in order to realize train normal operating, from this through the big dipper antenna of train and off-line big dipper calibration data table and the accurate location that train station track calibration table realized the train, ensured that communication interruption's the condition appears in the train under, also can determine the train position, and then improved the operating efficiency of train.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a mobile block train control method, a mobile block train control device, mobile block train control equipment and a mobile block train control medium based on Beidou positioning.
Background
In a mobile block train operation control system, a transponder is usually arranged on a rail, when a train passes through the transponder, the transponder sends a transponder message to the train, after receiving the transponder message information sent by the transponder, a vehicle-mounted subsystem ATP searches a corresponding transponder ID from electronic map data, so as to obtain the detailed position of the train at the moment, and then the ATP communicates with a radio block center RBC in the mobile block train operation control system, so that the RBC sends a train control instruction to the train in real time according to the position information and the ground state information of the train, and the train is ensured to safely and efficiently operate in an RBC jurisdiction range.
However, in the running process of the train, the ATP may have a situation of communication interruption with the transponder, and the detailed position of the train cannot be obtained through the transponder, so that the RBC cannot send a train control instruction to the train in real time according to the position information and the ground state information of the train, and at this time, if the train is in a turnout, the train can only run in a visual mode, thereby reducing the running efficiency of the train.
Disclosure of Invention
The invention provides a moving block train control method, a moving block train control device, moving block train control equipment and a moving block train control medium based on Beidou positioning, which are used for solving the defect that the running efficiency of a train is reduced because the detailed position of the train cannot be obtained through a transponder in the prior art and realizing the improvement of the running efficiency of the train.
The invention provides a mobile block train control method based on Beidou positioning, which comprises the following steps:
acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and the Beidou error of the Beidou antenna as a radius;
finding out a station track line of the train matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table and a train station track calibration table;
and acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
According to the mobile block train control method based on Beidou positioning, which is provided by the invention, the station track line of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train station track calibration table, and the method specifically comprises the following steps:
finding out a calibration point coordinate matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table, and acquiring a line number and a line offset which are associated with the calibration point coordinate from the Beidou calibration data table;
and finding out the track line matched with the line number and the line offset in a pre-constructed train track calibration table.
According to the mobile block train control method based on Beidou positioning, which is provided by the invention, the station track line matched with the line number and the line offset is found in a pre-constructed train station track calibration table, and the method specifically comprises the following steps:
finding out at least one track line length matched with the line offset in a pre-constructed train track calibration table, and screening the at least one track line length through the line number to obtain a target track line length;
acquiring a first stock route parameter associated with the target stock route length from the Beidou calibration data table;
and determining a Beidou coordinate interval matched with the first stock line parameters based on the Beidou calibration data table so as to obtain the stock line matched with the target Beidou coordinate.
According to the mobile block train control method based on Beidou positioning, before a station track line of a train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train station track calibration table, the method further comprises the following steps:
the method comprises the steps that a first train station number sent by a train control room terminal is obtained, and a Beidou coordinate located by a Beidou antenna of a train is obtained;
finding out a second train track number matched with the Beidou coordinates from a pre-constructed Beidou calibration data table and a train track calibration table;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train station number and the second train station number.
According to the mobile block train control method based on Beidou positioning, before a station track line of a train matched with the target Beidou coordinates is found in a preset Beidou calibration data table and a train station track calibration table, the method further comprises the following steps:
the method comprises the steps that train marshalling parameters sent by a train control room terminal are obtained, and a train head Beidou coordinate located by a train head Beidou antenna and a first train tail Beidou coordinate located by a train tail Beidou antenna are obtained;
finding out a second station track line parameter matched with the train marshalling parameter in the train station track calibration table, and finding out a calibration point coordinate matched with the station track line parameter in the Beidou calibration data table;
calculating a first vehicle tail Beidou coordinate according to the calibration point coordinate and the vehicle head Beidou coordinate;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
According to the mobile block train control method based on Beidou positioning, before a station track line of a train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train station track calibration table, the method further comprises the following steps:
the method comprises the steps that a first train running direction sent by a train control room terminal is obtained, and a Beidou coordinate positioned by a Beidou antenna of a train is obtained;
calculating the running direction of a second train according to the Beidou coordinates;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train running direction and the second train running direction.
According to the mobile block train control method based on Beidou positioning, before a station track line of a train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train station track calibration table, the method further comprises the following steps:
the method comprises the steps of obtaining a first locomotive Beidou coordinate positioned by a first locomotive Beidou antenna and a second locomotive Beidou coordinate positioned by a second locomotive Beidou antenna of the train, and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first locomotive Beidou coordinate and the second locomotive Beidou coordinate; and/or the presence of a gas in the gas,
the method comprises the steps of obtaining a first train tail Beidou coordinate positioned by a first train tail Beidou antenna of the train and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna, and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
The invention also provides a mobile block train control device based on Beidou positioning, which comprises:
the building unit is used for obtaining a target Beidou coordinate positioned by a Beidou antenna of the train, and building a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and a Beidou error of the Beidou antenna as a radius;
the searching unit is used for searching a station track line of the train matched with the target Beidou coordinates in a pre-constructed Beidou calibration data table and a train station track calibration table;
and the determining unit is used for acquiring the intersection point between the coordinate error circle and the station track line and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the moving block train control method based on the Beidou positioning is realized by the processor.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a Beidou positioning based mobile block train control method as any one of the above.
The invention also provides a computer program product which comprises a computer program, wherein the computer program is used for realizing the mobile block train control method based on the Beidou positioning when being executed by a processor.
According to the moving block train control method, device, equipment and medium based on Beidou positioning, a coordinate error circle of a train is constructed by acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, taking the target Beidou coordinate as a circle center and taking a Beidou error of the Beidou antenna as a radius; finding out a station track line of the train matched with the target Beidou coordinates from a pre-constructed Beidou calibration data table and a train station track calibration table; the intersection point between the coordinate error circle and the station track line is obtained, the maximum safe front end and the minimum safe front end of the train are determined according to the intersection point, normal operation of the train is achieved, accurate positioning of the train is achieved through the Beidou antenna of the train, the offline Beidou calibration data table and the train station track calibration table, communication interruption of the train is guaranteed, the position of the train can be determined, and operation efficiency of the train is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 one of the flow diagrams of the mobile block train control method based on Beidou positioning provided by the invention;
FIG. 2 is a schematic view of a scene for constructing a coordinate error circle of a train according to the present invention;
FIG. 3 is a schematic diagram of a scenario of a station track provided by the present invention;
fig. 4 is a second schematic flow chart of the mobile block train control method based on beidou positioning according to the present invention;
FIG. 5 is a schematic structural diagram of a mobile block train control device based on Beidou positioning, provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Specifically, the mobile block train control method based on Beidou positioning is applied to a mobile block train operation control system, wherein the mobile block train operation control system comprises subsystems such as a vehicle-mounted subsystem ATP and a radio block center RBC. In the existing scheme, during the operation of a train, ATP acquires train position information through positioning equipment such as a transponder arranged on a rail and the like and then sends the train position information to RBC, and RBC feeds back a train control instruction to ATP according to the train position information so as to ensure that the train can safely and efficiently operate in the jurisdiction of RBC.
However, in the existing scheme, on one hand, the installation number of positioning devices such as transponders on the rail is limited, so that the requirement for positioning the train at any time cannot be met, and on the other hand, communication between the ATP and the transponders is interrupted, so that the train position cannot be obtained through the transponders, and further the running efficiency of the train is reduced. Aiming at the technical problems, the invention provides a moving block train control method based on Beidou positioning, so that a train can be positioned at any time, and the running efficiency of the train is improved.
The following describes a mobile block train control method based on Beidou positioning in the invention with reference to fig. 1-4.
Fig. 1 is a schematic flow diagram of a mobile block train control method based on Beidou positioning, and as shown in fig. 1, the method includes:
specifically, the Beidou antenna is a positioning device which is loaded on a train body and used for Beidou positioning, and the loading position of the Beidou antenna can be any position such as a joint between a train head, a train tail and a train carriage in practical application. Based on that most trains are provided with double train control rooms, namely, the train has a function of bidirectional control operation, the train head mentioned in the invention refers to a train head position corresponding to a first carriage in the advancing operation direction of the train, and the train tail refers to a train tail position corresponding to a last carriage in the advancing operation direction of the train.
In addition, in order to improve the safety of train operation, the Beidou antenna of the train head is adopted to position the train position, so that the maximum safety front end and the minimum safety front end of the train can be accurately obtained, and the safety operation of the train is guaranteed.
In practical application, because the target Beidou coordinate is a three-dimensional coordinate consisting of longitude, latitude and height, in order to accelerate the subsequent data processing speed and improve the train positioning speed, the method converts the target Beidou coordinate into a local coordinate, namely converts a three-dimensional vector of the longitude, the latitude and the height into a (x, y) two-dimensional coordinate in a space rectangular coordinate system for representation.
In addition, because the position positioned by the Beidou antenna may have an error with the actual position, in order to eliminate the positioning error influence brought by the Beidou antenna, a coordinate error circle of the train is constructed by taking the target Beidou coordinate as the center of a circle and the Beidou error of the Beidou antenna as the radius, and therefore the actual position of the train is certainly positioned in the coordinate error circle.
Referring to fig. 2, a straight line in fig. 2 represents a running track of a train, and a positioning point 1, a positioning point 2, and a positioning point 3 sequentially refer to different positioning time points to obtain a target Beidou coordinate positioned by a Beidou antenna of the train. Namely, the train position corresponding to each positioning point is always positioned in the coordinate error circle of each positioning point. The Beidou error in the invention is a fixed numerical value, is usually an error value set by a manufacturer calibrated on the Beidou antenna equipment, and can also be an error value calculated after multiple experiments, which is not limited.
in the step, the pre-constructed Beidou calibration data table and the train station track calibration table are off-line tables, so that the train position can be determined through the Beidou calibration data table and the train station track calibration table under the condition that the communication of the train is interrupted.
The parameters in the pre-constructed Beidou calibration data table comprise Link line numbers of the calibration points, Link line offsets of the calibration points and Beidou coordinates (longitude, latitude and height) of the calibration points. The parameters in the pre-constructed G-Link train track calibration table comprise a G-Link train track type, a G-Link train track number, a G-Link train track curvature radius, a G-Link train track length, a starting point calibration number, a middle point calibration number and an end point calibration number.
Specifically, the calibration point refers to a certain point on the train track for train positioning, and the calibration point is a point calibrated at the train track in advance by manpower, that is, each parameter value of the calibration point is obtained by measuring under a manual line. And the Link line offset of a calibration point refers to the relative distance between the calibration point and the station starting point calibration point of the line where the calibration point is located.
Generally, when a train normally runs along a track line, the ATP does not need to send position information to the RBC, and the train only needs the ATP to send the position information to the RBC when the train is about to enter a turnout for changing lanes, decelerating, accelerating or stopping. Therefore, the position of the calibration point in the present invention is usually located at a specific position such as a track crossing (a switch), a starting point, a middle point, an end point of a track, a starting point of a train platform, a central point of the train platform, and an end point of the train platform of the train track. In addition, the position of the calibration point can be arranged at other positions, and a plurality of calibration points with equal intervals can be additionally arranged on each station track, so that the positioning accuracy of the train is improved.
Referring to fig. 3, the track line of train operation may be a straight line: line 1, line 2, line 3, line 4, line 5, line 6, possibly also arcs: the chord 1 and the chord 2 can also be in other irregular shapes such as circles, so the parameters in the G-Link train track calibration table comprise the types of the G-Link train tracks, and the track line searching range can be accurately reduced through the types of the G-Link train tracks when the train is positioned, so that the positioning speed of the train is improved.
In addition, because the Link line offset of the calibration point refers to the straight-line distance between two points, in order to facilitate accurately finding the track line where the calibration point is located through the Link line offset of the calibration point, the parameter G-Link train track length in the G-Link train track calibration table is generally the relative straight-line distance between the starting point and the end point of the track line. For example, the G-Link train track length of the train track chord 1 is G6, and the G-Link train track length of the train track chord 2 is G7.
The start point (end point) reference number refers to the number of the calibration point at the start point (end point) on the stock line, and the middle point reference number refers to the number of the calibration point at the middle area on the stock line. Therefore, the station track line where the train is located can be accurately positioned through the starting point calibration number, the middle point calibration number, the end point calibration number and the Link line number of the calibration point.
And 300, acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize normal operation of the train.
In the step, Beidou coordinate position data of a station track line of the train can be obtained based on the Beidou calibration data table. Because the target Beidou coordinate is a three-dimensional coordinate consisting of longitude, latitude and height, in order to accelerate the subsequent data processing speed and improve the train positioning speed, the Beidou coordinate of the station track line is converted into a local coordinate, namely a longitude, latitude and height three-dimensional vector is converted into an (x, y) two-dimensional coordinate in a space rectangular coordinate system for representation.
Specifically, after the coordinate error circle and the station track line are shown in the rectangular spatial coordinate system, when two intersection points of the coordinate error circle and the station track line are provided, the two intersection points respectively represent the maximum safe front end and the minimum safe front end.
When the intersection point of the coordinate error circle and the station track is one, the intersection point can be used as a position reference point, a train positioning coordinate system is formed in the train running direction, then a train running distance value obtained by a vehicle-mounted device speed and distance measuring unit is used as a train position estimated value, and the corresponding train front end is called an estimated front end. And then obtaining the maximum safety front end and the minimum safety front end of the train based on the confidence interval and the estimation front end of the train.
According to the moving block train control method based on Beidou positioning, the target Beidou coordinates of a train are obtained through the Beidou antenna loaded on the train, then the maximum safe front end and the minimum safe front end of the train are determined by combining the Beidou calibration data table and the train track calibration table which are constructed in advance, so that the normal running of the train is realized, the accurate positioning of the train is realized through the Beidou antenna of the train, the offline Beidou calibration data table and the train track calibration table, the position of the train can be determined under the condition that the communication of the train is interrupted, and the running efficiency of the train is further improved.
In another embodiment, referring to fig. 4, fig. 4 is a second schematic flow chart of the mobile block train control method based on beidou positioning provided in the present invention, as shown in fig. 4: the track circuit of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train track calibration table, and the method specifically comprises the following steps:
in the step, the Beidou calibration data table comprises the Beidou coordinates of the calibration points. Therefore, the Beidou navigation satellite system calibration data table can also traverse the calibration point coordinates in the Beidou calibration data table to find out the calibration point coordinates consistent with the target Beidou coordinates or the Link line numbers of two adjacent calibration points are consistent, and the coordinate interval formed by the two adjacent calibration points contains the calibration point coordinates of the two adjacent calibration points of the target Beidou coordinates. Therefore, the line number and the line offset of the current train are obtained from the Beidou calibration data table through the calibration point coordinates.
In the step, because the running line of the train is very long, in order to reduce the line interval, the position of the train is accurately positioned, and after the line number and the line offset are obtained, the station track line where the train is located is continuously and accurately positioned according to the train station track calibration table.
Specifically, at least one track line length matched with the line offset is found out in a pre-constructed train track calibration table, and the at least one track line length is screened through a line number to obtain a target track line length; obtaining station track line parameters related to the length of the target station track line from a Beidou calibration data table; and determining a Beidou coordinate interval matched with the track line parameters based on a Beidou calibration data table so as to obtain a track line matched with the target Beidou coordinate.
It should be noted that, since the line offset refers to a relative distance between the scaling point and the platform starting point scaling point of the line where the scaling point is located, the line offset of the previous or next scaling point of the same line number needs to be obtained first, and the offset difference between the two line offsets is calculated. And then, at least one track line length is found out in the train track calibration table according to the offset difference.
Specifically, the first track line parameter refers to the radius of curvature of the track and the Beidou coordinate of the calibration point associated with the line number consistent with the middle point calibration number. In the step, firstly, the train station track length in a train station track calibration table is traversed based on the offset difference, station track line lengths larger than the offset difference are screened out, then, station track line lengths larger than the offset difference are screened by combining a starting point calibration number, a middle point calibration number and an end point calibration number which are associated with the line number and each station track line length, a target station track line length is obtained, the train station track curvature radius of a station track line with the middle point calibration number associated with the target station track line length and the line number consistent with each other is obtained from a Beidou calibration data table, and a coordinate interval is calculated based on the Beidou coordinate of the calibration point associated with the line number in the Beidou calibration data table and the train station track curvature radius, so that Beidou station track positioning is more accurate.
According to the moving block train control method based on Beidou positioning, the Beidou calibration data table is used for carrying out primary line positioning and screening on the target Beidou coordinates positioned by the Beidou antenna, and the train track calibration table is used for continuously carrying out secondary track line on the positioned lines, so that the Beidou positioning accuracy of the train is improved, and the running efficiency of the train is improved on the premise of guaranteeing the safety of the train.
In another embodiment, in consideration of the possibility that the Beidou antenna positioning is inaccurate, so that a train operation fault occurs, before a station track line of a train matched with a target Beidou coordinate is found in a Beidou calibration data table and a train station track calibration table which are constructed in advance, the method further comprises the following steps:
acquiring a first train head Beidou coordinate positioned by a first train head Beidou antenna and a second train head Beidou coordinate positioned by a second train head Beidou antenna of the train; and/or acquiring a first train tail Beidou coordinate positioned by a first train tail Beidou antenna and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna of the train; the Beidou antenna of the train is subjected to positioning accuracy detection based on the first car head Beidou coordinate and the second car head Beidou coordinate, and/or the Beidou antenna of the train is subjected to positioning accuracy detection based on the first car tail Beidou coordinate and the second car tail Beidou coordinate.
In practical application, can place two big dipper antennas at the train locomotive, two big dipper antennas are placed to the train rear of a vehicle, and the big dipper coordinate of fixing a position out through two big dipper antennas detects whether big dipper antenna location is accurate. Specifically, calculate the coordinate error between first locomotive big dipper coordinate and the second locomotive big dipper coordinate, under the condition that the coordinate error is in the biggest coordinate error range of setting for, can judge big dipper antenna location accuracy, can also calculate the coordinate error between first locomotive big dipper coordinate and the second locomotive big dipper coordinate in addition, fix a position the accuracy and detect the contrast and do not do the restriction.
In addition, the first train running direction sent by the train control room terminal can be obtained, and the Beidou coordinate positioned by the Beidou antenna of the train can be obtained; calculating the running direction of a second train according to the Beidou coordinates; the Beidou antenna of the train is positioned and accurately detected based on the first train running direction and the second train running direction.
In this step, the big dipper coordinate that the big dipper antenna of train was fixed a position refers to locomotive big dipper antenna and locomotive big dipper coordinate and the tailstock big dipper coordinate that train tailstock big dipper antenna was fixed a position, later calculates the difference of each dimension of locomotive big dipper coordinate and tailstock big dipper coordinate, derives the second train traffic direction from this.
In addition, in order to facilitate visual analysis of the train running direction, the train head Beidou coordinate and the train tail Beidou coordinate can be converted into (x, y) two-dimensional coordinates in a space rectangular coordinate system for representation, and therefore the second train running direction can be visually analyzed in the space rectangular coordinate system. When the first train running direction and the second train running direction are the same, the Beidou antenna can be judged to be positioned accurately.
In addition, in this embodiment, it is not only required to ensure that the Beidou antenna can be accurately positioned, but also required to ensure the accuracy of the data recorded in the train track calibration table, so before finding out the track line of the train matched with the target Beidou coordinate in the pre-constructed Beidou calibration data table and the train track calibration table, the method further includes:
the method comprises the steps that train marshalling parameters sent by a train control room terminal are obtained, and a train head Beidou coordinate located by a train head Beidou antenna and a first train tail Beidou coordinate located by a train tail Beidou antenna are obtained; track line parameters matched with train marshalling parameters are found out in a train track calibration table, and calibration point coordinates matched with the track line parameters are found out in a Beidou calibration data table; calculating a first vehicle tail Beidou coordinate according to the calibration point coordinate and the vehicle head Beidou coordinate; the Beidou antenna of the train is subjected to positioning accuracy detection based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
The train formation parameters refer to the train track number and the train length of the running train, and the second track line parameters refer to the train track length, the starting point scaling number, the middle point scaling number and the end point scaling number of the train track number matched with the train length.
In this step, under the condition that the coordinate error between the first car tail big dipper coordinate and the second car tail big dipper coordinate that calculates is less than the maximum coordinate error, can judge that big dipper antenna location is accurate. Therefore, the Beidou antenna is subjected to positioning accuracy detection, and the accuracy detection can be carried out on the data recorded in the previously constructed Beidou calibration data table and the train station calibration table.
In another embodiment, in consideration of the fact that the Beidou antenna is inaccurate in positioning, so that a train fails to operate, for example, the Beidou antenna may not be accurately positioned on a specific track on different tracks at the same position, under the condition, before finding out a track line of a train matched with the target Beidou coordinate from a preset Beidou calibration data table and a train track calibration table, the method further comprises the following steps:
the method comprises the steps that a first train station number sent by a train control room terminal is obtained, and a Beidou coordinate located by a Beidou antenna of a train is obtained; finding out a second train track number matched with the Beidou coordinates from a pre-constructed Beidou calibration data table and a train track calibration table; the Beidou antenna of the train is positioned accurately and detected based on the first train station number and the second train station number.
Specifically, the big dipper coordinates that the big dipper antenna of train was fixed a position refer to the locomotive big dipper coordinates and the tailstock big dipper coordinates that train locomotive big dipper antenna and train tailstock big dipper antenna were fixed a position.
In the step, matched calibration point coordinates can be found in a Beidou calibration data table according to the vehicle head Beidou coordinates and the vehicle tail Beidou coordinates, and a line number and a line offset which are related to the calibration point coordinates are obtained from the Beidou calibration data table. Then, a station track line matched with the line number and the line offset is found out in the train station track calibration table, a second train station track number and a first train station track number which are related to the station track line in the train station track calibration table are determined, and under the condition that the second train station track number is consistent with the first train station track number, not only accuracy but also accuracy of Beidou antenna positioning are judged, so that the running efficiency of a train is guaranteed.
The following describes the mobile block train control device based on Beidou positioning, and the mobile block train control device based on Beidou positioning described below and the mobile block train control method based on Beidou positioning described above can be referred to correspondingly.
Referring to fig. 5, fig. 5 is a schematic structural diagram of the mobile block train control device based on Beidou positioning provided by the invention, and as shown in fig. 5, the mobile block train control device based on Beidou positioning includes: the building unit 510 is used for obtaining a target Beidou coordinate positioned by a Beidou antenna of the train, and building a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and a Beidou error of the Beidou antenna as a radius; the searching unit 520 is used for searching a station track line of the train matched with the target Beidou coordinates in a pre-constructed Beidou calibration data table and a train station track calibration table; the determining unit 530 is configured to obtain an intersection point between the coordinate error circle and the station track, and determine a maximum safe front end and a minimum safe front end of the train according to the intersection point, so as to implement normal operation of the train.
Further, the searching unit 520 is further configured to search for a calibration point coordinate matched with the target beidou coordinate in a pre-constructed beidou calibration data table, and obtain a line number and a line offset associated with the calibration point coordinate from the beidou calibration data table; and finding out the track line matched with the line number and the line offset in a pre-constructed train track calibration table.
Further, the searching unit 520 is further configured to search at least one track line length matched with the line offset in a pre-constructed train track scaling table, and screen the at least one track line length according to the line number to obtain a target track line length; acquiring a first station track line parameter related to the target station track line length from the Beidou calibration data table; and determining a Beidou coordinate interval matched with the first stock line parameters based on the Beidou calibration data table so as to obtain the stock line matched with the target Beidou coordinate.
Further, the building unit 510 is further configured to obtain a first train stock track number sent by a train control room terminal, and obtain a Beidou coordinate located by a Beidou antenna of the train; finding out a second train track number matched with the Beidou coordinates from a pre-constructed Beidou calibration data table and a train track calibration table; and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train station number and the second train station number.
Further, the building unit 510 is further configured to obtain train formation parameters sent by a train control room terminal, and obtain a train head beidou coordinate located by a train head beidou antenna and a first train tail beidou coordinate located by a train tail beidou antenna; finding out a second station track line parameter matched with the train marshalling parameter in the train station track calibration table, and finding out a calibration point coordinate matched with the station track line parameter in the Beidou calibration data table; calculating a first vehicle tail Beidou coordinate according to the calibration point coordinate and the vehicle head Beidou coordinate; and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
Further, the building unit 510 is further configured to obtain a first train running direction sent by the train control room terminal, and obtain a Beidou coordinate located by a Beidou antenna of the train; calculating the running direction of a second train according to the Beidou coordinates; and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train running direction and the second train running direction.
Further, the building unit 510 is further configured to obtain a first head beidou coordinate located by a first head beidou antenna of the train and a second head beidou coordinate located by a second head beidou antenna of the train, and perform positioning accuracy detection on the beidou antenna of the train based on the first head beidou coordinate and the second head beidou coordinate; and/or acquiring a first train tail Beidou coordinate positioned by a first train tail Beidou antenna of the train and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna, and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
According to the mobile block train control device based on Beidou positioning, the target Beidou coordinates of a train are obtained through the Beidou antenna loaded on the train, then the maximum safe front end and the minimum safe front end of the train are determined by combining the Beidou calibration data table and the train track calibration table which are constructed in advance, so that the normal running of the train is realized, the accurate positioning of the train is realized through the Beidou antenna of the train, the offline Beidou calibration data table and the train track calibration table, the position of the train can be determined under the condition that the communication of the train is interrupted, and the running efficiency of the train is further improved.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface 620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a Beidou positioning based mobile block train control method comprising: acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and the Beidou error of the Beidou antenna as a radius; finding out a station track line of the train matched with the target Beidou coordinates from a pre-constructed Beidou calibration data table and a train station track calibration table; and acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, where the computer program product includes a computer program, where the computer program is stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, a computer can execute the Beidou positioning based mobile occlusion train control method provided by the above methods, and the method includes: acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and the Beidou error of the Beidou antenna as a radius; finding out a station track line of the train matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table and a train station track calibration table; and acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to, when executed by a processor, perform the Beidou positioning-based mobile block train control method provided by the above methods, where the method includes: acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and the Beidou error of the Beidou antenna as a radius; finding out a station track line of the train matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table and a train station track calibration table; and acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; 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 (10)
1. A mobile block train control method based on Beidou positioning is characterized by comprising the following steps:
acquiring a target Beidou coordinate positioned by a Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and the Beidou error of the Beidou antenna as a radius;
finding out a station track line of the train matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table and a train station track calibration table;
and acquiring an intersection point between the coordinate error circle and the station track line, and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
2. The Beidou positioning-based mobile block train control method according to claim 1, wherein the step of finding the station track line of the train matched with the target Beidou coordinates in a pre-constructed Beidou calibration data table and a train station track calibration table specifically comprises the steps of:
finding out a calibration point coordinate matched with the target Beidou coordinate from a pre-constructed Beidou calibration data table, and acquiring a line number and a line offset which are associated with the calibration point coordinate from the Beidou calibration data table;
and finding out the track line matched with the line number and the line offset in a pre-constructed train track calibration table.
3. The Beidou positioning-based mobile block train control method according to claim 2, wherein the method for finding out the station track line matched with the line number and the line offset from the pre-established train station track calibration table specifically comprises:
finding out at least one track line length matched with the line offset in a pre-constructed train track calibration table, and screening the at least one track line length through the line number to obtain a target track line length;
acquiring a first station track line parameter related to the target station track line length from the Beidou calibration data table;
and determining a Beidou coordinate interval matched with the first stock line parameters based on the Beidou calibration data table so as to obtain the stock line matched with the target Beidou coordinate.
4. The Beidou positioning-based mobile block train control method according to claim 1, wherein before finding the station track line of the train matching the target Beidou coordinates in the pre-constructed Beidou calibration data table and the train station track calibration table, further comprising:
the method comprises the steps that a first train station number sent by a train control room terminal is obtained, and a Beidou coordinate located by a Beidou antenna of a train is obtained;
finding out a second train track number matched with the Beidou coordinates from a pre-constructed Beidou calibration data table and a train track calibration table;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train station number and the second train station number.
5. The Beidou positioning-based mobile block train control method according to claim 1, wherein before finding the station track line of the train matching the target Beidou coordinates in the pre-constructed Beidou calibration data table and the train station track calibration table, further comprising:
the method comprises the steps that train marshalling parameters sent by a train control room terminal are obtained, and a train head Beidou coordinate located by a train head Beidou antenna and a first train tail Beidou coordinate located by a train tail Beidou antenna are obtained;
finding out a second station track line parameter matched with the train marshalling parameter in the train station track calibration table, and finding out a calibration point coordinate matched with the station track line parameter in the Beidou calibration data table;
calculating a first vehicle tail Beidou coordinate according to the calibration point coordinate and the vehicle head Beidou coordinate;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
6. The Beidou positioning-based mobile block train control method according to claim 1, wherein before finding the station track line of the train matching the target Beidou coordinates in the pre-constructed Beidou calibration data table and the train station track calibration table, further comprising:
the method comprises the steps that a first train running direction sent by a train control room terminal is obtained, and a Beidou coordinate positioned by a Beidou antenna of a train is obtained;
calculating the running direction of a second train according to the Beidou coordinates;
and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train running direction and the second train running direction.
7. The Beidou positioning-based mobile block train control method according to claim 1, wherein before finding the station track line of the train matching the target Beidou coordinates in the pre-constructed Beidou calibration data table and the train station track calibration table, further comprising:
the method comprises the steps of obtaining a first locomotive Beidou coordinate positioned by a first locomotive Beidou antenna and a second locomotive Beidou coordinate positioned by a second locomotive Beidou antenna of the train, and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first locomotive Beidou coordinate and the second locomotive Beidou coordinate; and/or the presence of a gas in the gas,
the method comprises the steps of obtaining a first train tail Beidou coordinate positioned by a first train tail Beidou antenna of the train and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna, and carrying out positioning accuracy detection on the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
8. The utility model provides a remove and block row accuse device based on big dipper location which characterized in that includes:
the building unit is used for obtaining a target Beidou coordinate positioned by a Beidou antenna of the train, and building a coordinate error circle of the train by taking the target Beidou coordinate as a circle center and a Beidou error of the Beidou antenna as a radius;
the searching unit is used for searching a station track line of the train matched with the target Beidou coordinates in a pre-constructed Beidou calibration data table and a train station track calibration table;
and the determining unit is used for acquiring the intersection point between the coordinate error circle and the station track line and determining the maximum safe front end and the minimum safe front end of the train according to the intersection point so as to realize the normal operation of the train.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the Beidou positioning based mobile occlusion train control method according to any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the Beidou positioning based mobile occlusion train control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541901.6A CN114954580B (en) | 2022-05-17 | 2022-05-17 | Mobile occlusion column control method, device, equipment and medium based on Beidou positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541901.6A CN114954580B (en) | 2022-05-17 | 2022-05-17 | Mobile occlusion column control method, device, equipment and medium based on Beidou positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114954580A true CN114954580A (en) | 2022-08-30 |
| CN114954580B CN114954580B (en) | 2024-04-26 |
Family
ID=82983215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210541901.6A Active CN114954580B (en) | 2022-05-17 | 2022-05-17 | Mobile occlusion column control method, device, equipment and medium based on Beidou positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114954580B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115811752A (en) * | 2023-01-30 | 2023-03-17 | 卡斯柯信号(北京)有限公司 | ATP visual authorization function test method and device |
| CN116430427A (en) * | 2023-06-12 | 2023-07-14 | 湖南中车时代通信信号有限公司 | Automatic acquisition method, system and storage medium for coordinates of railway interval signal equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004352003A (en) * | 2003-05-28 | 2004-12-16 | Nippon Signal Co Ltd:The | Train position detection system |
| JP2010234979A (en) * | 2009-03-31 | 2010-10-21 | Railway Technical Res Inst | Position detecting device and position detecting method in operation security system for railroad vehicle |
| CN108680936A (en) * | 2018-05-21 | 2018-10-19 | 中国人民解放军战略支援部队信息工程大学 | Beidou satellite navigation system integrity monitoring appraisal procedure |
| CN110210303A (en) * | 2019-04-29 | 2019-09-06 | 山东大学 | A kind of accurate lane of Beidou vision fusion recognizes and localization method and its realization device |
| CN111114592A (en) * | 2020-01-15 | 2020-05-08 | 卡斯柯信号有限公司 | Mobile block train operation control method and system based on train autonomous positioning |
| CN112722013A (en) * | 2021-01-22 | 2021-04-30 | 北京交通大学 | Train positioning track distinguishing method |
| CN113562023A (en) * | 2021-08-29 | 2021-10-29 | 陈建明 | Communication-based train operation control method with train positioning and integrity judgment |
| CN113970769A (en) * | 2021-09-06 | 2022-01-25 | 交控科技股份有限公司 | Train operation positioning method and device based on Beidou navigation satellite system |
| CN114056388A (en) * | 2020-07-30 | 2022-02-18 | 北京新岸线移动多媒体技术有限公司 | Rail transit train positioning method and device |
-
2022
- 2022-05-17 CN CN202210541901.6A patent/CN114954580B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004352003A (en) * | 2003-05-28 | 2004-12-16 | Nippon Signal Co Ltd:The | Train position detection system |
| JP2010234979A (en) * | 2009-03-31 | 2010-10-21 | Railway Technical Res Inst | Position detecting device and position detecting method in operation security system for railroad vehicle |
| CN108680936A (en) * | 2018-05-21 | 2018-10-19 | 中国人民解放军战略支援部队信息工程大学 | Beidou satellite navigation system integrity monitoring appraisal procedure |
| CN110210303A (en) * | 2019-04-29 | 2019-09-06 | 山东大学 | A kind of accurate lane of Beidou vision fusion recognizes and localization method and its realization device |
| CN111114592A (en) * | 2020-01-15 | 2020-05-08 | 卡斯柯信号有限公司 | Mobile block train operation control method and system based on train autonomous positioning |
| CN114056388A (en) * | 2020-07-30 | 2022-02-18 | 北京新岸线移动多媒体技术有限公司 | Rail transit train positioning method and device |
| CN112722013A (en) * | 2021-01-22 | 2021-04-30 | 北京交通大学 | Train positioning track distinguishing method |
| CN113562023A (en) * | 2021-08-29 | 2021-10-29 | 陈建明 | Communication-based train operation control method with train positioning and integrity judgment |
| CN113970769A (en) * | 2021-09-06 | 2022-01-25 | 交控科技股份有限公司 | Train operation positioning method and device based on Beidou navigation satellite system |
Non-Patent Citations (2)
| Title |
|---|
| 戴连君;唐涛;蔡伯根;刘江;: "基于北斗卫星载波相位平滑伪距的列车定位方法", 铁道学报, no. 08, 15 August 2012 (2012-08-15) * |
| 樊玉明;蔡伯根;王剑;上官伟;安毅;: "基于北斗-陀螺仪组合定位的轨道占用判别方法研究", 铁道学报, no. 09, 15 September 2013 (2013-09-15) * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115811752A (en) * | 2023-01-30 | 2023-03-17 | 卡斯柯信号(北京)有限公司 | ATP visual authorization function test method and device |
| CN115811752B (en) * | 2023-01-30 | 2023-05-30 | 卡斯柯信号(北京)有限公司 | Method and device for testing visual authorization function of ATP (adenosine triphosphate) |
| CN116430427A (en) * | 2023-06-12 | 2023-07-14 | 湖南中车时代通信信号有限公司 | Automatic acquisition method, system and storage medium for coordinates of railway interval signal equipment |
| CN116430427B (en) * | 2023-06-12 | 2023-08-25 | 湖南中车时代通信信号有限公司 | Automatic acquisition method, system and storage medium for coordinates of railway interval signal equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114954580B (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109484435B (en) | Train positioning method and device suitable for intelligent rail transit detection system | |
| CN114954580A (en) | Mobile block column control method, device, equipment and medium based on Beidou positioning | |
| CN110775105B (en) | Method and system for monitoring train in subway vehicle section based on UWB | |
| CN110789582B (en) | Train operation control method and device | |
| CN109552367B (en) | Train running protection system and method based on combination of communication and active identification | |
| CN110979401B (en) | Method and device for preventing collision of cooperative formation trains | |
| US10336354B2 (en) | Locating train events on a railway network | |
| CN110497939B (en) | Rail transit anti-collision detection system and method | |
| CN110837539B (en) | Railway electronic map construction method and electronic map position matching method | |
| CN110312230A (en) | Communication means, device and the train system of train system | |
| CN102967310A (en) | Seaway monitoring method based on electronic chart | |
| CN113970769A (en) | Train operation positioning method and device based on Beidou navigation satellite system | |
| CN113771916A (en) | Train initial positioning method and device, electronic equipment and storage medium | |
| US20220297732A1 (en) | Train dispatching control method, platform, and system, intelligent carriage, and medium | |
| CN113548093B (en) | Train running direction determining method and system | |
| JP7146686B2 (en) | Train control system and railway vehicle equipped with the system | |
| CN115892122A (en) | Train control system, method, electronic device, and storage medium | |
| CN112082519B (en) | Method and device for checking position of ground transponder in rail transit | |
| CN113650645A (en) | Method and system for identifying train turnout trend | |
| CN115547099A (en) | Early warning method, electronic device and computer-readable storage medium | |
| CN111679309A (en) | Combined positioning method and device for outdoor intelligent rail car and storage medium | |
| KR100751057B1 (en) | Communication based automatic train control system and method | |
| CN116110256A (en) | Unmanned aerial vehicle low airspace traffic supervision and scheduling method, device, system and equipment | |
| JP7300821B2 (en) | Position estimation device, position estimation method, position estimation program | |
| CN112590863A (en) | Train length calculation method, device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |