CN114954580B - Mobile occlusion column control method, device, equipment and medium based on Beidou positioning - Google Patents
Mobile occlusion column control method, device, equipment and medium based on Beidou positioning Download PDFInfo
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- CN114954580B CN114954580B CN202210541901.6A CN202210541901A CN114954580B CN 114954580 B CN114954580 B CN 114954580B CN 202210541901 A CN202210541901 A CN 202210541901A CN 114954580 B CN114954580 B CN 114954580B
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- 238000001514 detection method Methods 0.000 claims description 10
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- ZKHQWZAMYRWXGA-KQYNXXCUSA-J ATP(4-) Chemical compound C1=NC=2C(N)=NC=NC=2N1[C@@H]1O[C@H](COP([O-])(=O)OP([O-])(=O)OP([O-])([O-])=O)[C@@H](O)[C@H]1O ZKHQWZAMYRWXGA-KQYNXXCUSA-J 0.000 description 7
- ZKHQWZAMYRWXGA-UHFFFAOYSA-N Adenosine triphosphate Natural products C1=NC=2C(N)=NC=NC=2N1C1OC(COP(O)(=O)OP(O)(=O)OP(O)(O)=O)C(O)C1O ZKHQWZAMYRWXGA-UHFFFAOYSA-N 0.000 description 7
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- 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]
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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
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Abstract
The invention provides a mobile block column control method, a device, equipment and a medium based on Beidou positioning, which comprise the following steps: acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius; searching a stock track line of a train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table; the intersection point between the coordinate error circle and the stock way line is obtained, and the maximum safety front end and the minimum safety front end of the train are determined according to the intersection point, 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 stock way 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 improved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a mobile block train control method, device, equipment and medium based on Beidou positioning.
Background
In the mobile blocking 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 transponder message information sent by the transponder, an on-board subsystem ATP searches corresponding transponder ID from electronic map data, so that the detailed position of the train is obtained, and then the ATP communicates with a radio blocking center RBC in the mobile blocking 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 ground state information of the train, and the train is ensured to safely and efficiently operate in the RBC jurisdiction.
However, in the running process of the train, the ATP may have the condition of communication interruption with the transponder, and the detailed position of the train cannot be obtained through the transponder, so that RBC cannot send a train control instruction to the train in real time according to the position information and ground state information of the train, and if the train is in a turnout, the train can only run in a visual mode at this moment, and the running efficiency of the train is further reduced.
Disclosure of Invention
The invention provides a mobile blocking train control method, device, equipment and 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 acquired through a transponder in the prior art, and realizing the improvement of the running efficiency of the train.
The invention provides a mobile block column control method based on Beidou positioning, which comprises the following steps:
acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius;
Searching a stock track line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table;
and acquiring an intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
According to the mobile blocking train control method based on Beidou positioning provided by the invention, the stock way line of the train matched with the target Beidou coordinate is found out from a pre-constructed Beidou calibration data table and a train stock way calibration table, and the method specifically comprises the following steps:
Searching a pre-constructed Beidou calibration data table for calibration point coordinates matched with the target Beidou coordinates, and acquiring line numbers and line offset associated with the calibration point coordinates from the Beidou calibration data table;
and searching the stock track lines matched with the line numbers and the line offset in a pre-constructed train stock track calibration table.
According to the mobile blocking train control method based on Beidou positioning provided by the invention, the stock track lines matched with the line numbers and the line offset are found out in a pre-constructed train stock track calibration table, and the method specifically comprises the following steps:
Searching at least one strand line length matched with the line offset in a pre-constructed train strand calibration table, and screening the at least one strand line length through the line number to obtain a target strand line length;
Acquiring a first stock track line parameter associated with the target stock track line length from the Beidou calibration data table;
and determining a Beidou coordinate interval matched with the first stock track line parameter based on the Beidou calibration data table so as to obtain the stock track line matched with the target Beidou coordinate.
According to the mobile blocking train control method based on Beidou positioning provided by the invention, before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table, the method further comprises the following steps:
acquiring a first train channel number sent by a train control room terminal, and acquiring Beidou coordinates positioned by a Beidou antenna of a train;
searching a second train track number matched with the Beidou coordinate in a pre-constructed Beidou calibration data table and a train track calibration table;
and detecting the positioning accuracy of the Beidou antenna of the train based on the first train track number and the second train track number.
According to the mobile blocking train control method based on Beidou positioning provided by the invention, before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table, the method further comprises the following steps:
Acquiring train grouping parameters sent by a train control room terminal, and acquiring a head Beidou coordinate positioned by a head Beidou antenna of a train and a first tail Beidou coordinate positioned by a tail Beidou antenna of the train;
searching a second track line parameter matched with the train grouping parameter in the train track calibration table, and searching calibration point coordinates matched with the 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 blocking train control method based on Beidou positioning provided by the invention, before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table, the method further comprises the following steps:
Acquiring a first train running direction sent by a train control room terminal, and acquiring Beidou coordinates positioned by a Beidou antenna of the train;
calculating a second train running direction according to the Beidou coordinates;
And detecting the positioning accuracy of the Beidou antenna of the train based on the first train running direction and the second train running direction.
According to the mobile blocking train control method based on Beidou positioning provided by the invention, before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table, the method further comprises the following steps:
Acquiring a first vehicle head Beidou coordinate positioned by a first vehicle head Beidou antenna of a train and a second vehicle head Beidou coordinate positioned by a second vehicle head Beidou antenna of the train, and detecting the positioning accuracy of the Beidou antenna of the train based on the first vehicle head Beidou coordinate and the second vehicle head Beidou coordinate; and/or the number of the groups of groups,
The method comprises the steps of obtaining a first train tail Beidou coordinate positioned by a first train tail Beidou antenna of a train and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna, and detecting the positioning accuracy of 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 column control device based on Beidou positioning, which comprises:
The construction unit is used for acquiring target Beidou coordinates positioned by the Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius;
the searching unit is used for searching the stock way line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock way calibration table;
and the determining unit is used for acquiring the intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the mobile block train control method based on Beidou positioning according to any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a mobile occlusion column control method based on Beidou positioning as described in any of the above.
The invention also provides a computer program product, which comprises a computer program, wherein the computer program is executed by a processor to realize the mobile block train control method based on Beidou positioning.
According to the mobile blocking train control method, device, equipment and medium based on Beidou positioning, the coordinate error circle of a train is constructed by acquiring the target Beidou coordinates positioned by the Beidou antenna of the train and taking the target Beidou coordinates as the circle center and the Beidou error of the Beidou antenna as the radius; searching a stock track line of a train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table; the intersection point between the coordinate error circle and the stock way line is obtained, and the maximum safety front end and the minimum safety front end of the train are determined according to the intersection point, 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 stock way 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 improved.
Drawings
In order to more clearly illustrate the invention 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 invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a mobile block train control method based on Beidou positioning;
FIG. 2 is a schematic view of a scene of constructing a coordinate error circle of a train provided by the invention;
FIG. 3 is a schematic view of a scenario of a stock track provided by the present invention;
FIG. 4 is a second 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 occlusion column control device based on Beidou positioning;
Fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
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 a vehicle subsystem ATP, a wireless block center RBC and other subsystems. In the prior art, during the running of a train, ATP can acquire train position information through positioning equipment such as a transponder arranged on a rail and then send the train position information to RBC, and RBC feeds back a train control instruction to the ATP according to the train position information so as to ensure that the train runs safely and efficiently in the range of RBC jurisdiction.
However, in the existing scheme, on one hand, the installation quantity of positioning devices such as transponders on a rail is limited, so that the positioning requirements of a train at any time cannot be met, on the other hand, ATP (adenosine triphosphate) can be disconnected from the transponders, and the position of the train cannot be acquired through the transponders, so that the running efficiency of the train is reduced. Aiming at the technical problems, the invention provides a mobile blocking 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 occlusion column control method based on Beidou positioning with reference to fig. 1-4.
Fig. 1 is a schematic flow chart of a mobile block column control method based on beidou positioning, which is provided by the invention, as shown in fig. 1, and includes:
Step 100, acquiring a target Beidou coordinate positioned by a Beidou antenna of a 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;
Specifically, the Beidou antenna is positioning equipment which is loaded on the train body and used for Beidou positioning, and in practical application, the loading position of the Beidou antenna can be any position such as a train head, a train tail, a joint between train carriages and the like. The train locomotive refers to a locomotive part corresponding to a first carriage in the forward running direction of the train, and the train tail refers to a tail part corresponding to a last carriage in the forward running 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, so that the maximum safety front end and the minimum safety front end of the train can be accurately obtained, and the safe operation of the train is ensured.
In practical application, because the target Beidou coordinate is a three-dimensional coordinate composed of longitude, latitude and altitude, in order to accelerate subsequent data processing speed and improve train positioning speed, the invention converts the target Beidou coordinate into local coordinates, namely converts three-dimensional vectors of longitude, latitude and altitude into (x, y) two-dimensional coordinates in a space rectangular coordinate system for representation.
In addition, because the position located by the Beidou antenna is likely to be in error with the actual position, in order to eliminate the influence of the positioning error caused by the Beidou antenna, the invention constructs a coordinate error circle of the train by taking the target Beidou coordinate as the center and the Beidou error of the Beidou antenna as the radius, so that the actual position of the train is necessarily in the coordinate error circle.
Referring to fig. 2, the straight line in fig. 2 represents the running track of the train, and the positioning points 1, 2 and 3 sequentially refer to different positioning time points to obtain the target Beidou coordinates positioned by the Beidou antenna of the train. Namely, the train position corresponding to each positioning point is necessarily in the coordinate error circle of each positioning point. The Beidou error in the invention is a fixed and invariable value, and is usually an error value set by a manufacturer marked on Beidou antenna equipment, and can also be an error value calculated after multiple experiments, so that the Beidou error is not limited.
Step 200, searching a stock track line of a train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table;
in the step, the pre-constructed Beidou calibration data table and the train track calibration table are off-line tables, so that the position of the train can be determined through the Beidou calibration data table and the train track calibration table under the condition that communication of the train is interrupted.
Parameters in the pre-constructed Beidou calibration data table comprise Link line numbers of calibration points, link line offset of the calibration points and Beidou coordinates (longitude, latitude and altitude) of the calibration points. Parameters in the pre-constructed G-Link train track calibration table comprise G-Link train track types, G-Link train track numbers, G-Link train track curvature radiuses, G-Link train track lengths, starting point calibration numbers, intermediate point calibration numbers and end point calibration numbers.
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 manually in advance, namely, each parameter value of the calibration point is obtained by measuring under a manual line. And the Link line offset of the calibration point refers to the relative distance between the calibration point and the station start point calibration point of the line where the calibration point is located.
In general, when a train is running normally along a track line, ATP is not required to send position information to RBCs, and the train is required to send position information to RBCs only when the train is about to enter a switch for changing track, decelerating, accelerating or stopping. The position of the calibration point in the present invention is usually located at a specific position such as a crossing (switch) of a track of a train, a start point of a track, an intermediate point, an end point, a start point of a train platform, a center point of a train platform, an end point of a train platform, etc. In addition, the positions of the calibration points can be arranged at other positions, and a plurality of equidistant calibration points can be additionally arranged on each stock way, so that the accuracy of train positioning is improved.
Referring to fig. 3, the stock line of train operation may be a straight line: line 1, line 2, line 3, line 4, line 5, line 6, also possibly arcs: the strings 1 and 2 can be in other irregular shapes such as circles, so that parameters in the G-Link train track calibration table comprise G-Link train track types, and the track line searching range can be accurately narrowed through the G-Link train track types when a train is positioned, and the train positioning speed is improved.
In addition, since the Link line offset of the calibration point refers to the straight line distance between two points, in order to accurately find 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 usually the relative straight line distance between the start point and the end point of the track line. For example, the G-Link track length of track chord 1 is G6, and the G-Link track length of track chord 2 is G7.
The start (end) calibration number refers to the number of the calibration point at the start (end) on the stock line, and the intermediate point calibration number refers to the number of the calibration point at the intermediate region on the stock line. Therefore, the 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 stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
In the step, beidou coordinate position data of the stock way line of the train can be obtained based on the Beidou calibration data table. Because the target Beidou coordinate is a three-dimensional coordinate composed of longitude, latitude and altitude, in order to accelerate the subsequent data processing speed and improve the train positioning speed, the Beidou coordinate of the stock way line is converted into a local coordinate, namely, the longitude, latitude and altitude three-dimensional vector is converted into (x, y) two-dimensional coordinate representation in a space rectangular coordinate system.
Specifically, after the coordinate error circle and the track line are shown in the space rectangular coordinate system, when the number of intersection points of the coordinate error circle and the track line is two, the two intersection points represent the maximum safety front end and the minimum safety front end respectively.
When the intersection point of the coordinate error circle and the stock way line is one, the intersection point can be used as a position reference point, a train positioning coordinate system is formed in the running direction of the train, and then the running distance value of the train obtained by the speed measuring and distance measuring unit of the vehicle-mounted equipment 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 safe front end and the minimum safe front end of the train based on the confidence interval and the estimated front end of the train.
According to the mobile blocking train control method based on Beidou positioning, the target Beidou coordinates of the 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 communication is interrupted on the train, and the running efficiency of the train is improved.
In another embodiment, referring to fig. 4, fig. 4 is a second flow chart of a mobile block list control method based on beidou positioning according to the present invention, as shown in fig. 4: the stock way line of the train matched with the target Beidou coordinate is found out in a pre-constructed Beidou calibration data table and a train stock way calibration table, and the method specifically comprises the following steps:
Step 2001, searching a calibration point coordinate matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table, and acquiring a line number and a line offset associated with the calibration point coordinate from the Beidou calibration data table;
In this step, the Beidou calibration data table includes Beidou coordinates of the calibration points. Therefore, the invention can traverse the coordinates of the calibration points in the Beidou calibration data table to find out the coordinates of the calibration points consistent with the target Beidou coordinates, or Link line numbers of two adjacent calibration points are consistent, and the coordinate interval formed by the two adjacent calibration points contains the coordinates of the calibration points of the adjacent two calibration points of the target Beidou coordinates. The line number and the line offset of the current train are obtained from the Beidou calibration data table through the calibration point coordinates.
And 2002, searching out a track line matched with the line number and the line offset in a pre-constructed train track calibration table.
In the step, because the line of the train operation 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 track line where the train is positioned is accurately positioned according to the track calibration table of the train.
Specifically, at least one strand line length matched with the line offset is found out in a pre-constructed train strand calibration table, and the at least one strand line length is screened through a line number to obtain a target strand line length; acquiring track line parameters related to the length of the target track line from the Beidou calibration data table; and determining a Beidou coordinate interval matched with the stock way line parameters based on the Beidou calibration data table so as to obtain a stock way line matched with the target Beidou coordinates.
It should be noted that, since the line offset refers to the relative distance between the calibration point and the station start point calibration point of the line where the calibration point is located, it is necessary to obtain the line offset of the previous calibration point or the next calibration point of the same line number, and calculate the offset difference between the two line offsets. And then searching at least one strand line length in the train strand calibration table according to the offset difference.
Specifically, the first track line parameter refers to the Beidou coordinate of the calibration point associated with the line number consistent with the middle point calibration number. According to the method, the length of a train track in a train track calibration table is traversed based on an offset difference, track line lengths larger than the offset difference are screened, then 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 related to the track line lengths of all tracks, a target track line length is obtained, the radius of curvature of the train track of the track line, which is consistent with the track number, of the middle point calibration number related to the target track line length is obtained from a Beidou calibration data table, and a Beidou coordinate interval is calculated based on Beidou coordinates of calibration points related to the track numbers and the radius of curvature of the train track in the Beidou calibration data table, so that the train track is positioned more accurately.
According to the mobile blocking train control method based on Beidou positioning, primary line positioning screening is conducted on the target Beidou coordinates positioned by the Beidou antenna through the Beidou calibration data table, and secondary stock way lines are conducted on the positioned lines through the train stock way calibration table, so that the accuracy of Beidou positioning of the train is improved, and the running efficiency of the train is improved on the premise that the safety of the train is guaranteed.
In another embodiment, considering that the Beidou antenna positioning has inaccurate possibility, so that the train operation is failed, the invention further comprises the following steps before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table:
Acquiring a first vehicle head Beidou coordinate positioned by a first vehicle head Beidou antenna of a train and a second vehicle head Beidou coordinate positioned by a second vehicle head Beidou antenna of the train; and/or acquiring a first tail Beidou coordinate positioned by a first tail Beidou antenna of the train and a second tail Beidou coordinate positioned by a second tail Beidou antenna of the train; the method comprises the steps of carrying out positioning accuracy detection on the Beidou antenna of the train based on a first vehicle head Beidou coordinate and a second vehicle head Beidou coordinate, and/or carrying out positioning accuracy detection on the Beidou antenna of the train based on a first vehicle tail Beidou coordinate and a second vehicle 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 tail, detect big dipper antenna location whether accurate through the big dipper coordinate that two big dipper antennas were located. Specifically, calculate the coordinate error between first vehicle head big dipper coordinate and the big dipper coordinate of second vehicle head, under the condition that the coordinate error is in the biggest coordinate error scope of setting, can judge big dipper antenna location accuracy, in addition can also calculate the coordinate error between first vehicle tail big dipper coordinate and the big dipper coordinate of second vehicle tail, carry out location accuracy detection contrast and do not make the restriction.
In addition, the first train running direction sent by the train control room terminal can be acquired, and the Beidou coordinates positioned by the Beidou antenna of the train can be acquired; calculating the running direction of the second train according to the Beidou coordinates; and detecting the positioning accuracy of the Beidou antenna of the train based on the first train running direction and the second train running direction.
In the step, the Beidou coordinates positioned by the Beidou antenna of the train refer to the headstock Beidou coordinates and the tailstock Beidou coordinates positioned by the headstock Beidou antenna and the tailstock Beidou antenna of the train, and then the difference value of each dimension of the headstock Beidou coordinates and the tailstock Beidou coordinates is calculated, so that the second train running direction is obtained.
In addition, in order to be convenient for intuitively analyze the running direction of the train, the headstock Beidou coordinate and the tailstock Beidou coordinate can be converted into (x, y) two-dimensional coordinate representations in a space rectangular coordinate system, so that the running direction of the second train is intuitively analyzed in the space rectangular coordinate system. When the first train running direction and the second train running direction are all the time, the Beidou antenna can be judged to be positioned accurately.
In addition, in this embodiment, not only the Beidou antenna needs to be ensured to be able to accurately position, but also the accuracy of the data recorded in the train track calibration table needs to be ensured, so before the track line of the train matched with the target Beidou coordinate is found out in the pre-constructed Beidou calibration data table and the train track calibration table, the invention further comprises:
Acquiring train grouping parameters sent by a train control room terminal, and acquiring a head Beidou coordinate positioned by a head Beidou antenna of a train and a first tail Beidou coordinate positioned by a tail Beidou antenna of the train; searching track line parameters matched with the train grouping parameters in a train track calibration table, and searching calibration point coordinates matched with the track line parameters 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; 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 second track line parameter refers to the track length, the starting point calibration number, the middle point calibration number and the end point calibration number of the track number matched with the track length.
In the step, when the calculated coordinate error between the first vehicle tail Beidou coordinate and the second vehicle tail Beidou coordinate is smaller than the maximum coordinate error, the Beidou antenna can be accurately positioned. Therefore, not only is the Beidou antenna subjected to positioning accuracy detection, but also data recorded in a pre-constructed Beidou calibration data table and a train track calibration table can be detected to carry out accuracy detection.
In another embodiment, considering that the possibility of inaccurate positioning of the Beidou antenna exists, so that the train operation is failed, for example, the Beidou antenna may not be accurately positioned on a specific track on different tracks at the same position, in this case, before the track line of the train matched with the target Beidou coordinate is found in the pre-constructed Beidou calibration data table and the train track calibration table, the method further comprises:
Acquiring a first train channel number sent by a train control room terminal, and acquiring Beidou coordinates positioned by a Beidou antenna of a train; searching a second train track number matched with the Beidou coordinates in 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 track number and the second train track number.
Specifically, the Beidou coordinates positioned by the Beidou antenna of the train refer to the headstock Beidou coordinates and the tailstock Beidou coordinates positioned by the headstock Beidou antenna and the tailstock Beidou antenna of the train.
In the step, matched calibration point coordinates can be found out in a Beidou calibration data table according to the headstock Beidou coordinate and the tailstock Beidou coordinate, and line numbers and line offset associated with the calibration point coordinates are obtained from the Beidou calibration data table. And then searching a track line matched with the line number and the line offset in the track calibration table, determining a second track number and a first track number associated with the track line in the track calibration table, and judging that the Beidou antenna is accurate in positioning under the condition that the second track number is consistent with the first track number, thereby ensuring the running efficiency of the train.
The mobile blocking column control device based on Beidou positioning provided by the invention is described below, and the mobile blocking column control device based on Beidou positioning described below and the mobile blocking column control method based on Beidou positioning described above can be correspondingly referred to each other.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a mobile occlusion column control device based on beidou positioning according to the present invention, and as shown in fig. 5, the mobile occlusion column control device based on beidou positioning includes: the construction unit 510 is configured to obtain a target beidou coordinate located by a beidou antenna of the train, and construct 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 configured to search a track line of a train matched with the target beidou coordinate in a previously constructed beidou calibration data table and a train track calibration table; and the determining unit 530 is configured to obtain an intersection point between the coordinate error circle and the stock track line, 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 a pre-constructed beidou calibration data table for a calibration point coordinate matched with the target beidou coordinate, and obtain a line number and a line offset associated with the calibration point coordinate from the beidou calibration data table; and searching the stock track lines matched with the line numbers and the line offset in a pre-constructed train stock track calibration table.
Further, the searching unit 520 is further configured to search at least one strand line length matched with the line offset in a pre-constructed train strand calibration table, and screen the at least one strand line length by using the line number to obtain a target strand line length; acquiring a first stock track line parameter associated with the target stock track line length from the Beidou calibration data table; and determining a Beidou coordinate interval matched with the first stock track line parameter based on the Beidou calibration data table so as to obtain the stock track line matched with the target Beidou coordinate.
Further, the construction unit 510 is further configured to obtain a first train track number sent by the train control room terminal, and obtain a beidou coordinate located by a beidou antenna of the train; searching a second train track number matched with the Beidou coordinate in a pre-constructed Beidou calibration data table and a train track calibration table; and detecting the positioning accuracy of the Beidou antenna of the train based on the first train track number and the second train track number.
Further, the construction unit 510 is further configured to obtain a train grouping parameter sent by the train control room terminal, and obtain a headstock beidou coordinate located by a headstock beidou antenna of the train and a first tailstock beidou coordinate located by a tailstock beidou antenna; searching a second track line parameter matched with the train grouping parameter in the train track calibration table, and searching calibration point coordinates matched with the 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 construction 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 a second train running direction according to the Beidou coordinates; and detecting the positioning accuracy of the Beidou antenna of the train based on the first train running direction and the second train running direction.
Further, the construction unit 510 is further configured to obtain a first vehicle head beidou coordinate located by a first vehicle head beidou antenna of the train and a second vehicle head beidou coordinate located by a second vehicle head beidou antenna of the train, and detect positioning accuracy of the beidou antenna of the train based on the first vehicle head beidou coordinate and the second vehicle 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 of the train, and detecting the positioning accuracy of 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 blocking train control device based on Beidou positioning, the target Beidou coordinates of the train are obtained through the Beidou antenna loaded on the train, 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 off-line Beidou calibration data table and the train track calibration table, the position of the train can be determined under the condition that communication is interrupted on the train, and the running efficiency of the train is improved.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a mobile occlusion column control method based on Beidou positioning, the method comprising: acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius; searching a stock track line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table; and acquiring an intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the mobile occlusion column control method based on beidou positioning provided by the above methods, and the method includes: acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius; searching a stock track line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table; and acquiring an intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the mobile occlusion column control method based on beidou positioning provided by the above methods, the method comprising: acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius; searching a stock track line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table; and acquiring an intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 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 invention.
Claims (8)
1. The mobile occlusion column control method based on Beidou positioning is characterized by comprising the following steps of:
acquiring target Beidou coordinates positioned by a Beidou antenna of a train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius;
Searching a stock track line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock track calibration table;
acquiring an intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize normal running of the train;
The stock way line of the train matched with the target Beidou coordinate is found out in a pre-constructed Beidou calibration data table and a train stock way calibration table, and the method specifically comprises the following steps:
Searching a pre-constructed Beidou calibration data table for calibration point coordinates matched with the target Beidou coordinates, and acquiring line numbers and line offset associated with the calibration point coordinates from the Beidou calibration data table;
Searching at least one strand line length matched with the line offset in a pre-constructed train strand calibration table, and screening the at least one strand line length through the line number to obtain a target strand line length;
Acquiring a first stock track line parameter associated with the target stock track line length from the Beidou calibration data table;
and determining a Beidou coordinate interval matched with the first stock track line parameter based on the Beidou calibration data table so as to obtain the stock track line matched with the target Beidou coordinate.
2. The mobile blocking train control method based on Beidou positioning according to claim 1, wherein before the stock track line of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train stock track calibration table, the method further comprises:
acquiring a first train channel number sent by a train control room terminal, and acquiring Beidou coordinates positioned by a Beidou antenna of a train;
searching a second train track number matched with the Beidou coordinate in a pre-constructed Beidou calibration data table and a train track calibration table;
and detecting the positioning accuracy of the Beidou antenna of the train based on the first train track number and the second train track number.
3. The mobile blocking train control method based on Beidou positioning according to claim 1, wherein before the stock track line of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train stock track calibration table, the method further comprises:
Acquiring train grouping parameters sent by a train control room terminal, and acquiring a head Beidou coordinate positioned by a head Beidou antenna of a train and a first tail Beidou coordinate positioned by a tail Beidou antenna of the train;
searching a second track line parameter matched with the train grouping parameter in the train track calibration table, and searching calibration point coordinates matched with the track line parameter in the Beidou calibration data table;
calculating a second 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.
4. The mobile blocking train control method based on Beidou positioning according to claim 1, wherein before the stock track line of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train stock track calibration table, the method further comprises:
Acquiring a first train running direction sent by a train control room terminal, and acquiring Beidou coordinates positioned by a Beidou antenna of the train;
calculating a second train running direction according to the Beidou coordinates;
And detecting the positioning accuracy of the Beidou antenna of the train based on the first train running direction and the second train running direction.
5. The mobile blocking train control method based on Beidou positioning according to claim 1, wherein before the stock track line of the train matched with the target Beidou coordinate is found in a pre-constructed Beidou calibration data table and a train stock track calibration table, the method further comprises:
Acquiring a first vehicle head Beidou coordinate positioned by a first vehicle head Beidou antenna of a train and a second vehicle head Beidou coordinate positioned by a second vehicle head Beidou antenna of the train, and detecting the positioning accuracy of the Beidou antenna of the train based on the first vehicle head Beidou coordinate and the second vehicle head Beidou coordinate; and/or the number of the groups of groups,
The method comprises the steps of obtaining a first train tail Beidou coordinate positioned by a first train tail Beidou antenna of a train and a second train tail Beidou coordinate positioned by a second train tail Beidou antenna, and detecting the positioning accuracy of the Beidou antenna of the train based on the first train tail Beidou coordinate and the second train tail Beidou coordinate.
6. Remove and block row accuse device based on big dipper location, its characterized in that includes:
The construction unit is used for acquiring target Beidou coordinates positioned by the Beidou antenna of the train, and constructing a coordinate error circle of the train by taking the target Beidou coordinates as a circle center and Beidou errors of the Beidou antenna as a radius;
the searching unit is used for searching the stock way line of the train matched with the target Beidou coordinate in a pre-constructed Beidou calibration data table and a train stock way calibration table;
the determining unit is used for obtaining the intersection point between the coordinate error circle and the stock way line, and determining the maximum safety front end and the minimum safety front end of the train according to the intersection point so as to realize the normal running of the train
The searching unit is specifically configured to:
Searching a pre-constructed Beidou calibration data table for calibration point coordinates matched with the target Beidou coordinates, and acquiring line numbers and line offset associated with the calibration point coordinates from the Beidou calibration data table;
Searching at least one strand line length matched with the line offset in a pre-constructed train strand calibration table, and screening the at least one strand line length through the line number to obtain a target strand line length;
Acquiring a first stock track line parameter associated with the target stock track line length from the Beidou calibration data table;
and determining a Beidou coordinate interval matched with the first stock track line parameter based on the Beidou calibration data table so as to obtain the stock track line matched with the target Beidou coordinate.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the Beidou positioning based mobile occlusion column control method of any of claims 1 to 5 when executing the program.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the mobile occlusion column control method based on beidou positioning according to any one of claims 1 to 5.
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