CN115014339A - Road matching method, device and equipment of railway train and readable storage medium - Google Patents
Road matching method, device and equipment of railway train and readable storage medium Download PDFInfo
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- CN115014339A CN115014339A CN202210613306.9A CN202210613306A CN115014339A CN 115014339 A CN115014339 A CN 115014339A CN 202210613306 A CN202210613306 A CN 202210613306A CN 115014339 A CN115014339 A CN 115014339A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a method, a device and equipment for matching a railway train road and a readable storage medium, wherein the method for matching the railway train road comprises the following steps: acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate; determining a locking broken line of the train and the advancing direction of the train; if the traveling direction of the train faces to the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line; if the percentage is smaller than a first preset threshold value, obtaining a next jump broken line based on inertial navigation information, and adding one to the unlocking times of the next jump broken line; and if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train. The method and the device ensure the accuracy of train road navigation, solve the problem of mistaken locking of a train track route, improve the real-time efficiency of railway road matching and reduce the cost of railway road matching.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a road matching method, a road matching device, a road matching equipment and a readable storage medium for a railway train.
Background
At present, when the railway train is subjected to road matching, the map information is made very accurately mainly by manpower, and the train is combined with the more accurate map information to perform route navigation. However, when a train enters a station yard or a tunnel, the train is shielded above the roof, and a certain positioning error exists in the train. The station is used as a center, and the station entering signal machine and the station exiting signal machine which are arranged on two sides of an uplink line and a downlink line of a station line belong to a station yard. When a general train enters a station yard, because a plurality of fold lines exist in station yard scheduling, the positioning error of a road matching scheme of the existing railway train in a sheltered area above the station yard can not ensure the accuracy of road navigation of the train in the station yard, and the wrong locking of a track route is caused.
Disclosure of Invention
The invention mainly aims to provide a method, a device and equipment for matching a railway train road and a readable storage medium, and aims to solve the technical problem that the existing railway train road matching scheme cannot guarantee the accuracy of train road navigation due to the fact that a sheltered area is arranged above a station yard, so that a train track route is locked wrongly.
In a first aspect, the present invention provides a method for road matching of a railroad train, comprising the steps of:
acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate;
determining a locking broken line of the train and the advancing direction of the train;
if the traveling direction of the train faces to the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line;
if the percentage is smaller than a first preset threshold value, obtaining a next jump fold line based on inertial navigation information, and adding one to the unlocking times of the next jump fold line;
and if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train.
Optionally, the step of determining the locking fold line of the train includes:
acquiring the latest piece of point information in a point information queue, and judging whether the point information is overtime or not;
if not, judging whether the train is in a locking state according to the global state;
if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
Optionally, after the step of determining whether the distance between the three-dimensional coordinate and the first locking polyline is smaller than a second preset threshold, the method includes:
if the distance between the three-dimensional coordinate and the first locking broken line is not smaller than a second preset threshold value, determining a first broken line, wherein the distance between the first broken line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value, taking the first fold line as a locking fold line of the train;
and if the distance between the three-dimensional coordinate and the first fold line is not less than a second preset threshold, returning prompt information of abnormal three-dimensional coordinates.
Optionally, after the step of determining whether the point information is overtime, the method includes:
if the point information is overtime, clearing the point information of the point information queue, and determining a second fold line, wherein the distance between the second fold line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the second fold line is not smaller than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold, judging whether the unlocking times of the second fold line reach preset times or not;
and if the preset times are reached, taking the second folding line as a locking folding line of the train.
Optionally, after the step of determining whether the train is in the locked state according to the global state, the method includes:
if the train is not in the locking state, determining a third folding line, wherein the distance between the third folding line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold, judging whether the unlocking times of the third fold line reach preset times or not;
and if the preset times are reached, taking the third folding line as a locking folding line of the train.
Optionally, when the unlocking frequency of the next jump broken line reaches a preset threshold, the step of taking the next jump broken line as the locking broken line of the train includes:
updating the global state and point information queue, and updating the position information of the train by the latest global state and point information queue, wherein the position information comprises:
station yard identification information and locking fold line identification information where the train is located, percentage information of the distance between the train and the starting point of the locking fold line, train GPS coordinates, starting point identification information of the locking fold line of the train, and original mileage information and coordinate information of the train.
In a second aspect, the present invention also provides a road matching device for a railway train, comprising:
the acquisition module is used for acquiring the GPS coordinates of the train and converting the GPS coordinates into three-dimensional coordinates;
the first determining module is used for determining a locking fold line of the train and the advancing direction of the train;
the calculating module is used for calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line if the running direction of the train faces the starting/ending point of the locking fold line;
the second determining module is used for obtaining a next jump broken line based on inertial navigation information and adding one to the unlocking times of the next jump broken line if the percentage is smaller than a first preset threshold value;
and the switching module is used for taking the next jump broken line as the locking broken line of the train if the unlocking times of the next jump broken line reach preset times.
Optionally, the first determining module is further specifically configured to:
acquiring the latest piece of point information in a point information queue, and judging whether the point information is overtime or not;
if not, judging whether the train is in a locking state according to the global state;
if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
Optionally, the first determining module is further specifically configured to:
if the distance between the three-dimensional coordinate and the first locking broken line is not smaller than a second preset threshold value, determining a first broken line, wherein the distance between the first broken line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value, taking the first fold line as a locking fold line of the train;
and if the distance between the three-dimensional coordinate and the first broken line is not less than a second preset threshold, returning prompt information of abnormal three-dimensional coordinates.
Optionally, the first determining module is further specifically configured to:
if the point information is overtime, clearing the point information of the point information queue, and determining a second fold line, wherein the distance between the second fold line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the second broken line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the second fold line is not smaller than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold, judging whether the unlocking times of the second fold line reach preset times or not;
and if the preset times are reached, taking the second folding line as a locking folding line of the train.
Optionally, the first determining module is further specifically configured to:
if the train is not in the locking state, determining a third folding line, wherein the distance between the third folding line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold, judging whether the unlocking times of the third fold line reach preset times or not;
and if the preset times are reached, taking the third folding line as a locking folding line of the train.
Optionally, the road matching device of the railway train further includes an update module, specifically configured to:
updating the global state and point information queue, and updating the position information of the train by the latest global state and point information queue, wherein the position information comprises:
station yard identification information and locking fold line identification information where the train is located, percentage information of the distance between the train and the starting point of the locking fold line, train GPS coordinates, starting point identification information of the locking fold line of the train, and original mileage information and coordinate information of the train.
In a third aspect, the present invention also provides a road matching device for a railway train, which comprises a processor, a memory, and a road matching program for a railway train stored on the memory and executable by the processor, wherein when the road matching program for a railway train is executed by the processor, the steps of the road matching method for a railway train as described above are implemented.
In a fourth aspect, the present invention further provides a readable storage medium, on which a road matching program for a railroad train is stored, wherein when the road matching program for a railroad train is executed by a processor, the steps of the road matching method for a railroad train as described above are implemented.
The invention provides a method, a device and equipment for matching a railway train road and a readable storage medium, wherein the method for matching the railway train road comprises the following steps: acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate; determining a locking broken line of the train and the advancing direction of the train; if the traveling direction of the train faces to the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line; if the percentage is smaller than a first preset threshold value, obtaining a next jump fold line based on inertial navigation information, and adding one to the unlocking times of the next jump fold line; and if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train. Compared with the traditional railway road matching method, the method has the advantages that the next broken line can be completely determined through the topological relation between the steering of inertial navigation and the actual railway broken line on the basis of GPS coordinate positioning, the accuracy of train road navigation is guaranteed by limiting the unlocking times of the next broken line, the GPS coordinate accurate positioning of a local single railway line is realized, the GPS coordinates of intersections of a plurality of railway lines are combined with the inertial navigation to be positioned at high precision, the problem of error locking of a train track line is solved, the real-time efficiency of railway road matching is improved, and the railway road matching cost is reduced.
Drawings
Fig. 1 is a schematic hardware configuration diagram of a road matching device of a railway train according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for matching a railroad train according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of the method for matching a railway train to determine a locking broken line according to an embodiment of the present invention;
fig. 4 is a functional block diagram of an embodiment of the road matching device for a railway train according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides a road matching device for a railway train.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a road matching device of a railway train according to an embodiment of the present invention. In the embodiment of the present invention, the road matching device of the railroad train may include a processor 1001 (for example, a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for implementing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a road matching program for a railroad train. The processor 1001 may call the road matching program of the railway train stored in the memory 1005, and execute the road matching method of the railway train according to the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a method for matching a railway train.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of a road matching method for a railroad train according to the present invention.
In an embodiment of the method for matching a railway train road of the present invention, the method for matching a railway train road comprises:
step S10, acquiring GPS coordinates of the train and converting the GPS coordinates into three-dimensional coordinates;
in this embodiment, the Beidou and other GPS satellites send the coordinate information (mainly longitude and latitude information) of the train back to the train-mounted terminal in real time, and since the train coordinates cannot be all located on the track line basically, the train-mounted terminal corrects the train coordinates, pulls the train-mounted terminal to the track line, then acquires the corrected GPS coordinates, and converts the corrected GPS coordinates into three-dimensional coordinates for operation.
Before that, the map information of the unmanned aerial vehicle aerial survey, including all the tracks and signal information in the station, is recorded into a shape file, and the drawn shape file is loaded into the memory of the train, wherein the shape files used by the railway road matching method have three groups: a set of files representing a yard, a set of files representing a railway line, a set of files representing an intersection of a railway line and a railway line. And forming an inertial navigation metadata set based on the loaded railway line set, wherein the inertial navigation metadata represents that the operation train moves to the starting point or the end point of a broken line on one broken line, and the next broken line of the operation train corresponds to the corresponding inertial navigation steering one by one.
Step S20, determining the locking fold line of the train and the advancing direction of the train;
in this embodiment, when a train runs on a track line, one track line is locked to determine that the train runs on the track line, and at this time, a locking folding line of the train needs to be determined, and the direction of the train when the train runs on the locking folding line needs to be determined to determine the running distance of the train on the locking folding line.
Step S30, if the train moves towards the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the drop-foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line;
in this embodiment, if the moving direction of the train is toward the start/end point of the locking fold line, the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the start/end point to the total line length of the locking fold line is calculated, so as to determine the distance percentage of the remaining moving distance of the train on the locking fold line to the total line length at this time.
Step S40, if the percentage is smaller than a first preset threshold value, obtaining a next jump broken line based on inertial navigation information, and adding one to the unlocking times of the next jump broken line;
in this embodiment, if the determined percentage is smaller than the first preset threshold, it indicates that the remaining travel distance of the train on the locking broken line is not large at this time, and the distance is also smaller than the maximum distance at which the inertial navigation starts to function, and at this time, the next jump broken line may be determined according to the inertial navigation information, and the unlocking frequency of the next jump broken line is increased by one.
And step S50, if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train.
In this embodiment, considering that there is a section of travel distance for inertial navigation and the next jump broken line may be unlocked erroneously, the next jump broken line will be used as the locking broken line of the train only when the unlocking frequency of the next jump broken line reaches the preset frequency, thereby completing the switching of the locking broken lines. According to the scheme, the shielded area is arranged above the station yard, compared with a traditional railway road matching method, on the basis of GPS coordinate positioning, the next-jump broken line can be completely determined through the topological relation between the steering of inertial navigation and the actual railway broken line, the accuracy of train road navigation is guaranteed by limiting the unlocking times of the next-jump broken line, the GPS coordinate accurate positioning of a local single railway line is realized, and the GPS coordinates and inertial navigation combination high-precision positioning of a plurality of railway line intersections are realized, so that the problem of wrong locking of a train track line is solved, the real-time efficiency of railway road matching is improved, and the railway road matching cost is reduced.
Further, in an embodiment, referring to fig. 3, the step of determining the locking fold line of the train includes:
step S201, obtaining the latest point information in the point information queue, and judging whether the point information is overtime;
step S202, if not overtime, judging whether the train is in a locking state according to the global state;
step S203, if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and S204, if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
In this embodiment, specifically, the step of determining the locking fold line of the train includes: and acquiring the latest point information in the point information queue, wherein the point information corresponding to the GPS coordinates of the train acquired every time according to a preset period is updated to the point information queue. Each piece of point information in the point information queue comprises a GPS coordinate and a three-dimensional coordinate after train correction, identification information of a locking fold line where the corrected coordinate is located and identification information of a station yard where the corrected coordinate is located, the percentage of the corrected GPS coordinate, namely a foot point of the train, in the total length of the fold line, original coordinate information and mileage information and time information of the received GPS coordinate.
Therefore, when the locking broken line of the train is determined, the latest point information in the point information queue is obtained first, and whether the time information in the obtained point information is overtime or not is judged by comparing the time information with the current time. If the time is not out, the point information is effective, and a global state corresponding to the point information can be obtained, wherein the global state comprises the locking state of the train, the identification information of the broken line where the train is located, the identification information of the station yard, the inertial navigation information, the traveling direction, the key point information corresponding to the traveling direction, the identification information of the unlocking broken line, the unlocking times and the identification information of the station yard where the train is located.
And if the train is judged to be in the locking state according to the global state, determining a first locking broken line corresponding to the locking state based on the identification information of the locking broken line corresponding to the global state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value so as to determine whether the first locking broken line is really the broken line where the train is located, and not to be locked by mistake.
And if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, determining that the first locking broken line is really the broken line where the train is located, and determining that the train is correctly locked, wherein the first locking broken line is used as the locking broken line of the train.
Further, in an embodiment, after the step of determining whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold, the method includes:
if the distance between the three-dimensional coordinate and the first locking broken line is not smaller than a second preset threshold value, determining a first broken line, wherein the distance between the first broken line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value, taking the first fold line as a locking fold line of the train;
and if the distance between the three-dimensional coordinate and the first fold line is not less than a second preset threshold, returning prompt information of abnormal three-dimensional coordinates.
In this embodiment, if the distance between the three-dimensional coordinate and the first locking broken line is not less than a second preset threshold, it is determined that the first locking broken line is not the broken line where the train is located, and the first broken line is a wrong locking, and at this time, it is necessary to determine the first broken line having the shortest distance from the three-dimensional coordinate of the train. And then determining whether the distance between the three-dimensional coordinate and the first folding line is smaller than a second preset threshold value so as to determine whether the first folding line meets the coordinate precision condition of fold line locking. And if the distance between the three-dimensional coordinate and the first folding line is smaller than a second preset threshold value, determining that the first folding line meets the coordinate precision condition of folding line locking, and taking the first folding line as a locking folding line of the train. And if the distance between the three-dimensional coordinate and the first folding line is smaller than a second preset threshold, determining that the first folding line does not meet the coordinate precision condition of folding line locking, and returning prompt information of three-dimensional coordinate abnormity.
Further, in an embodiment, after the step of determining whether the point information is time out, the method includes:
if the point information is overtime, clearing the point information of the point information queue, and determining a second fold line, wherein the distance between the second fold line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the second broken line is not smaller than a second preset threshold value, returning prompt information of abnormal three-dimensional coordinates;
if the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold, judging whether the unlocking times of the second fold line reach preset times or not;
and if the preset times are reached, taking the second folding line as a locking folding line of the train.
In this embodiment, after obtaining the latest piece of point information in the point information queue, if it is determined that the point information is overtime, it indicates that all the point information in the point information queue is overtime. At the moment, the point information of the point information queue needs to be cleared, and the second broken line with the shortest distance to the three-dimensional coordinate of the train at the moment is determined. And judging whether the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value or not so as to determine whether the second fold line meets the coordinate precision condition or not. And if the distance between the three-dimensional coordinate and the second fold line is not less than a second preset threshold, determining that the second fold line does not meet the coordinate precision condition, and returning prompt information of three-dimensional coordinate abnormity. And if the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value, determining that the second fold line meets the coordinate precision condition, judging whether the unlocking times of the second fold line reach preset times or not at the moment to determine that the unlocking times of the second fold line meet the switching of the locking state, and if the unlocking times of the second fold line reach the preset times, taking the second fold line as the locking fold line of the train.
Further, in an embodiment, after the step of determining whether the train is in the locked state according to the global state, the method includes:
if the train is not in the locking state, determining a third folding line, wherein the distance between the third folding line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold, judging whether the unlocking times of the third fold line reach preset times or not;
and if the preset times are reached, taking the third folding line as a locking folding line of the train.
In this embodiment, after the step of obtaining the latest piece of point information in the point information queue and determining that the point information is not overtime, if it is determined that the train is in the locked state according to the global state at this time, the third folding line having the shortest distance from the three-dimensional coordinate of the train at this time is determined. And judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not so as to determine whether the third fold line meets the coordinate precision condition or not. And if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold value, determining that the third fold line does not meet the coordinate precision condition, and returning prompt information of three-dimensional coordinate abnormity. And if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value, determining that the third fold line meets the coordinate precision condition, judging whether the unlocking times of the third fold line reach preset times or not at the moment to determine that the unlocking times of the third fold line meet the switching of the locking state, and if the unlocking times of the third fold line reach the preset times, taking the third fold line as the locking fold line of the train.
Further, in an embodiment, after the step of using the next polyline as the locking polyline of the train if the unlocking times of the next polyline reach a preset threshold, the method includes:
updating the global state and point information queue, and updating the position information of the train by the latest global state and point information queue, wherein the position information comprises:
station yard identification information and locking fold line identification information where the train is located, percentage information of the distance between the train and the starting point of the locking fold line, train GPS coordinates, starting point identification information of the locking fold line of the train, and original mileage information and coordinate information of the train.
In this embodiment, the step of determining the following one-jump folding line as the locking folding line of the train includes: and updating the global state and point information queue, wherein the global state and point information queue is temporarily stored parameter information used for guiding road matching, and after the result of road matching is obtained, the position information of the train is updated by using the latest global state and point information queue, and the position information comprises the result of road matching. Wherein the position information includes: station identification information and locking broken line identification information where the train is located so as to record the specific position of the current train; the percentage information of the train to the starting point of the locking broken line is recorded to record the distance from the current train position to the starting point of the current broken line, so that pixels are calculated, and the train information is displayed at the flat plate end displayed by the train; train GPS coordinates to record the corrected GPS coordinate position of the current train; starting point identification information of a locking broken line of the train to record the traveling direction of the current broken line; original mileage information and coordinate information of the train are sent to a background for storage through an http request and used for inquiring historical tracks, and the mileage information is used for displaying information such as the current speed and kilometers of the train.
In this embodiment, a method for matching a railway train road is provided, including: acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate; determining a locking broken line of the train and the advancing direction of the train; if the traveling direction of the train faces to the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line; if the percentage is smaller than a first preset threshold value, obtaining a next jump fold line based on inertial navigation information, and adding one to the unlocking times of the next jump fold line; and if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train. Compared with the traditional railway road matching method, the method has the advantages that the next broken line can be completely determined through the topological relation between the steering of inertial navigation and the actual railway broken line on the basis of GPS coordinate positioning, the accuracy of train road navigation is guaranteed by limiting the unlocking times of the next broken line, the GPS coordinate accurate positioning of a local single railway line is realized, the GPS coordinates of intersections of a plurality of railway lines are combined with the inertial navigation to be positioned at high precision, the problem of error locking of a train track line is solved, the real-time efficiency of railway road matching is improved, and the railway road matching cost is reduced.
In a third aspect, an embodiment of the present invention further provides a road matching device for a railway train.
Referring to fig. 4, a functional module diagram of an embodiment of a road matching device for a railway train is shown.
In this embodiment, the road matching device for a railway train includes:
the acquisition module 10 is used for acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate;
a first determining module 20 for determining a locking fold line of the train and a traveling direction of the train;
the calculating module 30 is configured to calculate, if the traveling direction of the train is toward the start/end point of the locking fold line, a percentage of a line length of the three-dimensional coordinate between the foot point of the locking fold line and the start/end point to a total line length of the locking fold line;
a second determining module 40, configured to, if the percentage is smaller than a first preset threshold, obtain a next jump line based on inertial navigation information, and add one to the unlocking times of the next jump line;
and the switching module 50 is configured to, if the unlocking times of the next jump broken line reach preset times, use the next jump broken line as the locking broken line of the train.
Further, in an embodiment, the first determining module 20 is further specifically configured to:
acquiring the latest piece of point information in a point information queue, and judging whether the point information is overtime or not;
if not, judging whether the train is in a locking state according to the global state;
if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
Further, in an embodiment, the first determining module 20 is further specifically configured to:
if the distance between the three-dimensional coordinate and the first locking broken line is not smaller than a second preset threshold value, determining a first broken line, wherein the distance between the first broken line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value, taking the first fold line as a locking fold line of the train;
and if the distance between the three-dimensional coordinate and the first fold line is not less than a second preset threshold, returning prompt information of abnormal three-dimensional coordinates.
Further, in an embodiment, the first determining module 20 is further specifically configured to:
if the point information is overtime, clearing the point information of the point information queue, and determining a second fold line, wherein the distance between the second fold line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the second fold line is not smaller than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold, judging whether the unlocking times of the second fold line reach preset times or not;
and if the preset times are reached, taking the second folding line as a locking folding line of the train.
Further, in an embodiment, the first determining module 20 is further specifically configured to:
if the train is not in the locking state, determining a third folding line, wherein the distance between the third folding line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold, judging whether the unlocking times of the third fold line reach preset times or not;
and if the preset times are reached, taking the third folding line as a locking folding line of the train.
Further, in an embodiment, the road matching device for a railway train further includes an update module, specifically configured to:
updating the global state and point information queue, and updating the position information of the train by the latest global state and point information queue, wherein the position information comprises:
station yard identification information and locking fold line identification information where the train is located, percentage information of the distance between the train and the starting point of the locking fold line, train GPS coordinates, starting point identification information of the locking fold line of the train, and original mileage information and coordinate information of the train.
The function implementation of each module in the road matching device of the railway train corresponds to each step in the embodiment of the road matching method of the railway train, and the function and the implementation process are not described in detail herein.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the present invention stores thereon a road matching program for a railroad train, wherein the road matching program for a railroad train, when executed by a processor, implements the steps of the road matching method for a railroad train as described above.
The method for implementing the road matching program of the railway train when executed may refer to each embodiment of the road matching method of the railway train of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. 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 (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A method for matching a railway train road, the method comprising:
acquiring a GPS coordinate of the train and converting the GPS coordinate into a three-dimensional coordinate;
determining a locking broken line of the train and the advancing direction of the train;
if the traveling direction of the train faces to the starting/ending point of the locking fold line, calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line;
if the percentage is smaller than a first preset threshold value, obtaining a next jump broken line based on inertial navigation information, and adding one to the unlocking times of the next jump broken line;
and if the unlocking times of the next jump broken line reach preset times, taking the next jump broken line as the locking broken line of the train.
2. The method of railroad train road matching as claimed in claim 1, wherein the step of determining the locking fold line of the train comprises:
acquiring the latest piece of point information in a point information queue, and judging whether the point information is overtime or not;
if not, judging whether the train is in a locking state according to the global state;
if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
3. The method for matching a railroad train of claim 2, wherein the step of judging whether the distance between the three-dimensional coordinates and the first locking polyline is less than a second preset threshold value comprises:
if the distance between the three-dimensional coordinate and the first locking broken line is not smaller than a second preset threshold value, determining a first broken line, wherein the distance between the first broken line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the first fold line is smaller than a second preset threshold value, taking the first fold line as a locking fold line of the train;
and if the distance between the three-dimensional coordinate and the first fold line is not less than a second preset threshold, returning prompt information of abnormal three-dimensional coordinates.
4. The method for road matching of railroad train of claim 2, comprising, after the step of judging whether the point information is time-out:
if the point information is overtime, clearing the point information of the point information queue, and determining a second fold line, wherein the distance between the second fold line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the second fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the second broken line is not smaller than a second preset threshold value, returning prompt information of abnormal three-dimensional coordinates;
if the distance between the three-dimensional coordinate and the second broken line is smaller than a second preset threshold value, judging whether the unlocking times of the second broken line reach preset times or not;
and if the preset times are reached, taking the second folding line as a locking folding line of the train.
5. The method for road matching of railroad train of claim 2, wherein after the step of determining whether the train is in the locked state according to the global state comprises:
if the train is not in the locking state, determining a third folding line, wherein the distance between the third folding line and the three-dimensional coordinate of the train is shortest;
judging whether the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold value or not;
if the distance between the three-dimensional coordinate and the third fold line is not less than a second preset threshold, returning prompt information of three-dimensional coordinate abnormity;
if the distance between the three-dimensional coordinate and the third fold line is smaller than a second preset threshold, judging whether the unlocking times of the third fold line reach preset times or not;
and if the preset times are reached, taking the third folding line as a locking folding line of the train.
6. The method for matching a railroad train according to claim 1, wherein the step of using the following one-jump folding line as the locking folding line of the train after the step of using the following one-jump folding line if the unlocking times of the next one-jump folding line reach a preset threshold value comprises:
updating the global state and point information queue, and updating the position information of the train by the latest global state and point information queue, wherein the position information comprises:
station yard identification information and locking fold line identification information where the train is located, percentage information of the distance between the train and the starting point of the locking fold line, train GPS coordinates, starting point identification information of the locking fold line of the train, and original mileage information and coordinate information of the train.
7. A road matching device for a railway train, comprising:
the acquisition module is used for acquiring the GPS coordinates of the train and converting the GPS coordinates into three-dimensional coordinates;
the first determining module is used for determining a locking fold line of the train and the advancing direction of the train;
the calculating module is used for calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the locking fold line and the starting/ending point in the total line length of the locking fold line if the running direction of the train faces the starting/ending point of the locking fold line;
the second determining module is used for obtaining a next jump broken line based on inertial navigation information and adding one to the unlocking times of the next jump broken line if the percentage is smaller than a first preset threshold value;
and the switching module is used for taking the next jump broken line as the locking broken line of the train if the unlocking times of the next jump broken line reach preset times.
8. The railroad train road matching device of claim 7, wherein said first decision template is further configured to:
acquiring the latest piece of point information in a point information queue, and judging whether the point information is overtime or not;
if not, judging whether the train is in a locking state according to the global state;
if the train is in a locking state, determining a first locking broken line corresponding to the locking state, and judging whether the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value;
and if the distance between the three-dimensional coordinate and the first locking broken line is smaller than a second preset threshold value, taking the first locking broken line as a locking broken line of the train.
9. A road matching apparatus of a railway train, characterized in that the road matching apparatus of a railway train comprises a processor, a memory, and a road matching program of a railway train stored on the memory and executable by the processor, wherein the road matching program of a railway train, when executed by the processor, implements the steps of the road matching method of a railway train as claimed in any one of claims 1 to 6.
10. A readable storage medium, on which a road matching program for a railroad train is stored, wherein the road matching program for a railroad train, when executed by a processor, implements the steps of the road matching method for a railroad train according to any one of claims 1 to 6.
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| CN202210613306.9A CN115014339A (en) | 2022-05-31 | 2022-05-31 | Road matching method, device and equipment of railway train and readable storage medium |
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| CN202210613306.9A CN115014339A (en) | 2022-05-31 | 2022-05-31 | Road matching method, device and equipment of railway train and readable storage medium |
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