CN115593469A - Train positioning method and device - Google Patents
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
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Abstract
The embodiment of the application provides a train positioning method and device, wherein the train is provided with a response positioning system and a multi-sensor perception positioning system, and the method comprises the following steps: acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system; after the initial positioning information is completed, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the preset target switching condition is met, the response positioning system and the multi-sensor perception positioning system are switched. According to the embodiment of the application, the response positioning system and the multi-sensor sensing positioning system are used for switching and updating the two positioning systems under the preset target switching condition, so that the running efficiency of the train is improved, and the running safety of the train in any mode is ensured.
Description
Technical Field
The application relates to the technical field of train position management, in particular to a train positioning method and device.
Background
In an existing CBTC (Communication Based Train Control System) System, a method for determining a Train position includes: arranging a transponder on a trackside line, acquiring transponder message data in a radiation range of the transponder according to a BTM (base transmission module) antenna, calculating to obtain a train position, and maintaining the train position according to a periodic travelling distance of the train. In a traditional CBTC (communication based train control) system, train positioning extremely depends on a trackside transponder, and if sudden faults occur in the running process of a train, for example, the train loses transponder message data due to external factors such as BTM (train bus) antenna damage, the train cannot be accurately positioned and cannot keep the position of the train.
Disclosure of Invention
In order to solve one of the technical defects, the embodiment of the application provides a train positioning method and a train positioning device.
According to a first aspect of embodiments of the present application, there is provided a train positioning method, where a train is provided with a response positioning system and a multi-sensor sensing positioning system, and the method includes:
acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
after the initial positioning information is completed, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the preset target switching condition is met, the response positioning system and the multi-sensor perception positioning system are switched.
According to the train positioning method provided by the embodiment of the application, the step of acquiring the initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system comprises the following steps:
based on a preset initial positioning principle, selecting to use the response positioning system or the multi-sensor perception positioning system to obtain initial positioning information of the train;
the preset initial positioning principle is as follows:
if the train completes initial positioning based on the response positioning system, the position acquired by the response positioning system is used as the actual position of the train; if the train completes initial positioning based on the multi-sensor sensing and positioning system, the sensing position acquired by the multi-sensor sensing and positioning system is used as the actual position of the train; and if the train completes the response initial positioning and the multi-sensor perception initial positioning at the same time, preferentially using the position acquired based on the multi-sensor perception positioning system as the actual position of the train.
According to the train positioning method provided by the embodiment of the application, the acquiring of the initial positioning information of the train based on the multi-sensor perception positioning system comprises the following steps:
acquiring signboard information based on a sensor, and determining point cloud characteristics and position information of the current environment of the train according to the signboard information;
and comparing the point cloud characteristics and the position information with prestored information in route map data to obtain the current position of the train, and determining the initial positioning information of the train according to the current position of the train.
According to the train positioning method provided by the embodiment of the application, the method further comprises the following steps:
if a preset target calibration scene occurs, calibrating the positioning information of the train;
the target calibration scene at least comprises accumulated sensing ranging errors which are larger than or equal to a set value in the running process of a train interval, and the accumulated sensing ranging errors are determined based on an initial value of the sensing ranging errors, an accumulated periodic traveling distance and a ranging error rate.
According to the train positioning method provided by the embodiment of the application, the method further comprises the following steps:
calculating safety information of the train based on the answering positioning system and the multi-sensor perception positioning system;
calculating the unsafe position of the train based on a multi-sensor sensing and positioning system and calculating the safe position of the train by sensing accumulated ranging errors;
the unsafe train head position deviates along the train running direction to sense and accumulate the ranging error, and the maximum safe front position of the train is obtained;
the unsafe train head position deviates along the train running reverse direction to sense and accumulate the ranging error, and the minimum safe train front position is obtained;
the non-safety tail position deviates along the running direction of the train to sense and accumulate the ranging error to obtain the maximum safety rear end position of the train;
the tail position of the unsafe train deviates in the opposite direction of the train running to sense and accumulate the ranging error, and the minimum safe rear end position of the train is obtained;
when the train non-safety position is invalid, the safety position is set to be invalid; when the safe position of the train head is failed to be calculated, clearing the unsafe position, wherein the safe position and the unsafe position are invalid; and (3) failing to calculate the safe position of the train tail, clearing the unsafe position of the train tail, and keeping the safe and unsafe positions of the train tail.
According to the train positioning method provided by the embodiment of the application, the method further comprises the following steps:
if the train reaches a turnout, determining the position of the train as turnout positioning or reversal according to the state of an object controller or a starting end signal machine of a route;
if the train cannot acquire the current state of the turnout, judging that the position is positioned at the turnout location or the reverse position by identifying the state of a starting end signal machine of the access;
and if the train acquires the current state of the turnout, determining that the position is positioned at the turnout location or in the reverse position according to the turnout state.
According to a second aspect of an embodiment of the present application, there is provided a train positioning device including:
the initial positioning module is used for acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
and the positioning module is used for determining the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system after finishing initial positioning information, wherein if the response positioning system or the multi-sensor perception positioning system accords with a preset target switching condition, the response positioning system and the multi-sensor perception positioning system are switched.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method.
According to a fifth aspect of embodiments herein, there is provided a computer program product comprising a computer program which, when executed by a processor, performs the method.
By adopting the train positioning method and device provided by the embodiment of the application, the response positioning system and the multi-sensor sensing positioning system are arranged, and the two positioning systems are switched and updated under the preset target switching condition, so that the train operation efficiency is improved, and the running safety of a train in any mode is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a train positioning method provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of step S110 in fig. 1 according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating the calculation principle of the delay time of the ITE input position;
FIG. 4 is a schematic view of a train traveling to a switch;
fig. 5 is a block diagram of a train positioning device provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic flow diagram of a train positioning method provided in an embodiment of the present application, and referring to fig. 1, the embodiment of the present application provides a train positioning method, where a train is provided with a response positioning system and a multi-sensor sensing positioning system, and includes:
s110, acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
and S120, after the initial positioning information is completed, determining the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system, wherein if the response positioning system or the multi-sensor perception positioning system meets a preset target switching condition, the response positioning system and the multi-sensor perception positioning system are switched.
In step S110, the response positioning system includes a BTM antenna, and the acquired position information is set as a BTM position, and the position information acquired by the multi-sensor sensing positioning system is set as a sensing position.
The multi-sensor perception positioning system is based on multi-sensors and an Intelligent analysis technology, so that the Train has autonomous environment perception and decision-making capability, and a Train eagle Eye system (ITE for short) is formed. ITE is an ITP (intelligent protection system for trains) sensing data input and processing module, is responsible for sensor data acquisition and data fusion, mainly calculates high-precision positioning of trains, front active barrier identification and detection and the like, provides position information for ITP, the position information comprises Link and Link offset and running direction, and the position effectiveness means that the train position is effective, invalid or in a transition state. And the ITP measures and supervises the position information provided by the ITE and calculates the available perceived position of the train.
In step S120, the preset target switching conditions include a first target switching condition for switching from the responding positioning system to the multi-sensor sensing positioning system and a second target switching condition for switching from the multi-sensor sensing positioning system to the responding positioning system.
The first target switching condition comprises that the error of the multi-sensor perception positioning system is smaller than the error of the answer positioning system, and the position obtained by the answer positioning system is invalid.
It can be understood that the train positioning method provided in the embodiment of the present application is provided with a response positioning system and a multi-sensor sensing positioning system, and switches and updates the two positioning systems under a preset target switching condition, so as to improve train operation efficiency and ensure train driving safety in any mode.
Optionally, if the actual position of the current train uses the position calculated based on the BTM and the perceived position is valid, the perceived position is used as the actual position of the train when one of the following conditions is met;
a1, the accumulated range finding error of the BTM is more than or equal to 5m, the difference between the position of the BTM and the sensing position does not exceed the accumulated range finding error of the BTM, and the sensed accumulated range finding error is less than the accumulated range finding error of the BTM;
a2, when the unsafe train head is in a platform parking area, configuring a platform without a precise parking responder to use a sensing position, wherein the difference between the BTM position and the sensing position does not exceed the accumulated ranging error of the BTM;
a3, BTM position becomes valid and invalid.
Optionally, the second target handover condition specifically includes:
b1, the train passes through a responder to complete the initial positioning of the BTM;
b2, the BTM position is effective, and the train passes through the transponder to finish the BTM position correction;
b3, sensing that the position is valid and invalid, and sensing that the position of the BTM is valid;
and b4, when the unsafe train head is located in the platform parking area, configuring a platform to arrange a precise parking responder to use the BTM position, and switching the BTM position after the train passes through the responder to finish BTM position correction in the parking area.
If the actual position of the current train uses the ITE calculation sensing position as the actual position of the train, the BTM communication is normal (reserved), the working state of the BTM is normal, and one of the situations is taken as the actual position of the train.
It should be noted that if both the BTM location and the perceived location are invalid, the train location is invalid.
As an embodiment, the acquiring initial positioning information of the train based on the answering positioning system or the multi-sensor sensing positioning system includes:
and based on a preset initial positioning principle, selecting and using the response positioning system or the multi-sensor perception positioning system to acquire the initial positioning information of the train.
The preset initial positioning principle is as follows:
if the train completes initial positioning based on the response positioning system, the position acquired by the response positioning system is used as the actual position of the train; if the train completes initial positioning based on the multi-sensor sensing and positioning system, the sensing position acquired by the multi-sensor sensing and positioning system is used as the actual position of the train; and if the train completes the response initial positioning and the multi-sensor perception initial positioning at the same time, preferentially using the position acquired based on the multi-sensor perception positioning system as the actual position of the train.
Optionally, the preset initial positioning principle is described in detail as follows:
if the train position is invalid, if the train passes through the responder to complete initial positioning, taking the BTM position as the actual train position; if the train completes initial positioning based on the multi-sensor sensing and positioning system, taking the sensing position calculated based on ITE as the actual position of the train; if the train simultaneously completes the initial positioning of the transponder and senses the initial positioning, the BTM position calculated based on the BTM is preferentially used as the actual position of the train.
It can be understood that, in the embodiment of the present application, by setting an initial positioning principle, the response positioning system or the multi-sensor sensing positioning system is selected to obtain the initial positioning information of the train, so as to ensure real-time, accurate and safe positioning of the train position.
As an embodiment, as shown in fig. 2, the acquiring initial positioning information of the train based on the multi-sensor perceptual positioning system includes:
s210, acquiring signboard information based on a sensor, and determining point cloud characteristics and position information of the current train environment according to the signboard information;
s220, comparing the point cloud characteristics and the position information with prestored information in route map data to obtain the current position of the train, and determining the initial positioning information of the train according to the current position of the train.
In step S210, the signboard may be arranged on the train line at intervals according to engineering requirements, and the ITE may extract the point cloud feature of the current environment of the train and the position information of the train from the image of the signboard based on the signboard information acquired by the sensor, such as the image of the signboard.
In step S220, the point cloud feature and the location information are compared with prestored information in the route map data to obtain the current location of the train, i.e., the unsafe location of the train head, and the location is sent to the ITP. The ITP compensates according to the position and the delay time to obtain an unsafe position of the train head, and subtracts the length of the train body according to the unsafe position of the train head to obtain an unsafe position of the train tail, so that the function of sensing and initially positioning the train is realized. After sensing is finished with initial positioning, the sensing cumulative ranging error value is initialized to be a position error of 3m + ITE.
It can be understood that in the embodiment of the application, the sensor is used for acquiring the signboard information, the point cloud characteristics and the position information of the current environment of the train are determined, and the ITE can obtain the current position of the train by comparing the point cloud characteristics and the position information with prestored information in the route map data, so that the accuracy of train positioning is improved.
As shown in fig. 3, the delay travel distance (cm) = the current speed of the train (cm/s) × (delay time (ms)/1000);
delay time (ms) = ((((ITP system current period number-ITE feedback ITP system period number) × 200-175) + 49) -ITE response ITP time) -3) + delay of radar scanning to ITE sending position information;
wherein: 200 is ITP system cycle time (ms), 175 is the time (ms) of sending frame period from IVOC to ITE, 49 is the time (ms) of receiving frame period from IVOC to ITE, and 3 is network transmission delay compensation (ms).
As an embodiment, a train positioning method provided in an embodiment of the present application further includes:
if a preset target calibration scene occurs, calibrating the positioning information of the train;
the target calibration scene at least comprises accumulated sensing ranging errors which are larger than or equal to a set value in the running process of a train interval, and the accumulated sensing ranging errors are determined based on an initial value of the sensing ranging errors, an accumulated periodic traveling distance and a ranging error rate.
And under any driving mode or operation level, after the train completes the sensing initial positioning, updating the sensing position through the accumulated periodic traveling distance, and calculating the sensing accumulated distance measurement error value through the accumulated periodic traveling distance and the distance measurement error rate. The calculation formula is as follows: sensing accumulated distance measurement error = sensing distance measurement error initial value + periodic traveling distance measurement error rate;
the range error rate is 2% in the normal condition and 3% in the idle slip condition.
Optionally, the preset target calibration scenario includes:
c1, accumulating the perception distance measurement error in the running process of the train section to be more than or equal to 5m;
c2, the link where the sensing position is located belongs to a platform parking area, and the sensing position is continuously corrected when the distance is 5m from the parking point in the same direction;
and c3, enabling the ITE sending position to be in a transition state, and enabling the ITE to correctly recognize the train position, so that the validity of the sending position becomes effective, and correcting the perception position.
And c4, if the train currently uses the effective position of the BTM as the actual position of the train, when the BTM ranging error is larger than or equal to 5m and the switching of the perceived position is attempted, the perceived position should be corrected.
The following describes in detail the determination conditions of the location validity of the perceived location:
if the accumulated running distance of the sensing position in the transition state exceeds 15m, the position of the train can not be correctly identified by ITE, and the sensing position is invalid at the moment. And obtaining a new sensing position through the position in the latest frame data sent by the ITE and the delay walking distance of the received ITE data frame based on the delay time compensation.
The ITP shall ensure that the difference value between the sensing position calculated based on the current period walking distance and the new sensing position in the period is smaller than the sensing accumulated distance measurement error, otherwise, the sensing position is invalid, and the ITE is reported and windowed. And if the position sent by the ITE is invalid, maintaining the sensing position through the periodic walking distance until the sensing accumulated ranging error value exceeds the maximum threshold value of the data configuration, and enabling the sensing position to be invalid.
When four-switch points exist in the range of the vehicle body, the position is updated or corrected, if the position of the vehicle head is subtracted by a vehicle length according to the data of the electronic map, the position of the vehicle tail can be found, the position is updated successfully, and otherwise, the position of the vehicle tail is invalid. After the correction is successful, the perceived cumulative ranging error value is initialized to ITE position error +3m.
The ITE input position is consistent with the direction of the sensing position, otherwise, the sensing position is invalid.
It can be understood that, in the embodiment of the present application, by setting a target calibration scenario, if a preset target calibration scenario occurs, calibration is performed on the rated bit information of the train, and the accuracy of train positioning can be improved.
As an embodiment, a train positioning method provided in an embodiment of the present application further includes:
and calculating safety information of the train based on the answering positioning system and the multi-sensor perception positioning system.
If the BTM location is valid, the ITP should check that the perceived location direction is consistent with the BTM location direction, otherwise the perceived location is invalid.
Calculating the unsafe position of the train based on a multi-sensor sensing and positioning system and calculating the safe position of the train by sensing accumulated ranging errors;
the unsafe train head position deviates along the train running direction to sense and accumulate the ranging error, and the maximum safe front position of the train is obtained;
the unsafe train head position deviates along the train running reverse direction to sense and accumulate the ranging error, and the minimum safe train front position is obtained;
the non-safety tail position deviates along the train running direction to sense and accumulate the ranging error to obtain the maximum safety rear end position of the train;
the tail position of the unsafe train deviates in the opposite direction of the train running to sense and accumulate the ranging error, and the minimum safe rear end position of the train is obtained;
when the train non-safety position is invalid, the safety position is also set to be invalid. When the safe position of the train head is failed to be calculated, the unsafe position can be cleared, so that the safe position and the unsafe position are invalid; when the safe position of the train tail is calculated and fails, the unsafe position of the train tail can be cleared, so that the safe and unsafe positions of the train tail are invalid, and the safe and unsafe positions of the train head are reserved.
It can be understood that the embodiment of the application provides a technical scheme for calculating the perceived location of the train, and the safety of the train can be improved.
As an embodiment, a train positioning method provided in an embodiment of the present application further includes:
if the train reaches a turnout, determining the position of the train as turnout positioning or reversal according to the state of an object controller or a starting end signal machine of a route;
if the train cannot acquire the current state of the turnout, judging that the position is positioned at turnout positioning or reverse position by identifying the state of a starting end signal machine of the access;
and if the train acquires the current state of the turnout, determining that the position is positioned at the turnout location or in the reverse position according to the turnout state.
Due to the technical limitation of equipment and sensors used by the ITE, when a train runs at a high speed at a turnout and is driven into a positioning position or a reverse position from a junction, the ITE cannot identify that the current train is at the turnout positioning position or the reverse position, and at the moment, the ITP is reported that the position effectiveness is in a transition state. The ITP determines that the current ITE position is positioned at the turnout or reversed according to the signal recognized in front or the state of the signal at the starting end of the route.
If the ITE input position is in a transition state, the ITP cannot sense the initial positioning according to the position.
Judging whether the position needs to be switched when the position sent by the ITP receiving the ITE is in a transition state, as shown in figure 4, driving a train into a turnout from a turnout junction link for positioning or reversing, and judging that the position is in a turnout transition area if the distance from a turnout point is less than or equal to 5m; and if the position is not in the turnout transition zone, the position sent by the ITE is considered invalid.
If the train can not obtain the current state of the turnout through an Object Controller (OC), an ITP (integrated railway) needs to recognize that the starting end signal state judgment position of the approach is positioned at the turnout or in a reversed position through an ITE (integrated article):
d1, if the ITE sending position is at a point A of switch positioning, and before the train enters the access, the ITE recognizes that the signal machine at the starting end of the access is a yellow light, the same distance between the point A and the switch point needs to be deviated from the switch point in the opposite direction according to the switch point position, and a sensing position point B is obtained.
d2, if the ITE sending position is located at the point B of the reverse position of the turnout, and before the train enters the access, the ITE recognizes that the signal machine at the starting end of the access is a green light, the distance between the point B and the turnout needs to be the same as the positioning offset of the turnout from the turnout according to the position of the turnout, and the sensing position A is obtained.
If the train can obtain the current state of a turnout through the OC, the ITP needs to be transmitted into the turnout state through the OC to determine that the position is positioned at the turnout or in a reversed position:
e1, if the ITE sending position is at a turnout positioning point A, and the OC transmitting-in turnout state is reverse, the same distance between the point A and the turnout point is required to be deviated from the turnout reverse position according to the turnout point position, and a correct sensing position point B is obtained.
e2, if the ITE sending position is located at the point B of the reverse position of the turnout, the OC is transmitted into the turnout to be positioned, the distance between the point B and the turnout is required to be the same as the distance between the point B and the turnout according to the position of the turnout to the turnout, and the correct sensing position A is obtained.
In other cases no conversion is required.
It can be understood that the train positioning method provided in the embodiment of the present application is implemented based on a response positioning system and a multi-sensor sensing positioning system, and provides a technical scheme for determining that a train is in a switch positioning or a reverse position, and the current position of the train is determined, which is helpful for improving the accuracy of train position determination.
Fig. 5 is a block diagram of a train positioning device provided in an embodiment of the present application, and referring to fig. 5, the embodiment of the present application provides a train positioning device, including:
an initial positioning module 510, configured to obtain initial positioning information of the train based on the answering positioning system or the multi-sensor sensing positioning system;
and a positioning module 520, configured to determine positioning information of the train based on the response positioning system or the multi-sensor sensing positioning system after initial positioning information is completed, wherein if a preset target switching condition is met, the response positioning system and the multi-sensor sensing positioning system are switched.
As an embodiment, based on a preset initial positioning principle, the answer positioning system or the multi-sensor perception positioning system is selected to acquire the initial positioning information of the train.
For one embodiment, the initial positioning module 510 is further configured to:
acquiring signboard information based on a sensor, and determining point cloud characteristics and position information of the current environment of the train according to the signboard information;
and determining the initial positioning information of the train according to the point cloud characteristics and the position information.
As an embodiment, the train positioning device provided in the embodiment of the present application further includes:
and if a preset target calibration scene appears, calibrating the positioning information of the train.
As an embodiment, the train positioning device provided in the embodiment of the present application further includes:
and calculating safety information of the train based on the answer positioning system and the multi-sensor perception positioning system.
As an embodiment, the train positioning device provided in the embodiment of the present application further includes:
and if the train reaches the turnout, determining the position of the train to be turnout positioning or reverse according to the state of the object controller or the starting end signal machine of the route.
An embodiment of the present application further provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the train positioning method, the train being provided with an answering positioning system and a multi-sensor sensing positioning system, the method comprising:
acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
after the initial positioning information is completed, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the preset target switching condition is met, the response positioning system and the multi-sensor perception positioning system are switched.
An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the train positioning method, the train is provided with a response positioning system and a multi-sensor perception positioning system, and the method comprises the following steps:
acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
and after the initial positioning information is completed, determining the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system, wherein if the response positioning system or the multi-sensor perception positioning system meets a preset target switching condition, switching the response positioning system and the multi-sensor perception positioning system.
The embodiment of the application provides a computer program product, which comprises a computer program, wherein the computer program is executed by a processor to realize the train positioning method, the train is provided with a response positioning system and a multi-sensor perception positioning system, and the method comprises the following steps:
acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
after the initial positioning information is completed, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the preset target switching condition is met, the response positioning system and the multi-sensor perception positioning system are switched.
By adopting the train positioning method and device provided by the embodiment of the application, the response positioning system and the multi-sensor perception positioning system are arranged, and the two positioning systems are switched and updated under the preset target switching condition, so that the train operation efficiency is improved, and the train running safety under any mode is ensured.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein. The solution in the embodiment of the present application may be implemented by using various computer languages, for example, C language, VHDL language, verilog language, object-oriented programming language Java, and transliteration scripting language JavaScript.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically connected, electrically connected or can communicate with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the present application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A train positioning method is characterized in that a train is provided with a response positioning system and a multi-sensor perception positioning system, and comprises the following steps:
acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
and after the initial positioning information is completed, determining the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system, wherein if the response positioning system or the multi-sensor perception positioning system meets a preset target switching condition, switching the response positioning system and the multi-sensor perception positioning system.
2. The train positioning method of claim 1, wherein the obtaining of the initial positioning information of the train based on the answering positioning system or the multi-sensor aware positioning system comprises:
based on a preset initial positioning principle, selecting to use the response positioning system or the multi-sensor perception positioning system to obtain initial positioning information of the train;
the preset initial positioning principle is as follows:
if the train firstly completes initial positioning based on the response positioning system, taking the position acquired by the response positioning system as the actual position of the train; if the train completes initial positioning based on the multi-sensor sensing and positioning system, the sensing position acquired by the multi-sensor sensing and positioning system is used as the actual position of the train; if the train completes the response initial positioning and the multi-sensor perception initial positioning at the same time, the position acquired by the multi-sensor perception positioning system is preferentially used as the actual position of the train.
3. The train positioning method according to claim 1, wherein the obtaining initial positioning information of the train based on the multi-sensor perceptual positioning system comprises:
acquiring signboard information based on a sensor, and determining point cloud characteristics and position information of the current environment of the train according to the signboard information;
and comparing the point cloud characteristics and the position information with prestored information in route map data to obtain the current position of the train, and determining the initial positioning information of the train according to the current position of the train.
4. The train positioning method according to claim 1, further comprising:
if a preset target calibration scene occurs, calibrating the positioning information of the train;
the target calibration scene at least comprises accumulated sensing ranging errors which are larger than or equal to a set value in the running process of a train interval, and the accumulated sensing ranging errors are determined based on an initial value of the sensing ranging errors, an accumulated periodic traveling distance and a ranging error rate.
5. The train positioning method according to claim 1, further comprising:
calculating safety information of the train based on the answering positioning system and the multi-sensor perception positioning system;
calculating the unsafe position of the train and the safe position of the train based on the multi-sensor perception positioning system and the perception accumulated distance measurement error;
the unsafe train head position deviates along the train running direction to sense and accumulate the ranging error, and the maximum safe front position of the train is obtained;
the unsafe train head position deviates along the train running reverse direction to sense and accumulate the ranging error, and the minimum safe train front position is obtained;
the non-safety tail position deviates along the running direction of the train to sense and accumulate the ranging error to obtain the maximum safety rear end position of the train;
the tail position of the unsafe train deviates in the opposite direction of the train running to sense and accumulate the ranging error, and the minimum safe rear end position of the train is obtained;
when the non-safety position of the train is invalid, the safety position is set to be invalid; when the safe position of the train head is failed to be calculated, clearing the unsafe position, wherein the safe position and the unsafe position are invalid; when the safe position of the train tail is calculated unsuccessfully, emptying the unsafe position of the train tail, wherein the safe and unsafe positions of the train tail are invalid, and keeping the safe and unsafe positions of the train head.
6. The train positioning method according to claim 1, further comprising:
if the train reaches the turnout, determining the position of the train to be turnout positioning or reverse according to the state of an object controller or a starting end signal machine of a route;
if the train cannot acquire the current state of the turnout, judging that the position is positioned at turnout positioning or reverse position by identifying the state of a starting end signal machine of the access;
and if the train acquires the current state of the turnout, determining that the position is positioned at the turnout location or in the reverse position according to the turnout state.
7. A train positioning device, comprising:
the initial positioning module is used for acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;
and the positioning module is used for determining the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system after initial positioning information is completed, wherein if the response positioning system and the multi-sensor perception positioning system meet preset target switching conditions, the response positioning system and the multi-sensor perception positioning system are switched.
8. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-6.
9. A computer-readable storage medium, having stored thereon a computer program; the computer program is executed by a processor to implement the method of any one of claims 1-6.
10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211366971.9A CN115593469A (en) | 2022-11-01 | 2022-11-01 | Train positioning method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211366971.9A CN115593469A (en) | 2022-11-01 | 2022-11-01 | Train positioning method and device |
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| CN202211366971.9A Pending CN115593469A (en) | 2022-11-01 | 2022-11-01 | Train positioning method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022388A (en) * | 2023-10-08 | 2023-11-10 | 成都交控轨道科技有限公司 | Train positioning method based on vehicle-mounted sensing system and transponder system |
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- 2022-11-01 CN CN202211366971.9A patent/CN115593469A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022388A (en) * | 2023-10-08 | 2023-11-10 | 成都交控轨道科技有限公司 | Train positioning method based on vehicle-mounted sensing system and transponder system |
| CN117022388B (en) * | 2023-10-08 | 2024-01-30 | 成都交控轨道科技有限公司 | Train positioning method based on vehicle-mounted sensing system and transponder system |
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