CN115771543A - Train length determining method, train length determining device and electronic equipment - Google Patents
Train length determining method, train length determining device and electronic equipment Download PDFInfo
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Abstract
The invention provides a train length determining method, a train length determining device and electronic equipment. The method comprises the following steps: acquiring the train head positioning information and the train tail positioning information of a target train; distributed H based on non-feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion; determining a target train head position, a target train tail position, a train head section and a train tail section based on a train head driving track corresponding to a target train, and train head positioning information and train tail positioning information after information fusion; and determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position. The train length determining method, the train length determining device and the electronic equipment provided by the invention can efficiently calculate the train length and improve the train length meterThe accuracy of the calculation.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train length determining method, a train length determining device and electronic equipment.
Background
In order to ensure the driving safety, the real-time monitoring of the integrity of the running train is necessary. At present, the train length identification method mainly comprises the following modes:
1. acquiring a train head coordinate and a train tail coordinate through satellite positioning, and determining an estimated value of the train length based on a coordinate distance, wherein a pseudo range exists in the satellite positioning process and the actual running line state of a train is not considered, so that the error of the estimated value of the train length is large;
2. the method comprises the steps that positioning information of a train head and a train tail is projected onto an electronic map, an estimated value of the train length is determined according to an obtained kilometer post, and the satellite positioning projection can generate the situation of projecting wrong tracks, so that the error of the estimated value of the train length is large;
3. in a Communication Based Train Control System (CBTC), a Train driver manually inputs locomotive parameters and vehicle parameters of a Train, and a Train length can be obtained. Locomotive parameters and vehicle parameters of the train are manually input, so that human error factors are increased, and the integrity of the train is not monitored in real time.
Therefore, errors and large time delay exist in the whole train length identification process.
Disclosure of Invention
The invention provides a train length determining method, a train length determining device and electronic equipment, which are used for solving the problems of large error and long time delay in train length calculation in the prior art.
The invention provides a train length determining method, which comprises the following steps:
acquiring the train head positioning information and the train tail positioning information of a target train;
distributed H based on no feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion;
determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after the information fusion;
and determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
In some embodiments, determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information after information fusion, and the train tail positioning information includes:
determining the position of the target column head and the section where the column head is located based on the column head positioning information after the information fusion and the column head driving track;
and determining the position of the target train tail and the section where the train tail is located based on the train tail positioning information after information fusion and the train head driving track.
In some embodiments, the section start position comprises a start position of a section where the head of the column is located and a start position of a section where the tail of the column is located;
the determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position comprises:
determining the difference between the first distance and the second distance as the train length of the target train when the section where the train head is located and the section where the train tail is located are the same section;
the first distance is the distance between the target column head position and the starting position of the section where the column head is located, and the second distance is the distance between the target column tail position and the starting position of the section where the column tail is located.
In some embodiments, the determining the length of the target train based on the target head of train position, the section where the head of train is located, the target tail of train position, the section where the tail of train is located, and the section start position includes:
determining a third distance between the starting position of the section where the column head is located and the starting position of the section where the column tail is located under the condition that the section where the column head is located and the section where the column tail is located are not the same section;
and determining the difference value of the first distance and the second distance, and determining the sum of the difference value and the third distance as the train length of the target train.
In some embodiments, the first train positioning information and the second train positioning information are both determined by a positioning system combining a beidou satellite navigation system and an inertial navigation system.
The present invention also provides a train length determining apparatus, comprising:
the acquisition module is used for acquiring the train head positioning information and the train tail positioning information of the target train;
an information fusion module for distributed H based on no feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion;
the first determining module is used for determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information after information fusion and the train tail positioning information;
and the second determining module is used for determining the train length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
In some embodiments, the first determining module is further configured to:
determining the position of the target train head and the section where the train head is located based on the train head positioning information and the train head driving track after information fusion;
and determining the position of the target train tail and the section where the train tail is located based on the train tail positioning information after information fusion and the train head driving track.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the train length determination method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a train length determination method as described in any one of the above.
The present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a train length determination method as described in any one of the above.
The train length determining method, the train length determining device and the electronic equipment provided by the invention apply the distributed H without the feedback mode to the train head positioning information and the train tail positioning information ∞ The filter performs information fusion to obtain train positioning information after the information fusion, so that the accuracy of the train positioning information is improved; and calculating the target train head position, the target train tail position, the section where the train head is located and the section where the train tail is located through the train positioning information and the train head running track after information fusion. Based on the position relation between the target train head position and the starting point of the section where the train head is located and the position relation between the target train tail position and the starting point of the section where the train tail is located, the train length of the target train can be determined, so that the train length can be calculated efficiently in real time, and meanwhile, the calculation accuracy of the train length can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for determining train conductor according to the present invention;
FIG. 2 is a diagram H of the train length determination method provided by the present invention ∞ A filter structure schematic diagram;
FIG. 3 is one of schematic diagrams of a train operation scenario of the method for determining train length according to the present invention;
FIG. 4 is a second schematic diagram of a train operation scenario of the method for determining the train length according to the present invention;
fig. 5 is a schematic structural view of a train length determining apparatus provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related art, the train length is determined by the following modes:
the first method is as follows: according to the satellite navigation position coordinates received by the train head and the train tail respectively, the linear distance between the train head and the train tail can be obtained according to a distance formula between two points in a space coordinate system, and the linear distance is used as an estimated value of the train length.
Because the pseudo range exists in the satellite positioning process, errors of the satellite navigation position coordinates can be accumulated without elimination measures, and the estimated value error of the train length is larger. Secondly, the linear distance between the head of the train and the tail of the train is taken as the train length of the train, the actual running line condition of the train is not considered, and when the train is in a slope or a curve road section, the linear distance between the head of the train and the tail of the train is far away from the actual train length. When the train loses the satellite signal in the forest or tunnel, there is no timely compensation measure, causing the positioning information error to be larger.
The second method comprises the following steps: by combining the electronic map, the positioning information of the head and the tail of the train is projected to the electronic map, so that specific kilometers are obtained, and the difference between the corresponding kilometers of the head and the tail of the train can be used as the estimated value of the train length.
Due to errors and interference of the positioning information, the projection in the electronic map has certain errors. Secondly, when a train arrives at a departure line or a train section, because a plurality of track lines with similar distances exist, the situation of wrong track paths in projection can occur by using satellite positioning projection, and the calculated value error of the train length is larger.
The third method comprises the following steps: in the CBTC system, a train driver manually inputs locomotive parameters and vehicle parameters of a train, and the train length can be obtained. There may also be errors caused by human input errors in this scheme, and there is no real-time monitoring of train integrity.
The train length calculation result obtained by the train length identification method has larger error and long time delay.
The train length determining method, the train length determining device, and the electronic device provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings and application scenarios thereof.
The execution main body of the train length determination method provided by the invention can be electronic equipment, a component in the electronic equipment, an integrated circuit or a chip. The electronic device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), and the like, and the present invention is not limited in particular.
The following describes the technical solution of the present invention in detail by taking an example in which a computer executes the method for determining the train length provided by the present invention.
Fig. 1 is a schematic flow chart of a train length determination method provided by the present invention. Referring to fig. 1, the method for determining the length of a train provided by the present invention includes: step 110, step 120, step 130 and step 140.
in actual implementation, the target train is a train requiring a train length calculation.
In step 110, during the operation of the target train, the on-board host may obtain the first train location information and the last train location information.
The column head positioning information may include, but is not limited to, longitude and latitude coordinate information corresponding to the column head, and the column tail positioning information may include, but is not limited to, longitude and latitude coordinate information corresponding to the column tail.
In some embodiments, the first-column positioning information and the last-column positioning information are both determined by a positioning system combining a Beidou satellite navigation system and an inertial navigation system.
The Beidou Satellite Navigation System (BDS) has two-way communication capability, adopts a mixed constellation networking mode, can provide high-precision, high-reliability positioning, navigation and time service for various users all day long in all weather in the global range, has short message communication capability, and initially has regional Navigation, positioning and time service capabilities. The train positioning technology based on Beidou navigation is required by the development of the current train operation control system, and is a new generation of train positioning technology which is going to be developed.
An Inertial Navigation System (INS) works according to the newton's second law, and the relative acceleration of a carrier is obtained by measuring an accelerometer and compensating for a certain degree, and the instantaneous velocity of the carrier is obtained by integrating the acceleration once, and the real-time position of the carrier is obtained by integrating the acceleration once again. The inertial navigation system has the advantages of being independent of external information, completely independently and independently providing various navigation parameters (position, speed and posture) with higher precision, and has the characteristics of electron radiation interference resistance, all weather, good concealment and the like. When the Beidou satellite signal is lost, train positioning information can be compensated in real time, and effectiveness of the train positioning information is guaranteed.
The positioning system based on combination of the Beidou satellite navigation system and the inertial navigation system with high precision and short delay has the capability of being applied to train positioning, and the real-time calculation of the train length based on the BDS/INS combined positioning is used as an important evidence for judging the integrity of the train so as to ensure the high efficiency and the accuracy of integrity monitoring in the running process of the train.
In actual implementation, a BDS/INS receiving device can be arranged on the target train.
The vehicle-mounted host can acquire the first column positioning information and the tail column positioning information in real time through the BDS/INS receiving device.
When the target train runs in a city, a forest or a tunnel, the INS positioning information can compensate loss of the BDS positioning information in real time, and effectiveness of the first train positioning information and the tail train positioning information is guaranteed.
In step 120, the on-board host computer is based on H ∞ Distributed H without feedback mode for filter algorithm design ∞ And the filter performs information fusion on the obtained first column positioning information and the obtained second column positioning information to obtain the first column positioning information and the second column positioning information after the information fusion.
For a train combination positioning system, the reliability of train positioning information is more important than the accuracy. Therefore, the fault-tolerant performance of the system is improved as much as possible under the condition of ensuring certain precision.
The filter without the feedback mode has the capacity of multi-stage fault detection and fault isolation, the estimation precision can also reach the optimum, the calculated amount can be reduced, the fault tolerance capacity can be enhanced, and the system fault detection is facilitated.
In the embodiment of the invention, the structure of the filter adopts a distributed structure without a feedback mode, so that the precision of the positioning information can be improved, and the real-time performance of the positioning information can be improved.
Based on distributed H ∞ The train combination positioning system fusion structure of the filtering algorithm adopts a distributed H without a feedback mode for improving the operation speed and ensuring the fault-tolerant performance of a filter ∞ Filter design BDS/INS Combined positioning System, H ∞ The filter structure is shown in fig. 2.
Referring to fig. 2, z is an output value of the BDS, P is a local estimation error covariance matrix,
for global optimal state estimation, P g The error covariance matrix is estimated globally.
Information fusion is an information processing procedure developed for the specific problem of a system using multiple sensors. In the process, the sensor information is processed, coordinated, optimized and synthesized, so that the effectiveness of the whole system is improved. However, due to reasons such as model simplification and essential inaccuracy of the physical model, uncertainty often exists in the train combined positioning system after modeling, and therefore stability of the train combined positioning system is affected. Combined positioning is in fact a complex uncertain information processing procedure. Aiming at the conditions that noise is a bounded energy signal and uncertainty exists in system parameters in a train combined positioning system, a random statistical model is adopted to describe the system, and H is applied ∞ The distributed multi-sensor H is obtained by the filter correlation theory and method ∞ And a filter is fused to further improve the robustness of the train combined positioning system and improve the reliability and precision of train positioning information.
And step 130, determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head running track corresponding to the target train, the train head positioning information after information fusion and the train tail positioning information.
In step 130, based on the column head positioning information, the column tail positioning information, and the column head driving track after information fusion, an electronic map and a projection algorithm are combined to project the column head driving track on the electronic map, so as to obtain a current position of the train, where the current position of the train includes a target column head position and a target column tail position, and further a section where the column head is located and a section where the column tail is located can be determined.
It is understood that the section where the column head is located may be a track section where the target column head position is located, and the section where the column tail is located may be a track section where the target column tail position is located.
And step 140, determining the train length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
In step 140, the position relationship between the target train head position and the section where the train head is located and the position relationship between the target train tail position and the section where the train tail is located are determined, so that the train length can be determined.
The train conductor determining method provided by the invention uses the distributed H without a feedback mode by using the train head positioning information and the train tail positioning information ∞ The filter performs information fusion to obtain train positioning information after the information fusion, so that the accuracy of the train positioning information is improved; the train length of the target train can be determined based on the position relation between the head position of the target train and the starting point of the section where the train head is located and the position relation between the tail position of the target train and the starting point of the section where the train head is located, and the position relation between the tail position of the target train and the starting point of the section where the train tail is located, so that the train length can be calculated efficiently in real time, and meanwhile, the calculation accuracy of the train length can be improved.
In some embodiments, determining a target train head position, a target train tail position, a train head section and a train tail section based on a train head driving track corresponding to the target train, and the train head positioning information and the train tail positioning information after information fusion includes:
determining the position of a target column head and a section where the column head is located based on the column head positioning information and the column head driving track after information fusion;
and determining the position of the tail of the target train and the section of the tail of the train based on the positioning information of the tail of the train and the driving track of the head of the train.
The vehicle-mounted host can record the corresponding running track of the train head in the electronic map, project the train head positioning information after information fusion to the train head running track to obtain the position of the target train head, and further can determine the section where the train head is located.
The vehicle-mounted host can project the train tail positioning information after information fusion to the train head running track to obtain more unique and accurate train tail position information, namely the target train tail position, and further can determine the section where the train tail is located, so that a single track can be provided for the train tail equipment to project to an electronic map in the running scene of a multi-track complex station, the train tail positioning operation efficiency is improved, and the uniqueness of the target train tail position is ensured.
According to the train length determining method provided by the invention, the only and accurate target train tail position can be obtained through the train tail positioning information and the train head running track after information fusion, and the train tail positioning operation efficiency is improved. And the section where the train head is located and the section where the train tail is located can be determined, so that the section where the target train actually runs is obtained, and the train length calculation can be conveniently carried out subsequently.
In some embodiments, the start position of the section comprises the start position of the section where the head of the column is located and the start position of the section where the tail of the column is located;
determining the train length of the target train based on the target train head position, the section where the train head is located, the target train tail position and the section where the train tail is located, wherein the method comprises the following steps:
determining the difference between the first distance and the second distance as the length of the target train under the condition that the section where the train head is located and the section where the train tail is located are the same section;
the first distance is the distance between the target column head position and the initial position of the section where the column head is located, and the second distance is the distance between the target column tail position and the initial position of the section where the column tail is located.
In actual execution, the vehicle-mounted host machine can judge whether the section where the train head is located and the section where the train tail is located are the same section or not according to the target train head position and the target train tail position, namely, whether the train head and the train tail of the target train are located in the same section or not is judged.
When the train head and the train tail of the target train are in the same section, namely the section where the train head is located and the section where the train tail is located are determined to be the same section, a first distance L1 between the position of the target train head and the starting position of the section where the train head is located and a second distance L2 between the position of the target train tail and the starting position of the section where the train tail is located are calculated respectively.
As shown in fig. 3, when it is determined that the section where the head of the train is located and the section where the tail of the train is located are the same section, the length of the target train is the difference between the first distance L1 and the second distance L2, that is, the length = L1-L2.
In some embodiments, determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, and the section where the train tail is located includes:
determining a third distance between the starting position of the section where the column head is located and the starting position of the section where the column tail is located under the condition that the section where the column head is located and the section where the column tail is located are not the same section;
and determining the difference value of the first distance and the second distance, and determining the sum of the difference value and the third distance as the train length of the target train.
In actual implementation, the on-board host can determine whether the section where the train head is located and the section where the train tail is located are the same section according to the target train head position and the target train tail position, that is, determine whether the train head and the train tail of the target train are located in the same section.
When the train head and the train tail of the target train are not in the same section, namely the section where the train head is located and the section where the train tail is located are determined to be not in the same section, a first distance L1 between the target train head position and the starting position of the section where the train head is located and a second distance L2 between the target train tail position and the starting position of the section where the train tail is located are respectively calculated, and a third distance L3 between the starting position of the section where the train head is located and the starting position of the section where the train tail is located is also calculated.
As shown in fig. 4, the length of the target train is calculated by calculating a difference between the first distance L1 and the second distance L2, and then calculating a sum of the difference and the third distance L3, that is, the length = L1-L2+ L3.
The train length determining method provided by the invention can be used for obtaining the section where the train head is located and the section where the train tail is located by calculating, judging whether the section where the train head is located and the section where the train tail is located are the same section or not, further obtaining the distance difference between the target train head position and the starting position of the section where the train head is located and the distance difference between the target train tail position and the starting position of the section where the train tail is located, wherein the distance between different sections is a known constant, and the train length can be quickly calculated by combining the constant.
The embodiment of the present invention further provides a train length calculating system, including: train combined positioning system and vehicle-mounted host computer.
The train combined positioning system comprises a BDS/INS position information receiving device and a distributed H without a feedback mode ∞ And (4) a filter.
The BDS/INS position information receiving device is used for acquiring the train head positioning information and the train tail positioning information of the target train;
distributed H without feedback mode ∞ Filter for H-based ∞ And the filtering algorithm is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion.
The vehicle-mounted host is used for determining a target train head position and a target train tail position through projection on the train head driving track based on the train head driving track corresponding to the target train, the train head positioning information after information fusion and the train tail positioning information, and further determining a section where the train head is located and a section where the train tail is located.
The vehicle-mounted host is further used for determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
The following describes the train length determination device provided by the present invention, and the train length determination device described below and the train length determination method described above may be referred to in correspondence with each other.
Fig. 5 is a schematic structural view of the train length determination device provided by the present invention. Referring to fig. 5, the train length determination apparatus provided by the present invention includes: an acquisition module 510, an information fusion module 520, a first determination module 530, and a second determination module 540.
An obtaining module 510, configured to obtain train head positioning information and train tail positioning information of a target train;
a first determining module 530, configured to determine a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after information fusion;
a second determining module 540, configured to determine the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located, and the section starting position.
The train conductor determining device provided by the invention uses the distributed H without a feedback mode by using the train head positioning information and the train tail positioning information ∞ The filter performs information fusion to obtain train positioning information after the information fusion, so that the accuracy of the train positioning information is improved; and calculating to obtain a target train head position, a target train tail position, a train head section and a train tail section according to the train positioning information and the train head running track after information fusion. Based on the position relation between the target train head position and the starting point of the section where the train head is located and the position relation between the target train tail position and the starting point of the section where the train tail is located, the train length of the target train can be determined, so that the train length can be calculated efficiently in real time, and meanwhile, the calculation accuracy of the train length can be improved.
In some embodiments, the first determining module 530 is further configured to:
determining the position of the target column head and the section where the column head is located based on the column head positioning information after the information fusion and the column head driving track;
and determining the position of the target train tail and the section where the train tail is located based on the train tail positioning information after information fusion and the train head driving track.
In some embodiments, the section start position comprises a start position of a section where the head of the column is located and a start position of a section where the tail of the column is located;
the second determining module 540 is further configured to:
determining the difference between the first distance and the second distance as the train length of the target train when the section where the train head is located and the section where the train tail is located are the same section;
the first distance is the distance between the target column head position and the starting position of the section where the column head is located, and the second distance is the distance between the target column tail position and the starting position of the section where the column tail is located.
In some embodiments, the second determining module 540 is further configured to:
determining a third distance between the starting position of the section where the column head is located and the starting position of the section where the column tail is located when the section where the column head is located and the section where the column tail is located are not the same section;
and determining the difference value of the first distance and the second distance, and determining the sum of the difference value and the third distance as the train length of the target train.
In some embodiments, the first column positioning information and the last column positioning information are both determined by a positioning system combining a beidou satellite navigation system and an inertial navigation system.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 610, a communication Interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a train conductor determination method comprising:
acquiring the train head positioning information and the train tail positioning information of a target train;
distributed H based on no feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion;
determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after the information fusion;
and determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, the computer program product including a computer program, the computer program being stored on a non-transitory computer readable storage medium, wherein when the computer program is executed by a processor, a computer is capable of executing the train length determination method provided by the above methods, the method including:
acquiring the train head positioning information and the train tail positioning information of a target train;
distributed H based on no feedback mode ∞ A filter for locating information to the column headerCarrying out information fusion with the column tail positioning information to obtain column head positioning information and column tail positioning information after information fusion;
determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after the information fusion;
and determining the train length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements a train length determination method provided by the above methods, the method including:
acquiring the train head positioning information and the train tail positioning information of a target train;
distributed H based on non-feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain column head positioning information and column tail positioning information after information fusion;
determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after the information fusion;
and determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
The above-described embodiments of the apparatus are only illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A train length determination method is characterized by comprising the following steps:
acquiring the train head positioning information and the train tail positioning information of a target train;
distributed H based on non-feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion;
determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after the information fusion;
and determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
2. The method for determining the length of train according to claim 1, wherein the determining a target train head position, a target train tail position, a section where the train head is located, and a section where the train tail is located based on the train head running track corresponding to the target train, the information-fused train head positioning information, and the train tail positioning information includes:
determining the position of the target column head and the section where the column head is located based on the column head positioning information after the information fusion and the column head driving track;
and determining the position of the target train tail and the section where the train tail is located based on the train tail positioning information after information fusion and the train head driving track.
3. The train length determination method according to claim 2, wherein the section start position includes a start position of a section where the train head is located and a start position of a section where the train tail is located;
the determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position comprises:
determining the difference between the first distance and the second distance as the train length of the target train when the section where the train head is located and the section where the train tail is located are the same section;
the first distance is a distance between the target column head position and the starting position of the section where the column head is located, and the second distance is a distance between the target column tail position and the starting position of the section where the column tail is located.
4. The train length determination method according to claim 3, wherein the determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located, and the section start position comprises:
determining a third distance between the starting position of the section where the column head is located and the starting position of the section where the column tail is located under the condition that the section where the column head is located and the section where the column tail is located are not the same section;
and determining a difference value between the first distance and the second distance, and determining the sum of the difference value and the third distance as the train length of the target train.
5. The train conductor determining method according to any one of claims 1 to 4, wherein the train head positioning information and the train tail positioning information are both determined by a positioning system combining a Beidou satellite navigation system and an inertial navigation system.
6. A train length determining apparatus, comprising:
the acquisition module is used for acquiring the train head positioning information and the train tail positioning information of the target train;
an information fusion module for distributed H based on no feedback mode ∞ The filter is used for carrying out information fusion on the column head positioning information and the column tail positioning information to obtain the column head positioning information and the column tail positioning information after the information fusion;
the first determining module is used for determining a target train head position, a target train tail position, a train head section and a train tail section based on the train head driving track corresponding to the target train, the train head positioning information and the train tail positioning information after information fusion;
and the second determination module is used for determining the length of the target train based on the target train head position, the section where the train head is located, the target train tail position, the section where the train tail is located and the section starting position.
7. The train length determining apparatus according to claim 6, wherein the first determining module is further configured to:
determining the position of the target train head and the section where the train head is located based on the train head positioning information and the train head driving track after information fusion;
and determining the position of the target train tail and the section where the train tail is located based on the train tail positioning information after information fusion and the train head driving track.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements the train length determination method according to any one of claims 1 to 5.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the train length determination method according to any one of claims 1 to 5.
10. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the train length determination method according to any one of claims 1 to 5.
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|---|---|---|---|
| CN202211485995.6A CN115771543A (en) | 2022-11-24 | 2022-11-24 | Train length determining method, train length determining device and electronic equipment |
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| CN202211485995.6A CN115771543A (en) | 2022-11-24 | 2022-11-24 | Train length determining method, train length determining device and electronic equipment |
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| CN202211485995.6A Pending CN115771543A (en) | 2022-11-24 | 2022-11-24 | Train length determining method, train length determining device and electronic equipment |
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