CN118004245A - Train positioning method and device, storage medium and electronic equipment - Google Patents

Abstract

The application discloses a train positioning method, a train positioning device, a storage medium and electronic equipment, and relates to the technical field of railways. The method comprises the following steps: acquiring a first state of a train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train; initializing the position information of a speed and distance measuring unit (SDLU) of the train according to the first state, wherein the SDLU position information is used for indicating the position of the train in an electronic map, which is determined according to the running distance of the train; and updating SDLU position information of the train according to the running information of the train. The train positioning method can meet the requirement of train positioning of trains in different scenes. The problem that the train cannot be accurately positioned under the condition of poor satellite signals in the prior art is avoided by positioning the train only through the satellite function of the train. The accuracy of train positioning is improved.

Description

Train positioning method and device, storage medium and electronic equipment

Technical Field

The present application relates to the field of railway technologies, and in particular, to a train positioning method, a device, a storage medium, and an electronic apparatus.

Background

With the mature application of the Beidou satellite navigation technology, 5G communication and other emerging technologies, the train positioning function of the train control vehicle-mounted system, the triggering of the virtual transponder and the calculation function of the most limited speed curve are important bases for improving the comprehensive transportation capability and the transportation benefit of railways, and are also key for ensuring the transportation safety and improving the service quality, wherein the train positioning function of the train control vehicle-mounted system is particularly important, and the accurate acquisition of the train position information is the guarantee of the safe operation of the train.

At present, the positioning mode of the train is to determine the position (i.e. the Kalman position) of the train in an electronic map through Kalman filtering, trigger a virtual transponder in the electronic map according to the Kalman position of the train, wherein the virtual transponder comprises line data information, text information, ground calling information, grade conversion information and the like required by the operation of the train in a backup mode, and the information in the virtual transponder can enable the train to efficiently operate according to the information in the backup mode. However, in practical application, satellite signals in some road sections are poor, so that the calculation error of the Kalman position of the train is large, the Kalman position of the train is inaccurate or invalid, the time when the train triggers the virtual transponder is inaccurate or the virtual transponder of the train cannot be triggered, and further the time when the train acquires the information in the virtual transponder is inaccurate or the information in the virtual transponder cannot be acquired, so that the train cannot operate efficiently according to the information in the virtual transponder.

Disclosure of Invention

In view of the above, the present application provides a train positioning method, a train positioning device, a storage medium and an electronic device.

In order to solve the technical problems, the application provides the following scheme:

In a first aspect, the present application provides a train positioning method, the method comprising: acquiring a first state of a train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train; initializing the position information of a speed and distance measuring Unit (SPEED DISTANCE positioning Unit, SDLU) of the train according to the first state, wherein SDLU position information is used for indicating the position information of the train in an electronic map, which is determined according to the running distance of the train; and updating SDLU position information of the train according to the running information of the train.

With reference to the first aspect, in one possible implementation manner, SDLU the location information includes a SDLU location where the train is located, a station number, a track number, and a location error; initializing SDLU position information of the train according to a first state, including: when the satellite function state is valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the Kalman positions of the train, wherein the Kalman positions are used for indicating the positions of the train in an electronic map, which are determined through Kalman filtering; when the satellite function is invalid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the first transponder positions, wherein the first transponder positions are used for indicating the positions of a first group of entity transponders which the train passes through after starting from a starting point; when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the transponder group information stored in the train.

With reference to the first aspect, in another possible implementation manner, the SDLU location information further includes a SDLU direction of the train; initializing SDLU position information of the train according to the first state, further comprising: acquiring the hook type direction of a train and the hook type selected by a driver of the train; the direction SDLU is initialized according to the hook type direction, the hook type and the running direction of the train.

With reference to the first aspect, in another possible implementation manner, updating SDLU position information of the train according to operation information of the train includes: when the train is in a running state and the train does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of a first cycle of the train, wherein the first cycle is used for indicating an updating cycle prior to the current cycle; when the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

With reference to the first aspect, in another possible implementation manner, updating SDLU position information of the train according to operation information of the train further includes: when the train is in an operation state and passes through the turnout, determining the state of the turnout; when the state of the turnout is positioning, updating SDLU positions to the positioning positions of the turnout, and updating track numbers to track numbers pointed by the turnout positioning; when the state of the turnout is a reversed position, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout; when the state of the switch is unknown, SDLU position information is set to invalid.

With reference to the first aspect, in another possible implementation manner, updating SDLU position information of the train according to operation information of the train further includes: when the satellite function state is valid and the train passes through a group of virtual transponders triggered by the Kalman position, updating SDLU positions according to the Kalman position triggering the virtual transponders, and updating the position errors into estimation errors of the Kalman position triggering the virtual transponders; when the satellite function status is inactive and the train passes through a set of virtual transponders triggered by SDLU positions, SDLU positions and position errors are not updated.

With reference to the first aspect, in another possible implementation manner, updating SDLU position information of the train according to operation information of the train further includes: when the train enters a single track and the train moves backward, the SDLU direction is updated to be the opposite direction of the original running direction of the train; when the train runs through the station boundary, the station number and the track number in SDLU position information are updated to be the station number and the track number of the next station indicated by the station boundary; the SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train.

In a second aspect, the present application provides a train positioning device comprising:

the state module is used for acquiring a first state of the train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train;

the initialization module is used for initializing SDLU position information of the train according to the first state, and SDLU position information is used for indicating the position of the train in the electronic map, which is determined according to the running distance of the train;

And the updating module is used for updating SDLU position information of the train according to the running information of the train.

With reference to the second aspect, in one possible implementation manner, SDLU the location information includes a SDLU location where the train is located, a station number, a track number, and a location error; the initialization module is specifically used for: when the satellite function state is valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the Kalman positions of the train, wherein the Kalman positions are used for indicating the positions of the train in an electronic map, which are determined through Kalman filtering; when the satellite function is invalid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the first transponder positions, wherein the first transponder positions are used for indicating the positions of a first group of entity transponders which the train passes through after starting from a starting point; when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the transponder group information stored in the train.

With reference to the second aspect, in another possible implementation manner, the SDLU location information further includes a SDLU direction of the train; the initialization module is specifically used for: acquiring the hook type direction of a train and the hook type selected by a driver of the train; the direction SDLU is initialized according to the hook type direction, the hook type and the running direction of the train.

With reference to the second aspect, in another possible implementation manner, the updating module is specifically configured to: when the train is in a running state and the train does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of a first cycle of the train, wherein the first cycle is used for indicating an updating cycle prior to the current cycle; when the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

With reference to the second aspect, in another possible implementation manner, the updating module is specifically configured to: when the train is in an operation state and passes through the turnout, determining the state of the turnout; when the state of the turnout is positioning, updating SDLU positions to the positioning positions of the turnout, and updating track numbers to track numbers pointed by the turnout positioning; when the state of the turnout is a reversed position, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout; when the state of the switch is unknown, SDLU position information is set to invalid.

With reference to the second aspect, in another possible implementation manner, the updating module is specifically configured to: when the satellite function state is valid and the train passes through a group of virtual transponders triggered by the Kalman position, updating SDLU positions according to the Kalman position triggering the virtual transponders, and updating the position errors into estimation errors of the Kalman position triggering the virtual transponders; when the satellite function status is inactive and the train passes through a set of virtual transponders triggered by SDLU positions, SDLU positions and position errors are not updated.

With reference to the second aspect, in another possible implementation manner, the updating module is specifically configured to: when the train enters a single track and the train moves backward, the SDLU direction is updated to be the opposite direction of the original running direction of the train; when the train runs through the station boundary, the station number and the track number in SDLU position information are updated to be the station number and the track number of the next station indicated by the station boundary; the SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train.

In order to achieve the above object, according to a third aspect of the present application, there is provided a storage medium including a stored program, wherein the device in which the storage medium is controlled to execute the train positioning method of the first aspect when the program runs.

To achieve the above object, according to a fourth aspect of the present application, there is provided an electronic device including at least one processor, and at least one memory, bus connected to the processor; the processor and the memory complete communication with each other through a bus; the processor is configured to invoke the program instructions in the memory to perform the train positioning method of the first aspect described above.

By means of the technical scheme, the technical scheme provided by the application has at least the following advantages:

The train positioning method, the device, the storage medium and the electronic equipment provided by the application can meet the requirement of train positioning of trains in different scenes. For example, a scene in which the satellite function state of the train is valid, a scene in which the satellite function state of the train is invalid, a scene in which the satellite function state of the train is switched from invalid to valid, a scene in which the state of the electronic map of the train is switched from invalid to valid, and the like. The problem that the train cannot be accurately positioned under the condition of poor satellite signals in the prior art is avoided by positioning the train only through the satellite function of the train. The accuracy of train positioning is improved.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

Fig. 1 shows a schematic structural diagram of a vehicle-mounted device according to an embodiment of the present application;

Fig. 2 shows a schematic flow chart of a train positioning method according to an embodiment of the present application;

fig. 3 is a schematic diagram of a specific flow of a train positioning method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a hook-type orientation versus hook-type relationship provided by an embodiment of the present application;

Fig. 5 shows a schematic structural diagram of a train positioning device according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

In the embodiment of the application, the words of the terms of the first word, the second word and the like do not have a logical or time sequence dependency relationship, and the number and the execution sequence are not limited. It will be further understood that, although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another element.

The meaning of the term "at least one" in embodiments of the present application means one or more, and the meaning of the term "plurality" in embodiments of the present application means two or more.

It should also be understood that the term "if" may be interpreted as "when … …" ("when" or "upon") or "in response to a determination" or "in response to detection". Similarly, the phrase "if a [ stated condition or event ] is detected" may be interpreted as "when a [ stated condition or event ] is determined" or "in response to a determination" or "when a [ stated condition or event ] is detected" or "in response to a detection of a [ stated condition or event ] depending on the context.

To facilitate an understanding of the aspects of the present application, a brief description of the relevant concepts is first presented below.

A transponder: a point device for transmitting information to a train on a ground is divided into a passive (fixed) transponder and an active (variable) transponder for providing reliable ground-based fixed information and variable information.

The foregoing is a description of technical terms related to the embodiments of the present application, and is not repeated herein.

As described in the background art, at present, the positioning mode of the train is to determine the position of the train in the electronic map (i.e. the kalman position) through kalman filtering, and trigger the virtual transponder in the electronic map according to the kalman position of the train, where the virtual transponder includes the line data information, the text information, the ground call information, the level conversion information and the like required by the operation of the train in the backup mode, and these information in the virtual transponder can make the train operate efficiently according to these information in the backup mode. However, in practical application, satellite signals in some road sections are poor, so that the calculation error of the Kalman position of the train is large, the Kalman position of the train is inaccurate or invalid, the time when the train triggers the virtual transponder is inaccurate or the virtual transponder of the train cannot be triggered, and further the time when the train acquires the information in the virtual transponder is inaccurate or the information in the virtual transponder cannot be acquired, so that the train cannot operate efficiently according to the information in the virtual transponder.

In view of this, the embodiment of the application provides a train positioning method, which specifically includes: acquiring a first state of a train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train; initializing SDLU position information of the train according to the first state, wherein the SDLU position information is used for indicating the position information of the train in the electronic map, which is determined according to the running distance of the train; and updating SDLU position information of the train according to the running information of the train.

The train positioning method can meet the requirement of train positioning of trains in different scenes. For example, a scene in which the satellite function state of the train is valid, a scene in which the satellite function state of the train is invalid, a scene in which the satellite function state of the train is switched from invalid to valid, a scene in which the state of the electronic map of the train is switched from invalid to valid, and the like. The problem that the train cannot be accurately positioned under the condition of poor satellite signals in the prior art is avoided by positioning the train only through the satellite function of the train.

The embodiment of the application also provides a train positioning device which can be used for executing the train positioning method. Alternatively, the train positioning device may be an on-board device with data processing capability, or a functional module in the on-board device, which is not limited thereto.

For example, the in-vehicle apparatus may be a server, which may be a single server, or may be a server cluster composed of a plurality of servers. As another example, the in-vehicle device may be a terminal device such as a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an Ultra-mobile Personal Computer (UMPC), a netbook, a cellular phone, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), an augmented Reality (Augmented Reality, AR), a Virtual Reality (VR) device, or the like. For another example, the vehicle-mounted device may be a video device, a video monitoring device, or the like. The present application is not particularly limited to the specific form of the in-vehicle apparatus.

Taking a train positioning device as an on-board device as an example, as shown in fig. 1, fig. 1 shows a hardware structure of an on-board device 100 according to the present application.

As shown in fig. 1, the in-vehicle apparatus 100 includes a processor 110, a communication line 120, and a communication interface 130.

Optionally, the vehicle-mounted device 100 may further include a memory 140. The processor 110, the memory 140, and the communication interface 130 may be connected by a communication line 120.

The processor 110 may be a central Processing unit (Central Processing Unit, CPU), a general purpose processor network processor (Network Processor, NP), a digital signal processor (DIGITAL SIGNAL Processing, DSP), a microprocessor, a microcontroller, a programmable logic device (Programmable Logic Device, PLD), or any combination thereof. The processor 110 may also be any other apparatus having a processing function, such as a circuit, a device, or a software module, without limitation.

In one example, processor 110 may include one or more CPUs, such as CPU0 and CPU1 in fig. 1.

As an alternative implementation, the in-vehicle device 100 includes a plurality of processors, for example, the processor 170 may be included in addition to the processor 110. A communication line 120 for transmitting information between the respective components included in the in-vehicle apparatus 100.

A communication interface 130 for communicating with other devices or other communication networks. The other communication network may be an ethernet, a radio access network (Radio Access Network, RAN), a wireless local area network (Wireless Local Area Networks, WLAN), etc. The communication interface 130 may be a module, a circuit, a transceiver, or any device capable of enabling communication.

Memory 140 for storing instructions. Wherein the instructions may be computer programs.

The Memory 140 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device capable of storing static information and/or instructions, an access Memory (Random Access Memory, RAM) or other type of dynamic storage device capable of storing information and/or instructions, an electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM), a compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc storage, an optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disc storage medium or other magnetic storage device, etc.

It should be noted that the memory 140 may exist separately from the processor 110 or may be integrated with the processor 110. Memory 140 may be used to store instructions or program code or some data or the like. The memory 140 may be located inside the in-vehicle apparatus 100 or outside the in-vehicle apparatus 100, without limitation.

The processor 110 is configured to execute instructions stored in the memory 140 to implement a communication method according to the following embodiments of the present application. For example, when the in-vehicle apparatus 100 is a terminal or a chip in the terminal, the processor 110 may execute instructions stored in the memory 140 to implement steps performed by the transmitting end in the following embodiments of the present application.

As an alternative implementation, the in-vehicle apparatus 100 further includes an output device 150 and an input device 160. The output device 150 may be a device capable of outputting data of the in-vehicle apparatus 100 to a user, such as a display screen, a speaker, or the like. The input device 160 is a device that can input data to the in-vehicle apparatus 100, such as a keyboard, a mouse, a microphone, or a joystick.

It is to be noted that the structure shown in fig. 1 does not constitute a limitation of the in-vehicle apparatus, and the in-vehicle apparatus may include more or less components than those shown in fig. 1, or may combine some components, or may be arranged in different components.

The train positioning device and the application scenario described in the embodiments of the present application are for more clearly describing the technical solution provided in the embodiments of the present application, and do not constitute a limitation to the technical solution provided in the embodiments of the present application, and as a person of ordinary skill in the art can know, with the evolution of the train positioning device and the appearance of a new service scenario, the technical solution provided in the embodiments of the present application is also applicable to similar technical problems.

Next, a train positioning method will be described in detail with reference to the drawings. Fig. 2 is a schematic flow chart of a train positioning method provided by the application. Fig. 3 is a schematic flow chart of a train positioning method provided by the application. The method is applied to the train positioning device with the hardware structure shown in fig. 1, and specifically comprises the following steps:

step 210, acquiring a first state of the train.

In practical application, after a train is parked in a station and started up and registered, a first state of the train needs to be acquired as a basis for subsequent positioning, and the first state can include, but is not limited to, a state of a satellite function and a state of an electronic map of the train.

When the satellite function state and the electronic map state of the train are both effective, the vehicle-mounted device determines the position (Kalman position) of the train in the electronic map according to satellite navigation information, speed sensor information, differential information and the like, and then triggers the virtual transponder through the Kalman position of the train, wherein the virtual transponder comprises line data information, text information, ground calling information, grade conversion information and the like required by the running of the train in a backup mode, so that the train runs according to the information contained in the virtual transponder, and the running efficiency of the train can be improved.

When the satellite function state of the train is invalid or the electronic map state is invalid, the vehicle-mounted equipment calculates the accumulated running distance of the train based on the speed and the acceleration information of the train, and then the initial position of the train is combined to realize the positioning of the train.

The first state of the train is acquired, the state of the train can be acquired from multiple angles, the problem that the accuracy of the positioning result is low due to inaccurate initial position of the train is avoided, and the accuracy of the positioning result of the train is improved.

And 220, initializing SDLU position information of the train according to the first state.

After the vehicle-mounted device acquires the first state of the train, the SDLU position information of the train is initialized according to the first state. SDLU location information is used to indicate the location information of the train in the electronic map, as determined by the distance traveled by the train. SDLU the position information includes the SDLU position, station number, track number, position error, and SDLU direction of the train where the train is located.

In one embodiment, when the satellite function status of the train is valid, the SDLU position, station number, track number, and position error of the train are initialized according to the kalman position of the train. In the embodiment of the application, the Kalman position of the train comprises information such as station numbers, track numbers, the position of the train in the electronic map, position errors and the like. The SDLU position, the station number, the track number and the position error included in the SDLU position information are set as the position, the station number, the track number and the position error included in the kalman position of the train, and therefore the SDLU position information of the train is initialized.

In another embodiment, when the satellite function is invalid, the position SDLU, the station number, the track number and the position error of the train are initialized according to the position of the first transponder. The first transponder location is used for indicating the location of a first group of physical transponders passing after the train starts from the starting point, and the first transponder location comprises the location of the first group of physical transponders, a station number, a track number, an installation error and the like. The SDLU position, the station number, the track number and the position error included in the SDLU position information are set as the position, the station number, the track number and the installation error included in the first transponder position, so that the SDLU position information of the train is initialized.

In another embodiment, when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid, it is indicated that the satellite function at that time of the train is invalid, and the kalman position of the train cannot be determined from the satellite navigation information. Since SDLU positions are the positions of the trains in the electronic map determined according to the distance traveled by the trains. At this time, the state of the electronic map is switched from invalid to valid, and then the SDLU position determined according to the invalid electronic map is also inaccurate. In this case, therefore, the SDLU position, station number, track number, and position error where the train is located are initialized based on the transponder group information stored in the train. In an embodiment of the application, the transponder group information includes LRBG information and D-LRBG information, wherein LRBG information is used to indicate information of transponders in the transponder group and D-LRBG information is used to indicate that the train is based on transponder offset information in the transponder group.

In addition, as the local railway vehicle type has specificity, when different hook types are selected according to the association relation between the hook type orientation and the hook type, different running directions of the current train are determined. And on the actual running train, the installation positions of the global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) antenna and the transponder transmission module (Balise Transmission Module, BTM) antenna are fixed, and the distances from the long head and the short head are different. The GNSS antenna is used for receiving satellite information sent by the GNSS signal transmitting device. The BTM antenna is used to receive the 3.9MHZ/4.5MHZ signal returned by the surface entity transponder when passing over the transponder and to transmit the signal to the transmitter via the antenna cable. Therefore, when different hook types are selected, the moment for triggering the physical transponder and the virtual transponder according to the train position is also different, and for the reason, the SDLU direction in the SDLU position information needs to be initialized.

In one embodiment, a hook-type orientation of the train and a hook-type selected by a driver of the train are obtained; the allowable running direction of the train is determined according to the hook type direction and the hook type.

Fig. 4 provides a schematic illustration of a hook-type orientation in relation to a hook-type. As shown in fig. 4, when the hook type of the train is the long head and moves forward, and the train is started up and registered, the train driver selects the hook type as the long head, and the allowable moving direction of the train is the downward. On the contrary, when the train is started up and registered, the train driver selects the hook type as the short head, and the allowed running direction of the train is upward. When the hook type of the train is the long head to move forward and go upward, and the train is started and registered, the train driver selects the hook type as the long head, so that the allowed running direction of the train is upward. On the contrary, when the train is started up and registered, the train driver selects the hook type as the short head, and then the allowable running direction of the train is descending.

Further, after the allowable running direction of the train is determined according to the hook type direction and the hook type, the SDLU direction is initialized according to the actual running direction of the train.

And 230, updating SDLU position information of the train according to the running information of the train.

In the following, a specific implementation manner of updating SDLU position information of a train according to operation information of the train will be explained by taking a satellite function state as an effective example when the train is initialized.

When the train starts from the station and is in a running state and the train does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of a first period of the train, and the first period is used for indicating an updating period prior to the current period.

For example, the vehicle-mounted device acquires SDLU position information (i.e. SDLU position information of the first period) stored before the current update SDLU of the position information of the train and a difference value between a current travel distance of the train and SDLU position information of the first period, determines a current position of the train according to the SDLU position information of the first period and the difference value, and updates SDLU position in SDLU position information of the train according to the current position of the train.

When the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

When the train is in an operating state and passes through the turnout, the state of the turnout is determined, and the state of the turnout comprises positioning, reversed position and unknown. When the switch dog teeth face the direction of the additional sign above the indicator lights or annunciators, the switch is in a positioned state. When the dog teeth of the switch are opposite to the direction of the additional sign above the indicator lights or annunciators, the switch is in the reversed state.

When the state of the turnout is positioning, the SDLU position is updated to the positioning position of the turnout, and the track number is updated to the track number pointed by the turnout positioning. When the state of the turnout is reversed, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout. When the state of the switch is unknown, SDLU position information is set to invalid.

When the train enters a single track and the train exits, the SDLU direction is updated to the opposite direction of the original running direction of the train. At this point, it is explained that the train turns the running direction.

When a train runs through a station boundary, for example, the train leaves from a station a to enter a station B, the in-vehicle apparatus updates the station number and the track number in SDLU position information to the station number and the track number of the next station indicated by the station boundary, that is, the in-vehicle apparatus updates the station number and the track number in SDLU position information to the station number and the track number of the station B.

The SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train. The shunting mode refers to a fixed mode in which the train performs shunting operation, for example, when the train is in the shunting mode, the speed limit value of the train is 40km/h. The train driver presses the dedicated button to cause the vehicle-mounted device to shift into the shunting mode. Only when the train is parked, the train driver may choose to enter or exit the shunting mode. At this time, the train driver also modifies the hook type of the train, so that the accumulated running distance of the train according to the original hook type cannot be trusted any more, and therefore, SDLU position information needs to be set as invalid, and when the initialization condition is met again, the SDLU position is initialized again.

When the train is initialized in the state that the satellite function is effective, the state of the satellite function is still effective when the train is positioned, and the train passes through a group of virtual transponders triggered by the Kalman position, the position error is updated to be the estimated error of the Kalman position triggering the virtual transponder according to the Kalman position updating SDLU position triggering the virtual transponder. Because a plurality of virtual transponders are arranged in the electronic map, when the Kalman position of the train in the electronic map is overlapped with the positions of the virtual transponders in the electronic map, the virtual transponders in the electronic map are triggered.

When the train is initialized in the state that the satellite function is valid, the state of the satellite function is switched to be invalid when the train is positioned, and the train passes through a group of virtual transponders triggered by SDLU positions, SDLU positions and position errors are not updated. The SDLU position is the position of the train in the electronic map, which is determined according to the distance traveled by the train. When the SDLU positions of the trains in the electronic map overlap with the positions of the virtual transponders in the electronic map, the virtual transponders in the electronic map are triggered. The satellite function of the train is not valid at this point, so the SDLU position of the train at this point cannot be corrected by the kalman position or the physical transponder, so no updates of SDLU position and position error are required at this point.

When the train is initialized, the satellite function state is invalid, and the specific implementation mode for updating the SDLU position information of the train according to the running information of the train is similar to the specific implementation mode for enabling the satellite function state when the train is initialized, and is not described in detail herein.

The satellite function state is different from the specific implementation mode in which the satellite function state is valid when the train is initialized. When a train is initialized based on an entity transponder, there are cases where the SDLU position of the train is invalid because the train passes through a switch whose state is unknown. When the state of the satellite function of the train is switched from invalid to valid, so that the Kalman position of the train is valid, initializing the SDLU position, the station number, the track number and the position error of the train according to the Kalman position of the train at the moment. At this point, the train is no longer initialized based on the physical transponder information. The SDLU direction of the train is initialized to the actual running direction of the train. When the train passes through a group of virtual transponders triggered by the Kalman position after the SDLU position information of the train is initialized, the position error is updated into the estimated error of the Kalman position triggering the virtual transponder according to the Kalman position updating SDLU position triggering the virtual transponder.

The concrete implementation mode of updating the SDLU position information of the train according to the running information of the train after initializing the train through the transponder group is the same as the concrete implementation mode of updating the SDLU position information of the train according to the running information of the train after initializing the train under the condition that the satellite function state is invalid.

When the train starts from the station and is in a running state and does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of the first period of the train.

When the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

When the train is in an operation state and the state of the turnout is positioning, the SDLU position is updated to the positioning position of the turnout, and the track number is updated to the track number pointed by the turnout positioning. When the state of the turnout is reversed, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout. When the state of the switch is unknown, SDLU position information is set to invalid.

When the train enters a single track and the train exits, the SDLU direction is updated to the opposite direction of the original running direction of the train. At this point, it is explained that the train turns the running direction.

When the train runs through the station boundary, the vehicle-mounted equipment updates the station number and the track number in SDLU position information to the station number and the track number of the next station indicated by the station boundary.

The SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train.

When the satellite function of the train is invalid, and the electronic map is changed from invalid to valid, the vehicle-mounted equipment of the train does not pass through the entity transponder, and can initialize SDLU positions according to the transponder group information stored by the vehicle-mounted equipment. When the train passes through a switch whose state is unknown, the SDLU position is set to inactive. The SDLU location may also be initialized by the physical transponders as the train passes through the set of physical transponders. When the train passes through the unknown switch again, causing the SDLU position to become inactive (i.e., the SDLU position of the train to change from active to inactive), the SDLU position may be reinitialized by the kalman position if the satellite function becomes active at this time and the kalman position becomes active.

Further, when the train passes through a set of virtual transponders triggered by the kalman position after the SDLU position information of the train is initialized, the position error is updated to be the estimated error of the kalman position triggering the virtual transponder according to the position of the kalman position triggering the virtual transponder, which is updated SDLU.

It should be noted that, when the position SDLU is invalid, the three SDLU position initializing modes of the present application may reinitialize the position SDLU in a different manner after the corresponding initializing conditions are satisfied. The foregoing is illustrative of the application by way of example only.

In conclusion, the train positioning method can meet the requirement of train positioning of trains in different scenes. For example, a scene in which the satellite function state of the train is valid, a scene in which the satellite function state of the train is invalid, a scene in which the satellite function state of the train is switched from invalid to valid, a scene in which the state of the electronic map of the train is switched from invalid to valid, and the like. The problem that the train cannot be accurately positioned under the condition of poor satellite signals in the prior art is avoided by positioning the train only through the satellite function of the train. The accuracy of train positioning is improved.

It will be appreciated that, in order to implement the functions of the above embodiments, the computer device includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as a piece or as computer software driven hardware depends upon the particular application scenario and design constraints imposed on the solution.

Further, as an implementation of the method embodiment shown in fig. 2, the embodiment of the application provides a train positioning device. The embodiment of the device corresponds to the foregoing method embodiment, and for convenience of reading, details of the foregoing method embodiment are not described one by one in this embodiment, but it should be clear that the device in this embodiment can correspondingly implement all the details of the foregoing method embodiment.

As shown in fig. 5, the train positioning device 500 includes:

The state module 510 is configured to obtain a first state of the train, where the first state includes a state of a satellite function of the train and a state of an electronic map of the train;

the initialization module 520 is configured to initialize SDLU position information of the train according to the first state, where SDLU position information is used to indicate a position of the train in the electronic map, where the position is determined according to a running distance of the train;

And the updating module 530 is used for updating SDLU position information of the train according to the running information of the train.

Further, as shown in fig. 5, the initialization module 520 is specifically configured to: when the satellite function state is valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the Kalman positions of the train, wherein the Kalman positions are used for indicating the positions of the train in an electronic map, which are determined through Kalman filtering; when the satellite function is invalid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the first transponder positions, wherein the first transponder positions are used for indicating the positions of a first group of entity transponders which the train passes through after starting from a starting point; when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the transponder group information stored in the train.

Further, as shown in fig. 5, the initialization module 520 is specifically configured to: acquiring the hook type direction of a train and the hook type selected by a driver of the train; the direction SDLU is initialized according to the hook type direction, the hook type and the running direction of the train.

Further, as shown in fig. 5, the updating module 530 is specifically configured to: when the train is in a running state and the train does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of a first cycle of the train, wherein the first cycle is used for indicating an updating cycle prior to the current cycle; when the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

Further, as shown in fig. 5, the updating module 530 is specifically configured to: when the train is in an operation state and passes through the turnout, determining the state of the turnout; when the state of the turnout is positioning, updating SDLU positions to the positioning positions of the turnout, and updating track numbers to track numbers pointed by the turnout positioning; when the state of the turnout is a reversed position, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout; when the state of the switch is unknown, SDLU position information is set to invalid.

Further, as shown in fig. 5, the updating module 530 is specifically configured to: when the satellite function state is valid and the train passes through a group of virtual transponders triggered by the Kalman position, updating SDLU positions according to the Kalman position triggering the virtual transponders, and updating the position errors into estimation errors of the Kalman position triggering the virtual transponders; when the satellite function status is inactive and the train passes through a set of virtual transponders triggered by SDLU positions, SDLU positions and position errors are not updated.

Further, as shown in fig. 5, the updating module 530 is specifically configured to: when the train enters a single track and the train moves backward, the SDLU direction is updated to be the opposite direction of the original running direction of the train; when the train runs through the station boundary, the station number and the track number in SDLU position information are updated to be the station number and the track number of the next station indicated by the station boundary; the SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train.

The embodiment of the application provides a storage medium, on which a program is stored, which when executed by a processor, implements the train positioning method.

The embodiment of the application provides a processor which is used for running a program, wherein the program runs to execute the train positioning method.

The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: acquiring a first state of a train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train; initializing the position information of a speed and distance measuring Unit (SPEED DISTANCE positioning Unit, SDLU) of the train according to the first state, wherein SDLU position information is used for indicating the position information of the train in an electronic map, which is determined according to the running distance of the train; and updating SDLU position information of the train according to the running information of the train.

Further, SDLU position information includes SDLU position, station number, track number, and position error of the train; initializing SDLU position information of the train according to a first state, including: when the satellite function state is valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the Kalman positions of the train, wherein the Kalman positions are used for indicating the positions of the train in an electronic map, which are determined through Kalman filtering; when the satellite function is invalid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the first transponder positions, wherein the first transponder positions are used for indicating the positions of a first group of entity transponders which the train passes through after starting from a starting point; when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid, initializing SDLU positions, station numbers, track numbers and position errors of the train according to the transponder group information stored in the train.

Further, SDLU the location information also includes the SDLU direction of the train; initializing SDLU position information of the train according to the first state, further comprising: acquiring the hook type direction of a train and the hook type selected by a driver of the train; the direction SDLU is initialized according to the hook type direction, the hook type and the running direction of the train.

Further, updating SDLU position information of the train according to the running information of the train includes: when the train is in a running state and the train does not pass through the entity transponder, the SDLU position information of the train is updated according to SDLU position information of a first cycle of the train, wherein the first cycle is used for indicating an updating cycle prior to the current cycle; when the train is in operation and the train passes the physical transponder, the position error is updated to the installation deviation of the physical transponder according to the position update SDLU of the physical transponder.

Further, updating SDLU position information of the train according to the running information of the train, further includes: when the train is in an operation state and passes through the turnout, determining the state of the turnout; when the state of the turnout is positioning, updating SDLU positions to the positioning positions of the turnout, and updating track numbers to track numbers pointed by the turnout positioning; when the state of the turnout is a reversed position, the SDLU position is updated to be the reversed position of the turnout, and the track number is updated to be the track number pointed by the reversed position of the turnout; when the state of the switch is unknown, SDLU position information is set to invalid.

Further, updating SDLU position information of the train according to the running information of the train, further includes: when the satellite function state is valid and the train passes through a group of virtual transponders triggered by the Kalman position, updating SDLU positions according to the Kalman position triggering the virtual transponders, and updating the position errors into estimation errors of the Kalman position triggering the virtual transponders; when the satellite function status is inactive and the train passes through a set of virtual transponders triggered by SDLU positions, SDLU positions and position errors are not updated.

Further, updating SDLU position information of the train according to the running information of the train, further includes: when the train enters a single track and the train moves backward, the SDLU direction is updated to be the opposite direction of the original running direction of the train; when the train runs through the station boundary, the station number and the track number in SDLU position information are updated to be the station number and the track number of the next station indicated by the station boundary; the SDLU position information is set to invalid when the train is in the shunting mode and the driver of the train modifies the hook of the train.

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.

In one typical configuration, the device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

It will be appreciated by those skilled in the art that 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 the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (10)

1. A method of locating a train, the method comprising:

acquiring a first state of a train, wherein the first state comprises a state of a satellite function of the train and a state of an electronic map of the train;

Initializing speed and distance measurement unit (SDLU) position information of the train according to the first state, wherein the SDLU position information is used for indicating the position information of the train in the electronic map, which is determined according to the running distance of the train;

And updating SDLU position information of the train according to the running information of the train.

2. The method of claim 1, wherein the SDLU location information includes SDLU location, station number, track number, location error of the train;

initializing SDLU position information of the train according to the first state, including:

initializing SDLU positions, station numbers, track numbers and position errors of the train according to the Kalman positions of the train when the satellite functions are in an effective state, wherein the Kalman positions are used for indicating the positions of the train in the electronic map, which are determined through Kalman filtering;

initializing SDLU positions, station numbers, track numbers and position errors of the train according to a first transponder position when the satellite function is invalid, wherein the first transponder position is used for indicating the positions of a first group of entity transponders which the train passes through after starting from a starting point;

And initializing SDLU positions, station numbers, track numbers and position errors of the train according to the transponder group information stored in the train when the state of the satellite function is invalid and the state of the electronic map is switched from invalid to valid.

3. The method of claim 1, wherein the SDLU location information further includes a SDLU direction of the train;

initializing SDLU position information of the train according to the first state, and further comprising:

Acquiring a hook type direction of the train and a hook type selected by a driver of the train;

And initializing the SDLU direction according to the hook type direction, the hook type and the running direction of the train.

4. The method of claim 2, wherein updating SDLU location information of the train based on the train's operational information comprises:

Updating SDLU position information of the train according to SDLU position information of a first period of the train when the train is in a running state and the train does not pass through an entity transponder, wherein the first period is used for indicating an updating period prior to the current period;

And when the train is in a running state and the train passes through the entity transponder, updating the SDLU position according to the position of the entity transponder, and updating the position error into the installation deviation of the entity transponder.

5. The method of claim 2, wherein updating SDLU location information of the train based on the train's operational information further comprises:

When the train is in a running state and passes through the turnout, determining the state of the turnout;

when the state of the turnout is positioning, updating the SDLU position to the positioning position of the turnout, and updating the track number to the track number pointed by the turnout positioning;

when the state of the turnout is a reversed position, updating the SDLU position to the reversed position of the turnout, and updating the track number to the track number pointed by the reversed position of the turnout;

And setting SDLU position information to be invalid when the state of the turnout is unknown.

6. The method of claim 2, wherein updating SDLU location information of the train based on the train's operational information further comprises:

When the satellite function state is valid and the train passes through a group of virtual transponders triggered by Kalman positions, updating the SDLU positions according to the Kalman positions triggering the virtual transponders, and updating the position errors into estimation errors triggering the Kalman positions of the virtual transponders;

When the satellite function status is inactive and the train passes a set of virtual transponders triggered by SDLU positions, the SDLU positions and the position errors are not updated.

7. The method of claim 2, wherein updating SDLU location information of the train based on the train's operational information further comprises:

When the train enters a single track and the train moves backward, updating the SDLU direction to be the opposite direction of the original running direction of the train;

when the train runs through a station boundary, updating a station number and a track number in the SDLU position information into a station number and a track number of a next station indicated by the station boundary;

When the train is in a shunting mode and a driver of the train modifies a hook of the train, the SDLU location information is set to be invalid.

8. A train positioning device, the device comprising:

the system comprises a state module, a state module and a control module, wherein the state module is used for acquiring a first state of a train, and the first state comprises a state of a satellite function of the train and a state of an electronic map of the train;

The initialization module is used for initializing the speed and distance measurement unit (SDLU) position information of the train according to the first state, and the SDLU position information is used for indicating the position of the train in the electronic map, which is determined according to the running distance of the train;

And the updating module is used for updating SDLU position information of the train according to the running information of the train.

9. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the train positioning method according to any one of claims 1-7.

10. An electronic device comprising at least one processor, and at least one memory, bus coupled to the processor; the processor and the memory complete communication with each other through the bus; the processor is configured to invoke program instructions in the memory to perform the train positioning method according to any of claims 1-7.