CN104590325A - Railway station line and section insulating point GPS coordinate automatic surveying and mapping system and method - Google Patents
Railway station line and section insulating point GPS coordinate automatic surveying and mapping system and method Download PDFInfo
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- CN104590325A CN104590325A CN201410805055.XA CN201410805055A CN104590325A CN 104590325 A CN104590325 A CN 104590325A CN 201410805055 A CN201410805055 A CN 201410805055A CN 104590325 A CN104590325 A CN 104590325A
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Abstract
The invention provides a railway station line and section insulating point GPS coordinate automatic surveying and mapping system. The system comprises a vehicle-mounted DGPS coordinate collector and ground equipment. The vehicle-mounted DGPS coordinate collector comprises a coordinate collector host, a 3G module and a DGPS module. The ground equipment comprises a GPS map surveying and mapping machine, a communication and data server, an interlocking state collector, a DGPS base station and a 3G base station. The invention further provides a railway station line and section insulating point GPS coordinate automatic surveying and mapping method. By means of the railway station line and section insulating point GPS coordinate automatic surveying and mapping system and method, automatic and accurate surveying and mapping of GPS coordinates of a railway station line and section insulating points can be achieved, and the labor cost and workload are greatly reduced.
Description
Technical field
The present invention relates to rail yard gps coordinate technical field of mapping, specifically a kind of rail yard circuit and section insulating point gps coordinate auto-mapping system and method.
Background technology
Railway line is the principal facility of rail yard, is the path of rolling stock traveling, is also the basis that rolling stock runs.For ease of the traveling scheduling of car team on railway line, railway line is divided into multiple little section, each section is wherein called track section (abbreviation section), every section of track section has and whether is pressed in track circuit detecting device in this section for detecting train.When train travels on railway, by track circuit detecting device, the computer interlock system matched can detect which section train is in real time, carry out trace scheduling in this way to train.Train spacing point between section and section is called section insulating point.
Because the scope of section is very large, a section is generally tens to hundreds of rice, whether is in this mode of a certain section and carries out locomotive location by detecting train and there is very big error.This precision of application some being needed to accurately train car team position, location is far from being enough, such as locomotive peace control needs the distance of Fire Monitoring spacing front signal machine, require limiting the different maximum speed of train apart from different sections, this distance error is within 2 meters.Not there is the section of track circuit or the inaccurate section of track-circuit signalling also has the demand positioned train at some in addition.GPS is adopted to realize detecting can effectively address these problems the high fix of train.And realize the prerequisite of the high-precision GPS position probing of train being to have railway line and section insulating point GPS reference coordinate information accurately.
Current realization is adopt the method manually got ready to the mapping of rail yard circuit gps coordinate, chooses representational point on the line, surveys and draws with GPS mapper, obtains gps coordinate.Because rail yard circuit is long, the circuit of field, a lot of station reaches several kilometers even tens kilometers, and a lot of circuit is bending, and the work capacity getting mapping ready is huge, and cost is very high.
Summary of the invention
The object of the present invention is to provide a kind of rail yard circuit and section insulating point gps coordinate auto-mapping system and method, the accurately mapping automatically to railway line can be realized, to solve problems of the prior art.
Technical scheme of the present invention is:
A kind of rail yard circuit and section insulating point gps coordinate auto-mapping system, this system comprises vehicle-mounted DGPS coordinate collector and wayside equipment, described vehicle-mounted DGPS coordinate collector comprises coordinate collector host, 3G module and DGPS module, and described wayside equipment comprises GPS ground mapping machine, communications and data server, Interlock Status harvester, DGPS base station and NodeB;
The mouth of described DGPS base station is connected with the input end of communications and data server, described communications and data server is connected with coordinate collector host interactive mode with 3G module by NodeB, described coordinate collector host is connected with DGPS module interactive mode, the mouth of described Interlock Status harvester is connected with the input end of communications and data server, and the mouth of described communications and data server is connected with the input end of GPS ground mapping machine.
Rail yard circuit according to claim 1 and section insulating point gps coordinate auto-mapping system, described DGPS base station is connected by serial ports with communications and data server, described communications and data server is connected by Internet with NodeB, described communications and data server is all connected by ethernet with Interlock Status harvester and GPS ground mapping machine, and described coordinate collector host is all connected by serial ports with 3G module and DGPS module.
A kind of rail yard circuit and section insulating point gps coordinate auto-mapping method, comprise the following steps:
(1) the gps coordinate point of locomotive Real-time Collection in traveling process is expressed as d
i: { T
id, t
i, x
i, y
i, the set of gps coordinate point is expressed as G, wherein, and T
idrepresent engine number, t
irepresent markers, x
irepresent latitude coordinate, y
irepresent longitude coordinate;
The taking of track section involved by the route of the locomotive running gear locking of record/free message is expressed as S
i: { R
i, s, T
id', t
i', L
i, D
i, wherein, R
irepresent segment number, s represents sector status, T
id' represent association engine number, t
i' represent the markers of association locomotive through section insulating point, L
irepresent car row length, D
irepresent locomotive work mode;
(2) to the gps coordinate dot information of same locomotive, scan successively by markers order, merge distance each other and be less than predetermined threshold value L
mincontiguous gps coordinate point, and adopt the mid point of 2 contiguous gps coordinate points as the gps coordinate point after merging, adopt the markers aviation value of 2 contiguous gps coordinate points as the markers of the gps coordinate point after merging; Use the gps coordinate point after merging to replace merged multiple gps coordinate point, and upgrade gps coordinate point set G;
(3) to the gps coordinate point set G of the same locomotive after merging treatment, from G, pending gps coordinate point d is read successively one by one by markers order
i: { T
id, t
i, x
i, y
i, judge d
iwhether near a few the line segments generated, if do not exist, then with a upper processed gps coordinate point d
i-1generate a new line segment ((x
i-1, y
i-1, n
i-1), (x
i, y
i, n
i)), wherein, (x
i-1, y
i-1) and (x
i, y
i) represent two end points of line segment, n
i-1and n
irepresent that corresponding endpoint is by n respectively
i-1, n
iindividual some fitting correction;
If have p bar line segment at d
inear, then search distance d
inearest line segment l
m, and by d
ito line segment l
mmake vertical line, intersection point is designated as d
v, line taking section l
mtwo-end-point middle distance d
inearer some d
x: (x
x, y
x, n
x), adopt d
iand d
vto d
xcarry out fitting correction, the point after correction is designated as d
x': ((x
v* n
x+ x
i)/(n
x+ 1), (y
v* n
x+ y
i)/(n
x+ 1), n
x+ 1), wherein x
v, y
vrepresent intersection point d respectively
vlatitude coordinate, longitude coordinate; Use d
x' replace line segment l
min and with line segment l
md in adjacent line segment
x, and by d
x' be updated to d
i-1;
(4) by gps coordinate point d
i: { T
id, t
i, x
i, y
iin engine number T
id/ free message S is taken with track section
i: { R
i, s, T
id', t
i', L
i, D
iin association engine number T
id' compare, when both are consistent, filter out corresponding track section and take/free message S
i; A gps coordinate point d in G is often processed according to step (3)
i, then by markers t wherein
i/ free message S is taken with the track section filtered out
iin markers t
i' compare, work as t
i>=t
i' time is handled as follows, wherein, L
(di-1, di)represent with gps coordinate point d
i-1and d
ifor the length of the line segment of end points, t
i-1represent gps coordinate point d
i-1in markers:
(41) when s from the free time become take time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i'/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point;
(42) when s from the free time become take time, if D
ifor top is sent, then with d
ithe initial row L that goes further
i-L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point;
(43) when s from take become the free time time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
i+ L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point;
(44) when s from take become the free time time, if D
ifor top is sent, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point;
(5) the GPS cartographic information of the railway line of generation is expressed as line segment aggregate MAP:{((x
1, y
1, n
1), (x
2, y
2, n
2)), ((x
2, y
2, n
2), (x
3, y
3, n
3)) ..., ((x
i, y
i, n
i), (x
i+1, y
i+1, n
i+1)) ..., wherein (x
i, y
i) represent the end points of line segment, n
irepresent that this end points is by n
iindividual some fitting correction; The section insulating point of generation is expressed as d
s: { d
si, R
k, R
k+1, wherein d
sirepresent the gps coordinate point of section insulating point, R
k, R
k+1represent two sector numbers adjacent with this section insulating point.
Described rail yard circuit and section insulating point gps coordinate auto-mapping method, in described step (41) ~ (44), also comprise: search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
As shown from the above technical solution, the present invention can realize the accurately mapping automatically to rail yard circuit and section insulating point gps coordinate, considerably reduces cost of labor and work capacity.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention.
Detailed description of the invention
the present invention is further illustrated below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, a kind of rail yard circuit and section insulating point gps coordinate auto-mapping system, comprise vehicle-mounted DGPS coordinate collector 1 and wayside equipment 2, vehicle-mounted DGPS coordinate collector 1 comprises coordinate collector host 11,3G module 12 and DGPS module 13, wayside equipment 2 comprises GPS ground mapping machine 21, communications and data server 22, Interlock Status harvester 23, DGPS base station 24 and NodeB 25, and vehicle-mounted DGPS coordinate collector 1 is arranged in locomotive.
the mouth of DGPS base station 24 is connected by the input end of serial ports with communications and data server 22, communications and data server 22 is connected with coordinate collector host 11 interactive mode with 3G module 12 by NodeB 25, and coordinate collector host 11 is connected with DGPS module 13 interactive mode; The mouth of communications and data server 22 is connected with the input end of GPS ground mapping machine 21 by ethernet 26, and the mouth of Interlock Status harvester 23 is connected with the input end of communications and data server 22 by ethernet 26.Coordinate collector host 11 be all be connected by serial ports between 3G module 12, DGPS module 13, communications and data server 22 is connected by Internet with NodeB 25.
The GPS differential calibration information that DGPS base station 24 gathers by communications and data server 22 is sent to coordinate collector host 11 by NodeB 25 and 3G module 12, and GPS differential calibration information is forwarded to DGPS module 13 by coordinate collector host 11.Gps coordinate information after the differential calibration of DGPS module 13 Real-time Collection in locomotive running gear process is sent to communications and data server 22 by 3G module 12 and NodeB 25 by coordinate collector host 11, and gps coordinate information is expressed as d
i: { engine number T
id, markers t
i, latitude coordinate x
i, longitude coordinate y
i.The track section involved by route of Interlock Status harvester 23 Real-time Collection locomotive running gear locking take/free message, be expressed as S
i: { segment number R
i, sector status s(takies the/free time), association engine number T
id', markers t
i', car row length L
i, locomotive work mode D
i(top is sent/is drawn) }, and send it to communications and data server 22 by ethernet.Communications and data server 22 records, preserve gather in locomotive running gear process gps coordinate information, locomotive running gear locking the track section involved by route take/free message.
GPS ground mapping machine 21 reads and carries out computing to the gps coordinate of locomotive running gear in communications and data server 22 through path and time scale information, generates the GPS cartographic information of corresponding railway line; Simultaneously by locomotive running gear locking in markers subsequent treatment communications and data server 22 route involved by track section take/free message, calculate the gps coordinate generating section insulating point, and identify the session name of insulating point both sides circuit.When a certain circuit by locomotive repeatedly traveling through later, GPS ground mapping machine according to repeatedly traveling through the gps coordinate information that collection and track section take/free message corrects the GPS cartographic information drawn, and improves the accuracy of GPS map.
The GPS cartographic information of the railway line that the computing of GPS ground mapping machine 21 generates is expressed as line segment aggregate MAP:{((x
1, y
1, n
1), (x
2, y
2, n
2)), ((x
2, y
2, n
2), (x
3, y
3, n
3)) ..., ((x
i, y
i, n
i), (x
i+1, y
i+1, n
i+1)) ..., wherein, (x
i, y
i) represent the end points of line segment, n
irepresent that this end points is by n
iindividual some fitting correction.The section insulating point that the computing of GPS ground mapping machine 21 generates is expressed as d
s: { d
si, R
k, R
k+1, wherein, d
sirepresent the gps coordinate point of section insulating point, R
k, R
k+1represent two sector numbers adjacent with this section insulating point respectively.
A kind of rail yard circuit and section insulating point gps coordinate auto-mapping method, comprise the following steps:
S1, the locomotive gps coordinate point of Real-time Collection in locomotive running gear process is expressed as d
i: { engine number T
id, markers t
i, latitude coordinate x
i, longitude coordinate y
i, the set of gps coordinate point is expressed as G.The taking of track section involved by the route of the locomotive running gear locking of record/free message is expressed as S simultaneously
i: { segment number R
i, sector status s(takies the/free time), association engine number T
id', markers t
i', car row length L
i, locomotive work mode D
i(traction/top is sent) }.
S2, gps coordinate dot information to same locomotive, scan successively by markers order, merge distance each other and be less than predetermined threshold value L
minthe contiguous gps coordinate point of (be defined as distance and change least unit, 5m), and adopt the mid point of 2 contiguous gps coordinate points as the gps coordinate point after merging, adopt the markers of markers aviation value as the gps coordinate point after merging of 2 contiguous gps coordinate points; Use the gps coordinate point after merging to replace merged multiple gps coordinate point, and upgrade gps coordinate point set G.
S3, gps coordinate point set G to the same locomotive after merging treatment, read pending gps coordinate point d one by one successively by markers order from G
i: { T
id, t
i, x
i, y
i, judge d
iwhether near a few the line segments generated, if do not exist, then with a upper processed gps coordinate point d
i-1generate a new line segment ((x
i-1, y
i-1, n
i-1), (x
i, y
i, n
i)), wherein, (x
i-1, y
i-1) and (x
i, y
i) represent two end points of line segment, n
i-1and n
irepresent that corresponding endpoint is by n respectively
i-1, n
iindividual some fitting correction.
If have p bar line segment at d
inear, then search distance d
inearest line segment l
m, and by d
ito line segment l
mmake vertical line, intersection point is designated as d
v, line taking section l
mtwo-end-point middle distance d
inearer some d
x: (x
x, y
x, n
x), adopt d
iand d
vto d
xcarry out fitting correction, the point after correction is designated as d
x': ((x
v* n
x+ x
i)/(n
x+ 1), (y
v* n
x+ y
i)/(n
x+ 1), n
x+ 1), wherein x
v, y
vrepresent intersection point d respectively
vlatitude coordinate, longitude coordinate; Use d
x' replace line segment l
min and with line segment l
md in adjacent line segment
x, and by d
x' be updated to d
i-1.
Process gps coordinate points all in G according to the method described above one by one.
S4, by gps coordinate point d
i: { T
id, t
i, x
i, y
iin engine number T
id/ free message S is taken with track section
i: { R
i, s, T
id', t
i', L
i, D
iin association engine number T
id' compare, when both are consistent, filter out corresponding track section and take/free message S
i; A gps coordinate point d in G is often processed according to step S3
i, then by markers t wherein
i/ free message S is taken with the track section filtered out
iin markers t
i' compare, work as t
i>=t
i' time is handled as follows, wherein, L
(di-1, di)represent with gps coordinate point d
i-1and d
ifor the length of the line segment of end points, t
i-1represent gps coordinate point d
i-1in markers:
S41, when s from the free time become take time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i'/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point; Search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
S42, when s from the free time become take time, if D
ifor top is sent, then with d
ithe initial row L that goes further
i-L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point; Search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
S43, when s from take become the free time time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
i+ L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point; Search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
S44, when s from take become the free time time, if D
ifor top is sent, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point; Search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
S5, the GPS cartographic information of the railway line of generation is expressed as line segment aggregate MAP:{((x
1, y
1, n
1), (x
2, y
2, n
2)), ((x
2, y
2, n
2), (x
3, y
3, n
3)) ..., ((x
i, y
i, n
i), (x
i+1, y
i+1, n
i+1)) ..., wherein (x
i, y
i) represent the end points of line segment, n
irepresent that this end points is by n
iindividual some fitting correction; The section insulating point of generation is expressed as d
s: { d
si, R
k, R
k+1, wherein d
sirepresent the gps coordinate point of section insulating point, R
k, R
k+1represent two sector numbers adjacent with this section insulating point.To line segment aggregate MAP, inverted order checks section insulating point d
sneighbouring maximum error distance Ldiv
maxthe a serial of line sections of (20 meters) in scope, what as occurred, sector sequence put upside down adjusts in order.
The above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (4)
1. a rail yard circuit and section insulating point gps coordinate auto-mapping system, it is characterized in that: this system comprises vehicle-mounted DGPS coordinate collector and wayside equipment, described vehicle-mounted DGPS coordinate collector comprises coordinate collector host, 3G module and DGPS module, and described wayside equipment comprises GPS ground mapping machine, communications and data server, Interlock Status harvester, DGPS base station and NodeB;
The mouth of described DGPS base station is connected with the input end of communications and data server, described communications and data server is connected with coordinate collector host interactive mode with 3G module by NodeB, described coordinate collector host is connected with DGPS module interactive mode, the mouth of described Interlock Status harvester is connected with the input end of communications and data server, and the mouth of described communications and data server is connected with the input end of GPS ground mapping machine.
2. rail yard circuit according to claim 1 and section insulating point gps coordinate auto-mapping system, it is characterized in that: described DGPS base station is connected by serial ports with communications and data server, described communications and data server is connected by Internet with NodeB, described communications and data server is all connected by ethernet with Interlock Status harvester and GPS ground mapping machine, and described coordinate collector host is all connected by serial ports with 3G module and DGPS module.
3. rail yard circuit and a section insulating point gps coordinate auto-mapping method, is characterized in that, comprise the following steps:
(1) the gps coordinate point of locomotive Real-time Collection in traveling process is expressed as d
i: { T
id, t
i, x
i, y
i, the set of gps coordinate point is expressed as G, wherein, and T
idrepresent engine number, t
irepresent markers, x
irepresent latitude coordinate, y
irepresent longitude coordinate;
The taking of track section involved by the route of the locomotive running gear locking of record/free message is expressed as S
i: { R
i, s, T
id', t
i', L
i, D
i, wherein, R
irepresent segment number, s represents sector status, T
id' represent association engine number, t
i' represent the markers of association locomotive through section insulating point, L
irepresent car row length, D
irepresent locomotive work mode;
(2) to the gps coordinate dot information of same locomotive, scan successively by markers order, merge distance each other and be less than predetermined threshold value L
mincontiguous gps coordinate point, and adopt the mid point of 2 contiguous gps coordinate points as the gps coordinate point after merging, adopt the markers aviation value of 2 contiguous gps coordinate points as the markers of the gps coordinate point after merging; Use the gps coordinate point after merging to replace merged multiple gps coordinate point, and upgrade gps coordinate point set G;
(3) to the gps coordinate point set G of the same locomotive after merging treatment, from G, pending gps coordinate point d is read successively one by one by markers order
i: { T
id, t
i, x
i, y
i, judge d
iwhether near a few the line segments generated, if do not exist, then with a upper processed gps coordinate point d
i-1generate a new line segment ((x
i-1, y
i-1, n
i-1), (x
i, y
i, n
i)), wherein, (x
i-1, y
i-1) and (x
i, y
i) represent two end points of line segment, n
i-1and n
irepresent that corresponding endpoint is by n respectively
i-1, n
iindividual some fitting correction;
If have p bar line segment at d
inear, then search distance d
inearest line segment l
m, and by d
ito line segment l
mmake vertical line, intersection point is designated as d
v, line taking section l
mtwo-end-point middle distance d
inearer some d
x: (x
x, y
x, n
x), adopt d
iand d
vto d
xcarry out fitting correction, the point after correction is designated as d
x': ((x
v* n
x+ x
i)/(n
x+ 1), (y
v* n
x+ y
i)/(n
x+ 1), n
x+ 1), wherein x
v, y
vrepresent intersection point d respectively
vlatitude coordinate, longitude coordinate; Use d
x' replace line segment l
min and with line segment l
md in adjacent line segment
x, and by d
x' be updated to d
i-1;
(4) by gps coordinate point d
i: { T
id, t
i, x
i, y
iin engine number T
id/ free message S is taken with track section
i: { R
i, s, T
id', t
i', L
i, D
iin association engine number T
id' compare, when both are consistent, filter out corresponding track section and take/free message S
i; A gps coordinate point d in G is often processed according to step (3)
i, then by markers t wherein
i/ free message S is taken with the track section filtered out
iin markers t
i' compare, work as t
i>=t
i' time is handled as follows, wherein, L
(di-1, di)represent with gps coordinate point d
i-1and d
ifor the length of the line segment of end points, t
i-1represent gps coordinate point d
i-1in markers:
(41) when s from the free time become take time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i'/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point;
(42) when s from the free time become take time, if D
ifor top is sent, then with d
ithe initial row L that goes further
i-L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith a upper section R
i-1between section insulating point;
(43) when s from take become the free time time, if D
ifor traction, then with d
ithe initial L that retrodicts forward
i+ L
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point;
(44) when s from take become the free time time, if D
ifor top is sent, then with d
ithe initial L that retrodicts forward
(di-1, di)* (t
i-t
i')/(t
i-t
i-1) the some d that arrives
sfor section R
iwith next section R
i+1between section insulating point;
(5) the GPS cartographic information of the railway line of generation is expressed as line segment aggregate MAP:{((x
1, y
1, n
1), (x
2, y
2, n
2)), ((x
2, y
2, n
2), (x
3, y
3, n
3)) ..., ((x
i, y
i, n
i), (x
i+1, y
i+1, n
i+1)) ..., wherein (x
i, y
i) represent the end points of line segment, n
irepresent that this end points is by n
iindividual some fitting correction; The section insulating point of generation is expressed as d
s: { d
si, R
k, R
k+1, wherein d
sirepresent the gps coordinate point of section insulating point, R
k, R
k+1represent two sector numbers adjacent with this section insulating point.
4. rail yard circuit according to claim 3 and section insulating point gps coordinate auto-mapping method, is characterized in that, in described step (41) ~ (44), also comprise: search d
sneighbouring section insulating point d
s', get d
swith d
s' mid point to the intersection point of the line segment nearest apart from this mid point as section insulating point d
scheck point d
snew.
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