CN114407980A

CN114407980A - Method, system and storage medium for train positioning

Info

Publication number: CN114407980A
Application number: CN202111624332.3A
Authority: CN
Inventors: 陈彬
Original assignee: Siemens Mobility Technologies Beijing Co Ltd
Current assignee: Siemens Mobility Technologies Beijing Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-04-29
Anticipated expiration: 2041-12-28
Also published as: CN114407980B

Abstract

The invention relates to the technical field of rail transit, in particular to a method, a system and a storage medium for train positioning. According to the method provided by the invention, only the message information of one ground positioning device (100) needs to be acquired after the train loses positioning, then the current position of the train is determined according to the message information, the searched historical position and the route information are combined, the route search is carried out in the electronic map, and the unique driving direction indicated by each route is determined as the current driving direction of the train based on the searching direction corresponding to each route. Therefore, the speed of train positioning is greatly improved, and the influence on the normal operation of other trains on the track is reduced.

Description

Method, system and storage medium for train positioning

Technical Field

The invention relates to the technical field of rail transit, in particular to a method, a system and a storage medium for train positioning.

Background

The train positioning function is realized by depending on a speed and distance measuring unit of the vehicle-mounted equipment. However, error factors such as measurement errors of the speed measuring sensor, wheel diameter parameter errors, calculation errors caused by wheel idling and skidding exist objectively and are difficult to eliminate, and the factors comprehensively form speed measuring and distance measuring errors of the train. The ranging error will accumulate with the train operating distance, and the uncertainty that the on-board system will judge its location will increase at the same time. When the uncertainty of train positioning exceeds a set threshold value, the train can judge that the train loses positioning and needs to be repositioned, namely the position and the driving direction of the train are determined again.

When the train loses the location, the train can be changed from the automatic driving mode to the manual limiting driving mode, and the running speed of the train in the manual limiting driving mode is limited. Because the train can only determine the current position and can not determine the running direction of the train when reading the message of one ground positioning device, the train can only determine the running direction of the train by continuously reading the messages of two ground positioning devices, thereby realizing the positioning of the train. In the manual limit driving mode, the time required for the train to pass through the two ground positioning devices at a low speed is long, and meanwhile, the long-time road occupation can also influence the normal operation of other trains on the track.

Disclosure of Invention

In view of the above, the present invention provides a method, a system and a storage medium for train positioning, so as to achieve fast train positioning.

In a first aspect, in one embodiment of a method for train localization provided by the present invention, the method comprises: after the train is positioned by losing, acquiring message information of first ground positioning equipment; inquiring the distance information of the train from a historical position to the current position; the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information; searching all possible paths of the train from the historical position to the current position in an electronic map according to the distance information; determining the unique driving direction indicated by each path as the current driving direction of the train based on the searching direction corresponding to each path; sending current positioning information of the train; wherein the current location information includes the current location and the current direction of travel of the train.

According to the method for positioning the train, the message information of the first ground positioning device is only needed to be acquired after the train loses positioning, then the current position of the train determined according to the message information is combined with the inquired route information and the historical position to search the route in the electronic map, and the unique driving direction pointed by each route is determined as the driving direction of the train based on the searching direction corresponding to each route. Therefore, the train can be repositioned according to the acquired current position and the determined current running direction before passing through the second ground positioning device after being positioned by losing, the speed of train positioning is greatly improved, and the influence on the normal operation of other trains on the track is reduced.

As a preferred implementation of the method in the foregoing embodiment provided by the present invention, the step of searching includes: searching by taking the historical position as a starting point, and deducing a final searching direction when the path is searched as a driving direction of the train in a mileage range indicated by the route information; or, searching by taking the current position as a starting point, and deducing the reverse direction of the initial searching direction when the route is searched as the driving direction of the train in the range of the mileage indicated by the route information. It can be seen that the search task of the present invention can be implemented by searching with the historical position or the current position as the origin.

As a preferable implementation of the method in the above embodiment provided by the present invention, in the searching, when the searching is performed with the history position as the origin, the history traveling direction corresponding to the history position is also used as the initial searching direction. Therefore, the searching in the other direction by taking the historical position as the origin can be reduced, the searching workload is further reduced, the path searching accuracy is improved, and the train positioning method has a better effect on realizing quick positioning of the train.

As a preferred implementation of the method in the above embodiment provided by the present invention, the route information includes a plurality of segment mileage amounts continuously recorded in segments with wheel commutations as boundaries during the process that the train travels from the historical position to the current position; also in the step of searching, the search direction is changed accordingly when switching between the consecutive two segment mileage amounts.

As can be seen from the above method, in the embodiment, the special situation that the wheels of the train are likely to change direction in the process of the train driving from the historical position to the current position is also considered during the course information recording and the search according to the course information, and the accuracy of train positioning can be further improved.

As a preferred implementation of the method in the above embodiment provided by the present invention, the trip information is determined based on a trip amount of a difference between a historical total trip distance and a current total trip distance, wherein the historical total trip distance is a total trip distance when the train trips to the historical location, and the current total trip distance is a total trip distance when the train trips to the current location. The total driving range may be a range amount accumulated and recorded from the start of the train from the start station, or may be a range amount accumulated and recorded from the start of the train from the time of putting into operation.

It can be seen from the above method that the steering of the wheels of the train is mostly unchanged after the train is positioned in a lost position. Under the condition, the mileage amount of the difference between the historical total mileage and the current total mileage is determined as the distance information, so that the method is more convenient and efficient, and can meet the requirement of quickly positioning the train under most conditions.

As a preferred implementation of the method provided in the above embodiment of the present invention, the distance information includes at least one mileage amount, and the mileage amount is represented by a range value.

As can be seen from the above method, in practice, according to the train positioning accuracy model, there is an error in the train running distance value, and this error Interval is generally called a confidence Interval (confidence Interval), i.e. an estimation range of the train position estimation value, and the confidence Interval is determined by the distance measurement accuracy of the vehicle-mounted device and the installation accuracy of the ground positioning device. Accordingly, in the present embodiment, the uncertainty parameter is also taken into consideration in the route information, and the mileage amount is represented by the range value, thereby further improving the reliability of the route search.

As a preferred implementation of the method in the foregoing embodiment provided by the present invention, the historical location is the last valid positioning information stored before the train loss positioning; or the historical position is any one of a plurality of effective positioning information stored before the train loss positioning.

It can be seen from the above method that one of the plurality of effective positioning information recorded before the train is lost for positioning can be selected as a historical position, and in order to reduce the load of the data memory of the train, the old effective positioning information can be replaced by the new effective positioning information, so that only the last effective positioning information is always stored, and the method can also be used in the process of determining train positioning.

As a preferred implementation of the method in the above embodiment provided by the present invention, the method further includes: when the route cannot be searched or the searched route cannot uniquely infer the running direction of the train, sending a request to manually confirm the running direction of the train; a manually determined direction of travel is received and determined to be the current direction of travel of the train.

It can be seen from the above method that, in the method for train positioning provided in this embodiment, determining the current driving direction of the train through path search may be regarded as a link of train self-error correction, and according to this method, the train can basically recover positioning quickly. In addition, the embodiment also considers the unexpected situation that the current driving direction of the train cannot be automatically determined by the train according to the method due to hardware errors and the like. It can be understood that the path search is a faster way to recover the train location than the manual confirmation of the driver, and the driver may also know the current driving direction of the train, and immediately send a notification requesting the driver to manually input the driving direction of the train, and also plays a better role in realizing the rapid location of the train and ensuring the safe driving of the train.

In a second aspect, in one embodiment of a system for train localization provided by the present invention, the system comprises: the message information acquisition module is used for acquiring the message information of the first ground positioning equipment after the train is lost and positioned; the system comprises a route information query module, a route information processing module and a route information processing module, wherein the route information query module is used for querying the route information of a train from a historical position to a current position; the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information; the route searching module is used for searching all possible routes of the train from the historical position to the current position in the electronic map according to the route information; the driving direction determining module is used for determining the unique driving direction indicated by each path as the current driving direction of the train based on the searching direction corresponding to each path; the positioning information sending module is used for sending the current positioning information of the train; wherein the current location information includes the current location and the current direction of travel of the train.

As a preferred implementation of the system in the foregoing embodiment provided by the present invention, the path searching module is configured to: searching by taking the historical position as a starting point, and deducing a final searching direction when the path is searched as a driving direction of the train in a mileage range indicated by the route information; or, searching by taking the current position as a starting point, and deducing the reverse direction of the initial searching direction when the route is searched as the driving direction of the train in the range of the mileage indicated by the route information.

As a preferable implementation of the system in the foregoing embodiment provided by the present invention, the route searching module is configured to, when searching with the historical position as an origin, further use a historical driving direction corresponding to the historical position as an initial searching direction.

As a preferred implementation of the system in the foregoing embodiment provided by the present invention, the route information includes a plurality of segment mileage amounts continuously recorded in segments with wheel commutations as boundaries during the process of the train traveling from the historical position to the current position; and in the step of searching, changing the search direction accordingly when switching between two consecutive segment mileage amounts; or, the trip information is determined based on a trip amount of a difference between a historical total trip distance and a current total trip distance, wherein the historical total trip distance is a total trip distance when the train trips to the historical location, and the current total trip distance is a total trip distance when the train trips to the current location.

As a preferred implementation of the system in the foregoing embodiment provided by the present invention, the historical location is the last valid location information stored before the train loss location; or the historical position is any one of a plurality of effective positioning information stored before the train loss positioning.

As a preferred implementation of the system in the above embodiment provided by the present invention, the system further includes: the notification module is used for sending a request to manually confirm the running direction of the train when the route cannot be searched or the searched route cannot uniquely infer the running direction of the train; the driving direction determining module is also used for receiving a manually confirmed driving direction and determining the driving direction as the current driving direction of the train.

In a third aspect, in an embodiment of a computer-readable storage medium provided by the present invention, the storage medium has stored thereon computer instructions, which, when executed by a processor, cause the processor to perform the method of any of the embodiments of the method for train localization in the first aspect described above.

Drawings

The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic illustration of the position of a train relative to ground positioning equipment during operation;

FIG. 2 is a schematic diagram of a train path through a ground locating device;

FIG. 3 is a schematic diagram of another train path through a ground locating device;

FIG. 4 is a flow chart of a method for train location in one embodiment of the present invention;

FIG. 5 is a flow chart of a method for train location in another embodiment of the present invention;

FIG. 6 is a schematic view of a system for train positioning in one embodiment of the present invention;

fig. 7 is a schematic diagram of a system for train localization in another embodiment of the present invention.

Wherein the reference numbers are as follows:

s1: after the train is positioned by losing, acquiring message information of first ground positioning equipment;

s2: inquiring the distance information of the train from a historical position to the current position determined according to the message information; the historical position is effective positioning information recorded before the train is lost and positioned;

s3: searching all possible paths of the train from the historical position to the current position in an electronic map according to the distance information;

s4: determining the unique driving direction indicated by each path as the current driving direction of the train based on the searching direction corresponding to each path;

s5: sending current positioning information of the train, wherein the current positioning information comprises the current position and the current running direction of the train;

s6: when the route cannot be searched or the searched route cannot uniquely infer the driving direction of the train, sending a notice requesting a driver to manually confirm the driving direction of the train;

s7: when the driving direction of the train confirmed by the driver is obtained, the driving direction is determined as the current driving direction of the train.

L1: a historical location;

l2: the location of the first ground locating device;

l3: the location of the second ground locating device.

100-ground positioning device 201-linear track 202-turnout

11-message information acquisition module 12-distance information inquiry module 13-path search module

14-driving direction determination module 15-positioning information transmission module 16-notification module

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by referring to the following examples.

As shown in fig. 1, taking the example that a train runs on a linear track 201 as an example, a history position L1 recorded before the train is lost and positioned is in a positioning lost state in the process of reaching the position L2 of the first ground positioning device 100, and the train receives message information sent by the first ground positioning device 100 when passing through the position L2.

The train-mounted antenna is arranged below the drivers' cabs at two ends of the train, when the head of the train runs above the ground positioning device 100, the train-mounted antenna receives message information sent by the ground positioning device 100 to the train, and when the train receives the message information of the ground positioning device 100 through the train-mounted antenna, the current position of the train can be determined according to the message information. The ground locating device 100 is a device capable of point-to-point communication with a vehicle antenna, for example, the ground locating device 100 may be a ground transponder or beacon. In particular, the ground transponder may be an active ground transponder or a passive ground transponder. The active ground transponder may continue to transmit device identification information or begin transmitting device identification information until a train entering a particular area is detected. When the train passes above the passive ground transponder, the passive ground transponder acquires the inductive energy of the vehicle-mounted antenna, and can send device positioning information based on the acquired inductive energy.

After the train is lost and positioned, the automatic driving mode is changed into the manual limiting driving mode, the running speed of the train is limited in the manual limiting driving mode, the position of the train can only be determined when the train reads the message information of one ground positioning device 100 at the position L2, the train also needs to read the message information of a second ground positioning device 100 at the position L2 of the second ground positioning device 100, and the running direction of the train can be determined by combining the two message information, so that the positioning of the train is realized. However, the driver in the manual limit mode may experience a long time in driving the train through the two ground positioning devices 100 at a low speed, and may also affect the normal operation of other trains on the track. In view of the above, the present invention provides a method, a system and a storage medium for train positioning, so as to achieve fast train positioning.

Referring to fig. 2, a schematic diagram of a route of a train passing through the ground positioning device is shown, the train enters the circular track from the point 202 during the forward movement on the straight track 201, the middle point of the circular track is provided with the ground positioning device 100, and the train can reach the position of the ground positioning device 100 from the point 202 along the moving direction shown by the solid arrow and the moving direction shown by the dotted arrow.

As shown in fig. 3, one end of the linear track 201 is provided with a switch 202, and the track is divided into two path branches from the switch 202, when the train passes through the ground positioning device 100 along the route indicated by the solid arrow, the train travels from right to left with respect to the positioning device, that is, the traveling direction of the train is downward; when a train passes through the ground locating device 100 on a route indicated by a dashed arrow in fig. 3, the train is traveling upward relative to the ground locating device 100, i.e., the direction of travel of the train, relative to the ground locating device 100. In both cases shown in fig. 2 and 3, the train wheels are not reversed, but the running direction of the train is changed, so that the meaning of the train direction change and the running direction of the train in the present embodiment can be distinguished.

In a first aspect, in an embodiment of the method for train positioning provided by the present invention, as shown in fig. 4, the method includes:

s1, after the train is positioned by losing, acquiring the message information of the first ground positioning equipment 100;

s2, inquiring the distance information of the train from a historical position to the current position; the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information;

s3, searching all possible paths of the train from the historical position to the current position in the electronic map according to the distance information;

s4, determining the unique driving direction indicated by each path as the current driving direction of the train based on the searching direction corresponding to each path;

s5, sending the current positioning information of the train; the current positioning information comprises the current position and the current driving direction of the train.

It can be seen from the above method that, according to the method for train positioning of the present invention, after the train loses positioning, only the message information of the first ground positioning device 100 needs to be acquired, then the current position of the train determined according to the message information is combined with the queried route information and historical position to perform route search in the electronic map, and based on the search direction corresponding to each route, the unique driving direction pointed by each route is determined as the driving direction of the train. Therefore, after the train is positioned by being lost, before the train passes through the second ground positioning device 100, the train can be repositioned according to the obtained current position and the determined current running direction, the speed of positioning the train is greatly improved, and the influence on the normal operation of other trains on the track is reduced.

In step S2, the current position of the train may be represented by a position range, which may be determined by the actual position of the ground locating device 100, the installation uncertainty, and the signal radiation range. Meanwhile, the positions of the front end and the rear end of the train can be determined by combining the distances of the front end and the rear end relative to the vehicle-mounted antenna receiving the message information. The installation uncertainty represents a position error of the ground positioning device 100 during installation, and the signal radiation range represents a distance that the train can receive message information relative to the positioning device.

In the field of rail transit technology, according to a train positioning accuracy model, there is an error in a train running distance value, and this error Interval is generally called a confidence Interval (confidence Interval), i.e. an estimation range of a train position estimation value, and the confidence Interval is determined by the distance measurement accuracy of the vehicle-mounted device and the installation accuracy of the ground positioning device 100. Thus, the current position of the train can be expressed as (Fmin, Fmax; Rmin, Rmax); the method comprises the following steps of obtaining a train position, obtaining a minimum safety front end of the train, obtaining a maximum safety front end of the train, obtaining a minimum safety rear end of the train, obtaining a minimum safety front end of the train, obtaining a minimum safety rear end of the train, and obtaining a maximum safety rear end of the train.

In the above step S2, the history position is the last valid location information stored before the train loss location. Further, the historical location may also be any one of a plurality of valid location information stored prior to the train loss location. It is known that one of a plurality of pieces of effective positioning information recorded before train loss positioning can be selected as a history position, and in order to reduce the load of a data memory of a train, the old effective positioning information can be replaced with the new effective positioning information, so that only the last effective positioning information is always stored, and the effective positioning information can also be used in the process of determining train positioning.

The course information mentioned in the above steps S2 and S3 includes a plurality of segmental mileage amounts continuously recorded in segments bounded by wheel commutations during the travel of the train from the historical position to the current position. In this case, the step S3 of searching further includes: in the step of the path search, the search direction is changed accordingly when switching between the consecutive two segment mileage amounts. As can be seen from this embodiment, in the present embodiment, the special situation that the wheels of the train may be reversed during the process of the train traveling from the historical position to the current position is also taken into consideration during the course information recording and the search based on the course information, and the accuracy of train positioning can be further improved.

As a preferred implementation of the method in the above embodiment provided by the present invention, the trip information mentioned in the above steps S2 and S3 is determined based on a trip amount of a difference between a historical total trip distance, which is a total trip distance when the train is driven to the historical location, and a current total trip distance, which is a total trip distance when the train is driven to the current location. The total driving range may be a range amount accumulated and recorded from the start of the train from the start station, or may be a range amount accumulated and recorded from the start of the train from the time of putting into operation. As can be seen from this embodiment, since the driver drives the train in a short time after the train loses location, the train is driven as far as possible without turning back, i.e., the turning of the wheels of the train is mostly unchanged. Under the condition, the mileage amount of the difference between the historical total mileage and the current total mileage is determined as the distance information, so that the method is more convenient and efficient, and can meet the requirement of quickly positioning the train under most conditions.

The distance information in this embodiment includes at least one mileage amount, which may be represented by a range value. It should be noted that in the field of rail transit, uncertainty is considered when describing the position of a train, and when the mileage amount here takes uncertainty parameters into consideration, the mileage amount can be represented by a range value, so that the description can be closer to the real situation of train operation, and the reliability of searching a route is further improved.

In a preferred embodiment of the above step S3 provided by the present invention, the step S3 of searching includes: and searching by taking the historical position as a starting point, and deducing the final searching direction when the path is searched as the driving direction of the train in the range of the mileage indicated by the journey information. In addition, the current position can be used as a starting point for searching, and the reverse direction of the initial searching direction when the route is searched can be inferred as the driving direction of the train in the range of the mileage indicated by the route information. It can be seen that the search task of the present invention can be implemented by searching with the historical position or the current position as the origin.

For example, when searching for a route on an electronic map, referring to fig. 1, when searching for a route using the current position as the origin, that is, when searching for a route using the position L2 as the starting point, a search for the left side and a search for the right side are required, and when searching for the position L1, the search direction is the left side, that is, the final search direction is the left side, and it is estimated that the traveling direction of the train is the down direction (that is, traveling to the right side). Further, the train length is constant, and it is possible to determine whether to perform the route search with reference to (Fmin, Fmax) or (Rmin, Rmax) in the history position, according to whether the vehicle-mounted antenna at the front end or the rear end of the train received by the first ground positioning apparatus 100.

Preferably, in the step S3 of searching, when searching with the history position as the origin, the history traveling direction corresponding to the history position is also set as the initial search direction. Therefore, the searching in the other direction by taking the historical position as the origin can be reduced, the workload of path searching is further reduced, the accuracy of path searching is improved, and the method has a better effect on realizing quick positioning of the train.

For example, referring to fig. 1, if the train records the historical position and the running direction at that time is an upward direction (i.e., the train runs to the right in fig. 1), when searching for a route, if the search is performed with the position L1 as a starting point, only the search to the right is needed, and then the step of searching to the left from the historical position can be eliminated, so that the search efficiency is higher. When the position L2 is searched from the L1 position, the final search direction is rightward, and it can be determined that the traveling direction of the train passing through the position is upward (i.e., rightward).

In step S3, if a switch is encountered during the search of the route, both branches of the switch connection need to be searched. For another example, if the train turns or turns around from the historical position to the current position, the coordinates of the train head and the parking space need to be changed correspondingly during the path search because the train head originally facing the track ascending direction is changed to be opposite to the track ascending direction.

If only one route is searched in step S3, the current driving direction of the train may be determined according to the route and the search direction corresponding to the route in step S4; if a plurality of routes are searched in step S3, when a unique driving direction of the train is determined according to each route in step S4, the unique driving direction may also be determined as the current driving direction of the train.

In step S5, the current location information of the train is transmitted and received by a trackside device on the ground, which may be, for example, a Zone Controller (ZC), so that the ground monitoring system can know that the train has determined the current location information and can know the content of specific location information.

As a preferred implementation of the method in the above embodiment provided by the present invention, between steps S3 and S5, the method further includes:

s6, when the route cannot be searched or the searched route cannot uniquely infer the running direction of the train, sending a request to manually confirm the running direction of the train;

and S7, receiving a manually confirmed driving direction and determining the driving direction as the current driving direction of the train.

With reference to step S6, first, as exemplified with reference to fig. 1, the search is started from the historical position L1 according to the route information, but the current position L2 where the first terrestrial positioning device 100 is located is not searched, and the path search is failed. In addition, referring to fig. 2 again, if there may be two paths shown by solid line arrows and two paths shown by broken line arrows when the train arrives at the first ground positioning device 100 from the linear track 201, in this case, two paths are searched when the path search is performed, and the estimated traveling direction of the train is two, and the train may go upward or downward, and at this time, the traveling direction of the train cannot be uniquely estimated. Of course, this is only an extremely extreme exemplary scenario where the inferred direction of travel of the train is not unique, and is rare in practice.

For example, in step S6, the train may issue a notification requesting the driver to manually confirm the driving direction of the train through an HMI (Human machine interface) through which the driver may also input or select the driving direction of the train. Meanwhile, the train-mounted system can also require the HMI to instruct the driver to confirm the selection again after receiving the driving direction of the train confirmed by the driver, the driver can confirm the selection again through a physical button in the cab, and the driving direction of the train confirmed by the driver is determined as the current driving direction of the train after the driver confirms twice.

Exemplarily, as shown in fig. 5, after step S3, the following steps may be further performed: step S31, determining whether at least one path is searched. If not, go to step S6; if Y, execute step S32: and judging whether the driving direction of the train deduced according to each path is unique. Further, in step S32, if the determination is Y, step S4 is executed, and if the determination is no N, step S6 is executed.

After the current driving direction of the train is determined through step S7, step S5 may be performed.

As can be seen from the above method, in the method for train positioning provided in this embodiment, determining the current driving direction of the train through path search may be regarded as a link of train self-correction, and according to this method, the train can be quickly restored to positioning in most cases. In addition, the embodiment also considers the unexpected situation that the current driving direction of the train cannot be automatically determined by the train according to the method due to hardware errors and the like. It can be understood that the path search is a faster way to recover the train location than the manual confirmation of the driver, and the driver may also know the current driving direction of the train, immediately send a notification requesting the driver to manually input the driving direction of the train, and also play a better role in realizing the rapid location of the train and ensuring the safe driving of the train, and simultaneously, the driver determines the driving direction of the train to meet the requirement of the safe driving of the train.

It should be noted that although the detailed steps of the method of the present embodiment are described in detail above, those skilled in the art can combine, split and change the order of the above steps without departing from the basic principle of the present embodiment, and the modified implementation paradigm does not change the basic concept of the present embodiment and therefore falls within the protection scope of the present invention.

It should be noted that, the system for train positioning introduced in the second aspect below corresponds to the method in the foregoing embodiment, and the system in the following embodiment may be understood by referring to the embodiment of the foregoing method, and the same contents will not be described again.

In a second aspect, in an embodiment of the present invention, the system for train positioning includes, as shown in fig. 6: the message information acquiring module 11 is configured to acquire message information of the first ground positioning device 100 after the train is lost and positioned; the distance information inquiry module 12 is used for inquiring distance information of a train from a historical position to a current position; the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information; the route searching module 13 is used for searching all possible routes of the train from the historical position to the current position in the electronic map according to the route information; the driving direction determining module 14 is configured to determine, based on the search direction corresponding to each route, a unique driving direction indicated by each route as a current driving direction of the train; a positioning information sending module 15, configured to send current positioning information of the train; the current positioning information comprises the current position and the current driving direction of the train.

In this embodiment, the message information obtaining module 11 may be configured to execute step S1 in the above method embodiment, the route information querying module 12 may be configured to execute step S2 in the above method embodiment, the route searching module 13 may be configured to execute step S3 in the above method embodiment, the driving direction determining module 14 may be configured to execute step S4 in the above method embodiment, and the positioning information sending module 15 may be configured to execute step S5 in the above method embodiment.

As a preferred implementation of the system in the foregoing embodiment provided by the present invention, the path searching module 13 is configured to: and searching by taking the historical position as a starting point, and deducing the final searching direction when the path is searched as the driving direction of the train in the range of the mileage indicated by the journey information. In addition, the route searching module 13 may be further configured to search with the current position as a starting point, and infer a direction opposite to the initial search direction when the route is searched as the driving direction of the train within the range of the mileage indicated by the route information.

As a preferred implementation of the system in the foregoing embodiment provided by the present invention, the route searching module 13 is configured to, when searching with the history position as an origin, further use the history driving direction corresponding to the history position as an initial searching direction.

As a preferred implementation of the system in the above embodiment provided by the present invention, the route information includes a plurality of segment mileage amounts continuously recorded in segments with wheel commutations as boundaries in the process that the train travels from the historical position to the current position; also in the step of the path search, the search direction is changed accordingly when switching between the consecutive two segment mileage amounts.

Further, the trip information is determined based on a trip amount of a difference between a historical total trip distance, which is a total trip distance when the train is driven to the historical location, and a current total trip distance, which is a total trip distance when the train is driven to the current location.

As a preferred implementation of the system in the above embodiment provided by the present invention, the historical location is the last valid location information stored before the train loss location. Further, the historical location may be any one of a plurality of valid location information stored before the train loss location.

As a preferred implementation of the system in the foregoing embodiment provided in the present invention, as shown in fig. 7, the system further includes: the notification module 16 is configured to issue a request to manually confirm the driving direction of the train when the route is not searched or the searched route cannot uniquely infer the driving direction of the train, and the notification module 16 may be configured to execute step S6 in the above method embodiment. At this time, the driving direction determining module 14 is further configured to receive a manually confirmed driving direction and determine it as the current driving direction of the train, i.e. the driving direction determining module 14 is further configured to execute the step S7.

In a third aspect, in an embodiment of a computer-readable storage medium provided by the present invention, the storage medium has stored thereon computer instructions, which, when executed by a processor, cause the processor to perform the method of any of the embodiments of the method for train location in the first aspect.

In this case, the computer instructions read from the storage medium may themselves implement the functions of any of the above-described embodiments, and thus the computer instructions and the storage medium storing the computer instructions form part of the present invention. Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the computer instructions may be downloaded from a server computer over a communications network.

Further, it should be clear that the functions of any of the above embodiments can be realized not only by executing computer instructions read out by a computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations by the computer instructions.

Further, it is to be understood that the functions of any of the above-described embodiments are realized by writing computer instructions read out from a storage medium to a memory provided in an expansion board inserted into a computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the computer instructions.

It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.

In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware unit may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA or AIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.

The invention relates to the technical field of rail transit, in particular to a method, a system and a storage medium for train positioning. According to the method provided by the invention, only the message information of one piece of ground positioning equipment 100 needs to be acquired after the train loses positioning, then the current position of the train is determined according to the message information, the searched historical position and the route information are combined, the route search is carried out in the electronic map, and the unique driving direction indicated by each route is determined as the current driving direction of the train based on the searching direction corresponding to each route. Therefore, the speed of train positioning is greatly improved, and the influence on the normal operation of other trains on the track is reduced.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A method for train positioning, comprising:

after the train is positioned by losing, acquiring message information (S1) of first ground positioning equipment (100);

inquiring the distance information of the train from a historical position to the current position; wherein the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information (S2);

searching an electronic map for all possible routes for the train to travel from the historical location to the current location based on the trip information (S3);

determining a unique driving direction indicated by each of the paths as a current driving direction of the train based on a search direction corresponding to each of the paths (S4);

sending current positioning information of the train; wherein the current location information includes the current position and the current driving direction of the train (S5).

2. The method according to claim 1, wherein the step of searching (S3) comprises:

searching by taking the historical position as a starting point, and deducing a final searching direction when the path is searched as a driving direction of the train in a mileage range indicated by the route information; or,

and searching by taking the current position as a starting point, and deducing the reverse direction of the initial searching direction when the route is searched as the driving direction of the train in the range of the mileage indicated by the route information.

3. The method according to claim 2, wherein in the step (S3) of searching, when searching with the history position as an origin, a history traveling direction corresponding to the history position is also taken as an initial search direction.

4. The method of claim 1, wherein:

the distance information comprises a plurality of segmented mileage quantities which are continuously recorded in a segmented mode by taking wheel reversing as a boundary in the process that the train runs from the historical position to the current position; and in the step of searching, changing the search direction accordingly when switching between two consecutive segment mileage amounts; or,

the trip information is determined based on a trip amount of a difference between a historical total trip distance and a current total trip distance, wherein the historical total trip distance is a total trip distance when the train is driven to the historical location, and the current total trip distance is a total trip distance when the train is driven to the current location.

5. The method of claim 4, wherein the trip information comprises at least one mileage amount, and the mileage amount is represented by a range value.

6. The method of claim 1, wherein the historical location is the last valid location information stored prior to a train loss location; or,

the historical location is any one of a plurality of valid location information stored prior to a train loss location.

7. The method of claim 1, further comprising, between steps (S3) and (S5):

when the route cannot be searched or the searched route cannot uniquely infer the driving direction of the train, issuing a request to manually confirm the driving direction of the train (S6);

a manually confirmed driving direction is received and determined as a current driving direction of the train (S7).

8. A system for train positioning, comprising:

the message information acquisition module (11) is used for acquiring the message information of the first ground positioning equipment (100) after the train is lost and positioned;

the distance information inquiry module (12) is used for inquiring distance information of the train from a historical position to the current position; the historical position is effective positioning information recorded before the train is lost and positioned, and the current position is a position determined according to the message information;

the route searching module (13) is used for searching all possible routes of the train from the historical position to the current position in an electronic map according to the route information;

the driving direction determining module (14) is used for determining the unique driving direction indicated by each path as the current driving direction of the train based on the searching direction corresponding to each path;

the positioning information sending module (15) is used for sending the current positioning information of the train; wherein the current location information includes the current location and the current direction of travel of the train.

9. The system according to claim 8, characterized in that the path search module (13) is configured to:

10. The system according to claim 9, characterized in that the path search module (13) is configured to further take a historical travel direction corresponding to the historical position as an initial search direction when searching with the historical position as an origin.

11. The system of claim 8, wherein:

12. The system of claim 8, wherein the historical location is the last valid location information stored prior to a train loss location; or,

13. The system of claim 8, further comprising:

a notification module (16) for sending a request to manually confirm the driving direction of the train when the path cannot be searched or the searched path cannot uniquely infer the driving direction of the train;

the driving direction determining module (14) is also used for receiving a manually confirmed driving direction and determining the driving direction as the current driving direction of the train.

14. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.