CN114735050A - Train positioning method, electronic device, storage medium, and program product - Google Patents
Train positioning method, electronic device, storage medium, and program product Download PDFInfo
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention provides a train positioning method, electronic equipment, a storage medium and a program product, wherein the method comprises the following steps: acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain positioning data of the target train. According to the invention, the error of the INS module accumulated along with time can be made up through the first positioning data of the UWB module, so that the accuracy of train positioning is improved.
Description
Technical Field
The present invention relates to the field of rail transit technologies, and in particular, to a train positioning method, an electronic device, a storage medium, and a program product.
Background
Train positioning technology has important application in rail transit. For example, in an automatic monitoring system, the accurate position information of a train is acquired, and not only is the basis of rapid and effective command, but also the guarantee of accurate stop when the train enters a station is ensured, so that the service quality of rail transit is ensured.
At present, a train usually adopts a positioning method of an odometer and a transponder, the method comprises the steps of installing the odometer on a wheel shaft of the train, measuring the rotating speed and the rotating number of wheels by using the odometer, calculating the speed and the running distance of the train according to the rotating speed and the rotating number, and accordingly obtaining the relative position information of the train, and meanwhile, installing the transponder on the ground at intervals to provide absolute position information for the train when the train passes through. However, due to wheel wear, wheel spin, sliding and other reasons, there is a calculation error in the distance, and the error has an accumulated characteristic, so the location method of the odometer cannot realize accurate location; in addition, absolute position information is provided for a train by using a transponder, the train can normally work only by relying on data input of track signals, and signal transmission may be abnormal, for example, when a turnout is passed, if a signal system does not inform the direction of turnout closing, the positioning of the train cannot be realized, so that the positioning method of the transponder cannot realize stable positioning, and further cannot realize accurate positioning.
Disclosure of Invention
The invention provides a train positioning method, electronic equipment, a storage medium and a program product, which are used for solving the defect that the prior art cannot realize accurate positioning and realizing high-accuracy train positioning.
The invention provides a train positioning method, which comprises the following steps:
acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train;
and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
According to the train positioning method provided by the invention, the acquiring of the first positioning data of the ultra-wideband UWB module comprises the following steps:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
each of the relative distances is determined as the first positioning data.
According to the train positioning method provided by the invention, the acquiring of the first positioning data of the ultra-wideband UWB module comprises the following steps:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
and determining the first positioning data based on the coordinates of the UWB base stations, the ground clearance of the UWB base stations and the relative distances.
According to the train positioning method provided by the invention, the relative distance between any UWB base station and the UWB tag is determined based on the following steps:
acquiring the request signal sending time of any UWB base station and the response signal receiving time of any UWB base station;
acquiring the request signal receiving time of the UWB tag and the response signal sending time of the UWB tag;
and calculating based on the request signal sending time, the request signal receiving time, the response signal sending time and the response signal receiving time to obtain the relative distance between any UWB base station and the UWB tag.
According to the train positioning method provided by the invention, a calculation formula of the relative distance between any UWB base station and the UWB tag is as follows:
d＝c*T；
where d is a relative distance between any one of the UWB base stations and the UWB tag, c is an optical speed, T ═ [ (T4-T1) - (T3-T2) ]/2, T4 is the response signal reception time, T1 is the request signal transmission time, T3 is the response signal transmission time, and T2 is the request signal reception time.
According to a train positioning method provided by the present invention, the determining the first positioning data based on the coordinates of the UWB base stations, the ground clearance of the UWB base stations, and the relative distances includes:
determining a horizontal distance between each UWB base station and the UWB tag based on the ground clearance of each UWB base station and each relative distance;
and determining the first positioning data based on the coordinates of each UWB base station, each horizontal distance and a trilateration algorithm.
According to the train positioning method provided by the invention, the fusing the first positioning data and the second positioning data to obtain the positioning data of the target train comprises the following steps:
and fusing the first positioning data and the second positioning data by adopting an unscented Kalman filtering algorithm to obtain the positioning data of the target train.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the train positioning method.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the train positioning method as described in any one of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the train positioning method as described in any one of the above.
The train positioning method, the electronic device, the storage medium and the program product provided by the invention are used for acquiring first positioning data of an ultra-wideband UWB module and acquiring second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train. By the mode, the positioning accuracy of the first positioning data is ensured by utilizing the advantages that the UWB module has high resolution, low power consumption, strong penetrating power, insensitivity to channel fading, low power spectral density of the transmitted signal, low interception capability and strong anti-interference capability, and then the first positioning data is used for correcting the second positioning data of the INS module, so that the error generated by the UWB module due to environmental factors is made up, and the train positioning accuracy is improved.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a train positioning method according to the present invention;
FIG. 2 is a second schematic flow chart of the train positioning method according to the present invention;
FIG. 3 is a schematic flow chart of a two-way time-of-flight method provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Train positioning technology has important application in rail transit. For example, in an automatic monitoring system, the accurate position information of a train is acquired, and not only is the basis of rapid and effective command, but also the guarantee of accurate stop when the train enters a station is ensured, so that the service quality of rail transit is ensured.
At present, a train usually adopts a positioning method of an odometer and a transponder, the method comprises the steps of installing the odometer on a wheel shaft of the train, measuring the rotating speed and the rotating number of wheels by using the odometer, calculating the speed and the running distance of the train according to the rotating speed and the rotating number, and accordingly obtaining the relative position information of the train, and meanwhile, installing the transponder on the ground at intervals to provide absolute position information for the train when the train passes through. However, due to wheel wear, wheel spin, sliding and other reasons, there is a calculation error in the distance, and the error has an accumulated characteristic, so the location method of the odometer cannot realize accurate location; in addition, absolute position information is provided for a train by using a transponder, the train can normally work only by relying on data input of track signals, and signal transmission may be abnormal, for example, when a turnout is passed, if a signal system does not inform the direction of turnout closing, the positioning of the train cannot be realized, so that the positioning method of the transponder cannot realize stable positioning, and further cannot realize accurate positioning.
Aiming at the problems, the invention provides a train positioning method. Fig. 1 is a schematic flow chart of a train positioning method provided by the present invention, and as shown in fig. 1, the method includes:
and 110, acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train.
Here, the UWB module is a module constructed based on the UWB technology. The UWB (Ultra Wide Band) technology is a wireless communication technology, and has the advantages of high resolution, low power consumption, strong penetration, insensitivity to channel fading, low power spectral density of transmitted signals, low interception capability, and strong anti-interference capability.
Here, the first positioning data may be a relative distance between each UWB base station and the UWB tag, or may be a position of the target train. Wherein, the position of the target train can be determined through the coordinates of the UWB tags in the UWB module.
Specifically, the acquiring first positioning data of the ultra-wideband UWB module includes:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module; determining each of the relative distances as the first positioning data;
or determining the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module; and determining the first positioning data based on the coordinates of the UWB base stations, the height from the ground of the UWB base stations, and the relative distances.
In one embodiment, a two-way time-of-flight method is used to determine the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module. In another embodiment, a bilateral two-way ranging manner is adopted to determine the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module. Of course, other methods may also be used to determine the relative distance, which is not particularly limited in the embodiment of the present invention.
In one embodiment, the first positioning data is determined based on coordinates of the UWB base stations and the relative distances, and a trilateration algorithm.
Further, based on the coordinates of each UWB base station, each relative distance and a trilateral positioning algorithm, an equation set is constructed; solving the equation set to obtain the coordinates of the UWB tag; and determining first positioning data of the target train based on the coordinates of the UWB tag.
The algorithm for solving the equation set may include, but is not limited to: least square method, maximum likelihood estimation method, triangle centroid algorithm, etc., which are not limited in the embodiments of the present invention.
Here, the INS (Inertial Navigation System) module is an autonomous Navigation System that does not depend on external information and radiates energy to the outside, and is based on newton's law of mechanics, and obtains information such as velocity, yaw angle, and position in a Navigation coordinate System by measuring acceleration of a carrier in an Inertial reference System, integrating the acceleration with respect to time, and transforming the acceleration into the Navigation coordinate System.
Here, the second positioning data may be a position of the target train. Wherein, the position of the target train is the train position calculated by the inertial navigation system.
Here, the target train is a train that needs to be positioned, the UWB tag in the UWB module is deployed on the target train, and the INS module is also deployed, that is, the target train is a carrier of the INS module, so that the position of the target train and the like can be obtained based on the INS module.
The deployment position of the UWB tag in the UWB module on the target train can be set according to actual needs; the number of UWB base stations in the UWB module can be set according to actual needs, and only the number of UWB base stations is required to be ensured to be more than or equal to 3; the deployment position of each UWB base station along the train track may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
The INS module can comprise a gyroscope and an accelerometer, so that a navigation coordinate system is established based on the output of the gyroscope, and the position of the target train in the navigation coordinate system is calculated based on the accelerometer. The deployment position of the INS module on the target train can be set according to actual needs.
In one embodiment, the UWB tag is deployed at the locomotive position of the target train, thereby improving the positioning accuracy of the UWB module.
In one embodiment, the INS module is deployed at the head position of the target train, so that the positioning accuracy of the INS module is improved.
In one embodiment, three UWB base stations are deployed along the train track, and based on this, the UWB module may obtain the first positioning data by using a trilateral positioning algorithm.
In one embodiment, said first positioning data comprises coordinates of said UWB tag; the second positioning data includes a pose, a position, and a speed of the target train.
The coordinates of the UWB tag can be used as the position of a target train; or the coordinates of the UWB tag are transformed to the position of the target train based on a preset transformation relationship, which may be set according to actual conditions and is not described herein in detail.
And step 120, fusing the first positioning data and the second positioning data to obtain positioning data of the target train.
It should be noted that the UWB module may generate an error due to the influence of environmental factors, while the INS module is not affected by the external environment, and based on this, the first positioning data and the second positioning data are fused, so that the error generated by the UWB module due to the environmental factors can be compensated, and the accuracy of train positioning is improved.
In addition, it should be noted that the positioning error of the INS module is large after the INS module accumulates along with time, and based on this, the first positioning data and the second positioning data are fused, so that the error of the INS module after the INS module accumulates along with time can be made up, and the train positioning accuracy is improved.
In a specific embodiment, a kalman filtering algorithm may be adopted to fuse the first positioning data and the second positioning data to obtain the positioning data of the target train. Through the Kalman filtering algorithm, errors (noises) in the first positioning data and the second positioning data can be removed, and therefore the optimal positioning data of the target train is obtained.
The kalman filtering algorithm includes an unscented kalman filtering algorithm, an adaptive kalman filtering algorithm, an average kalman filtering algorithm, an extended kalman filtering algorithm, and the like, which is not specifically limited in this embodiment of the present invention.
In an embodiment, the first positioning data and the second positioning data are converted into positioning data in the same coordinate system, and the converted first positioning data and the converted second positioning data are fused to obtain the positioning data of the target train.
The train positioning method provided by the embodiment of the invention comprises the steps of acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train. By the mode, the positioning accuracy of the first positioning data is ensured by utilizing the advantages that the UWB module has high resolution, low power consumption, strong penetrating power, insensitivity to channel fading, low power spectral density of the transmitted signal, low interception capability and strong anti-interference capability, and then the first positioning data is used for correcting the second positioning data of the INS module, so that the error generated by the UWB module due to environmental factors is made up, and the train positioning accuracy is improved.
Based on the foregoing embodiment, in this method, in the foregoing step 110, acquiring first positioning data of an ultra wideband UWB module includes:
step 111, determining the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module;
step 112, determining each of the relative distances as the first positioning data.
Here, any relative distance is a straight-line distance between the UWB base station and the UWB tag.
In one embodiment, three UWB base stations are deployed along a train track, specifically, a first relative distance between a first UWB base station of the UWB module and a UWB tag of the UWB module is determined, a second relative distance between a second UWB base station of the UWB module and the UWB tag of the UWB module is determined, and a third relative distance between a third UWB base station of the UWB module and the UWB tag of the UWB module is determined.
According to the train positioning method provided by the embodiment of the invention, the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module is determined as the first positioning data, and based on the first positioning data, the error caused by the influence of environmental factors can not be generated, so that the train positioning accuracy is further improved.
Based on any of the above embodiments, fig. 2 is a second schematic flow chart of the train positioning method provided by the present invention, as shown in fig. 2, in the method, in the step 110, acquiring the first positioning data of the ultra-wideband UWB module includes:
and 113, determining the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module.
Here, any relative distance is a straight-line distance between the UWB base station and the UWB tag.
In one embodiment, three UWB base stations are deployed along a train track, specifically, a first relative distance between a first UWB base station of the UWB module and a UWB tag of the UWB module is determined, a second relative distance between a second UWB base station of the UWB module and the UWB tag of the UWB module is determined, and a third relative distance between a third UWB base station of the UWB module and the UWB tag of the UWB module is determined.
Here, the coordinates of each UWB base station are set in advance, that is, can be determined according to the deployment position of each UWB base station.
Here, the height of each UWB base station from the ground is set in advance, that is, may be determined according to the height of each UWB base station.
Specifically, the first positioning data is determined based on the coordinates of the UWB base stations, the ground clearance of the UWB base stations, the relative distances of the UWB base stations, and a trilateration algorithm.
In one embodiment, three UWB base stations are disposed along a train track, and specifically, the first positioning data is determined based on the coordinates of the first UWB base station, the coordinates of the second UWB base station, the coordinates of the third UWB base station, the ground clearance of the first UWB base station, the ground clearance of the second UWB base station, the ground clearance of the third UWB base station, the first relative distance, the second relative distance, and the third relative distance.
The train positioning method provided by the embodiment of the invention determines the relative distance between each UWB base station of the UWB module and the UWB tag of the UWB module; and determining the first positioning data based on the coordinates of the UWB base stations, the ground clearance of the UWB base stations and the relative distances. Through the mode, the coordinates of the UWB base stations and the ground clearance of the UWB base stations are known, and the first positioning data can be determined only by determining the relative distance between the UWB base stations and the UWB tag, so that errors caused by the influence of environmental factors can be avoided, and the accuracy of train positioning is finally further improved.
Based on any of the above embodiments, fig. 3 is a schematic flow chart of a bidirectional time flight method provided by the present invention, as shown in fig. 3, in the method, a relative distance between any UWB base station and the UWB tag is determined based on the following steps:
It should be noted that any UWB base station sends a request signal to the UWB tag, so that the UWB tag receives the request signal, and sends a response signal to the any UWB base station based on the request signal; the response signal is received by the any UWB base station.
Here, the request signal transmission timing of any UWB base station is the timing at which the request signal is transmitted by the UWB base station.
Here, the response signal reception time of any UWB base station is a time at which the response signal is received by the UWB base station, and the response signal is a signal that responds to the request signal.
It should be noted that the UWB tag receives a request signal sent by any UWB base station, and generates a corresponding response signal based on the request signal; then, the UWB tag transmits the response signal to the any UWB base station, so that the any UWB base station receives the response signal.
Here, the request signal reception time of the UWB tag is the time when the UWB tag receives the request signal.
Here, the response signal transmission time of the UWB tag is a time at which the UWB tag transmits a response signal, and the response signal is a signal that responds to the request signal.
In one embodiment, the calculation formula of the relative distance between any UWB base station and the UWB tag is as follows:
d＝c*T；
where d is a relative distance between any one of the UWB base stations and the UWB tag, c is an optical speed, T ═ [ (T4-T1) - (T3-T2) ]/2, T4 is the response signal reception time, T1 is the request signal transmission time, T3 is the response signal transmission time, and T2 is the request signal reception time.
Wherein the light speed C can be preset, for example, 3 × 108m/s, or according to the actual environment condition.
It will be appreciated that the response signal reception time T4 is subtracted from the request signal transmission time T1 and the response signal transmission time T3 is subtracted from the request signal reception time T2 so that both the UWB base station and the UWB tag can rely on their own time stamps without the need for a uniform time stamp.
The train positioning method provided by the embodiment of the invention obtains the sending time of a request signal of any UWB base station and the receiving time of a response signal of any UWB base station; acquiring the receiving time of a request signal of a UWB tag and the sending time of a response signal of the UWB tag; and calculating based on the request signal sending time, the request signal receiving time, the response signal sending time and the response signal receiving time to obtain the relative distance between any UWB base station and the UWB tag. By the mode, the distance between the UWB base station and the UWB tag can be accurately calculated by adopting a two-way time flight method, so that support is provided for determining the first positioning data, and the accuracy of train positioning is further improved. In addition, the UWB base station and the UWB tag can rely on the time stamp of the UWB base station and the UWB tag, and the UWB base station and the UWB tag do not need to carry out clock synchronization, so that the train positioning efficiency is improved.
According to any of the above embodiments, in the method, the step 114 includes:
determining a horizontal distance between each UWB base station and the UWB tag based on the ground clearance of each UWB base station and each relative distance;
and determining the first positioning data based on the coordinates of each UWB base station, each horizontal distance and a trilateration algorithm.
Specifically, the relative distance is taken as the hypotenuse of the right triangle, and the ground clearance of the UWB base station is taken as the cathetus of the right triangle, so that another cathetus of the right triangle can be calculated, and the another cathetus is the horizontal distance.
Specifically, an equation set is constructed based on coordinates and horizontal distances of UWB base stations and a trilateral positioning algorithm; solving the equation set to obtain the coordinates of the UWB tag; and determining first positioning data of the target train based on the coordinates of the UWB tag.
The algorithm for solving the equation set may include, but is not limited to: least square method, maximum likelihood estimation method, triangle centroid algorithm, etc., which are not limited in the embodiments of the present invention.
The train positioning method provided by the embodiment of the invention determines the horizontal distance between each UWB base station and the UWB tag based on the ground clearance and each relative distance of each UWB base station; and determining first positioning data based on the coordinates and horizontal distances of the UWB base stations and a trilateral positioning algorithm. Through the mode, each relative distance can be converted into a horizontal distance based on the ground clearance of each UWB base station, so that the following trilateral positioning algorithm based on a two-dimensional plane is more accurate, and finally the determination of the first positioning data is more accurate, thereby further improving the accuracy of train positioning.
In any of the above embodiments, in the method, the step 120 includes:
and fusing the first positioning data and the second positioning data by adopting an unscented Kalman filtering algorithm to obtain the positioning data of the target train.
Specifically, through the unscented kalman filter algorithm, errors (noise) in the first positioning data and the second positioning data can be removed, so that the optimal positioning data of the target train is obtained. In addition, the unscented kalman filter algorithm has higher precision and stability.
More specifically, a motion equation and an observation equation of the target train are established, wherein the motion equation is used for calculating the state of the train according to the measured value of the inertial navigation system, and the observation equation can obtain the distance between the UWB tag and the UWB base station. And when receiving the actual measurement value of the UWB, the filter calculates the difference between the estimation value and the actual value and calculates the error of the estimation state, and feeds the error back to the state quantity of the system, wherein the state error is estimated by using the unscented Kalman rate wave algorithm instead of the state quantity. According to the UWB base station and the UWB tag, the straight-line distance between the UWB tag and the base station can be calculated, namely: an accurate value of the distance; the inertial navigation system can calculate the position of the train, and the distance between the train and the base station can be estimated by combining the coordinates of the base station, namely: an estimate of the distance; taking the difference between the measured value and the estimated value as a correction value of the measured value of the filter, thereby calculating Kalman gain; the error state is fed back to the inertial navigation system to correct its output value.
In an embodiment, the first positioning data and the second positioning data are converted into positioning data in the same coordinate system, and then the converted first positioning data and the converted second positioning data are fused by using an unscented kalman filter algorithm to obtain the positioning data of the target train.
According to the train positioning method provided by the embodiment of the invention, the error of the UWB module caused by the environmental factors is made up through the second positioning data of the INS module, so that the train positioning accuracy is further improved, and meanwhile, the error of the INS module accumulated along with the time can be made up by the first positioning data of the UWB module, so that the train positioning accuracy is further improved. In addition, the unscented kalman filter algorithm has higher precision and stability, so that the first positioning data and the second positioning data can be more accurately fused through the unscented kalman filter algorithm, and the precision of train positioning is further improved.
The train positioning device provided by the invention is described below, and the train positioning device described below and the train positioning method described above can be referred to correspondingly.
In this embodiment, the train positioning device includes:
the system comprises an acquisition module, an Inertial Navigation System (INS) module and an acquisition module, wherein the acquisition module is used for acquiring first positioning data of the ultra-wideband UWB module and acquiring second positioning data of the INS module, the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train;
and the fusion module is used for fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
The train positioning device provided by the embodiment of the invention acquires first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train. By the mode, the positioning accuracy of the first positioning data is ensured by utilizing the advantages that the UWB module has high resolution, low power consumption, strong penetrating power, insensitivity to channel fading, low power spectral density of the transmitted signal, low interception capability and strong anti-interference capability, and then the first positioning data is used for correcting the second positioning data of the INS module, so that the error generated by the UWB module due to environmental factors is made up, and the train positioning accuracy is improved.
Based on any of the above embodiments, the obtaining module is further configured to:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
each of the relative distances is determined as the first positioning data.
Based on any of the above embodiments, the obtaining module is further configured to:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
and determining the first positioning data based on the coordinates of the UWB base stations, the height from the ground of the UWB base stations, and the relative distances.
Based on any of the above embodiments, the obtaining module is further configured to:
acquiring the request signal sending time of any UWB base station and the response signal receiving time of any UWB base station;
acquiring the request signal receiving time of the UWB tag and the response signal sending time of the UWB tag;
and calculating based on the request signal sending time, the request signal receiving time, the response signal sending time and the response signal receiving time to obtain the relative distance between any UWB base station and the UWB tag.
Based on any of the above embodiments, the calculation formula of the relative distance between any UWB base station and the UWB tag is as follows:
d＝c*T；
where d is a relative distance between any one of the UWB base stations and the UWB tag, c is an optical speed, T ═ [ (T4-T1) - (T3-T2) ]/2, T4 is the response signal reception time, T1 is the request signal transmission time, T3 is the response signal transmission time, and T2 is the request signal reception time.
Based on any of the above embodiments, the obtaining module is further configured to:
determining a horizontal distance between each UWB base station and the UWB tag based on the ground clearance of each UWB base station and each relative distance;
and determining the first positioning data based on the coordinates of each UWB base station, each horizontal distance and a trilateration algorithm.
Based on any of the embodiments above, the fusion module is further configured to:
and fusing the first positioning data and the second positioning data by adopting an unscented Kalman filtering algorithm to obtain the positioning data of the target train.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a train location method comprising: the method comprises the steps of obtaining first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, a computer is capable of executing the train positioning method provided by the above methods, and the method comprises: acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the train positioning method provided by the above methods, the method comprising: the method comprises the steps of obtaining first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train; and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A train positioning method, comprising:
acquiring first positioning data of an ultra-wideband UWB module and second positioning data of an Inertial Navigation System (INS) module, wherein the UWB module comprises a UWB tag deployed on a target train and at least three UWB base stations deployed along a train track, and the INS module is deployed on the target train;
and fusing the first positioning data and the second positioning data to obtain the positioning data of the target train.
2. The train positioning method of claim 1, wherein the obtaining of the first positioning data of the ultra-wideband UWB module comprises:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
each of the relative distances is determined as the first positioning data.
3. The train positioning method of claim 1, wherein the obtaining of the first positioning data of the ultra-wideband UWB module comprises:
determining a relative distance between each UWB base station of the UWB module and a UWB tag of the UWB module;
and determining the first positioning data based on the coordinates of the UWB base stations, the height from the ground of the UWB base stations, and the relative distances.
4. The train positioning method according to claim 2 or 3, wherein the relative distance between any UWB base station and the UWB tag is determined based on the steps of:
acquiring the request signal sending time of any UWB base station and the response signal receiving time of any UWB base station;
acquiring the request signal receiving time of the UWB tag and the response signal sending time of the UWB tag;
and calculating based on the request signal sending time, the request signal receiving time, the response signal sending time and the response signal receiving time to obtain the relative distance between any UWB base station and the UWB tag.
5. The train positioning method according to claim 4, wherein a calculation formula of a relative distance between any one of the UWB base stations and the UWB tag is as follows:
d＝c*T；
where d is a relative distance between any one of the UWB base stations and the UWB tag, c is an optical speed, T ═ [ (T4-T1) - (T3-T2) ]/2, T4 is the response signal reception time, T1 is the request signal transmission time, T3 is the response signal transmission time, and T2 is the request signal reception time.
6. The train positioning method according to claim 3, wherein said determining the first positioning data based on the coordinates of the UWB base stations, the ground clearance of the UWB base stations, and the relative distances comprises:
determining a horizontal distance between each UWB base station and the UWB tag based on the ground clearance of each UWB base station and each relative distance;
and determining the first positioning data based on the coordinates of the UWB base stations, the horizontal distances and a trilateral positioning algorithm.
7. The train positioning method according to claim 1, wherein the fusing the first positioning data and the second positioning data to obtain the positioning data of the target train comprises:
and fusing the first positioning data and the second positioning data by adopting an unscented Kalman filtering algorithm to obtain the positioning data of the target train.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the train positioning method according to any one of claims 1 to 7 are implemented when the program is executed by the processor.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the train localization method according to any one of claims 1 to 7.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the train positioning method according to any one of claims 1 to 7.
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