CN114895337B - Train positioning method, storage medium and electronic device - Google Patents
Train positioning method, storage medium and electronic device Download PDFInfo
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Abstract
The embodiment of the application discloses a train positioning method, a storage medium and an electronic device. The method comprises the following steps: acquiring a satellite positioning result of the train output by the vehicle-mounted satellite positioning device; determining the current running track position of the train according to the satellite positioning result to obtain a reference position; calculating the position of the satellite positioning result corresponding to the reference transponder group according to the position of the reference position corresponding to the reference transponder group to obtain a first position; and determining the position of the train according to the first position. The scheme provided by the embodiment of the application can improve the accuracy of train positioning.
Description
Technical Field
The embodiment of the application relates to the field of rail transit, and in particular relates to a train positioning method, a storage medium and an electronic device.
Background
A train positioning method based on multi-sensor information fusion is one of the methods for improving the train positioning precision. Aiming at the problem that the positioning accuracy of different sensors is reduced in a special scene, the accuracy of comprehensive positioning is improved through the information of different sensors. In the prior art, a train positioning method can be carried out by using a GPS and a milemeter, and positioning information of a train is determined by adopting the relative position of satellite traveling per cycle for fusion in the process of information fusion.
In practical application, the positioning error in the prior art is found to be large.
Disclosure of Invention
In order to solve any one of the above technical problems, an embodiment of the present application provides a train positioning method, a storage medium, and an electronic device.
In order to achieve the purpose of the embodiment of the present application, an embodiment of the present application provides a train positioning method, including:
acquiring a satellite positioning result of the train output by the vehicle-mounted satellite positioning device;
determining the current running track position of the train according to the satellite positioning result to obtain a reference position;
calculating the position of the satellite positioning result corresponding to the reference transponder group according to the position of the reference position corresponding to the reference transponder group to obtain a first position;
and determining the position of the train according to the first position.
A storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method as described above when executed.
An electronic apparatus comprising a memory having a computer program stored therein and a processor arranged to execute the computer program to perform the method as described above.
One of the above technical solutions has the following advantages or beneficial effects:
after the satellite positioning result of the train output by the vehicle-mounted satellite positioning device is obtained, the position of the satellite positioning result in the running track of the train is determined to obtain a reference position, the reference position is used for converting the satellite positioning result output by the vehicle-mounted satellite positioning device into the position corresponding to the reference transponder group based on the position corresponding to the reference transponder group, and the position of the running track of the train is fixed and accurate, so that compared with the satellite positioning result output by directly using the vehicle-mounted satellite positioning device, the train positioning is carried out by using the satellite positioning result based on the position corresponding to the reference transponder group, the problem that the error in a single period in the satellite positioning result is large is solved, the calculation accuracy is improved, in addition, the position fusion calculation based on the transponder group is facilitated, and the calculation efficiency is improved.
Additional features and advantages of the embodiments of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the embodiments of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the examples of the embodiments of the present application do not limit the embodiments of the present application.
Fig. 1 is a flowchart of a train positioning method provided in an embodiment of the present application;
fig. 2 is a positional relationship diagram of a reference transponder group and a reference longitude and latitude provided in the embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that, in the embodiments of the present application, features in the embodiments and the examples may be arbitrarily combined with each other without conflict.
In the process of implementing the application, technical analysis is performed on the related technologies, and it is found that the related technologies have at least the following problems, including:
the relative displacement error of the single-cycle running of the satellite is large, so that the relative position of the satellite used for train positioning at each time has a large error, the train positioning result has a large error, and the train positioning error result is large.
Fig. 1 is a flowchart of a train positioning method provided in an embodiment of the present application. As shown in fig. 1, the method includes:
this on-vehicle satellite positioning device can be for having satellite signal reception function, receives the positioning result that the satellite sent, can accomplish the location operation based on GPS, big dipper etc..
Step 102, determining the current running track position of the train according to the satellite positioning result to obtain a reference position;
support is provided for converting the satellite positioning result output by the vehicle-mounted satellite positioning device into a corresponding position based on the reference transponder group.
In addition, because the position of the track where the train runs is fixed and accurate, compared with the direct use of the satellite positioning result, the problem that the error in a single period is large in the satellite positioning result can be solved by using the position of the track where the train runs for switching operation.
103, calculating the position of the satellite positioning result corresponding to the reference transponder group according to the position of the reference position corresponding to the reference transponder group to obtain a first position;
the position is conveniently fused and calculated based on the transponder group by converting the satellite positioning result into the position corresponding to the reference transponder group.
And step 104, determining the position of the train according to the first position.
According to the method provided by the embodiment of the application, after the satellite positioning result of the train output by the vehicle-mounted satellite positioning device is obtained, the reference position is obtained by determining the position of the satellite positioning result in the track where the train runs, the satellite positioning result output by the vehicle-mounted satellite positioning device is converted into the position corresponding to the reference transponder group based on the position corresponding to the reference transponder group by utilizing the reference position, and the position of the track where the train runs is fixed and accurate, so that compared with the satellite positioning result output by directly using the vehicle-mounted satellite positioning device, the train positioning is carried out by utilizing the satellite positioning result based on the position corresponding to the reference transponder group, the problem that the error in a single period in the satellite positioning result is large is solved, the calculation accuracy is improved, in addition, the position fusion calculation based on the transponder group is facilitated, and the calculation efficiency is improved.
The method provided by the embodiments of the present application is explained as follows:
in an exemplary embodiment, the calculating the satellite positioning result based on the positions corresponding to the reference transponder group according to the reference position based on the positions corresponding to the reference transponder group to obtain the first position includes:
calculating a position difference between the satellite positioning result and the reference position;
and compensating the reference position based on the position corresponding to the reference transponder group by using the position difference value to obtain a first position.
Specifically, by obtaining the position difference, the relative position relationship between the satellite positioning result and the reference position can be obtained. After the position corresponding to the reference position based on the reference transponder group is obtained, the position can be converted into a satellite positioning result based on the position corresponding to the reference transponder group, and the position fusion calculation based on the transponder group is facilitated; meanwhile, the position deviation is compensated for the satellite positioning result output by the vehicle-mounted satellite positioning device, so that the error of the result output by the vehicle-mounted satellite positioning device can be effectively reduced, the calculation accuracy is improved, and the accuracy of the positioning operation is improved.
In particular, SAT LRBG = SAT_interval +ΔS；
Wherein:
SAT LRBG indicating the corresponding position of the satellite positioning result based on the reference transponder group;
SAT _ interval represents a position difference between the satellite positioning result and the reference position;
Δ S denotes a position to which the reference position corresponds based on the reference transponder group.
Since the satellite positioning result and the reference position may not be the same position, a position difference between the satellite positioning result and the reference position is obtained, and when the satellite positioning result is converted by using the reference position based on the position corresponding to the reference transponder group, the position difference between the satellite positioning result and the reference position still exists, so that a position deviation generated in position conversion is compensated, the calculation accuracy of the first position is improved, and the accuracy of the positioning operation is improved.
In an exemplary embodiment, an electronic map of a track on which the train travels is stored in advance, the electronic map recording at least two reference latitudes and longitudes, the reference latitudes and latitudes being used for representing positions of the track, wherein the electronic map is divided into N × M sub-regions, where N and M are integers greater than or equal to 2;
determining the current running track position of the train according to the satellite positioning result to obtain a reference position, wherein the method comprises the following steps:
determining a target sub-region corresponding to the satellite positioning result from the N-M sub-regions;
searching two reference longitudes and latitudes which are closest to the satellite positioning result from the position of the orbit in the target sub-area to obtain two alternative positions;
and selecting one position from the two alternative positions as the reference position according to the running direction of the train recorded by the odometer.
Fig. 2 is a positional relationship diagram of a reference transponder group and a reference longitude and latitude provided in the embodiment of the present application. As shown in fig. 2, the reference longitude and latitude are used to indicate the position of the track on which the train travels, and the reference transponder group is disposed on the track.
The electronic map is divided into N x M sub-regions, and the target sub-regions corresponding to the satellite positioning results are determined from the N x M sub-regions according to the satellite positioning results, so that the reference position can be determined in one region. In addition, a valid location may be selected from the two candidate locations as the reference location based on the direction of travel of the train recorded by the odometer.
Specifically, taking the trend of the orbit in the electronic map as the north-south trend as an example, one candidate position is located on the south side of the satellite positioning result, and the other candidate position is located on the north side of the satellite positioning result. If the driving direction is towards the north, selecting an alternative position located on the south side of the satellite positioning result as a reference position; if the driving direction is southward, the candidate position located on the north side of the satellite positioning result is selected as the reference position.
In one exemplary embodiment, N × M storage areas are preset, wherein the N × M storage areas correspond to N × M sub-areas one by one, and each storage area stores the reference longitude and latitude in the corresponding sub-area.
By arranging the corresponding storage areas for each sub-area, the position of the track in each area can be conveniently obtained and searched.
In an exemplary embodiment, each sub-area in the electronic map is provided with an index value, wherein the index value comprises a longitude index value and a latitude index value;
obtaining an index value of each sub-region by the following method, including:
respectively calculating numerical values corresponding to the longitude maximum value and/or the longitude minimum value in the subareas according to a preset index calculation strategy to obtain longitude index values; respectively calculating the numerical values corresponding to the latitude maximum value and/or the latitude minimum value in the sub-region to obtain latitude index values;
wherein, the determining the target sub-region corresponding to the satellite positioning result from the N × M sub-regions includes:
calculating a numerical value corresponding to the longitude value and a numerical value corresponding to the latitude value of the satellite positioning result according to the index calculation strategy;
matching the numerical value corresponding to the longitude value with the longitude index value of each sub-area to obtain a target longitude index value matched with the longitude value; matching the numerical value corresponding to the latitude value with the latitude index value of each subarea to obtain a target latitude index value;
and determining a target sub-area corresponding to the satellite positioning result according to the longitude index value and the latitude index value.
Specifically, the index value of each sub-region may be set according to the boundary of the sub-region, wherein the boundary may be a longitude maximum, a longitude minimum, a latitude maximum, and/or a latitude minimum in the sub-region.
Taking a longitude index value determined by taking the index value of each area as the maximum longitude value of the sub-area and a latitude index value determined by the maximum latitude value as examples, wherein the longitude range of the electronic map is divided into N, and the nth longitude index value is smaller than the (N + 1) th longitude index value; the latitude range of the electronic map is divided into M latitude ranges, wherein the mth latitude index value is smaller than the (M + 1) th latitude index value, and N =1,2,3,4, … …, N; m =1,2,3,4, … …, M.
And if the longitude value in the satellite positioning result is greater than the longitude index value of the 3 rd sub-area and less than the longitude index value of the 4 th sub-area, and the longitude value in the satellite positioning result is greater than the latitude index value of the 5 th sub-area and less than the latitude index value of the 6 th sub-area, the sub-area of the 4 th row and the 6 th column in the electronic map is the target sub-area.
The target sub-region is determined by setting the index value, so that the searching efficiency can be improved.
In an exemplary embodiment, said determining a location of said train based on said first location comprises:
acquiring a position output by the odometer and corresponding to the reference transponder group to obtain a second position;
and calculating the corresponding position of the train based on the reference transponder group according to the first position and the second position.
And calculating the corresponding position of the train based on the reference transponder group according to the first position and the second position, realizing the fusion calculation of the position based on the transponder group, and improving the accuracy of the position calculation.
In an exemplary embodiment, said calculating a location of said train corresponding to a reference transponder group based on said first location and said second location comprises:
determining a first weight for the first location and a second weight for the second location;
and calculating the first position and the second position by using the first weight and the second weight to obtain the position corresponding to the train based on the reference transponder group.
Specifically, a first weight is determined according to the positioning accuracy of the vehicle-mounted satellite positioning device, and a second weight is determined according to the positioning accuracy of the odometer, wherein the higher the positioning accuracy, the higher the value of the corresponding weight, and vice versa, the lower the value of the corresponding weight.
Further, the determining a first weight of the first location and a second weight of the second location includes:
acquiring a positioning error of the vehicle-mounted satellite positioning device to obtain a first error; obtaining a positioning error of the odometer to obtain a second error;
calculating the ratio of the second error to the first error to obtain a first weight; and calculating the ratio of the first error to the second error to obtain a second weight.
The relative relationship of the errors of the vehicle-mounted satellite positioning device and the odometer can be determined by calculating the ratio of the positioning errors of the vehicle-mounted satellite positioning device and the odometer, and the weight setting is carried out by utilizing the corresponding relationship, so that the accuracy is higher.
Further, the calculating the first position and the second position by using the first weight and the second weight to obtain the position corresponding to the train based on the reference transponder group includes:
calculating the sum of the first position and the second position to obtain a basic value;
calculating the product of the first weight and the first position to obtain a first numerical value; calculating the product of the second weight and the second position to obtain a second numerical value;
and calculating the sum of the basic value, the first numerical value and the second numerical value to obtain the corresponding position of the train based on the reference responder group.
Specifically, the position FUS corresponding to the train based on the reference transponder group is obtained through the following calculation expression LRBG ：
FUS LRBG =ODO LRBG + SAT LRBG+ ODO LRBG ×error_sat/ error_odo+ SAT LRBG × error_odo /error_sat
Alternatively, it can be expressed as:
FUS LRBG =ODO LRBG ×error_sat/(error_sat + error_odo ) + SAT LRBG ×error_odo/(error_sat + error_odo )；
alternatively, it can be expressed as:
FUS LRBG =ODO LRBG ×(error_sat + error_odo )/ error_odo + SAT LRBG ×(error_sat + error_odo )/error_sat
wherein, ODO LRBG A reference transponder group-based location representing an odometer output;
SAT LRBG representing a position of the on-board satellite based positioning device based on the set of reference transponders;
error _ odo represents the odometer positioning error;
error _ sat represents a positioning error of the in-vehicle satellite positioning device.
The following is a description of an application example provided in the present application:
the application example of the application provides a train positioning method based on multi-sensor information fusion, and the method comprises the following steps:
the first step is as follows: generating N × M buffer zones, wherein each buffer zone can store a plurality of longitude and latitude information;
the second step is that: reading an electronic map stored in a vehicle-mounted CF card, and dividing the electronic map into N × M sub-areas;
specifically, all reference longitude and latitude data in the electronic map are inquired, the reference longitude and latitude data in the electronic map are averagely divided into N intervals according to the longitude maximum value long _ max and the longitude minimum value long _ min, the longitude maximum value and the longitude minimum value of each interval are respectively long _ max _ interval and long _ min _ interval, the longitude maximum value and the longitude minimum value of each interval are averagely divided into M intervals according to the latitude maximum value lati _ max and the latitude minimum value lati _ min, and the maximum value and the longitude value of each interval are respectively lati _ max _ interval and lati _ min _ interval;
the fourth step: storing the reference longitude and latitude of the N x M sub-regions in the N x M buffer regions in a one-to-one correspondence manner;
specifically, an index of each interval is set, wherein the index of each interval may include an index of a longitude maximum value, an index of a longitude minimum value, an index of a latitude maximum value, and an index of a latitude minimum value;
an index for each reference longitude and latitude may also be set to facilitate lookup and comparison.
The index calculation mode of any longitude and latitude (long, lati) is as follows:
Index_long=（long-long_min)/N; （1）
Index_lati=(lati-lati_min)/M; （2）
the fifth step: obtaining a train positioning result output by a train loading satellite receiver, obtaining a target sub-area where the train loading satellite receiver is located through formulas (1) and (2), matching with all stored reference longitudes and latitudes in the target sub-area where the train loading satellite receiver is located, and selecting two reference longitudes and latitudes with the closest distance as alternative positions of a track where the current train is located.
And a sixth step: obtaining ODO for odometer based on reference transponder group using prior art LRBG And the train direction of travel.
The seventh step: and according to the running direction of the train, determining the only reference longitude and latitude used for calculating the distance of the satellite from the two alternative positions to obtain the reference position.
Eighth step: and calculating the distance SAT _ interval between the train positioning result and the reference position in longitude and latitude.
The ninth step: according to the relation Delta S between the reference position and the reference transponder group, calculating the position of the train positioning result based on the reference transponder group:
SAT LRBG = SAT_interval +ΔS。
the tenth step: according to ODO LRBG 、SAT LRBG And computing fusion positioning position FUS by using odometer positioning errors error _ odo and error _ sat LRBG The specific calculation formula is as follows:
FUS LRBG =ODO LRBG ×error_sat/(error_sat + error_odo ) + SAT LRBG ×error_odo/(error_sat + error_odo )。
and circularly executing the fifth step to the tenth step.
Compared with the prior art, the method has the following advantages:
1) Computing resources can be saved when SATLRBG is computed;
2) The advantages of each sensor can be fully utilized;
3) When the positioning error of a certain sensor is larger, the proportion occupied in the fusion positioning calculation is reduced, so that the fusion positioning precision can be improved.
An embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to perform the method described in any one of the above when the computer program runs.
An embodiment of the application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the method described in any one of the above.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as is well known to those skilled in the art.
Claims (6)
1. A train positioning method, comprising:
acquiring a satellite positioning result of the train output by the vehicle-mounted satellite positioning device;
determining the current running track position of the train according to the satellite positioning result to obtain a reference position;
calculating the position of the satellite positioning result corresponding to the reference transponder group according to the position of the reference position corresponding to the reference transponder group to obtain a first position;
determining the position of the train according to the first position;
wherein the calculating the position of the satellite positioning result based on the reference transponder group according to the position of the reference position based on the position of the reference transponder group to obtain the first position comprises:
calculating a position difference between the satellite positioning result and the reference position;
compensating the reference position based on the position corresponding to the reference transponder group by using the position difference value to obtain a first position;
the method comprises the steps that an electronic map of a track where a train runs is stored in advance, at least two reference longitudes and latitudes are recorded on the electronic map and used for representing the position of the track, the electronic map is divided into N x M sub-areas, and N and M are integers larger than or equal to 2;
determining the current running track position of the train according to the satellite positioning result to obtain a reference position, wherein the method comprises the following steps of:
determining a target sub-region corresponding to the satellite positioning result from the N-M sub-regions;
searching two reference longitudes and latitudes closest to the satellite positioning result from the position of the orbit in the target sub-area to obtain two alternative positions;
selecting one position from the two alternative positions as the reference position according to the running direction of the train recorded by the odometer;
wherein said determining a location of said train based on said first location comprises:
acquiring a position output by the odometer and corresponding to the reference transponder group to obtain a second position;
according to the first position and the second position, calculating the position of the train corresponding to the reference transponder group;
wherein the calculating a position of the train corresponding to a reference transponder group based on the first position and the second position comprises:
determining a first weight for the first location and a second weight for the second location;
calculating the first position and the second position by using the first weight and the second weight to obtain the position corresponding to the train based on the reference transponder group;
wherein the calculating the first position and the second position by using the first weight and the second weight to obtain the position corresponding to the train based on the reference transponder group includes:
calculating the sum of the first position and the second position to obtain a basic value;
calculating the product of the first weight and the first position to obtain a first numerical value; and calculating a product of the second weight and the second position to obtain a second numerical value;
and calculating the sum of the basic value, the first numerical value and the second numerical value to obtain the corresponding position of the train based on the reference responder group.
2. The method of claim 1, wherein:
n M storage areas are preset, wherein the N M storage areas correspond to the N M sub-areas one by one, and each storage area stores the reference longitude and latitude in the corresponding sub-area.
3. The method of claim 1, wherein:
each subarea in the electronic map is provided with an index value, wherein the index value comprises a longitude index value and a latitude index value;
obtaining an index value of each sub-region by the following method, including:
respectively calculating numerical values corresponding to the longitude maximum value and/or the longitude minimum value in the subareas according to a preset index calculation strategy to obtain longitude index values; respectively calculating the corresponding numerical values of the latitude maximum value and/or the latitude minimum value in the sub-area to obtain a latitude index value;
wherein, the determining a target sub-region corresponding to the satellite positioning result from the N × M sub-regions includes:
calculating a numerical value corresponding to the longitude value and a numerical value corresponding to the latitude value of the satellite positioning result according to the index calculation strategy;
matching the numerical value corresponding to the longitude value with the longitude index value of each sub-area to obtain a target longitude index value matched with the longitude value; matching the numerical value corresponding to the latitude value with the latitude index value of each subarea to obtain a target latitude index value;
and determining a target sub-area corresponding to the satellite positioning result according to the target longitude index value and the target latitude index value.
4. The method of claim 1, wherein determining the first weight for the first location and the second weight for the second location comprises:
acquiring a positioning error of the vehicle-mounted satellite positioning device to obtain a first error; acquiring a positioning error of the odometer to obtain a second error;
calculating the ratio of the second error to the first error to obtain a first weight; and calculating the ratio of the first error to the second error to obtain a second weight.
5. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 4 when executed.
6. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 4.
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