CN114932928A - Train running direction calculation method based on Beidou satellite positioning - Google Patents
Train running direction calculation method based on Beidou satellite positioning Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- 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
- B61L25/023—Determination of driving direction of vehicle or train
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
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- B61L15/0018—Communication with or on the vehicle or train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention provides a train running direction calculation method based on Beidou satellite positioning, which comprises the following steps: the ground equipment sends the Beidou differential information and the electronic map data to the vehicle-mounted main control unit; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver to generate first original position information and second original position information corresponding to two Beidou navigation antennas, and the first original position information and the second original position information are sent to a vehicle-mounted main control unit; the vehicle-mounted main control unit matches the first original position information, the second original position information and the electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas based on the track; the vehicle-mounted main control unit collects train activation end information and performs position comparison by combining one-dimensional position information to obtain the train running direction. The method has the advantages of saving cost and realizing the calculation of the running direction of the train without adding additional equipment.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train running direction calculating method based on Beidou satellite positioning.
Background
Currently, the train direction is generally determined according to the sequence of the train passing through the transponder group, but this method requires that the train must move up and pass through a group of effective transponders. Before passing through the transponder group, the train must be driven in a visual mode, which limits the operating efficiency of the train.
In recent years, the satellite navigation technology in China is rapidly developed, networking of the Beidou satellite III in 2020 is successful, so that the Beidou satellite positioning technology is more and more widely applied in various fields, and conditions for introducing the Beidou satellite positioning technology into a train control system are more and more mature. Satellite positioning has the advantages of absolute position and speed measurement and real-time updating. Meanwhile, the development of the differential positioning technology further improves the precision of Beidou satellite positioning. The train running direction can be judged under the static condition of the train by calculating the train running direction in real time based on Beidou satellite positioning, so that the vehicle-mounted equipment can enter a complete mode to run after being electrified, and the train running efficiency is effectively improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a train running direction calculation method based on Beidou satellite positioning, which is implemented based on a train positioning system, wherein the train positioning system comprises ground equipment and vehicle-mounted equipment; the vehicle-mounted equipment comprises a vehicle-mounted main control unit, two Beidou navigation receivers and two Beidou navigation antennas; the vehicle-mounted main control unit is in communication connection with the Beidou navigation receiver; the two Beidou navigation antennas are arranged at the tops of two ends of the train, are respectively in communication connection with the two Beidou navigation receivers and are used for receiving Beidou satellite signals; it includes: the ground equipment sends the Beidou differential information and the electronic map data to the vehicle-mounted main control unit; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver to generate first original position information and second original position information corresponding to two Beidou navigation antennas, and the first original position information and the second original position information are sent to a vehicle-mounted main control unit; the vehicle-mounted main control unit matches the first original position information, the second original position information and the electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas based on the track; the vehicle-mounted main control unit collects train activation end information and performs position comparison by combining one-dimensional position information to obtain the train running direction.
Preferably, the two Beidou navigation antennas are respectively a first Beidou navigation antenna and a second Beidou navigation antenna, and the vehicle-mounted main control unit performs position comparison according to train activation end information and one-dimensional position information, and the method comprises the following steps: step S1, receiving the first original position information and the second original position information; step S2, judging whether the electronic map data is valid; if the electronic map data is valid, the process goes to step S3; step S3, combining the first original position information and the second original position information with electronic map data, and respectively calculating first one-dimensional position information and second one-dimensional position information of the first Beidou navigation antenna and the second Beidou navigation antenna based on the tracks according to a map matching algorithm; step S4, calculating whether the absolute value of the difference value between the first one-dimensional position information and the second one-dimensional position information is larger than a length threshold value delta L; if the absolute value of the difference is greater than the length threshold Δ L, go to step S5; step S5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; if the current time is greater than the preset time, the train is considered to go down in the period; if the number of the trains is less than the preset value, the train is considered to run upwards in the period; step S6: judging whether the train running directions judged in the current period and the last period are the same; if the train running directions in the current period and the previous period are the same, the process goes to step S7; step S7, adding 1 to the value n (lower) or n (upper) of the counter corresponding to the train running direction; step S8, judging whether the counter value is larger than or equal to the counting threshold value N; if the counter value N (lower) or N (upper) is greater than or equal to the count threshold N, the train running direction in the present cycle is determined to be the train running direction determined in step S6.
Preferably, the length threshold Δ L in step S4 is equal to L/2, where L is an installation distance between the first beidou navigation antenna and the second beidou navigation antenna.
Preferably, the electronic map data stores a data check code, and if the data check code matches with a standard check code stored in the vehicle-mounted main control unit, the electronic map data is considered to be valid.
Preferably, if there is no train traveling direction information of the previous cycle in the present cycle described in step S6, step S7 is directly performed without performing step S6.
Preferably, if the electronic map data in step S2 is invalid, step SE is executed.
Preferably, if the absolute value of the difference between the first one-dimensional position information and the second one-dimensional position information in step S4 is less than or equal to the length threshold, step SE is performed.
Preferably, if the train running directions determined in two adjacent periods in step S6 are not consistent, step SE is executed.
Preferably, if the counter value is smaller than the count threshold N in step S8, step SE is performed.
Preferably, said step SE comprises: the counters n (lower) and n (upper) are cleared, and the process returns to step S1 to restart the calculation.
Preferably, the ground equipment comprises a differential server and a TSRS which are in communication connection, and the Beidou differential information is generated by the differential server and is sent to the TSRS; and the Beidou differential information and the electronic map data are sent to vehicle-mounted equipment through the TSRS via a vehicle-ground communication network.
Preferably, the vehicle-mounted device further includes: the vehicle-ground communication unit and the vehicle-ground communication antenna; the vehicle-mounted main control unit, the vehicle-ground communication unit and the Beidou navigation antenna receiver are integrated in a vehicle-mounted cabinet inside the train. The train-ground communication antenna is arranged at the top of the train.
Preferably, the Beidou differential information and the electronic map data sent by the TSRS are transmitted to the vehicle-mounted main control unit through the vehicle-ground communication antenna and the vehicle-ground communication unit through the vehicle-ground communication network.
Preferably, two driving ends of the train are provided with relays for acquiring train activating end information; and if the relay state of a certain driving end is high level, the driving end is an activated end, otherwise, the driving end is a non-activated end.
Preferably, the first beidou navigation antenna and the second beidou navigation antenna are respectively connected with a first beidou navigation receiver and a second beidou navigation receiver in a corresponding communication mode and used for receiving beidou satellite signals.
Preferably, the count threshold value
Wherein σ 1 For the first Beidou navigation receiver positioning accuracy, sigma 2 The positioning accuracy of the second Beidou navigation receiver.
In summary, compared with the prior art, the train running direction calculation method based on Beidou satellite positioning provided by the invention has the following beneficial effects: 1. the function is realized on the basis of the existing equipment of the novel train control system, and no additional equipment is added; 2. the judgment of the running direction of the train can be realized under the static condition of the train, and the train operation efficiency can be improved; 3. the train control system does not depend on a track circuit and transponder equipment, saves equipment cost and maintenance cost, and improves the train control autonomy.
Drawings
FIG. 1 is a system configuration diagram of a train running direction calculation method based on Beidou satellite positioning;
FIG. 2 is a processing flow chart of a train running direction calculation method based on Beidou satellite positioning;
FIG. 3 is a schematic diagram of the installation position of a Beidou navigation satellite system antenna;
FIG. 4 is a flow chart of train movement direction calculation when the A-side of the train is activated in the embodiment;
FIG. 5 is a flow chart of train direction calculation when the train terminal B is activated in the embodiment.
Detailed Description
The technical solution, the structural features, the achieved objects and the effects of the embodiments of the present invention will be described in detail with reference to fig. 1 to 5 of the embodiments of the present invention.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a train running direction calculation method based on Beidou satellite positioning, which is implemented based on a train positioning system shown in figure 1. The train positioning system comprises ground equipment 1 and vehicle-mounted equipment 2; the vehicle-mounted equipment 2 is respectively in communication connection with the ground equipment 1 and the Beidou satellite 3; the vehicle-mounted equipment 2 comprises a vehicle-mounted main control unit 21, two Beidou navigation receivers 23 and two Beidou navigation antennas 25; the vehicle-mounted main control unit 21 is in communication connection with the Beidou navigation satellite system receiver 23; as shown in fig. 3, the two beidou navigation antennas 25 are installed at the tops of the two ends of the train, and are in communication connection with the two beidou navigation receivers 23 respectively, so as to receive beidou satellite signals.
Specifically, as shown in fig. 2, the train running direction calculation method based on Beidou satellite positioning includes the following steps: the ground equipment 1 sends the Beidou differential information and the electronic map data to the vehicle-mounted main control unit 21; the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver 23 to generate first original position information and second original position information which respectively correspond to the two Beidou navigation antennas 25, and the generated two original position information are sent to the vehicle-mounted main control unit 21; the vehicle-mounted main control unit 21 respectively matches the first original position information and the second original position information with electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas 25 based on the track; the vehicle-mounted main control unit 21 collects train activation end information and compares the positions of the train activation end information and the one-dimensional position information to obtain the running direction of the train.
As shown in fig. 1, the ground device 1 includes a differential server 11 and a TSRS (temporary speed limit server) 12 which are connected in communication; the Beidou differential information is generated by a differential server 11 and is sent to the TSRS 12; and the TSRS 12 sends the Beidou differential information and the electronic map data stored by the TSRS 12 to the vehicle-mounted equipment 2 through a vehicle-ground communication network.
Further, as shown in fig. 1, the in-vehicle apparatus 2 further includes: a vehicle-ground communication unit 22 and a vehicle-ground communication antenna 24; the vehicle-mounted main control unit 21, the train-ground communication unit 22 and the Beidou navigation satellite system antenna receiver 23 are integrated in a vehicle-mounted cabinet inside the train; the train-ground communication antenna 24 is arranged at the top of the train; the Beidou differential information and the electronic map data sent by the TSRS 12 are transmitted to the vehicle-mounted main control unit 21 through the vehicle-ground communication antenna 24 and the vehicle-ground communication unit 22 in sequence through the vehicle-ground communication network.
In this embodiment, as shown in fig. 2, the train positioning system is provided with two beidou navigation antenna receivers 23, namely a first beidou navigation receiver 231 and a second beidou navigation receiver 232, so as to improve the positioning accuracy. The two Beidou navigation satellite systems 25 are respectively a first Beidou navigation satellite system antenna 251 and a second Beidou navigation satellite system antenna 252 which are respectively arranged at the top of the two ends of the train, as shown in fig. 3, and are used for being in communication connection with the Beidou satellite system 3.
Further, the first beidou navigation receiver 231 is in communication connection with the first beidou navigation antenna 251, and the second beidou navigation receiver 232 is in communication connection with the second beidou navigation antenna 252, and is configured to receive a corresponding beidou satellite signal sent by the beidou satellite 3. The first beidou navigation receiver 231 and the beidou navigation receiver 232 receive beidou difference information sent by the vehicle-mounted main control unit 21 respectively, and perform difference correction by combining corresponding beidou satellite signals to obtain first original position information and second original position information corresponding to the first beidou navigation antenna 251 and the second beidou navigation antenna 252 respectively.
The first original position information and the second original position information are latitude and longitude information of positions where the first beidou navigation antenna 251 and the second beidou navigation antenna 252 are located, respectively, and the relative position relationship is shown in fig. 3.
Further, as shown in fig. 2, after the vehicle-mounted main control unit 21 performs map matching processing on the first original position information and the second original position information and the received electronic map data, one-dimensional position information based on the track is obtained by the first beidou navigation antenna 251 and the second beidou navigation antenna 252, and the obtained one-dimensional position information is respectively recorded as a track position a and a track position B.
Furthermore, relays (not shown) are arranged at the two driving ends of the train and are used for acquiring train activating end information; if the relay state of a certain driving end is high level, the driving end is an activated end, otherwise, the driving end is a non-activated end. And comparing the positions by combining the position relation of the track position A and the track position B according to the information of the activation end to obtain the running direction of the train.
Specifically, in an embodiment, the relay state of the train a end is high, so the train a end is an active end, and according to the active end information of the train a end, the on-board main control unit 21 performs position comparison to determine the train running direction, as shown in fig. 4, including the following steps:
step S1, the vehicle-mounted main control unit 21 receives the valid first original position information and the valid second original position information, which are respectively recorded as GNSS1 and GNSS 2;
step S2, judging whether the electronic map data is valid; if the electronic map data is valid, the process goes to step S3; the electronic map data is stored with a data check code, and if the data check code is matched with a standard check code stored in the vehicle-mounted main control unit 21, the electronic map data is considered to be valid;
step S3, combining the GNSS1 and GNSS2 information with electronic map data, calculating one-dimensional position information of the first Beidou navigation antenna 251 and the second Beidou navigation antenna 252 based on the tracks according to a map matching algorithm, and recording the one-dimensional position information as MTL1 and MTL2 respectively;
step S4, calculating whether the absolute value of the difference value between MTL1 and MTL2 is larger than a length threshold value, namely judging whether | MTL1-MTL2| > Delta L is true; if | MTL1-MTL2| > Δ L holds, the process proceeds to step S5; wherein the length threshold Δ L is L/2, and L is the installation distance between the first beidou navigation antenna 251 and the second beidou navigation antenna 252;
step S5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; in this embodiment, under the condition that the a end of the train is activated, the first beidou navigation antenna 251 is a beidou navigation antenna close to the a end, and the second beidou navigation antenna 252 is a beidou navigation antenna far from the a end, that is, it is determined whether the MTL1 is greater than the MTL 2; if the MTL1 is larger than the MTL2, the train is considered to move downwards in the period; if the MTL1 is smaller than the MTL2, the train is considered to be in the uplink state in the period;
step S6: judging whether the train running directions judged in the current period and the last period are the same; if the train running directions in the current period and the previous period are the same, the process goes to step S7;
step S7, adding 1 to a counter corresponding to the train running direction; if the train running direction is descending, a descending counter n (lower) is equal to n (lower') + 1; if the train running direction is the up direction, an up counter n (up) ═ n (up') + 1; wherein n (lower ') and n (upper') represent the value of the counter corresponding to the previous cycle;
step S8, determining whether N (lower) or N (upper) is equal to or greater than a count threshold N; if the counter value is greater than or equal to the count threshold N, it is determined that the train running direction in the present period is the train running direction determined in step S6.
Wherein the count threshold value
σ 1 Is the positioning accuracy, sigma, of the first Beidou navigation satellite System receiver 231 2 The positioning accuracy of the second beidou navigation receiver 232 is provided by the equipment manufacturer.
If the present period is the first period in step S6, that is, if there is no train movement direction information of the previous period, step S7 is directly performed without performing step S6. Meanwhile, if the electronic map data in step S2 is invalid, or the absolute value of the difference between MTL1 and MTL2 in step S4 is less than or equal to the length threshold, or the train running directions determined in two adjacent periods in step S6 are not consistent, or the counter value N (down) or N (up) in step S8 is less than the count threshold N, step SE is performed.
Step SE is to clear the counters n (down) and n (up) at the same time, i.e., n (down) is 0 and n (up) is 0, and the process returns to step S1 to restart the calculation.
In another embodiment, the relay state of the train B end is high, so the train B end is an active end, and according to the active end information of the train B end, the on-board main control unit 21 performs position comparison to determine the train moving direction, as shown in fig. 5, including the following steps:
step S1, the on-board main control unit 21 receives the valid first original position information and the valid second original position information, which are respectively recorded as GNSS3 and GNSS 4;
step S2, judging whether the electronic map data is valid; if the electronic map data is valid, the process goes to step S3;
step S3, combining the GNSS3 and GNSS4 information with electronic map data, calculating one-dimensional position information of the first Beidou navigation antenna 251 and the second Beidou navigation antenna 252 based on the tracks according to a map matching algorithm, and recording the one-dimensional position information as MTL3 and MTL4 respectively;
step S4, calculating whether the absolute value of the difference value between MTL3 and MTL4 is larger than a length threshold value, namely judging whether | MTL3-MTL4| Delta L is true; if | MTL3-MTL4| > Δ L is true, proceed to step S5; wherein the length threshold Δ L is L/2, and L is the installation distance between the first beidou navigation antenna 251 and the second beidou navigation antenna 252;
step S5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; in this embodiment, under the condition that the B-end of the train is activated, the first beidou navigation antenna 252 is a beidou navigation antenna close to the B-end, and the second beidou navigation antenna 251 is a beidou navigation antenna far from the B-end, that is, it is determined whether the MTL4 is greater than the MTL 3; if the MTL4 is larger than the MTL3, the train is considered to move downwards in the period; if the MTL4 is smaller than the MTL3, the train is considered to be in the uplink state in the period;
step S6: judging whether the train running directions judged in the current period and the last period are the same; if the train running directions in the current period and the previous period are the same, the process goes to step S7;
step S7, adding 1 to a counter corresponding to the train running direction; if the train running direction is descending, a descending counter n (lower) is equal to n (lower') + 1; if the train running direction is the up direction, an up counter n (up) ═ n (up') + 1; wherein n (lower ') and n (upper') represent the value of the counter corresponding to the previous cycle;
step S8, determining whether N (lower) or N (upper) is equal to or greater than a count threshold N; if the counter value is greater than or equal to the count threshold N, it is determined that the train running direction in the present period is the train running direction determined in step S6.
Wherein the count threshold value
σ 1 For positioning the first Beidou navigation satellite System receiver 231Precision, σ 2 The positioning accuracy of the second beidou navigation receiver 232 is provided by the equipment manufacturer.
Similarly, if the current period described in step S6 is the first period, that is, if there is no train movement direction information of the previous period, step S7 is directly performed without performing step S6. Meanwhile, if the electronic map data in step S2 is invalid, or the absolute value of the difference between MTL3 and MTL4 in step S4 is equal to or less than the length threshold, or the train moving directions judged in two adjacent periods in step S6 are not consistent, or the counter value N (down) or N (up) in step S8 is less than the count threshold N, step SE is performed.
Step SE is to clear the counters n (down) and n (up) at the same time, i.e., n (down) is 0 and n (up) is 0, and the process returns to step S1 to restart the calculation.
In summary, compared with the prior art, the train running direction calculation method based on Beidou satellite positioning has the advantages that the universality is strong, the running direction can be judged even if the train is stationary, calculation can be achieved without adding additional equipment, and the like.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (16)
1. A train running direction calculation method based on Beidou satellite positioning is implemented based on a train positioning system, and the train positioning system comprises ground equipment (1) and vehicle-mounted equipment (2); the vehicle-mounted equipment (2) comprises a vehicle-mounted main control unit (21), two Beidou navigation receivers (23) and two Beidou navigation antennas (25); the vehicle-mounted main control unit (21) is in communication connection with the Beidou navigation receiver (23); the two Beidou navigation satellite antennas (25) are arranged at the tops of two ends of the train, are respectively in communication connection with the two Beidou navigation receiver (23), and are used for receiving Beidou satellite signals; it is characterized by comprising:
the ground equipment (1) sends the Beidou differential information and the electronic map data to the vehicle-mounted main control unit (21);
the Beidou differential information and the Beidou satellite signals are processed and calculated by a Beidou navigation receiver (23) to generate first original position information and second original position information corresponding to two Beidou navigation antennas (25), and the first original position information and the second original position information are sent to a vehicle-mounted main control unit (21);
the vehicle-mounted main control unit (21) matches the first original position information, the second original position information and the electronic map data to obtain one-dimensional position information of the two Beidou navigation antennas (25) based on the track;
the vehicle-mounted main control unit (21) collects train activation end information and performs position comparison by combining one-dimensional position information to obtain the train running direction.
2. The method for calculating the train running direction based on Beidou satellite positioning according to claim 1, wherein the two Beidou navigation satellite systems (25) are a first Beidou navigation system antenna (251) and a second Beidou navigation system antenna (252), respectively, and the vehicle-mounted main control unit (21) performs position comparison according to train activation end information and one-dimensional position information, and comprises the following steps:
step S1, receiving the first original position information and the second original position information;
step S2, judging whether the electronic map data is valid; if the electronic map data is valid, the process goes to step S3;
step S3, combining the first original position information and the second original position information with electronic map data, and respectively calculating first one-dimensional position information and second one-dimensional position information of a first Beidou navigation antenna (251) and a second Beidou navigation antenna (252) based on tracks according to a map matching algorithm;
step S4, calculating whether the absolute value of the difference value between the first one-dimensional position information and the second one-dimensional position information is larger than a length threshold value delta L; if the absolute value of the difference is greater than the length threshold Δ L, go to step S5;
step S5, judging whether the one-dimensional position information of the Beidou navigation antenna close to the activation end is larger than the one-dimensional position information of the Beidou navigation antenna far away from the activation end; if the current time is greater than the preset time, the train is considered to go down in the period; if the number of the trains is less than the preset value, the train is considered to run upwards in the period;
step S6: judging whether the train running directions judged in the current period and the previous period are the same; if the train running directions in the current period and the previous period are the same, the process goes to step S7;
step S7, adding 1 to the value n (lower) or n (upper) of the counter corresponding to the train running direction;
step S8, judging whether the counter value is larger than or equal to the counting threshold value N; if the counter value N (lower) or N (upper) is greater than or equal to the count threshold N, it is determined that the train moving direction in this cycle is the train moving direction determined in step S6.
3. The method for calculating the train moving direction based on Beidou satellite positioning according to claim 2, wherein the length threshold Δ L in step S4 is L/2, wherein L is an installation distance between the first Beidou navigation satellite system antenna (251) and the second Beidou navigation satellite system antenna (252).
4. The Beidou satellite positioning-based train operation direction calculation method according to claim 2, wherein a data check code is stored in the electronic map data, and if the data check code is matched with a standard check code stored in the vehicle-mounted main control unit (21), the electronic map data is considered to be valid.
5. The method for calculating the moving direction of a train based on Beidou satellite positioning according to claim 2, wherein if there is no train moving direction information of the previous period in the current period in the step S6, the step S7 is directly executed without executing the step S6.
6. The Beidou satellite positioning based train operation direction calculation method according to claim 2, wherein if the electronic map data in step S2 is invalid, step SE is executed.
7. The method for calculating the moving direction of a train based on Beidou satellite positioning according to claim 2, wherein if the absolute value of the difference between the first one-dimensional position information and the second one-dimensional position information in the step S4 is less than or equal to a length threshold, the step SE is executed.
8. The method for calculating the train moving direction based on the Beidou satellite positioning according to claim 2, wherein the step SE is executed if the train moving directions judged in two adjacent periods in the step S6 are not consistent.
9. The method for calculating the train traveling direction based on the Beidou satellite positioning according to claim 2, wherein if the counter value in the step S8 is smaller than the counting threshold N, the step SE is executed.
10. The Beidou satellite positioning based train operation direction calculation method according to any one of claims 5 to 8, wherein the step SE comprises the following steps: the counters n (lower) and n (upper) are cleared, and the process returns to step S1 to restart the calculation.
11. The method for calculating the train running direction based on Beidou satellite positioning according to claim 1, wherein the ground equipment (1) comprises a differential server (11) and a TSRS (12) which are connected in communication, and is characterized in that the Beidou differential information is generated by the differential server (11) and is sent to the TSRS (12); the Beidou differential information and the electronic map data are sent to the vehicle-mounted equipment (2) through the TSRS (12) through a vehicle-ground communication network.
12. The Beidou satellite positioning-based train traveling direction calculation method according to claim 1, wherein the vehicle-mounted device (2) further comprises: a vehicle-ground communication unit (22) and a vehicle-ground communication antenna (24); the vehicle-mounted main control unit (21), the train-ground communication unit (22) and the Beidou navigation antenna receiver (23) are integrated in a vehicle-mounted cabinet inside the train. The train-ground communication antenna (24) is arranged on the top of the train.
13. The Beidou satellite positioning based train traveling direction calculation method according to claim 11, characterized in that the Beidou differential information and the electronic map data transmitted by the TSRS (12) are transmitted to the vehicle-mounted main control unit (21) through the vehicle-ground communication antenna (24) and the vehicle-ground communication unit (22) through the vehicle-ground communication network.
14. The Beidou satellite positioning based train traveling direction calculation method according to claim 1, wherein relays are arranged at two driving ends of the train and used for collecting train activation end information; and if the relay state of a certain driving end is high level, the driving end is an activated end, otherwise, the driving end is a non-activated end.
15. The method for calculating the train running direction based on the Beidou satellite positioning system of claim 2, wherein the first Beidou navigation satellite antenna (251) and the second Beidou navigation antenna (252) are respectively connected with a first Beidou navigation receiver (231) and a second Beidou navigation receiver (232) in a corresponding communication mode and used for receiving Beidou satellite signals.
16. The Beidou satellite positioning based train direction of travel calculation method of claim 15, wherein the count threshold value
Wherein σ 1 For the positioning accuracy, sigma, of the first Beidou navigation receiver (231) 2 The positioning accuracy of the second Beidou navigation receiver (232).
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