CN115447639A - Parking precision testing method, device and equipment and readable storage medium - Google Patents
Parking precision testing method, device and equipment and readable storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 12
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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
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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
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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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
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/60—Testing or simulation
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Abstract
The invention discloses a parking precision testing method, which is applied to the field of automatic driving and comprises the following steps: a reference position coordinate of the current station train parking in the accurate map is taken; acquiring the coordinate of the current actual parking position in the accurate map; and determining the parking precision according to the actual parking position coordinates and the reference position coordinates. According to the method, the reference position coordinate of the current station train parking in the accurate map is taken as the reference point, the current actual parking position coordinate in the accurate map is obtained, the actual parking position coordinate is compared with the reference position coordinate, the train parking precision can be accurately detected, the parking precision of the train is reflected, namely the benchmarking condition of the train and the platform parking point is reflected, and the method has a reference value for optimizing the train parking precision. In addition, the invention also provides a parking precision detection device, equipment and a readable storage medium, and the parking precision detection device, the equipment and the readable storage medium also have the beneficial effects.
Description
Technical Field
The invention relates to the field of precision detection, in particular to a parking precision testing method, a parking precision testing device, parking precision testing equipment and a readable storage medium.
Background
With the rapid development of the full-automatic unmanned technology, the market demand of the full-automatic unmanned vehicle is also increasing. In terms of the rail train, the full-automatic unmanned train becomes a crucial technical development direction of the rail train, and in order to ensure the safety and reliability of the full-automatic unmanned train, various performance indexes and functional scenes need to be tested and verified more accurately and more comprehensively to evaluate various performance and functional conditions of the full-automatic unmanned train.
The parking control precision is a crucial performance index of full-automatic unmanned driving, the benchmarking condition of the full-automatic unmanned train and the platform screen door is reflected, the parking precision is not detected, and if the parking precision deviation is large, the rapid taking and descending and personal safety of passengers are affected.
Disclosure of Invention
In view of the above, the present invention provides a parking accuracy testing method, apparatus, device and readable storage medium, which solve the problem in the prior art that rapid taking-in and taking-off of passengers and personal safety may be affected because the parking accuracy is not detected.
In order to solve the technical problem, the invention provides a parking precision testing method, which comprises the following steps:
a reference position coordinate of the current station train parking in the accurate map is taken;
acquiring the current actual parking position coordinate in the accurate map;
and determining the parking precision according to the actual parking position coordinates and the reference position coordinates.
Optionally, before the reference position coordinate of the current stop train in the accurate map is obtained, the method further includes:
acquiring a ground signal responder corresponding to the current station train parking position;
and when the central point of the vehicle-mounted response antenna is superposed with the central point of the ground signal transponder, setting the ground position corresponding to the central point of the positioning antenna as the reference position coordinate.
Optionally, the setting the ground position corresponding to the central point of the positioning antenna as the reference position coordinate includes:
acquiring a correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and determining the position which is separated from the center point of the ground signal transponder by the correction distance along the direction of the positioning antenna as the reference position coordinate.
Optionally, the obtaining of the current actual parking position coordinate in the accurate map includes:
acquiring position coordinates acquired by a positioning antenna;
acquiring a correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and taking the position coordinate which is separated from the position coordinate acquired by the positioning antenna along the vehicle-mounted response antenna by the correction distance as the actual parking position coordinate.
Optionally, before the reference position coordinate of the current stop train in the accurate map is obtained, the method further includes:
scanning the test line by using a Beidou positioning technology, and acquiring coordinate data of the line;
and establishing an accurate map according to the coordinate data.
Optionally, the method further includes:
and positioning and calibrating the positioning antenna through a line reference station.
The invention also provides a parking accuracy testing device, comprising:
the first acquisition module is used for calling the reference position coordinates of the current station train parking in the accurate map;
the second acquisition module is used for acquiring the current actual parking position coordinate in the accurate map;
and the determining module is used for determining the parking precision according to the actual parking position coordinate and the reference position coordinate.
The invention also provides a parking accuracy testing device, comprising:
the vehicle-mounted positioning device is used for positioning the train;
a memory for storing a computer program;
and the processor is used for executing the computer program to realize the steps of the parking precision testing method.
Optionally, the vehicle-mounted positioning device includes:
the vehicle-mounted positioning antenna is used for acquiring position information;
the vehicle-mounted terminal is used for receiving the position information;
and the data acquisition component is used for carrying out unified time service on the position information.
The invention also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the parking accuracy testing method described above.
Therefore, the method obtains the current actual parking position coordinate in the accurate map by calling the current station train parking reference position coordinate in the accurate map, and determines the parking precision according to the actual parking position coordinate and the reference position coordinate. The reference position coordinate of the current station train parking in the accurate map is called and is used as a reference point, the current actual parking position coordinate in the accurate map is obtained, the actual parking position coordinate and the reference position coordinate are compared, the train parking precision can be accurately detected, the parking precision of the train is reflected, the calibration condition of the train and the platform parking point is achieved, and the train parking precision optimization has reference value.
In addition, the invention also provides a parking precision testing device, equipment and a readable storage medium, and the parking precision testing device, the equipment and the readable storage medium also have the beneficial effects.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a parking accuracy testing method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another parking accuracy testing method according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a parking accuracy testing method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking precision testing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a parking accuracy testing apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle-mounted positioning device according to an embodiment of the present invention;
fig. 7 is a flow guide diagram of a parking accuracy testing device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. 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.
Referring to fig. 1, fig. 1 is a flowchart of a parking accuracy testing method according to an embodiment of the present invention. The method can comprise the following steps:
s101: and (4) calling the reference position coordinates of the current station train parking in the accurate map.
And calling the reference position coordinate of the current station train parking in the established accurate map as a reference coordinate of the train parking accuracy.
The embodiment is not limited to the execution subject, and may be, for example, a physical host; or it may be a virtual host; other devices capable of processing data are also possible. The embodiment does not limit the starting time of the program for calling the reference position coordinate of the current stop train in the accurate map, and for example, the starting time may be the program for starting the calling after the train stops; or the program of starting and calling before the train stops. The present embodiment does not limit the manner of retrieving the reference position coordinates of the current stop train in the accurate map, and for example, the reference position coordinates of the stop train corresponding to the current stop train may be retrieved from the database according to the obtained current position of the train, or other manners of retrieving the reference position coordinates of the stop train at the current stop train may also be used. The embodiment does not limit the obtaining frequency of the current position of the train, and for example, the obtaining may be performed in real time, that is, after the obtaining procedure is performed once, the next obtaining procedure is performed immediately; or may be acquired once every preset acquisition time. The preset value of the preset acquisition time is not limited in this embodiment, and may be, for example, 10 seconds. The present embodiment does not limit the setting basis of the preset setting value of the acquisition time, and for example, the setting may be customized according to an operator; the preset acquisition time may also be set according to the highest running speed value of the train, and the larger the highest running speed value of the train is, the smaller the set value of the preset acquisition time is. In order to obtain the current position of the train in time, the present embodiment may adopt a mode of obtaining the current position of the train in real time. The reference position coordinates are positions corresponding to a certain point in the train after the train stops at the station. The reference position coordinates are not limited to the setting basis in the present embodiment, and may be set with the position coordinates of the positioning antenna after the train stops at the station, for example.
Further, in order to improve the accuracy of the parking precision test, the following steps may be further included before the reference position coordinates of the current station train parking in the accurate map are obtained. The method specifically comprises the following steps:
s201: and acquiring a ground signal responder corresponding to the stop position of the train at the current station.
The embodiment does not limit the starting time of the program for acquiring the ground signal transponder corresponding to the stop position of the train at the current station, and for example, the starting time may be the program for acquiring the stop position before the train enters the station; or the acquisition program can be started after the train enters the station and stops. The embodiment does not limit the manner of obtaining the ground signal transponder corresponding to the current stop position of the train at the station, and for example, the ground signal transponder may be obtained from an accurate map; or the ground transponder corresponding to the vehicle-mounted response antenna can be used as the ground signal transponder corresponding to the stop position of the train at the current station after the train stops at the current station.
S202: and when the central point of the vehicle-mounted response antenna is superposed with the central point of the ground signal transponder, setting the ground position corresponding to the central point of the positioning antenna as a reference position coordinate.
When the center point of the vehicle-mounted response antenna coincides with the center point of the ground signal responder after the train stops at the current station, the ground position corresponding to the center point of the positioning antenna is set as a reference position coordinate.
Further, in order to improve the accuracy of setting the reference position coordinates, the above-mentioned setting the ground position corresponding to the center point of the positioning antenna as the reference position coordinates may include the following steps. The method specifically comprises the following steps:
s301: and acquiring the correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna.
And the correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna is a fixed value.
S302: and determining the position which is spaced from the central point of the ground signal transponder by the correction distance along the direction of the positioning antenna as a reference position coordinate.
And determining the position of the center point of the ground signal transponder at intervals of the correction distance along the direction of the positioning antenna as a reference position coordinate.
Further, in order to improve the accuracy of obtaining the position coordinates of the train and improve the accuracy of the parking precision test, the parking precision test method may further include: and positioning and calibrating the positioning antenna through the line reference station.
The line reference station is provided with a fixed positioning antenna. The present embodiment does not limit the frequency of the line reference station for performing positioning calibration on the positioning antenna, and may be, for example, an operation of performing calibration in real time; or may be an operation of performing calibration every predetermined interval. The preset value of the preset interval time is not limited in this embodiment, and may be, for example, 1 hour. The present embodiment does not limit the setting basis of the set value of the preset interval time, for example, the setting may be performed according to the highest operation speed value of the train, and the set value of the preset interval time may be smaller as the highest operation speed value of the train is larger.
Furthermore, in order to improve the positioning accuracy and the efficiency of the parking accuracy test, the method may further include the following steps before the reference position coordinates of the current stop train in the accurate map are obtained. The method specifically comprises the following steps:
s401: and scanning the test line by using the Beidou positioning technology, and acquiring coordinate data of the line.
And scanning the train test line by using the Beidou positioning technology, and acquiring coordinate data of the line. The embodiment does not limit the way of scanning the test line by using the Beidou positioning technology, and for example, the test line can be scanned by using a portable Beidou positioning device; other ways of scanning the test line are also possible.
S402: and establishing an accurate map according to the coordinate data.
S102: and acquiring the coordinate of the current actual parking position in the accurate map.
And (4) current actual parking position coordinates in the established accurate map. The embodiment does not limit the manner of obtaining the current actual parking position coordinate in the accurate map, and for example, the current actual parking position coordinate may be obtained automatically after the train stops at the station, or may be obtained after receiving the obtaining instruction. The current actual parking position coordinates may be position coordinates of the on-vehicle response antenna when the train parks at the station.
Further, in order to improve the practicability of the parking precision test, the obtaining of the current actual parking position coordinate in the accurate map may include the following steps. The method specifically comprises the following steps:
s501: and acquiring position coordinates acquired by the positioning antenna.
The present embodiment does not limit the frequency of acquiring the position coordinates acquired by the positioning antenna, and for example, the frequency may be acquired in real time, that is, after one acquisition operation is performed, the next acquisition operation is performed immediately; or may be an operation of performing acquisition once every preset acquisition time. The preset value of the preset acquisition time is not limited in this embodiment, and may be, for example, 10 seconds. The present embodiment does not limit the setting basis of the set value of the preset acquisition time, for example, the set value may be set according to the highest operation speed value of the train, and the set value of the preset acquisition time may be smaller as the highest operation speed value of the train is larger.
S502: and acquiring the correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna.
S503: and taking the position coordinate which is separated from the position coordinate acquired by the positioning antenna by a correction distance along the vehicle-mounted response antenna as the actual parking position coordinate.
And taking the coordinate position of the train and the positioning antenna at the interval correction distance along the direction of the vehicle-mounted response antenna as the actual parking position coordinate.
S103: and determining the parking precision according to the actual parking position coordinates and the reference position coordinates.
And determining the parking precision according to the actual parking position coordinate of the train after the train parks at the station and the reference position coordinate of the train at the current station, which is acquired in the accurate map. The embodiment does not limit the manner of determining the parking accuracy, and for example, the parking accuracy may be determined according to a distance difference between an actual parking position coordinate of the train at the current station and a reference position coordinate of the current station; the parking accuracy may be determined by an average value of distance differences between actual parking positions of the train at the current station for a plurality of times and reference position coordinates corresponding to the current station.
In order to make the present invention more easily understood, please refer to fig. 3 specifically, fig. 3 is an exemplary diagram of a parking precision testing method according to an embodiment of the present invention, which may specifically include:
the portable Beidou positioning device is used for scanning the test line test circuit, collecting the circuit coordinate data, carrying out mileage marking on the test line and establishing an accurate map of the test line.
And determining the position of a certain ground signal transponder as a vehicle parking position A according to the arrangement of ground signal system transponders. When the vehicle is parked in a benchmarking mode, the center B of the vehicle-mounted response antenna and the center point A of the ground parking space transponder should coincide. And a Beidou positioning antenna is arranged on the top of the head car, and the position coordinates of the antenna are positioning points C of the car.
The horizontal distance L from the central point of the vehicle Beidou positioning antenna to the central point of the vehicle-mounted response antenna coincides with the central point A of the vehicle-mounted response antenna, the central point is used as a reference, the horizontal distance L from the central point of the vehicle Beidou positioning antenna to the central point of the vehicle-mounted response antenna is projected onto a track, and the other end of the projection is a parking point D preset by a vehicle. The portable Beidou positioning device is used for accurately positioning the parking point D, the position coordinate of the D point is recorded in the vehicle-mounted Beidou positioning device to serve as a datum position for accurate parking, and the position coordinate is marked on a circuit map to serve as a datum position coordinate for accurate parking of the vehicle.
The vehicle moves to the parking space from a distance, the vehicle-mounted Beidou positioning device positions the position coordinate of the vehicle in real time, after the vehicle parks and benchmarks under the control of the full-automatic unmanned driving system, the vehicle-mounted Beidou positioning device records the position coordinate of a current positioning antenna, the position of the vehicle-mounted Beidou positioning device, which is separated from the positioning antenna by a correction distance, is determined as the current parking position coordinate of the train along the direction of the vehicle-mounted response antenna, the current parking position coordinate of the train is compared with a reference position coordinate, and a distance difference value is calculated, wherein the difference value is the accurate benchmarks parking accuracy of the vehicle. When the actual parking space does not reach the preset parking point, the difference value is smaller than the correction distance; when the actual parking space exceeds the preset parking point, the difference is larger than the correction distance; the difference is equal to the correction distance when the actual parking space coincides with the predetermined parking spot. And the line base station carries out positioning and calibration on the vehicle-mounted Beidou positioning device in real time.
And according to the output table of the multi-time parking precision record of the train at the same station and the parking precision record of the train at different stations, a technician processes the data according to the table to obtain a reference value of the parking precision of the train.
By applying the parking precision testing method provided by the embodiment of the invention, the reference position coordinate of the current station train parking in the precision map is obtained, the current actual parking position coordinate in the precision map is obtained, and the parking precision is determined according to the actual parking position coordinate and the reference position coordinate. According to the method and the device for determining the parking precision, the reference position coordinate of the current station train parking in the precise map is obtained, the current actual parking position coordinate in the precise map is obtained, and the parking precision is determined according to the actual parking position coordinate and the reference position coordinate. Transfer the benchmark position coordinate that current station train parkked in the accurate map as the reference point, acquire current actual parking position coordinate in the accurate map, through comparing actual parking position coordinate and benchmark position coordinate, can carry out accurate detection to train parking precision, reflect the parking precision of train, train and platform parking point do not mark the condition promptly, carry out the location calibration to the location antenna through the circuit reference station, can improve the accuracy of train location, and then improve the degree of accuracy of parking precision test. The Beidou positioning technology is utilized to scan the test line, the line coordinates are collected, an accurate map can be established more accurately, and the method has reference value for optimizing the train parking precision.
The parking precision testing device provided by the embodiment of the invention is introduced below, and the parking precision testing device described below and the parking precision testing method described above can be referred to correspondingly.
Specifically, referring to fig. 4, fig. 4 is a schematic structural diagram of a parking accuracy testing apparatus according to an embodiment of the present invention, which may include:
the first obtaining module 100 is configured to retrieve a reference position coordinate of a current station train parking in the precision map;
a second obtaining module 200, configured to obtain a current actual parking position coordinate in the accurate map;
the determining module 300 is configured to determine the parking accuracy according to the actual parking position coordinates and the reference position coordinates.
Based on the above embodiment, the second obtaining module 200 may include:
the first acquisition unit is used for acquiring position coordinates acquired by the positioning antenna;
the second acquisition unit is used for acquiring the correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and the first execution unit is used for taking the position coordinate which is separated from the position coordinate acquired by the positioning antenna along the vehicle-mounted response antenna by a correction distance as the actual parking position coordinate.
Based on the above embodiment, the parking accuracy testing apparatus may further include:
the first acquisition module is used for acquiring a ground signal responder corresponding to the current stop position of the train at the station;
the first execution module is used for setting the ground position corresponding to the central point of the positioning antenna as a reference position coordinate when the central point of the vehicle-mounted response antenna is superposed with the central point of the ground signal responder;
the acquisition module is used for scanning the test line by using the Beidou positioning technology and acquiring coordinate data of the line;
the second execution module is used for establishing a precise map according to the coordinate data;
and the calibration module is used for positioning and calibrating the positioning antenna through the line reference station.
Based on the foregoing embodiment, the first execution module may include:
the third acquisition unit is used for acquiring the correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and the second execution unit is used for determining the position which is separated from the center point of the ground signal transponder by the correction distance along the direction of the positioning antenna as a reference position coordinate.
It should be noted that, the order of the modules and units in the parking accuracy testing apparatus may be changed before or after without affecting the logic.
By applying the parking precision testing system provided by the embodiment of the invention, the first acquisition module 100 is used for calling the reference position coordinates of the current station train parking in the precision map, the second acquisition module 200 is used for acquiring the current actual parking position coordinates in the precision map, and the determination module 300 is used for determining the parking precision according to the actual parking position coordinates and the reference position coordinates. The device acquires the current actual parking position coordinate in the accurate map by calling the reference position coordinate of the current station train parking in the accurate map, and determines the parking precision mode according to the actual parking position coordinate and the reference position coordinate. Transfer the benchmark position coordinate that current station train parkked in the accurate map as the reference point, acquire current actual parking position coordinate in the accurate map, through comparing actual parking position coordinate and benchmark position coordinate, can carry out accurate detection to train parking precision, reflect the parking precision of train, train and platform parking point do not mark the condition promptly, carry out the location calibration to the location antenna through the circuit reference station, can improve the accuracy of train location, and then improve the degree of accuracy of parking precision test. The Beidou positioning technology is utilized to scan the test line, the line coordinates are collected, an accurate map can be established more accurately, and the method has reference value for optimizing the train parking precision.
The parking precision testing device provided by the embodiment of the invention is introduced below, and the parking precision testing device described below and the parking precision testing method described above can be referred to correspondingly.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a parking precision testing apparatus according to an embodiment of the present invention, which may include:
a memory 10 for storing a computer program;
a processor 20 for executing a computer program to implement the parking accuracy testing method described above;
and the vehicle-mounted positioning device 30 is used for positioning the train.
As shown in fig. 5, a schematic structural diagram of the parking accuracy testing apparatus may include: memory 10, processor 20, in-vehicle positioning device 30, communication interface 31 and communication bus 32. The memory 10, the processor 20 and the communication interface 31 all complete mutual communication through a communication bus 32, and the vehicle-mounted positioning device 30 is connected with the memory 10 and the processor 20 through the communication interface 31.
In the embodiment of the present invention, the memory 10 is used for storing one or more programs, the program may include program codes, the program codes include computer operation instructions, and in the embodiment of the present application, the memory 10 may store a program for implementing the following functions:
a reference position coordinate of the current station train parking in the accurate map is taken;
acquiring the coordinate of the current actual parking position in the accurate map;
and determining the parking precision according to the actual parking position coordinates and the reference position coordinates.
In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created during use.
In addition, memory 10 may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset or an expanded set thereof, where the operating instructions can include various operating instructions for performing various operations. The operating system may include various system programs for performing various basic tasks and for handling hardware-based tasks.
The processor 20 may be a Central Processing Unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic device, and the processor 20 may be a microprocessor or any conventional processor. Processor 20 may call a program stored in memory 10.
The communication interface 31 may be an interface of a communication module for connecting with other devices or systems.
Based on the parking accuracy testing device, the vehicle-mounted positioning device 30 may include the following components, specifically please refer to fig. 6, and fig. 6 is a schematic structural diagram of a vehicle-mounted positioning device according to an embodiment of the present invention.
A vehicle-mounted positioning antenna 41 for acquiring position information;
a vehicle-mounted terminal 42 for receiving position information;
and the data acquisition part 43 is used for carrying out unified time service on the position information.
And the vehicle-mounted positioning antenna 41 is arranged on the top of the head car, is used for receiving Beidou positioning satellite signals, performs information interaction with a reference station of a high tower or a high roof near a line, calibrates vehicle-mounted positioning information, and improves vehicle-mounted positioning accuracy (the positioning accuracy is not more than 1 cm). The vehicle-mounted positioning antenna 41 communicates with the vehicle-mounted terminal 42 in the passenger compartment in a wireless manner, and transmits positioning information to the vehicle-mounted terminal 42.
The vehicle-mounted terminal 42 receives the vehicle roof positioning information through wireless communication, displays the positioning data in real time on the terminal equipment, and transmits the positioning information to the data acquisition component 43 through interfaces such as MVB and Ethernet for unified management.
And the data acquisition part 43 is used for carrying out unified time service on the position information and sending the position information to the ground for processing.
Of course, it should be noted that the structure shown in fig. 5 and 6 does not constitute a limitation to the parking accuracy testing device in the embodiment of the present application, and in practical applications, the parking accuracy testing device may include more or less components than those shown in fig. 5 and 6, or some components in combination.
To further introduce the parking precision testing apparatus, please refer to fig. 7, where fig. 7 is a flow guiding diagram of a parking precision testing apparatus according to an embodiment of the present invention, and the flow guiding diagram may include:
the Beidou satellite group sends positioning information to the train satellite positioning terminal and the fixed reference station, wherein the high-precision train satellite positioning terminal and the fixed reference station mutually transmit the positioning information so as to realize the calibration of the positioning information of the high-precision train satellite positioning terminal.
After receiving the positioning information of the Beidou satellite group, the high-precision train satellite positioning terminal sends the positioning information to the data sending terminal, the data sending terminal transmits the positioning information to the data receiving and converting host, the data receiving and converting host processes the positioning information and then transmits the positioning information to the data acquisition device for processing, the data acquisition device processes the positioning information through a data transmission device and then sends the positioning information to a ground data management platform of a train, and the data receiving and converting host can additionally perform positioning information interaction with the handheld terminal.
And after receiving the processed train positioning information, the ground data management platform transmits the positioning information to high-precision train positioning management software for analysis and processing, and sends the analysis and processing result to a data management platform function display interface at the front end for display.
The following describes a readable storage medium provided by an embodiment of the present invention, and the readable storage medium described below and the parking accuracy testing method described above may be referred to correspondingly.
The invention also provides a readable storage medium, wherein a computer program is stored on the readable storage medium, and the computer program realizes the steps of the parking precision testing method when being executed by the processor.
The readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Finally, it should also be noted that, herein, relationships such as first and second, etc., are intended only 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 parking precision testing method, the parking precision testing device, the parking precision testing equipment and the computer readable storage medium are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the parking precision testing equipment, and the description of the embodiments is only used for helping to understand the method and the core idea of the parking precision testing equipment; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A parking accuracy testing method is characterized by comprising the following steps:
the method comprises the steps of calling a reference position coordinate of the current station train parking in an accurate map;
acquiring the current actual parking position coordinate in the accurate map;
and determining the parking precision according to the actual parking position coordinates and the reference position coordinates.
2. The parking accuracy testing method according to claim 1, further comprising, before the retrieving the reference position coordinates of the current stop train parking in the accurate map:
acquiring a ground signal responder corresponding to the current station train parking position;
and when the central point of the vehicle-mounted response antenna is superposed with the central point of the ground signal transponder, setting the ground position corresponding to the central point of the positioning antenna as the reference position coordinate.
3. The parking accuracy testing method according to claim 2, wherein the setting of the ground position corresponding to the center point of the positioning antenna as the reference position coordinate includes:
acquiring a correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and determining the position which is separated from the center point of the ground signal transponder by the correction distance along the direction of the positioning antenna as the reference position coordinate.
4. The parking accuracy testing method according to claim 1, wherein the obtaining of the current actual parking position coordinates in the precision map comprises:
acquiring position coordinates acquired by a positioning antenna;
acquiring a correction distance between the center point of the positioning antenna and the center point of the vehicle-mounted response antenna;
and taking the position coordinate which is separated from the position coordinate acquired by the positioning antenna along the vehicle-mounted response antenna by the correction distance as the actual parking position coordinate.
5. The parking accuracy testing method according to claim 1, further comprising, before the retrieving the reference position coordinates of the current stop train parking in the accurate map:
scanning the test line by using a Beidou positioning technology, and acquiring coordinate data of the line;
and establishing an accurate map according to the coordinate data.
6. The parking accuracy test method according to claim 2, further comprising:
and positioning and calibrating the positioning antenna through a line reference station.
7. A parking accuracy testing device, comprising:
the first acquisition module is used for calling the reference position coordinates of the current station train parking in the accurate map;
the second acquisition module is used for acquiring the current actual parking position coordinate in the accurate map;
and the determining module is used for determining the parking precision according to the actual parking position coordinate and the reference position coordinate.
8. A parking accuracy test apparatus, comprising:
the vehicle-mounted positioning device is used for positioning the train;
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the parking accuracy testing method according to any one of claims 1 to 6.
9. The parking accuracy test apparatus according to claim 8, wherein the vehicle-mounted positioning device includes:
the vehicle-mounted positioning antenna is used for acquiring position information;
the vehicle-mounted terminal is used for receiving the position information;
and the data acquisition component is used for carrying out unified time service on the position information.
10. A readable storage medium, characterized in that a computer program is stored in the readable storage medium, which computer program, when being executed by a processor, carries out the steps of the parking accuracy testing method according to any one of claims 1 to 6.
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| CN115447639B (en) | 2024-01-02 |
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