CN115743240A - Train positioning method, system, storage medium and electronic equipment - Google Patents
Train positioning method, system, storage medium and electronic equipment Download PDFInfo
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Abstract
The application discloses a train positioning method, a train positioning system, a storage medium and electronic equipment. The method comprises the following steps: acquiring an initial position of a train; acquiring the linear velocity of a train wheel set, and determining the current running speed of a train according to the linear velocity; determining the periodic travelling distance of the train according to the current running speed; determining a second position of the train at the current moment according to the initial position and the periodic traveling distance; acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information; determining a third position of the train at the current moment according to the mileage information; and updating the position of the train at the current moment according to the second position and the third position. The Beidou equipment participating information fusion is added on the basis of the existing multi-sensor fusion scheme, the defects of the existing train positioning technology are overcome, and the positioning precision and reliability of the heavy haul railway train can be effectively improved.
Description
Technical Field
The present application relates to the field of railway transportation technologies, and in particular, to a train positioning method, a train positioning system, a storage medium, and an electronic device.
Background
Existing train location multi-sensor fusion schemes use velocity sensors, accelerometers, and point transponder devices. The multi-sensor fusion scheme is a data acquisition, logic control, data inspection and information fusion scheme based on the three devices.
The point type transponder equipment is arranged beside a rail, and when a train passes above the transponder, the transponder antenna arranged at the bottom of the train can acquire accurate train position information, so that the initial positioning of the train is realized.
Although, the most speed sensors are wheel axle type speed sensors, have the characteristics of high stability of speed measurement and distance measurement and strong practicability, and belong to the most common speed measurement and distance measurement devices in the railway field.
However, the speed sensor is limited by abrasion of the wheel diameter of the wheel caused by long-distance running, so that accumulated running distance measurement errors cannot be avoided; under the influence of special weather or special topography, the wheels may have the phenomenon of idle running or skidding, so that the speed sensor cannot realize accurate speed and distance measurement, and the wheel shaft type speed sensor has accumulated errors for speed and distance measurement, so that the positioning accuracy is insufficient.
In addition, the accelerometer improves the speed and distance measurement error of the train wheel set in an idling or slipping scene, but the measurement precision of the accelerometer is greatly influenced by the terrain gradient.
Disclosure of Invention
In order to solve the above problems, the present application provides a train positioning method, a train positioning system, a storage medium, and an electronic device. The method can be applied to a Train positioning scene in a Communication-Based Train automatic Control System (CBTC System) of the heavy haul railway, and adds a Beidou device to participate in information fusion on the basis of the existing multi-sensor fusion scheme, so that the defects of the existing Train positioning technology are overcome, and the CBTC Train positioning precision of the heavy haul railway is improved to a certain extent.
In a first aspect of the present application, a train positioning method is provided, the method including:
acquiring an initial position of a train;
acquiring the linear velocity of a train wheel set, and determining the current running speed of the train according to the linear velocity;
determining the periodic travelling distance of the train according to the current running speed;
determining a second position of the train at the current moment according to the initial position and the periodic traveling distance;
acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information;
determining a third position of the train at the current moment according to the mileage information;
and updating the position of the train at the current moment according to the second position and the third position.
Further, the big dipper position information includes:
one or more of longitude information, latitude information, and altitude information.
Further, the mileage information includes:
line segment number and offset.
Further, the updating the position of the train at the current time according to the second position and the third position includes:
and updating the position of the train at the current moment according to the second position and the third position according to a preset distance interval or a preset duration interval.
Further, the updating the position of the train at the current time according to the second position and the third position includes:
generating a position interval according to the second position and a preset error range;
and taking the third position as the position of the train at the current moment under the condition that the third position is located in the position interval.
Further, the method also comprises the following steps:
and taking the second position as the position of the train at the current moment when the third position is outside the position interval.
Further, the determining the periodic travel distance of the train according to the current running speed includes:
and determining the periodic travelling distance of the train by integrating the current running speed.
In a second aspect of the present application, there is provided a train positioning system, the system comprising:
the acquisition module is used for acquiring the initial position of the train;
the running speed determining module is used for acquiring the linear speed of the train wheel set and determining the current running speed of the train according to the linear speed;
the periodic traveling distance determining module is used for determining the periodic traveling distance of the train according to the current running speed;
the second position determining module is used for determining a second position of the train at the current moment according to the initial position and the periodic traveling distance;
the mileage information determining module is used for acquiring Beidou position information acquired by a Beidou positioning system and determining mileage information according to the Beidou position information;
the third position determining module is used for determining a third position of the train at the current moment according to the mileage information;
and the updating module is used for updating the position of the train at the current moment according to the second position and the third position.
In a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program executable by one or more processors to implement the method as described above.
In a fourth aspect of the present application, an electronic device is provided, comprising a memory and one or more processors, the memory having stored thereon a computer program, the memory and the one or more processors being communicatively connected to each other, the computer program, when executed by the one or more processors, implementing the method as described above.
Compared with the prior art, the technical scheme of the application has the following advantages or beneficial effects:
the Beidou equipment is added to participate in information fusion on the basis of the existing multi-sensor fusion scheme, so that the defects of the existing train positioning technology are overcome, and the positioning accuracy and reliability of the heavy haul railway train can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate exemplary embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application, in which:
fig. 1 is a flowchart of a train positioning method provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a train positioning system according to an embodiment of the present disclosure;
fig. 3 is a schematic view of an application scenario provided in an embodiment of the present application;
fig. 4 is a connection block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following detailed description will be given with reference to the accompanying drawings and examples to explain how to apply the technical means to solve the technical problems and to achieve the technical effects. The embodiments and various features in the embodiments of the present application can be combined with each other on the premise of no conflict, and the formed technical solutions are all within the protection scope of the present application.
It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
The positioning of the heavy-duty train is actually to accurately grasp the information of the actual geographic position, the running state and the like of the train on an operation line, and in a CBTC signal system, all subsystem databases use completely consistent line network models. In the model, each target point of the line network has fixed characteristics, and the characteristics comprise static information such as line length, line speed limit, gradient and curvature and dynamic information such as display of trackside signal machines and turnout positions. The CBTC system will perform the overall function of the CBTC based on these specific characteristics and dynamic states, and the fixed characteristics of the model are called the line static database of the CBTC, and these characteristics will be determined by the line segments described later.
In the line network description model, it will be described based on connected line segments. For a line segment, it can be considered linear, determined by some of the following parameters: the starting point of the section, the length of the section, the direction of the section. And any location of the train can be determined using the line segment number and offset (distance from the start of the line segment). The train position is thus calculated, which for the CBTC system determines the section number, section offset and train direction of travel in which the train is located.
Example one
The present embodiment provides a train positioning method, and fig. 1 is a flowchart of the train positioning method provided in the present embodiment, and as shown in fig. 1, the method of the present embodiment includes:
and step 110, acquiring an initial position of the train.
Optionally, the train positioning may be divided into train initial positioning and train continuous position updating according to a running scene. When a train passes a transponder, a transponder antenna located at the bottom of the train receives a transponder message for transponder identification. According to the identification number of the responder, the responder can be positioned by utilizing the static line information in the vehicle-mounted database. In order to ensure the precision of train positioning, the running direction of the train can be uniquely determined by two continuous transponders during the initial positioning of the train, so as to obtain the initial position of the train.
And 120, acquiring the linear velocity of the train wheel set, and determining the current running speed of the train according to the linear velocity.
Optionally, the speed sensor is installed on a wheel of a train (locomotive), and the linear speed of the wheel pair is obtained by means of pulse counting, and the speed sensor may include multiple speed sensors (for example, two speed sensors), where the two speed sensors are in a redundant relationship with each other. The speed sensor is the most main output device of the speed measurement fusion unit, and the accelerometer is used as an auxiliary device to monitor another healthy speed sensor when one of the speed sensors is abnormal.
And step 130, determining the periodic travelling distance of the train according to the current running speed.
In some embodiments, said determining a distance of periodic travel of said train from said current operating speed comprises:
and determining the periodic travelling distance of the train by integrating the current running speed.
Optionally, the train speed measurement fusion module formed by the speed sensor and the accelerometer collects the current running speed of the train in real time, and the periodic travel distance of the train can be calculated through speed integration.
And 140, determining a second position of the train at the current moment according to the initial position and the periodic travel distance.
Optionally, after the initial position of the train is obtained, the new position of the train can be calculated according to the initial position of the train and the periodic travel distance determined by the speed measurement fusion module.
It should be noted that, along with the accumulation of the train running distance, the dynamic ranging errors of the train are accumulated. Particularly, in the case where the speed sensor is subjected to the slip, the distance measurement error is significantly increased. Wherein, the range error computational formula of train includes:
Δs＝Δl*a
where Δ s is a distance measurement error, Δ l is a periodic travel distance, and a is an error rate.
And 150, acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information.
Optionally, in order to reduce the range error that brings through speed sensor, increase a heterogeneous big dipper positioning device, fuse big dipper positioning information into the calculation of train position.
In some embodiments, the Beidou position information includes:
one or more of longitude information, latitude information, and altitude information.
In some embodiments, the mileage information includes:
line segment number and offset.
Optionally, the compass board card transmits compass data containing real-time longitude and latitude height information to the vehicle-mounted main board, and the main board quickly converts the real-time longitude and latitude information into mileage information, namely the line section number and offset.
In some embodiments, further comprising:
and constructing an electronic map containing the relation between the longitude and latitude information and the line section number and offset information.
In some embodiments, the determining the mileage information according to the Beidou position information includes:
and determining mileage information according to the Beidou position information through the electronic map.
Optionally, an electronic map supporting interconversion between the longitude and latitude information and the line segment number and offset information may be constructed first. In principle, the spatial coordinate points are mapped on a two-dimensional plane and can be approximately composed of straight lines, eased lines and arc lines, and the mapping relation between the map and the line network map can be accurately measured and written into a static database model (electronic map). Therefore, the compass board card collects longitude and latitude height information and sends the longitude and latitude height information to a vehicle-mounted ATP (Automatic Train Protection, ATP for short) host, and the vehicle-mounted ATP host finds the corresponding relation in an electronic map.
And step 160, determining a third position of the train at the current moment according to the mileage information.
Further, the vehicle-mounted ATP host obtains the train position corresponding to the Beidou position information through calculation according to the line section number and the offset information corresponding to the Beidou position information in the electronic map.
It should be noted that, because the Beidou satellite has a position drift with a certain probability in actual measurement, firstly, the consistency of the two heterogeneous Beidou board cards needs to be ensured. Can send two big dipper information respectively for the ATP mainboard, after the position conversion through the mainboard, check-up is carried out to the position of two big dipper integrated circuit boards, if two big dipper offset are in certain extent, can regard big dipper information available. Because there is not range finding accumulative error in big dipper satellite, compare in the position that the fusion unit calculated that tests the speed moreover, big dipper satellite's measurement accuracy is higher.
And 170, updating the position of the train at the current moment according to the second position and the third position.
In some embodiments, said updating the location of the train at the current time based on the second location and the third location comprises:
and updating the position of the train at the current moment according to the second position and the third position according to a preset distance interval or a preset duration interval.
Optionally, the preset distance interval and the preset duration interval may be set according to actual requirements, and are not particularly limited herein.
In some embodiments, said updating the location of the train at the current time based on the second location and the third location comprises:
generating a position interval according to the second position and a preset error range;
and taking the third position as the position of the train at the current moment under the condition that the third position is located in the position interval.
It should be noted that the preset error range may be set according to actual requirements, and is not particularly limited herein, for example, the preset error range may be 20cm.
In some embodiments, further comprising:
and if the third position is located outside the position interval, taking the second position as the position of the train at the current moment.
Optionally, if the train position envelope calculated by the Beidou position is within the train position envelope calculated by the speed measurement fusion unit, namely the position calculated by the Beidou is a subset of the calculated position of the speed sensor, the calculated train position of the Beidou can be more accurate, the train position can be updated once in 500m (preset distance interval) or every half minute (preset time interval) in on-site application, if the train position envelope calculated by the Beidou and the train position envelope calculated by the speed measurement fusion unit do not have intersection, the Beidou positioning can be considered to be unstable at this moment, the train position is not updated by using the Beidou position, and the speed sensor is still used as a main device for calculating the train position.
Compared with the existing multi-sensor equipment consisting of three devices, the four speed-measuring positioning devices can achieve advantage complementation, and the precision and reliability of train positioning in rail transit are improved by utilizing the mutual cooperation of the multiple sensors. Specifically, the method comprises the following steps: acquiring an initial position of a train; acquiring the linear velocity of a train wheel set, and determining the current running speed of the train according to the linear velocity; determining the periodic travelling distance of the train according to the current running speed; determining a second position of the train at the current moment according to the initial position and the periodic traveling distance; acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information; determining a third position of the train at the current moment according to the mileage information; and updating the position of the train at the current moment according to the second position and the third position. The Beidou equipment participating information fusion is added on the basis of the existing multi-sensor fusion scheme, the defects of the existing train positioning technology are overcome, and the positioning precision and reliability of the heavy haul railway train can be effectively improved.
Example two
The embodiment of the present invention provides a train positioning system, which can be used to execute the embodiment of the method of the present application, and please refer to the embodiment of the method of the present application for details not disclosed in the embodiment of the present system. Fig. 2 is a schematic structural diagram of a train positioning system provided in an embodiment of the present application, and as shown in fig. 2, a system 200 provided in the embodiment includes:
an obtaining module 201, configured to obtain an initial position of a train;
the running speed determining module 202 is configured to obtain a linear speed of a train wheel set, and determine a current running speed of the train according to the linear speed;
a periodic travel distance determining module 203, configured to determine a periodic travel distance of the train according to the current operating speed;
a second position determining module 204, configured to determine a second position of the train at the current time according to the initial position and the periodic travel distance;
the mileage information determining module 205 is used for acquiring Beidou position information acquired by a Beidou positioning system and determining mileage information according to the Beidou position information;
a third position determining module 206, configured to determine, according to the mileage information, a third position of the train at the current time;
and the updating module 207 is used for updating the position of the train at the current moment according to the second position and the third position.
In some embodiments, the Beidou position information includes:
one or more of longitude information, latitude information, and altitude information.
In some embodiments, the mileage information includes:
line segment number and offset.
In some embodiments, the updating module 207 updates the position of the train at the current time according to the second position and the third position at a preset distance interval or a preset time interval.
In some embodiments, the update module 207 comprises: a generation unit, an update unit; wherein the content of the first and second substances,
the generating unit is used for generating a position interval according to the second position and a preset error range;
and the updating unit is used for taking the third position as the position of the train at the current moment under the condition that the third position is positioned in the position interval.
In some embodiments, the system further comprises a second updating unit, configured to, in a case where the third location is outside the location interval, regard the second location as the location of the train at the current time.
In some embodiments, the distance-to-cycle determination module determines the distance-to-cycle of the train by integrating the current operating speed.
Those skilled in the art will appreciate that the architecture shown in fig. 2 is not intended to be limiting of the systems of the embodiments of the present application and may include more or fewer modules/units than shown, or some modules/units may be combined, or a different arrangement of modules/units.
It should be noted that the above modules/units may be functional modules or program modules, and may be implemented by software or hardware. For the modules/units implemented by hardware, the above modules/units may be located in the same processor; or the modules/units can be respectively positioned in different processors in any combination.
Optionally, the system provided by the embodiment can be applied to locomotive positioning of a heavy-duty railway CBTC train. For facilitating understanding of the technical solution of the present application, reference may also be made to fig. 3, and fig. 3 is a schematic view of an application scenario provided in an embodiment of the present application, as shown in fig. 3:
the heavy-duty marshalling train consists of locomotive head and freight carriage, and the locomotive head consists of A section of carriage and B section of carriage. A set of transponder antenna is respectively arranged on the A section and the B section of the locomotive head and is used for receiving the ground transponder message. A group of transponders are arranged in front of an incoming signal machine, a transponder is arranged in front of an outgoing signal machine and an incoming signal machine, a group of transponders are arranged in a phase separation area and an ATP-LKJ switching area, and a group of transponders are arranged in an interval. Two sets of speed sensors and three accelerometers are installed at the bottom of the carriage A, and the Beidou antenna and the Beidou equipment are installed on the carriage B. The speed sensor and the accelerometer form a speed measurement fusion unit, the speed sensor and the accelerometer form a multi-sensor positioning information fusion algorithm, unique position message information of the transponder is added, and the real-time speed and position information of the train are calculated through the vehicle-mounted host platform.
The system disclosed in this embodiment includes: an obtaining module 201, configured to obtain an initial position of a train; the running speed determining module 202 is configured to obtain a line speed of a train wheel set, and determine a current running speed of the train according to the line speed; a periodic travel distance determining module 203, configured to determine a periodic travel distance of the train according to the current operating speed; a second position determining module 204, configured to determine a second position of the train at the current time according to the initial position and the periodic travel distance; the mileage information determining module 205 is used for acquiring Beidou position information acquired by a Beidou positioning system and determining mileage information according to the Beidou position information; a third position determining module 206, configured to determine a third position of the train at the current time according to the mileage information; and the updating module 207 is configured to update the position of the train at the current moment according to the second position and the third position. The Beidou equipment is added to participate in information fusion on the basis of the existing multi-sensor fusion scheme, so that the defects of the existing train positioning technology are overcome, and the positioning accuracy and reliability of the heavy haul railway train can be effectively improved.
EXAMPLE III
The present embodiment further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method steps in the foregoing method embodiments can be implemented, and the description of the present embodiment is not repeated herein.
The computer-readable storage medium may also include, among other things, a computer program, a data file, a data structure, etc., alone or in combination. The computer-readable storage medium or computer program may be specifically designed and understood by those skilled in the art of computer software, or the computer-readable storage medium may be known and available to those skilled in the art of computer software. Examples of computer-readable storage media include: magnetic media such as hard disks, floppy disks, and magnetic tape; optical media, such as CDROM disks and DVDs; magneto-optical media, e.g., optical disks; and hardware devices specifically configured to store and execute computer programs, e.g., read Only Memory (ROM), random Access Memory (RAM), flash memory; or a server, app application mall, etc. Examples of computer programs include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter. The described hardware devices may be configured to act as one or more software modules to perform the operations and methods described above, and vice versa. In addition, the computer readable storage medium may be distributed over network coupled computer systems so that program code or computer programs may be stored and executed in a distributed fashion.
Example four
Fig. 4 is a connection block diagram of an electronic device according to an embodiment of the present disclosure, and as shown in fig. 4, the electronic device 400 may include: one or more processors 401, memory 402, multimedia components 403, input/output (I/O) interfaces 404, and communication components 405.
Wherein the one or more processors 401 are adapted to perform all or part of the steps of the method embodiments as described above. The memory 402 is used to store various types of data, which may include, for example, instructions for any application or method in the electronic device, as well as application-related data.
The one or more processors 401 may be implemented as Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components configured to perform the methods as in the method embodiments described above.
The Memory 402 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
The multimedia component 403 may include a screen, which may be a touch screen, and an audio component for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in a memory or transmitted through a communication component. The audio assembly also includes at least one speaker for outputting audio signals.
The I/O interface 404 provides an interface between the one or more processors 401 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons.
The communication component 405 is used for wired or wireless communication between the electronic device 400 and other devices. The wired communication includes communication through a network port, a serial port and the like; the wireless communication includes: wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G, 4G, 5G, or a combination of one or more of them. The corresponding communication component 405 may therefore include: wi-Fi module, bluetooth module, NFC module.
In summary, the present application provides a train positioning method, a train positioning system, a storage medium, and an electronic device. Compared with the existing multi-sensor equipment consisting of three devices, the four speed measuring and positioning devices can complement the advantages, and the precision and the reliability of train positioning in rail transit are improved by utilizing the mutual cooperation of the multiple sensors. Specifically, the method comprises the following steps: acquiring an initial position of a train; acquiring the linear velocity of a train wheel set, and determining the current running speed of the train according to the linear velocity; determining the periodic travelling distance of the train according to the current running speed; determining a second position of the train at the current moment according to the initial position and the periodic traveling distance; acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information; determining a third position of the train at the current moment according to the mileage information; and updating the position of the train at the current moment according to the second position and the third position. The Beidou equipment participating information fusion is added on the basis of the existing multi-sensor fusion scheme, the defects of the existing train positioning technology are overcome, and the positioning precision and reliability of the heavy haul railway train can be effectively improved.
It should be further understood that the method or system disclosed in the embodiments provided in the present application may be implemented in other ways. The method or system embodiments described above are merely illustrative, for example, and the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and apparatus according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, a segment, or a portion of a computer program, which comprises one or more computer programs for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures, or indeed, may be executed substantially concurrently, or in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer programs.
In this application, 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. Without further limitation, an element defined by the phrases "comprising a," "8230; \8230;" does not exclude the presence of additional like elements in a process, method, apparatus, or device comprising the element; if the description to "first", "second", etc. is used for descriptive purposes only, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated; in the description of the present application, the terms "plurality" and "plurality" mean at least two unless otherwise indicated; if the server is described, it should be noted that the server may be an independent physical server or terminal, or a server cluster formed by a plurality of physical servers, or a cloud server capable of providing basic cloud computing services such as a cloud server, a cloud database, a cloud storage, a CDN, and the like; if an intelligent terminal or a mobile device is described in the present application, it should be noted that the intelligent terminal or the mobile device may be a mobile phone, a tablet Computer, an intelligent watch, a netbook, a wearable electronic device, a Personal Digital Assistant (PDA), an Augmented Reality device (AR), a Virtual Reality device (VR), a smart television, a smart audio, a Personal Computer (PC), and the like, but is not limited thereto.
Finally, it is noted that in the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been illustrated and described above, it is to be understood that the above embodiments are exemplary, and the description is only for the purpose of facilitating understanding of the present application and is not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.
Claims (10)
1. A train positioning method, characterized in that the method comprises:
acquiring an initial position of a train;
acquiring the linear velocity of a train wheel set, and determining the current running speed of the train according to the linear velocity;
determining the periodic travelling distance of the train according to the current running speed;
determining a second position of the train at the current moment according to the initial position and the periodic traveling distance;
acquiring Beidou position information acquired through a Beidou positioning system, and determining mileage information according to the Beidou position information;
determining a third position of the train at the current moment according to the mileage information;
and updating the position of the train at the current moment according to the second position and the third position.
2. The method of claim 1, wherein the Beidou location information comprises:
one or more of longitude information, latitude information, and altitude information.
3. The method of claim 1, wherein the mileage information comprises:
line segment number and offset.
4. The method of claim 1, wherein said updating the location of the train at the current time based on the second location and the third location comprises:
and updating the position of the train at the current moment according to the second position and the third position according to a preset distance interval or a preset duration interval.
5. The method of claim 1, wherein said determining a distance of travel of said train based on said current operating speed comprises:
and determining the periodic travelling distance of the train by integrating the current running speed.
6. The method of any one of claims 1 to 5, wherein said updating the position of the train at the current time based on the second position and the third position comprises:
generating a position interval according to the second position and a preset error range;
and taking the third position as the position of the train at the current moment under the condition that the third position is located in the position interval.
7. The method of claim 6, further comprising:
and taking the second position as the position of the train at the current moment when the third position is outside the position interval.
8. A train positioning system, comprising:
the acquisition module is used for acquiring the initial position of the train;
the running speed determining module is used for acquiring the linear speed of the train wheel set and determining the current running speed of the train according to the linear speed;
the periodic traveling distance determining module is used for determining the periodic traveling distance of the train according to the current running speed;
the second position determining module is used for determining a second position of the train at the current moment according to the initial position and the periodic traveling distance;
the mileage information determining module is used for acquiring Beidou position information acquired by a Beidou positioning system and determining mileage information according to the Beidou position information;
the third position determining module is used for determining a third position of the train at the current moment according to the mileage information;
and the updating module is used for updating the position of the train at the current moment according to the second position and the third position.
9. A computer-readable storage medium storing a computer program which, when executed by one or more processors, implements the method of any one of claims 1-7.
10. An electronic device, comprising a memory and one or more processors, the memory having a computer program stored thereon, the memory and the one or more processors being communicatively coupled to each other, the computer program, when executed by the one or more processors, performing the method of any of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772895A (en) * | 2023-08-25 | 2023-09-19 | 北京三岭基业科技发展有限公司 | Method and system for acquiring current running mileage and speed by rail transit |
| CN116902042A (en) * | 2023-09-12 | 2023-10-20 | 比亚迪股份有限公司 | Positioning method, system and train |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772895A (en) * | 2023-08-25 | 2023-09-19 | 北京三岭基业科技发展有限公司 | Method and system for acquiring current running mileage and speed by rail transit |
| CN116772895B (en) * | 2023-08-25 | 2023-11-03 | 北京三岭基业科技发展有限公司 | Method and system for acquiring current running mileage and speed by rail transit |
| CN116902042A (en) * | 2023-09-12 | 2023-10-20 | 比亚迪股份有限公司 | Positioning method, system and train |
| CN116902042B (en) * | 2023-09-12 | 2024-01-09 | 比亚迪股份有限公司 | Positioning method, system and train |
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