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The invention discloses a real-time communication and arrival information pushing device for mobile equipment in a subway carriage, and relates to the technical field of rail transit communication and information pushing. The device comprises a core control unit, a multi-mode communication module group, a vehicle-mounted data interaction module, a power supply management module, a fault diagnosis module and a shell structure, wherein the core control unit is used as a center for coordinating all the modules to work. The vehicle-mounted data interaction module adopts the design of main and standby double interfaces and underground section strengthened calibration, takes subway TCMS system data as the main part and takes GPS / Beidou positioning and RFID calibration as the auxiliary part, and obtains train real-time position data with the precision smaller than or equal to 3 meters; the multi-mode communication module group adopts a dual-mode architecture with Bluetooth BLE 5.3 as a main part and Wi-Fi 6 as an auxiliary part, three communication sub-modules are uniformly deployed to realize dead-corner-free coverage of a whole compartment, and a standardized information packet is pushed to passenger mobile equipment in a broadcast or connection mode. The device can replace invalid mobile phone satellite positioning data of a subway underground section, correct navigation software positioning deviation, realize accurate arrival reminding, transfer guidance and emergency information pushing, has the characteristics of low delay, high compatibility, interference resistance, low power consumption and easiness in maintenance, and is adaptive to a complex subway operation environment.

This application discloses an inertial integral positioning and downhole constraint correction method and system based on a miniature downhole sensor. The method includes: acquiring triaxial angular velocity and triaxial acceleration data from the miniature downhole sensor; recursively obtaining predicted position, predicted velocity, and predicted attitude based on quaternion attitude calculation and inertial integral algorithm; constructing a wellbore spatial constraint model based on known wellbore trajectory and wellbore diameter parameters, and constructing a fluid property constraint model based on downhole fluid property parameters; generating the two types of constraint correction quantities independently and without coupling; employing an error state Kalman filter framework to filter and update the two types of correction quantities as observation information, and injecting the error state into the nominal state to output a three-dimensional motion trajectory estimate. This method continuously corrects inertial positioning drift by introducing wellbore and fluid constraint information, achieving usable positioning results for the sensor even without external positioning signals.