Train positioning and navigation method and system, electronic equipment and storage medium

Abstract

The invention discloses a train positioning and navigation method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a GNSS signal, and when the signal intensity of the GNSS signal does not meet a preset standard; acquiring a position fingerprint database of the train based on the time sequence in the train running process; obtaining a first SINS signal; and obtaining position information of the train from the position fingerprint database by adopting a DTW algorithm, combining the position information of the train with the first SINS signal, and correcting an accumulated error deviation value of the first SINS signal by adopting Kalman filtering to obtain an optimal estimation position of the train. The method has the advantages of high precision, high reliability, high accuracy and the like.

Description

technical field [0001] The invention relates to the technical field of rail transit train positioning, in particular to a method, system, electronic equipment and storage medium for train positioning and navigation. Background technique [0002] The existing subway train positioning equipment mainly includes digital audio track circuit, cross induction loop line, query transponder, axle counter, speed sensor, accelerometer, Doppler radar, leaky cable, cracked waveguide, etc. Train positioning technology mainly includes wireless Local Area Network (Wireless Local Area Network, referred to as WLAN), Long Term Evolution (Long Term Evolution, hereinafter referred to as LTE) system and integrated Global Navigation Satellite System (Global Navigation Satellite System, hereinafter referred to as GNSS), etc. However, the existing train positioning equipment has problems such as discontinuous train-ground information transmission, low data transmission rate, error accumulation in pos...

AI Technical Summary

Problems solved by technology

However, the existing train positioning equipment has problems such as discontinuous train-ground information transmission, low data transmission rate, error accumulation in positioning results, high investment cost, and inconvenient maintenance; Additional positioning equipment is installed, and the self-coordinate system is unified with the earth coordinate system to complete high-precision positioning

However, there are cumulative errors in inertial navigation, which need to be combined with satellite positioning systems to eliminate cumulative errors

However, the train satellite technology is susceptible to interference, occupies scarce spectrum resources, etc., and the absorption of electromagnetic waves by tunnel building materials and the electromagnetic wave shielding effect of steel structures limit the role of satellite positioning technology in tunnel positioning.

Based on the above reasons, the existing train positioning technology restricts the development of the Communication Based Train Control System (hereinafter referred to as CBTC) to a certain extent, so a new positioning technology is urgently needed to make up for or replace the current With train positioning technology

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