Train positioning system and method based on ultra-wideband

Abstract

The present invention provides a train positioning system and method based on ultra-wideband, which is applied to trains, and the method includes: sending a first ultra-wideband pulse signal to a base station, so that the base station allocates a time slot to the first ultra-wideband pulse signal, and processing the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal; receiving the second ultra-wideband pulse signal, and calculating the distance between the vehicle antenna and the base station antenna according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal; calculating the distance between the train and the base station according to the distance between the vehicle antenna and the base station antenna and the height of the base station; sending a third ultra-wideband pulse signal to a control center, so that the control center calculates the current position of the train according to the third ultra-wideband pulse signal. The train positioning method has accurate positioning, small error, and solves the signal conflict problem by using a time-division multiplexing method.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail transportation, and in particular relates to a train positioning system and method based on ultra-wideband. Background Art

[0002] Base station positioning is already a mature technology in the market. For example, major mobile phone operators, such as China Telecom and China Mobile, all use base station positioning to achieve mobile phone positioning, also known as mobile location service, or LBS (Location Based Service). It obtains the location information (latitude and longitude coordinates) of mobile terminal users through the network of telecommunications and mobile operators.

[0003] The principle is that a mobile phone measures the downlink pilot signals of different base stations to obtain the TOA (Time of Arrival) or TDOA (Time Difference of Arrival) of the downlink pilot signals of different base stations. Based on the measurement results and combined with the coordinates of the base stations, a triangulation formula estimation algorithm is generally used to calculate the position of the mobile phone.

[0004] However, the base station positioning mentioned above, its transmission technology depends on the operating network of telecommunications and mobile, etc., has low positioning accuracy and is easily disturbed by external factors such as the environment;

[0005] At the same time, a base station is equipped with multiple signal receiving and transmitting channels to handle conflicts caused by a large number of mobile phone users sending positioning requests to the base station at the same time. Firstly, it is a huge project to manage multiple channels in an orderly manner within the base station. Secondly, transmission and reception are in different time slots, which require synchronous control, which is very expensive. Summary of the invention

[0006] The object of the present invention is to solve one of the above-mentioned technical problems at least to a certain extent.

[0007] To this end, the first purpose of the present invention is to propose a train positioning method based on ultra-wideband, which adopts UWB (Ultra Wideband) as the propagation technology for measuring the vehicle-to-ground distance, and at the same time adopts a time-division multiplexing method to solve the problem of inaccurate positioning caused by signal conflict when multiple vehicle request pulse signals are sent to the same base station at the same time during the base station positioning process and the base station cannot process them at the same time.

[0008] The second object of the present invention is to provide a train positioning system based on ultra-wideband.

[0009] The first embodiment of the present invention provides a train positioning method based on ultra-wideband, which is applied to a train and includes:

[0010] Sending a first ultra-wideband pulse signal to a base station, so that the base station allocates a time slot to the first ultra-wideband pulse signal, and processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal;

[0011] receiving the second ultra-wideband pulse signal, and calculating the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal;

[0012] Calculating the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station;

[0013] A third ultra-wideband pulse signal is sent to a control center, so that the control center calculates the current position of the train according to the third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station.

[0014] In some embodiments, the third ultra-wideband pulse signal also includes a station number and a base station number.

[0015] In some embodiments, causing the base station to allocate a time slot to the first ultra-wideband pulse signal specifically includes:

[0016] Divide one second into multiple segments, each segment is a time slot;

[0017] The base station receives the first ultra-wideband pulse signal and allocates a time slot for the first ultra-wideband pulse signal.

[0018] In some embodiments, the signal transmission time difference includes:

[0019] The time point when the train sends the first ultra-wideband pulse signal is the first time point;

[0020] The time point when the base station receives the first ultra-wideband pulse signal is the second time point;

[0021] The time point when the base station completes processing the first ultra-wideband pulse signal and returns the second ultra-wideband pulse signal to the train is the third time point;

[0022] The time point when the train receives the second ultra-wideband pulse signal is a fourth time point;

[0023] The signal transmission time difference is calculated according to the first time point, the second time point, the third time point and the fourth time point.

[0024] In some embodiments, calculating the signal transmission time difference according to the first time point, the second time point, the third time point, and the fourth time point includes:

[0025] calculating a first time difference between the second time point and the third time point;

[0026] calculating a second time difference between the first time point and the fourth time point;

[0027] A difference between the first time difference and the second time difference is calculated, and the difference is the signal transmission time difference.

[0028] In some embodiments, calculating the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal includes:

[0029] The product of the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal and half of the signal transmission time difference is calculated, and the product is the distance between the vehicle-mounted antenna and the base station antenna.

[0030] In some embodiments, the train calculates the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station, including:

[0031] Obtaining the distance between the base station antenna and the vehicle-mounted antenna;

[0032] Obtaining the height of the base station;

[0033] The distance between the train and the base station is calculated according to the Pythagorean theorem.

[0034] The second embodiment of the present invention provides a train positioning method based on ultra-wideband, comprising:

[0035] The train sends a first ultra-wideband pulse signal to the base station;

[0036] The base station allocates a time slot to the first ultra-wideband pulse signal, processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal, and sends the second ultra-wideband pulse signal to the train;

[0037] The train receives the second ultra-wideband pulse signal, and calculates the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal;

[0038] The train calculates the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station;

[0039] The train sends a third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station;

[0040] The control center receives the third ultra-wideband pulse signal and calculates the current position of the train according to the third ultra-wideband pulse signal.

[0041] The third aspect of the present invention provides a train positioning system based on ultra-wideband, comprising:

[0042] A train, wherein the train sends the first ultra-wideband pulse signal to a base station; the train receives the second ultra-wideband pulse signal, and calculates the distance between the on-board antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal; the train calculates the distance between the train and the base station according to the distance between the on-board antenna and the base station antenna and the height of the base station; the train sends a third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station;

[0043] a base station, wherein the base station allocates a time slot to the first ultra-wideband pulse signal, processes the first ultra-wideband pulse signal according to the allocated time slot to obtain the second ultra-wideband pulse signal, and sends the second ultra-wideband pulse signal to the train;

[0044] A control center receives the third ultra-wideband pulse signal and calculates the real-time position of the train according to the third ultra-wideband pulse signal.

[0045] In some embodiments, the train comprises:

[0046] A vehicle-mounted antenna, the vehicle-mounted antenna being used to receive the second ultra-wideband pulse signal and send the first and third ultra-wideband pulse signals;

[0047] A first signal module, wherein the first signal module is used to calculate the distance between the onboard antenna of the train and the base station antenna of the base station, and to calculate the distance between the vehicle and the base station.

[0048] In some embodiments, the base station comprises:

[0049] A base station antenna, the base station antenna is used to receive the first ultra-wideband pulse signal and send the second ultra-wideband pulse signal;

[0050] The second signal processing module is used for processing the first ultra-wideband pulse signal.

[0051] In some embodiments, the control center includes:

[0052] A clock source, which is used to calibrate the clocks of each base station to ensure high positioning accuracy;

[0053] A host computer is used to receive the third ultra-wideband pulse signal and calculate the current position of the train according to the third ultra-wideband pulse signal.

[0054] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The figure is a flow chart of a train positioning method based on ultra-wideband proposed in one embodiment of the present invention.

[0056] Figure 2 It is a flow chart of a train positioning method based on ultra-wideband proposed in another embodiment of the present invention.

[0057] Figure 3 Schematic diagram of a train positioning system based on ultra-wideband proposed in one embodiment of the present invention. DETAILED DESCRIPTION

[0058] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0059] The following describes an ultra-wideband-based train positioning system and method according to an embodiment of the present invention with reference to the accompanying drawings.

[0060] The invention proposes a train positioning method based on ultra-wideband, and the train positioning method based on ultra-wideband is applied to a train.

[0061] Figure 1 The present invention is a flowchart of a train positioning method based on ultra-wideband proposed in one embodiment of the present invention.

[0062] like Figure 1 As shown, the train positioning method based on ultra-wideband includes:

[0063] S101, sending a first ultra-wideband pulse signal to a base station, so that the base station allocates a time slot to the first ultra-wideband pulse signal, and processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal.

[0064] In some embodiments, one second is divided into multiple segments, and one segment is a time slot. The train sends a first ultra-wideband pulse signal to the base station, and the first ultra-wideband pulse signal includes information such as the vehicle ID, the base station ID, and the time point when the train sends the first ultra-wideband pulse signal. This time point is the first time point. The base station receives the first ultra-wideband pulse signal and allocates a time slot for the first ultra-wideband pulse signal. After the base station processes the first ultra-wideband pulse signal, a second ultra-wideband pulse signal is obtained.

[0065] S102, receiving the second ultra-wideband pulse signal, and calculating the distance between the on-board antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal.

[0066] In some embodiments, the train receives a second ultra-wideband pulse signal, and the second ultra-wideband pulse signal includes information such as a base station ID, a vehicle ID, a first time point, a second time point, a third time point, and a fourth time point. The time point when the train sends the first ultra-wideband pulse signal is the first time point; the time point when the base station receives the first ultra-wideband pulse signal is the second time point; the time point when the base station processes the first ultra-wideband pulse signal and returns the second ultra-wideband pulse signal to the train is the third time point; the time point when the train receives the second ultra-wideband pulse signal is the fourth time point.

[0067] The train calculates the first time difference between the second time point and the third time point, and calculates the second time difference between the first time point and the fourth time point, and then calculates the difference between the first time difference and the second time difference, and the difference is the signal transmission time difference.

[0068] The train calculates the product of the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal and half of the signal transmission time difference, and this product is the distance between the vehicle-mounted antenna and the base station antenna.

[0069] S103: Calculate the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station.

[0070] In some embodiments, the height of the base station is fixed, the train has obtained the distance between the vehicle-mounted antenna and the base station antenna through calculation, and the train calculates the distance between the train and the base station according to the Pythagorean theorem.

[0071] S104, sending a third ultra-wideband pulse signal to a control center, so that the control center calculates the current position of the train according to the third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station.

[0072] In some embodiments, the train sends a third ultra-wideband pulse signal to the control center. The third ultra-wideband pulse signal includes information such as vehicle ID, base station ID, and the distance between the train and the base station. The base station coordinates are obtained from the base station ID, and the current position of the train is calculated through the base station coordinates and the distance between the train and the base station.

[0073] The ultra-wideband-based train positioning method of the embodiment of the present invention adopts UWB (Ultra Wideband) as the propagation technology for measuring the vehicle-to-ground distance, and at the same time adopts a time-division multiplexing method to solve the problem of inaccurate positioning caused by signal conflicts when multiple vehicle request pulse signals are sent to the same base station at the same time during the base station positioning process and the base station cannot process them at the same time.

[0074] In another embodiment of the present invention, Figure 2 As shown, the train positioning method based on ultra-wideband also includes:

[0075] S201, the train sends a first ultra-wideband pulse signal to a base station.

[0076] In some embodiments, the first ultra-wideband pulse signal includes information such as a vehicle ID, a base station ID, and a time point when the train sends the first ultra-wideband pulse signal.

[0077] S202, the base station allocates a time slot to the first ultra-wideband pulse signal, processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal, and sends the second ultra-wideband pulse signal to the train.

[0078] In some embodiments, one second is divided into multiple segments, and one segment is a time slot. The base station receives the first ultra-wideband pulse signal and allocates a time slot for the first ultra-wideband pulse signal. After the base station processes the first ultra-wideband pulse signal, it obtains the second ultra-wideband pulse signal. The second ultra-wideband pulse signal includes information such as the base station ID, the vehicle ID, the first time point, the second time point, the third time point and the fourth time point. The time point when the train sends the first ultra-wideband pulse signal is the first time point; the time point when the base station receives the first ultra-wideband pulse signal is the second time point; the time point when the base station completes processing the first ultra-wideband pulse signal and returns the second ultra-wideband pulse signal to the train is the third time point; the time point when the train receives the second ultra-wideband pulse signal is the fourth time point.

[0079] S203, the train receives the second ultra-wideband pulse signal, and calculates the distance between the on-board antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal.

[0080] In some embodiments, the train calculates a first time difference between the second time point and the third time point, and calculates a second time difference between the first time point and the fourth time point, and then calculates a difference between the first time difference and the second time difference, and the difference is the signal transmission time difference.

[0081] The train calculates the product of the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal and half of the signal transmission time difference, and this product is the distance between the vehicle-mounted antenna and the base station antenna.

[0082] S204: The train calculates the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station.

[0083] In some embodiments, the height of the base station is fixed, the train has obtained the distance between the vehicle-mounted antenna and the base station antenna through calculation, and the train calculates the distance between the train and the base station according to the Pythagorean theorem.

[0084] S205: The train sends a third ultra-wideband pulse signal, where the third ultra-wideband pulse signal includes the distance between the train and the base station.

[0085] In some embodiments, the third ultra-wideband pulse signal includes information such as vehicle ID, base station ID, and the distance between the train and the base station.

[0086] S206, the control center receives the third ultra-wideband pulse signal, and calculates the current position of the train according to the third ultra-wideband pulse signal.

[0087] In some embodiments, the control center receives the third ultra-wideband pulse signal, obtains the base station coordinates from the base station ID, and calculates the current position of the train through the base station coordinates and the distance between the train and the base station.

[0088] To implement the above method, the present invention also proposes a train positioning system based on ultra-wideband.

[0089] Figure 3 A schematic diagram of an ultra-wideband-based train positioning system according to an embodiment of the present invention.

[0090] like Figure 3 As shown, the ultra-wideband based train positioning system includes a train 1, a base station 2 and a control center 3.

[0091] In one embodiment of the present invention, the train 1 includes an onboard antenna 11 and a first signal module 12. The onboard antenna 11 is used to receive the second ultra-wideband pulse signal, send the first ultra-wideband pulse signal and the first ultra-wideband pulse signal. The first signal module 12 is used to calculate the distance between the onboard antenna of the train and the base station antenna of the base station, and calculate the distance between the vehicle and the base station.

[0092] In one embodiment of the present invention, the base station 2 includes a base station antenna 21 and a second signal module 22. The base station antenna 21 is used to receive the first ultra-wideband pulse signal and send the second ultra-wideband pulse signal. The second signal module 22 is used to process the first ultra-wideband pulse signal.

[0093] In one embodiment of the present invention, the control center 3 includes a clock source 31 and a host computer 32. The clock source 31 is used to calibrate the clocks of each base station to ensure high accuracy of positioning. The host computer 32 is used to receive the third ultra-wideband pulse signal and calculate the current position of the train 1 according to the third ultra-wideband pulse signal.

[0094] In one embodiment of the present invention, train 1 sends a first ultra-wideband pulse signal to a base station, and the first ultra-wideband pulse signal includes information such as vehicle ID, base station ID, and the time point when train 1 sends the first ultra-wideband pulse signal.

[0095] One second is divided into multiple segments, and one segment is a time slot. Base station 2 receives the first ultra-wideband pulse signal and allocates a time slot to the first ultra-wideband pulse signal. After base station 2 processes the first ultra-wideband pulse signal, it obtains the second ultra-wideband pulse signal. The second ultra-wideband pulse signal includes information such as base station ID, vehicle ID, first time point, second time point, third time point and fourth time point. The time point when train 1 sends the first ultra-wideband pulse signal is the first time point; the time point when base station 2 receives the first ultra-wideband pulse signal is the second time point; the time point when base station 2 completes processing the first ultra-wideband pulse signal and returns the second ultra-wideband pulse signal to train 1 is the third time point; the time point when train 1 receives the second ultra-wideband pulse signal is the fourth time point.

[0096] Train 1 calculates the first time difference between the second time point and the third time point, and calculates the second time difference between the first time point and the fourth time point, and then calculates the difference between the first time difference and the second time difference, and the difference is the signal transmission time difference.

[0097] The train 1 calculates the product of the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal and half of the signal transmission time difference, and this product is the distance between the vehicle antenna 11 and the base station antenna 21.

[0098] The height of the base station 2 is fixed, and the train 1 has obtained the distance between the vehicle-mounted antenna 11 and the base station antenna 21 through calculation. The train 1 calculates the distance between the train 1 and the base station 2 according to the Pythagorean theorem.

[0099] Train 1 sends a third ultra-wideband pulse signal, which includes information such as vehicle ID, base station ID, and the distance between train 1 and base station 2.

[0100] The control center 3 receives the third ultra-wideband pulse signal, obtains the coordinates of the base station 2 from the base station ID, and calculates the current position of the train 1 through the coordinates of the base station 2 and the distance between the train 1 and the base station 2.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A train positioning method based on ultra-wideband, applied to trains, characterized in that: include: Sending a first ultra-wideband pulse signal to a base station, so that the base station allocates a time slot to the first ultra-wideband pulse signal, and processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal; receiving the second ultra-wideband pulse signal, and calculating the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal; Calculating the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station; Sending a third ultra-wideband pulse signal to a control center, so that the control center calculates the current position of the train according to the third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station; The calculating the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station includes: Obtaining the distance between the base station antenna and the vehicle-mounted antenna; Obtaining the height of the base station; The distance between the train and the base station is calculated according to the Pythagorean theorem.

2. The train positioning method based on ultra-wideband according to claim 1, characterized in that: The third ultra-wideband pulse signal also includes a station number and a base station number.

3. The train positioning method based on ultra-wideband according to claim 1, characterized in that: The step of causing the base station to allocate a time slot to the first ultra-wideband pulse signal specifically includes: Divide one second into multiple segments, each segment is a time slot; The base station receives the first ultra-wideband pulse signal and allocates a time slot for the first ultra-wideband pulse signal.

4. The train positioning method based on ultra-wideband according to claim 1, characterized in that: The signal transmission time difference includes: The time point when the train sends the first ultra-wideband pulse signal is the first time point; The time point when the base station receives the first ultra-wideband pulse signal is the second time point; The time point when the base station completes processing the first ultra-wideband pulse signal and returns the second ultra-wideband pulse signal to the train is the third time point; The time point when the train receives the second ultra-wideband pulse signal is a fourth time point; The signal transmission time difference is calculated according to the first time point, the second time point, the third time point and the fourth time point.

5. The train positioning method based on ultra-wideband according to claim 4, characterized in that: The calculating the signal transmission time difference according to the first time point, the second time point, the third time point and the fourth time point includes: calculating a first time difference between the second time point and the third time point; calculating a second time difference between the first time point and the fourth time point; A difference between the first time difference and the second time difference is calculated, where the difference is the signal transmission time difference.

6. The train positioning method based on ultra-wideband according to claim 1, characterized in that: The calculating the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal comprises: The product of the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal and half of the signal transmission time difference is calculated, and the product is the distance between the vehicle-mounted antenna and the base station antenna.

7. A train positioning method based on ultra-wideband, characterized in that: include: The train sends a first ultra-wideband pulse signal to the base station; The base station allocates a time slot to the first ultra-wideband pulse signal, processes the first ultra-wideband pulse signal according to the allocated time slot to obtain a second ultra-wideband pulse signal, and sends the second ultra-wideband pulse signal to the train; The train receives the second ultra-wideband pulse signal, and calculates the distance between the onboard antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal; The train calculates the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station; The train sends a third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station; The control center receives the third ultra-wideband pulse signal and calculates the current position of the train according to the third ultra-wideband pulse signal; The calculating the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station includes: Obtaining the distance between the base station antenna and the vehicle-mounted antenna; Obtaining the height of the base station; The distance between the train and the base station is calculated according to the Pythagorean theorem.

8. A train positioning system based on ultra-wideband, characterized in that: include: A train, wherein the train sends a first ultra-wideband pulse signal to a base station; the train receives a second ultra-wideband pulse signal, and calculates the distance between the on-board antenna of the train and the base station antenna of the base station according to the signal transmission time difference in the second ultra-wideband pulse signal and the transmission rate of the first ultra-wideband pulse signal or the second ultra-wideband pulse signal; the train calculates the distance between the train and the base station according to the distance between the on-board antenna and the base station antenna and the height of the base station; the train sends a third ultra-wideband pulse signal, wherein the third ultra-wideband pulse signal includes the distance between the train and the base station; a base station, wherein the base station allocates a time slot to the first ultra-wideband pulse signal, processes the first ultra-wideband pulse signal according to the allocated time slot to obtain the second ultra-wideband pulse signal, and sends the second ultra-wideband pulse signal to the train; A control center, wherein the control center receives the third ultra-wideband pulse signal and calculates a real-time position of the train according to the third ultra-wideband pulse signal; The calculating the distance between the train and the base station according to the distance between the vehicle-mounted antenna and the base station antenna and the height of the base station includes: Obtaining the distance between the base station antenna and the vehicle-mounted antenna; Obtaining the height of the base station; The distance between the train and the base station is calculated according to the Pythagorean theorem.

9. The ultra-wideband based train positioning system according to claim 8, characterized in that: The train comprises: A vehicle-mounted antenna, the vehicle-mounted antenna being used to receive the second ultra-wideband pulse signal and send the first and third ultra-wideband pulse signals; A first signal module, wherein the first signal module is used to calculate the distance between the onboard antenna of the train and the base station antenna of the base station, and to calculate the distance between the train and the base station.

10. The ultra-wideband based train positioning system according to claim 8, characterized in that: The base station comprises: A base station antenna, the base station antenna is used to receive the first ultra-wideband pulse signal and send the second ultra-wideband pulse signal; A second signal module, wherein the second signal module is used to process the first ultra-wideband pulse signal.

11. The ultra-wideband based train positioning system according to claim 8, characterized in that: The control center includes: A clock source, which is used to calibrate the clocks of each base station to ensure high positioning accuracy; A host computer is used to receive the third ultra-wideband pulse signal and calculate the current position of the train according to the third ultra-wideband pulse signal.

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