Railway train road matching method, device, equipment and readable storage medium

Abstract

The present invention provides a method, device, equipment and readable storage medium for matching the road of a railway train. The method for matching the road of a railway train includes: obtaining the GPS coordinates of the train and converting them into three-dimensional coordinates; determining the locked broken line of the train and the direction of travel of the train; if the direction of travel of the train is toward the starting / end point of the locked broken line, then calculating the percentage of the line length of the three-dimensional coordinate at the perpendicular point of the locked broken line and the starting / end point to the total length of the locked broken line; if the percentage is less than a first preset threshold, then obtaining the next jump broken line based on the inertial navigation information, and adding one to the number of unlocking times of the next jump broken line; if the number of unlocking times of the next jump broken line reaches a preset number, then using the next jump broken line as the locked broken line of the train. The present invention ensures the accuracy of train road navigation, solves the problem of incorrect locking of train track routes, improves the real-time efficiency of railway road matching, and reduces the cost of railway road matching.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a method, device, equipment and readable storage medium for matching a railway train road. Background Art

[0002] At present, the road matching of railway trains mainly relies on manual work to make the map information very accurate, and the train then uses the relatively accurate map information for route navigation. However, if only this method is used, when the train enters the station yard or tunnel, there will be obstructions above the roof of the train, resulting in a certain degree of positioning error for the train. Among them, the station yard is the center, and the entry and exit signals set on both sides of the up and down lines of the station line are the boundaries. When a train enters the station yard, there will be multiple broken lines in the station yard scheduling. The existing railway train road matching scheme will not be able to guarantee the accuracy of the train's road navigation in the obstructed area above the station yard due to the positioning error, which will lead to the incorrect locking of the track route. Summary of the invention

[0003] The main purpose of the present invention is to provide a railway train road matching method, device, equipment and readable storage medium, aiming to solve the technical problem that the existing railway train road matching solution cannot guarantee the accuracy of train road navigation in the obstructed area above the station, thereby causing the train track route to be incorrectly locked.

[0004] In a first aspect, the present invention provides a method for matching a railway train path, the method comprising the following steps:

[0005] Get the GPS coordinates of the train and convert them into three-dimensional coordinates;

[0006] Determine the locking fold line of the train and the direction of travel of the train;

[0007] If the train is traveling in a direction toward the start / end point of the locked polyline, the percentage of the line length of the three-dimensional coordinate at the foot point of the perpendicular to the locked polyline and the start / end point to the total length of the locked polyline is calculated;

[0008] If the percentage is less than a first preset threshold, a next jump polyline is obtained based on the inertial navigation information, and the unlocking times of the next jump polyline are increased by one;

[0009] If the number of unlocking times of the next jump broken line reaches a preset number, the next jump broken line is used as the locking broken line of the train.

[0010] Optionally, the step of determining the locking broken line of the train includes:

[0011] Obtain the latest point information in the point information queue, and determine whether the point information is timed out;

[0012] If it has not timed out, determine whether the train is in a locked state based on the global state;

[0013] If the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold;

[0014] If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train.

[0015] Optionally, after the step of determining whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold, the method further includes:

[0016] If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train;

[0017] and determining whether the distance between the three-dimensional coordinate and the first foldline is less than a second preset threshold;

[0018] If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train;

[0019] If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned.

[0020] Optionally, after the step of determining whether the point information has timed out, the method further includes:

[0021] If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train;

[0022] Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold;

[0023] If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0024] If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number;

[0025] If the preset number of times is reached, the second broken line is used as the locking broken line of the train.

[0026] Optionally, after the step of judging whether the train is in a locked state according to the global state, the method further includes:

[0027] If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train;

[0028] Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold;

[0029] If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0030] If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number;

[0031] If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

[0032] Optionally, after the step of using the next jump broken line as the locking broken line of the train when the number of unlocking times of the next jump broken line reaches a preset threshold, the step includes:

[0033] Update the global state and point information queue, and update the position information of the train with the latest global state and point information queue, wherein the position information includes:

[0034] The station identification information and locked broken line identification information where the train is located, the percentage information of the train's distance from the starting point of the locked broken line, the train's GPS coordinates, the train's locked broken line starting point identification information, and the train's original mileage information and coordinate information.

[0035] In a second aspect, the present invention further provides a road matching device for a railway train, the road matching device for a railway train comprising:

[0036] An acquisition module is used to obtain the GPS coordinates of the train and convert them into three-dimensional coordinates;

[0037] A first determination module is used to determine the locking fold line of the train and the traveling direction of the train;

[0038] A calculation module, for calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the perpendicular to the locking fold line and the starting / end point to the total length of the locking fold line if the traveling direction of the train is toward the starting / end point of the locking fold line;

[0039] A second determination module is used for obtaining a next jump polyline based on the inertial navigation information if the percentage is less than a first preset threshold, and increasing the unlocking times of the next jump polyline by one;

[0040] The switching module is used to use the next jump broken line as the locking broken line of the train if the number of unlocking times of the next jump broken line reaches a preset number.

[0041] Optionally, the first determining module is further specifically configured to:

[0042] Obtain the latest point information in the point information queue, and determine whether the point information is timed out;

[0043] If it has not timed out, determine whether the train is in a locked state based on the global state;

[0044] If the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold;

[0045] If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train.

[0046] Optionally, the first determining module is further specifically configured to:

[0047] If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train;

[0048] and determining whether the distance between the three-dimensional coordinate and the first foldline is less than a second preset threshold;

[0049] If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train;

[0050] If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned.

[0051] Optionally, the first determining module is further specifically configured to:

[0052] If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train;

[0053] Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold;

[0054] If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0055] If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number;

[0056] If the preset number of times is reached, the second broken line is used as the locking broken line of the train.

[0057] Optionally, the first determining module is further specifically configured to:

[0058] If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train;

[0059] Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold;

[0060] If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0061] If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number;

[0062] If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

[0063] Optionally, the road matching device for a railway train further includes an updating module, which is specifically used to:

[0064] Update the global state and point information queue, and update the position information of the train with the latest global state and point information queue, wherein the position information includes:

[0065] The station identification information and locked broken line identification information where the train is located, the percentage information of the train's distance from the starting point of the locked broken line, the train's GPS coordinates, the train's locked broken line starting point identification information, and the train's original mileage information and coordinate information.

[0066] In a third aspect, the present invention also provides a road matching device for a railway train, the road matching device for a railway train comprising a processor, a memory, and a road matching program for a railway train stored in the memory and executable by the processor, wherein when the road matching program for a railway train is executed by the processor, the steps of the road matching method for a railway train as described above are implemented.

[0067] In a fourth aspect, the present invention further provides a readable storage medium, on which a road matching program for a railway train is stored, wherein when the road matching program for a railway train is executed by a processor, the steps of the road matching method for a railway train as described above are implemented.

[0068] The present invention provides a road matching method, device, equipment and readable storage medium for a railway train. The road matching method for a railway train comprises: obtaining the GPS coordinates of the train and converting them into three-dimensional coordinates; determining the locking broken line of the train and the direction of travel of the train; if the direction of travel of the train is toward the starting / end point of the locking broken line, calculating the percentage of the line length of the three-dimensional coordinate at the perpendicular point of the locking broken line and the starting / end point to the total length of the locking broken line; if the percentage is less than a first preset threshold, obtaining the next jump broken line based on inertial navigation information, and increasing the number of unlocking times of the next jump broken line by one; if the number of unlocking times of the next jump broken line reaches a preset number, using the next jump broken line as the locking broken line of the train. Compared with the traditional railway road matching method, in the area with shielding above the station yard, the present invention can completely determine the next jump broken line through the topological relationship between the inertial navigation steering and the actual railway broken line on the basis of GPS coordinate positioning, and by limiting the number of unlocking times of the next jump broken line, the accuracy of train road navigation is guaranteed, and the GPS coordinate precise positioning of a local single railway line and the high-precision positioning of the GPS coordinates and inertial navigation combination of multiple railway intersections are realized, thereby solving the problem of incorrect locking of train track routes, improving the real-time efficiency of railway road matching, and reducing the cost of railway road matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A schematic diagram of the hardware structure of a road matching device for a railway train involved in an embodiment of the present invention;

[0070] Figure 2 A schematic diagram of a flow chart of an embodiment of a method for matching a railway train road according to the present invention;

[0071] Figure 3 A schematic diagram of a process for determining a locking broken line in an embodiment of a method for matching a railway train path according to the present invention;

[0072] Figure 4 It is a schematic diagram of functional modules of an embodiment of a road matching device for railway trains of the present invention.

[0073] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0074] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0075] In a first aspect, an embodiment of the present invention provides a road matching device for a railway train.

[0076] Reference Figure 1 , Figure 1Schematic diagram of the hardware structure of the road matching device of the railway train involved in the embodiment of the present invention. In the embodiment of the present invention, the road matching device of the railway train may include a processor 1001 (such as a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0077] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a railway train road matching program. The processor 1001 may call the railway train road matching program stored in the memory 1005 and execute the railway train road matching method provided in the embodiment of the present invention.

[0078] In a second aspect, an embodiment of the present invention provides a road matching method for a railway train.

[0079] Reference Figure 2 , Figure 2 It is a schematic flow chart of an embodiment of a method for matching a railway train route according to the present invention.

[0080] In an embodiment of a method for matching a railway train road according to the present invention, the method for matching a railway train road includes:

[0081] Step S10, obtaining the GPS coordinates of the train and converting them into three-dimensional coordinates;

[0082] In this embodiment, GPS satellites such as Beidou will send the train's coordinate information (mainly longitude and latitude information) back to the train's on-board terminal in real time. Since it is basically impossible for all train coordinates to fall on the track, they will be corrected and pulled to the track. Then the corrected GPS coordinates will be obtained and converted into three-dimensional coordinates for calculation.

[0083] Prior to this, the map information of the drone survey, including all tracks and signal information in the station, has been entered into the Shapefile file, and the drawn Shapefile file has been loaded into the train's memory. Among them, there are three groups of Shapefile files used in this railway road matching method: a group of files representing the station, a group of files representing the railway line, and a group of files representing the intersection of the railway line and the railway line. And based on the loaded railway line set, an inertial navigation metadata set is formed. The inertial navigation metadata means that the operating train is on a broken line, moving toward the starting point or end point of the broken line, and its next jump broken line has a one-to-one correspondence with the corresponding inertial navigation steering.

[0084] Step S20, determining the locking folding line of the train and the traveling direction of the train;

[0085] In this embodiment, since the train is running on the track line, one of the track lines will be locked to determine that the train is running on the above track line. At this time, it is necessary to determine the locking fold line of the train and determine the direction of the vehicle when traveling on this locking fold line to determine the travel distance of the train on the locking fold line.

[0086] Step S30, if the train is traveling in a direction toward the start / end point of the locked polyline, then calculating the percentage of the line length between the foot point of the perpendicular to the locked polyline and the start / end point to the total length of the locked polyline;

[0087] In this embodiment, if the train is moving in the direction of the starting / end point of the locked broken line, the percentage of the line length of the three-dimensional coordinate at the foot point of the perpendicular to the locked broken line and the starting / end point to the total length of the locked broken line is calculated to determine the percentage of the remaining travel distance of the train on the locked broken line at this time to the total length.

[0088] Step S40, if the percentage is less than a first preset threshold, obtaining a next jump polyline based on the inertial navigation information, and increasing the unlocking times of the next jump polyline by one;

[0089] In this embodiment, if the percentage determined above is less than the first preset threshold, it means that the remaining travel distance of the train on the locked broken line is not much, and the distance is also less than the maximum distance at which the inertial navigation starts to take effect. At this time, the next jump broken line can be determined according to the inertial navigation information, and the number of unlocking times of the next jump broken line can be increased by one.

[0090] Step S50, if the number of unlocking times of the next jump broken line reaches a preset number, the next jump broken line is used as the locking broken line of the train.

[0091] In this embodiment, considering that the travel distance for which the inertial navigation system takes effect is a certain distance and the next jump broken line may be unlocked incorrectly, the number of times the next jump broken line is unlocked will only be reached when the preset number of times, and the next jump broken line will be used as the locked broken line of the train to complete the switching of the locked broken line. In the area above the station yard with obstructions, compared with the traditional railway road matching method, the next jump broken line can be completely determined based on the topological relationship between the inertial navigation steering and the actual railway broken line on the basis of GPS coordinate positioning, and by limiting the number of times the next jump broken line is unlocked, the accuracy of the train road navigation is guaranteed, and the GPS coordinates of a single local railway line are accurately positioned, and the GPS coordinates of the intersection of multiple railway lines are combined with the inertial navigation system for high-precision positioning, thereby solving the problem of incorrect locking of the train track route, improving the real-time efficiency of railway road matching, and reducing the cost of railway road matching.

[0092] Further, in one embodiment, referring to Figure 3 , the step of determining the locking broken line of the train comprises:

[0093] Step S201, obtaining the latest point information in the point information queue, and determining whether the point information is timed out;

[0094] Step S202: if it is not timed out, determine whether the train is in a locked state according to the global state;

[0095] Step S203, if the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold;

[0096] Step S204: If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train.

[0097] In this embodiment, specifically, the step of determining the locked polyline of the train includes: obtaining the latest point information in the point information queue, wherein the point information corresponding to the GPS coordinates of the train obtained at a preset period each time will be updated to the point information queue. Each point information in the point information queue includes the corrected GPS coordinates and three-dimensional coordinates of the train, the identification information of the locked polyline where the corrected coordinates are located and the identification information of the station where the corrected GPS coordinates are located, the percentage of the perpendicular foot point in the total length of the polyline after the train is corrected, the original coordinate information and mileage information, and the time information of receiving the GPS coordinates.

[0098] Therefore, when determining the locked polyline of the train, the latest point information in the point information queue will be obtained first, and the time information in the above-obtained point information will be compared with the current time to determine whether it has timed out. If it has not timed out, it means that this point information is valid, and the global state corresponding to this point information can be obtained, where the global state includes the locking state of the train at this time, the identification information of the polyline where the train is located and the identification information of the station, inertial navigation information, travel direction and its corresponding key point information, identification information of the unlocked polyline, unlocking times and identification information of the station where it is located.

[0099] If the train is judged to be in a locked state according to the global state, the first locking broken line corresponding to the locked state is determined based on the identification information of the locking broken line corresponding to the global state, and it is determined whether the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, so as to determine whether the above-mentioned first locking broken line is indeed the broken line where the train is located, rather than being locked by mistake.

[0100] If the distance between the above three-dimensional coordinates and the above first locking broken line is less than the second preset threshold, it is determined that the above first locking broken line is indeed the broken line where the train is located, and it is correctly locked. At this time, the first locking broken line can be determined as the locking broken line of the train.

[0101] Further, in one embodiment, after the step of determining whether the distance between the three-dimensional coordinate and the first locking foldline is less than a second preset threshold, the following steps are included:

[0102] If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train;

[0103] and determining whether the distance between the three-dimensional coordinate and the first foldline is less than a second preset threshold;

[0104] If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train;

[0105] If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned.

[0106] In this embodiment, if the distance between the above-mentioned three-dimensional coordinates and the above-mentioned first locked broken line is not less than the second preset threshold, it is determined that the above-mentioned first locked broken line is not the broken line where the train is located, and it is an erroneous lock. At this time, it is necessary to determine the first broken line with the shortest distance to the three-dimensional coordinates of the train. Then determine whether the distance between the above-mentioned three-dimensional coordinates and the above-mentioned first broken line is less than the second preset threshold to determine whether the above-mentioned first broken line meets the coordinate accuracy conditions for broken line locking. If the distance between the above-mentioned three-dimensional coordinates and the above-mentioned first broken line is less than the second preset threshold, it is determined that the above-mentioned first broken line meets the coordinate accuracy conditions for broken line locking, and the above-mentioned first broken line is used as the locked broken line of the train. If the distance between the above-mentioned three-dimensional coordinates and the above-mentioned first broken line is less than the second preset threshold, it is determined that the above-mentioned first broken line does not meet the coordinate accuracy conditions for broken line locking, and a prompt message of abnormal three-dimensional coordinates is returned.

[0107] Further, in one embodiment, after the step of determining whether the point information has timed out, the following steps are included:

[0108] If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train;

[0109] Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold;

[0110] If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0111] If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number;

[0112] If the preset number of times is reached, the second broken line is used as the locking broken line of the train.

[0113] In this embodiment, after the latest point information in the point information queue is obtained, it is determined that the point information has timed out, which means that all point information in the point information queue has timed out. At this time, it is necessary to clear the point information in the point information queue and determine the second broken line with the shortest distance to the three-dimensional coordinates of the train at this time. Then determine whether the distance between the three-dimensional coordinates and the second broken line is less than the second preset threshold value to determine whether the second broken line meets the coordinate accuracy condition. If the distance between the three-dimensional coordinates and the second broken line is not less than the second preset threshold value, it is determined that the second broken line does not meet the coordinate accuracy condition, and a prompt message of abnormal three-dimensional coordinates is returned. If the distance between the three-dimensional coordinates and the second broken line is less than the second preset threshold value, it is determined that the second broken line meets the coordinate accuracy condition. At this time, it is necessary to determine whether the number of unlocking times of the second broken line reaches the preset number of times to determine whether the number of unlocking times of the second broken line meets the switching of the locked state. If the preset number of times is reached, the second broken line is used as the locked broken line of the train.

[0114] Further, in one embodiment, after the step of determining whether the train is in a locked state according to the global state, the following steps are included:

[0115] If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train;

[0116] Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold;

[0117] If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0118] If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number;

[0119] If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

[0120] In this embodiment, after obtaining the latest point information in the point information queue and determining that the above point information has not timed out, if the train is judged to be in a locked state according to the global state at this time, the third broken line with the shortest distance from the three-dimensional coordinates of the train is determined at this time. Then determine whether the distance between the above three-dimensional coordinates and the above third broken line is less than the second preset threshold value to determine whether the above third broken line meets the coordinate accuracy condition. If the distance between the three-dimensional coordinates and the third broken line is not less than the second preset threshold value, it is determined that the above third broken line does not meet the coordinate accuracy condition, and a prompt message of abnormal three-dimensional coordinates is returned. If the distance between the above three-dimensional coordinates and the above third broken line is less than the second preset threshold value, it is determined that the above third broken line meets the coordinate accuracy condition. At this time, it is necessary to determine whether the number of unlocking times of the above third broken line reaches the preset number of times to determine whether the number of unlocking times of the above third broken line meets the switching of the locked state. If the preset number of times is reached, the third broken line is used as the locked broken line of the train.

[0121] Further, in one embodiment, after the step of using the next jump broken line as the locking broken line of the train when the number of unlocking times of the next jump broken line reaches a preset threshold, the step includes:

[0122] Update the global state and point information queue, and update the position information of the train with the latest global state and point information queue, wherein the position information includes:

[0123] The station identification information and locked broken line identification information where the train is located, the percentage information of the train's distance from the starting point of the locked broken line, the train's GPS coordinates, the train's locked broken line starting point identification information, and the train's original mileage information and coordinate information.

[0124] In this embodiment, after determining the next jump broken line as the locked broken line of the train, it includes: updating the global state and point information queue, the global state and point information queue are temporarily stored parameter information, which are used to guide road matching. After obtaining the result of road matching, the position information of the train is updated with the latest global state and point information queue, and the above position information includes the result of road matching. Among them, the above position information includes: the station identification information and the locked broken line identification information where the train is located, so as to record the specific position of the current train; the percentage information of the train from the starting point of the locked broken line, so as to record the distance between the current train position and the starting point of the current broken line, so as to calculate the pixel, and display the train information on the tablet end displayed by the train; the train GPS coordinates, so as to record the corrected GPS coordinate position of the current train; the starting point identification information of the locked broken line of the train, so as to record the direction of travel of the current broken line; the original mileage information and coordinate information of the train, so as to send these information to the background through http request for storage, and use them to query the historical track, and the mileage information is used to display the current speed of the vehicle, kilometer mark and other information.

[0125] In the present embodiment, a road matching method for a railway train is provided, including: obtaining the GPS coordinates of the train and converting them into three-dimensional coordinates; determining the locking broken line of the train and the direction of travel of the train; if the direction of travel of the train is toward the starting / end point of the locking broken line, calculating the percentage of the line length of the three-dimensional coordinate at the perpendicular point of the locking broken line and the starting / end point to the total length of the locking broken line; if the percentage is less than a first preset threshold, obtaining the next jump broken line based on the inertial navigation information, and increasing the number of unlocking times of the next jump broken line by one; if the number of unlocking times of the next jump broken line reaches the preset number, using the next jump broken line as the locking broken line of the train. Compared with the traditional railway road matching method, in the area with shielding above the station yard, the present invention can completely determine the next jump broken line through the topological relationship between the inertial navigation steering and the actual railway broken line on the basis of GPS coordinate positioning, and by limiting the number of unlocking times of the next jump broken line, the accuracy of train road navigation is guaranteed, and the GPS coordinate precise positioning of a local single railway line and the high-precision positioning of the GPS coordinates and inertial navigation combination of multiple railway intersections are realized, thereby solving the problem of incorrect locking of train track routes, improving the real-time efficiency of railway road matching, and reducing the cost of railway road matching.

[0126] In a third aspect, an embodiment of the present invention further provides a road matching device for a railway train.

[0127] Reference Figure 4 , a schematic diagram of functional modules of an embodiment of a road matching device for a railway train.

[0128] In this embodiment, the road matching device of the railway train includes:

[0129] The acquisition module 10 is used to acquire the GPS coordinates of the train and convert them into three-dimensional coordinates;

[0130] A first determination module 20, for determining a locking fold line of the train and a traveling direction of the train;

[0131] A calculation module 30 is used to calculate the percentage of the line length of the three-dimensional coordinate between the foot point of the perpendicular to the locking polyline and the starting / end point to the total length of the locking polyline if the traveling direction of the train is toward the starting / end point of the locking polyline;

[0132] A second determination module 40 is configured to obtain a next jump polyline based on the inertial navigation information if the percentage is less than a first preset threshold, and increase the unlocking times of the next jump polyline by one;

[0133] The switching module 50 is used to use the next jump broken line as the locking broken line of the train if the number of unlocking times of the next jump broken line reaches a preset number.

[0134] Furthermore, in one embodiment, the first determining module 20 is further specifically configured to:

[0135] Obtain the latest point information in the point information queue, and determine whether the point information is timed out;

[0136] If it has not timed out, determine whether the train is in a locked state based on the global state;

[0137] If the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold;

[0138] If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train.

[0139] Furthermore, in one embodiment, the first determining module 20 is further specifically configured to:

[0140] If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train;

[0141] and determining whether the distance between the three-dimensional coordinate and the first foldline is less than a second preset threshold;

[0142] If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train;

[0143] If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned.

[0144] Furthermore, in one embodiment, the first determining module 20 is further specifically configured to:

[0145] If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train;

[0146] Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold;

[0147] If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0148] If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number;

[0149] If the preset number of times is reached, the second broken line is used as the locking broken line of the train.

[0150] Furthermore, in one embodiment, the first determining module 20 is further specifically configured to:

[0151] If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train;

[0152] Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold;

[0153] If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned;

[0154] If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number;

[0155] If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

[0156] Furthermore, in one embodiment, the road matching device for a railway train further includes an updating module, which is specifically used to:

[0157] Update the global state and point information queue, and update the position information of the train with the latest global state and point information queue, wherein the position information includes:

[0158] The station identification information and locked broken line identification information where the train is located, the percentage information of the train's distance from the starting point of the locked broken line, the train's GPS coordinates, the train's locked broken line starting point identification information, and the train's original mileage information and coordinate information.

[0159] Among them, the functional implementation of each module in the above-mentioned road matching device for railway train corresponds to the various steps in the above-mentioned road matching method embodiment for railway train, and its functions and implementation processes will not be repeated here one by one.

[0160] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0161] The readable storage medium of the present invention stores a road matching program for a railway train, wherein when the road matching program for a railway train is executed by a processor, the steps of the road matching method for a railway train as described above are implemented.

[0162] Among them, the method implemented when the road matching program of the railway train is executed can refer to the various embodiments of the road matching method of the railway train of the present invention, and will not be repeated here.

[0163] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0164] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0165] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0166] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for matching a railway train path, characterized in that: The road matching method for railway trains comprises: Get the GPS coordinates of the train and convert them into three-dimensional coordinates; Determine the locking fold line of the train and the direction of travel of the train; If the train is traveling in a direction toward the start / end point of the locked polyline, the percentage of the line length of the three-dimensional coordinate at the foot point of the perpendicular to the locked polyline and the start / end point to the total length of the locked polyline is calculated; If the percentage is less than a first preset threshold, a next jump polyline is obtained based on the inertial navigation information, and the unlocking times of the next jump polyline are increased by one; If the number of unlocking times of the next jump broken line reaches a preset number, the next jump broken line is used as the locking broken line of the train; The step of determining the locking broken line of the train comprises: Obtain the latest point information in the point information queue, and determine whether the point information is timed out; If it has not timed out, determine whether the train is in a locked state based on the global state; If the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train; After the step of determining whether the distance between the three-dimensional coordinate and the first locking foldline is less than a second preset threshold, the method further includes: If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train; and determining whether the distance between the three-dimensional coordinate and the first broken line is less than a second preset threshold; If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train; If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; After the step of determining whether the point information has timed out, the method further comprises: If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train; Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number; If the preset number of times is reached, the second broken line is used as the locking broken line of the train; After the step of judging whether the train is in a locked state according to the global state, the method further comprises: If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train; Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number; If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

2. The railway train road matching method according to claim 1, characterized in that: After the step of using the next jump broken line as the locking broken line of the train when the number of unlocking times of the next jump broken line reaches a preset threshold, the step includes: Update the global state and point information queue, and update the position information of the train with the latest global state and point information queue, wherein the position information includes: The station identification information and locked broken line identification information where the train is located, the percentage information of the train's distance from the starting point of the locked broken line, the train's GPS coordinates, the train's locked broken line starting point identification information, and the train's original mileage information and coordinate information.

3. A road matching device for a railway train, characterized in that: The road matching device of the railway train comprises: An acquisition module is used to obtain the GPS coordinates of the train and convert them into three-dimensional coordinates; A first determination module is used to determine the locking fold line of the train and the traveling direction of the train; A calculation module, for calculating the percentage of the line length of the three-dimensional coordinate between the foot point of the perpendicular to the locking fold line and the starting / end point to the total length of the locking fold line if the traveling direction of the train is toward the starting / end point of the locking fold line; A second determination module is used for obtaining a next jump polyline based on the inertial navigation information if the percentage is less than a first preset threshold, and increasing the unlocking times of the next jump polyline by one; A switching module, used for using the next jump broken line as the locking broken line of the train if the number of unlocking times of the next jump broken line reaches a preset number; The first determining module is further used for: Obtain the latest point information in the point information queue, and determine whether the point information is timed out; If it has not timed out, determine whether the train is in a locked state based on the global state; If the train is in a locked state, determining a first locking polyline corresponding to the locked state, and judging whether the distance between the three-dimensional coordinate and the first locking polyline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the first locking broken line is less than a second preset threshold, the first locking broken line is used as the locking broken line of the train; After the step of determining whether the distance between the three-dimensional coordinate and the first locking foldline is less than a second preset threshold, the method further includes: If the distance between the three-dimensional coordinate and the first locked broken line is not less than a second preset threshold, determining a first broken line, the first broken line having the shortest distance to the three-dimensional coordinate of the train; and determining whether the distance between the three-dimensional coordinate and the first broken line is less than a second preset threshold; If the distance between the three-dimensional coordinate and the first fold line is less than a second preset threshold, using the first fold line as the locking fold line of the train; If the distance between the three-dimensional coordinate and the first foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; After the step of determining whether the point information has timed out, the method further comprises: If the point information times out, clear the point information in the point information queue and determine a second broken line, the second broken line having the shortest distance to the three-dimensional coordinates of the train; Determine whether the distance between the three-dimensional coordinate and the second foldline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the second foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; If the distance between the three-dimensional coordinate and the second fold line is less than a second preset threshold, determining whether the number of times the second fold line has been unlocked reaches a preset number; If the preset number of times is reached, the second broken line is used as the locking broken line of the train; After the step of judging whether the train is in a locked state according to the global state, the method further comprises: If it is not in the locked state, determining a third broken line, wherein the third broken line has the shortest distance to the three-dimensional coordinates of the train; Determine whether the distance between the three-dimensional coordinate and the third foldline is less than a second preset threshold; If the distance between the three-dimensional coordinate and the third foldline is not less than a second preset threshold, a prompt message indicating that the three-dimensional coordinate is abnormal is returned; If the distance between the three-dimensional coordinate and the third fold line is less than a second preset threshold, determining whether the number of times the third fold line has been unlocked reaches a preset number; If the preset number of times is reached, the third broken line is used as the locking broken line of the train.

4. A road matching device for a railway train, characterized in that: The road matching device of the railway train includes a processor, a memory, and a road matching program for the railway train stored in the memory and executable by the processor, wherein when the road matching program for the railway train is executed by the processor, the steps of the road matching method for the railway train as described in claim 1 or 2 are implemented.

5. A readable storage medium, characterized in that: The readable storage medium stores a road matching program for a railway train, wherein when the road matching program for a railway train is executed by a processor, the steps of the road matching method for a railway train as described in claim 1 or 2 are implemented.

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