Method and system for determining the absolute position of track fasteners under dynamic conditions

Abstract

The present invention provides a method and a system for determining the absolute position of track fasteners under dynamic conditions. The method includes: obtaining the positioning information of a rail vehicle through satellite positioning or odometer positioning; detecting and identifying the track fasteners under the rail vehicle to obtain fastener information; and calibrating the fastener position based on the positioning information and the fastener information. By combining satellite positioning and fastener identification, the absolute position of track fasteners is determined under dynamic conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and particularly to a method and a system for determining the absolute position of track fasteners in a dynamic situation. Background Art

[0002] The track vehicle positioning system is an important part of the track vehicle operation control system. The driving speed and driving mileage provided by the track vehicle positioning system are basic parameters for realizing the effective control of the track vehicle. Whether the positioning information is accurate and reliable directly affects the driving safety and operation efficiency of the track vehicle. With the rapid development of China's railway, the track vehicle positioning technology has become one of the key technologies of the track vehicle operation control system.

[0003] The railway positions track vehicles based on driving mileage. The common positioning technologies for track vehicles are as follows:

[0004] Odometer: Usually installed on the non-powered axle (speed measuring wheel) of the vehicle, it calculates the real-time speed and driving distance of the track vehicle by detecting the number of wheel rotations. It is the most commonly used sensor for track vehicle positioning at present. The main factors affecting the odometer are wheel spin and skid, which will produce errors and cannot be completely avoided;

[0005] Track circuit: A circuit composed of a rail line and rail insulation, used to detect whether this section of the line is occupied by a track vehicle, and can roughly position the track vehicle. Since the track circuit can only detect which track section the track vehicle is in, the positioning error is large;

[0006] Transponder / beacon: Distributed along the track, storing line data such as positions. When the track vehicle passes by, the query device at the bottom of the vehicle reads this line information to complete the precise positioning function of the track vehicle. When the distribution spacing of the transponders / beacons on the line is small, the continuous positioning of the track vehicle is more accurate. There is a contradiction between the setting spacing and the investment cost. If the interval distance is far, the position of the track vehicle between two transponders cannot be accurately determined;

[0007] Doppler radar: Installed at the bottom of the track vehicle and continuously sending pulses to the track, it is a radar that uses the Doppler effect to detect the position and relative movement speed of the track vehicle. The main principle is to detect the radial relative movement speed of the target to the radar by using the frequency difference between the echo frequency and the transmitted wave frequency. The disadvantage of the Doppler radar is that when the track vehicle is running at a low speed, the difference between the transmitted wave frequency and the echo frequency is small, and the speed measurement error is large. Therefore, other track vehicle speed measurement devices need to be used in auxiliary cooperation for measurement, and the starting point position cannot be fixed;

[0008] Satellite navigation and positioning: Such as satellite navigation and positioning systems like Beidou and GPS, which calculate position information by receiving satellite signals. In an unobstructed environment such as a plain, accurate positioning can be carried out. The disadvantage of satellite navigation and positioning is that if the satellite signal is blocked, such as in a tunnel, positioning cannot be performed, the starting point position cannot be fixed, and the satellite positioning accuracy error is relatively large;

[0009] Sleeper identification and positioning: Sleeper identification technology is a relatively common way to position rail vehicles. The radar continuously sends wireless signals to the track, and by calculating the time when the radar receives the reflected wireless signals, it determines whether there are sleepers. The spacing between each sleeper is fixed. By calculating the number of sleepers identified, the distance traveled by the rail vehicle can be calculated. This positioning technology is greatly affected by other objects around the sleepers. If there are interfering objects at the same height as the sleepers, the radar will misidentify these interfering objects as sleepers, resulting in incorrect sleeper counting and large mileage measurement errors. With the continuous improvement of rail vehicle technology, sleeperless tracks cannot be counted in this way, which has certain limitations, and there is also the problem that the starting point position cannot be fixed.

[0010] Currently, the positioning methods for rail vehicles have their own advantages and disadvantages. If a single positioning method is adopted, it cannot meet the requirement of accurate positioning under any conditions.

[0011] After the rail vehicle enters the tunnel, some rail vehicle positioning technologies, such as satellite navigation and positioning, become unavailable due to the blockage of satellite signals by the tunnel. Therefore, if satellite positioning is used before the rail vehicle enters the tunnel, a new positioning method needs to be adopted after entering the tunnel.

[0012] Because before and after entering the tunnel, along with the switching of positioning methods, in order to ensure that the positioning of the rail vehicle does not interrupt throughout the journey, according to the habitual thinking, technicians consider using the last positioning point of the positioning method before entering the tunnel as the starting point of the positioning method in the tunnel. However, it is difficult to achieve a perfect connection between the two positioning methods before and after. Moreover, the accuracy of the positioning method in the tunnel is strongly correlated with the accuracy of the positioning starting point. Therefore, a positioning method in the tunnel is needed to overcome the aforementioned difficulties and ensure the accuracy of the positioning starting point. Summary of the Invention

[0013] Aiming at the problems existing in the prior art, the present invention provides a method and a system for determining the absolute position of rail fasteners in a dynamic situation.

[0014] A method for determining the absolute position of rail fasteners in a dynamic situation provided by the present invention, the method includes:

[0015] Obtain the positioning information of the rail vehicle through satellite positioning or odometer positioning;

[0016] Detect and identify the track fasteners under the rail vehicle to obtain fastener information;

[0017] Based on the positioning information and the fastener information, calibrate the position of the fastener.

[0018] According to a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, the step of calibrating the position of the fastener based on the positioning information and the fastener information includes:

[0019] Compare whether the time attributes in the positioning information and the fastener information are consistent;

[0020] If they are consistent, calibrate the fastener position in the fastener information with the coordinates in the positioning information.

[0021] According to a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, the step of comparing whether the time attributes in the positioning information and the fastener information are consistent includes:

[0022] The time attributes in the positioning information and the fastener information are accurate to the millisecond level.

[0023] According to a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, the method is also used to assist in the tunnel positioning of the rail vehicle, including:

[0024] Based on the positioning information and the fastener information, calibrate the position of the fasteners in front of the tunnel entrance;

[0025] Use the first fastener calibrated in front of the tunnel as the starting point for positioning inside the tunnel.

[0026] According to a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, after using the fastener calibrated in front of the tunnel as the starting point for positioning inside the tunnel, it includes:

[0027] Identify the second fastener on the track behind the first fastener;

[0028] Count the number of the second fasteners;

[0029] Based on the fastener spacing, calculate the driving distance of the rail vehicle after the starting point to achieve the positioning of the rail vehicle.

[0030] According to a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, the step of using the first fastener calibrated in front of the tunnel as the starting point for positioning inside the tunnel includes:

[0031] The number of the first fasteners calibrated in front of the tunnel exceeds one;

[0032] Use the first fastener calibrated last in time as the starting point for positioning inside the tunnel.

[0033] The present invention also provides a system for determining the absolute position of track fasteners in a dynamic situation, the system comprising:

[0034] A positioning module, which obtains the positioning information of the rail vehicle through satellite positioning or odometer positioning;

[0035] An identification module, which detects and identifies the track fasteners under the rail vehicle to obtain fastener information;

[0036] A control module, which calibrates the position of the fastener based on the positioning information and the fastener information.

[0037] According to the system for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, the positioning module includes a first timing unit, and the first timing unit assigns first time information accurate to milliseconds to the positioning information;

[0038] The identification module includes a second timing unit, and the second timing unit assigns second time information accurate to the millisecond level to the fastener information;

[0039] The control module includes a comparison unit, the comparison unit receives the first time information and the second time information as inputs, and the comparison unit outputs a comparison result; when the comparison result is an affirmative result, the fastener position in the fastener information is calibrated with the coordinates in the positioning information.

[0040] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of the method for determining the absolute position of track fasteners in a dynamic situation as described in any one of the above are implemented.

[0041] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for determining the absolute position of track fasteners in a dynamic situation as described in any one of the above are implemented.

[0042] The present invention also provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the steps of the method for determining the absolute position of track fasteners in a dynamic situation as described in any one of the above are implemented.

[0043] The method and system for determining the absolute position of track fasteners in a dynamic situation provided by the present invention combine satellite positioning and fastener identification to realize the determination of the absolute position of track fasteners in a dynamic situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a schematic flowchart of a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention;

[0046] Figure 2 It is a schematic structural diagram when a rail vehicle enters a tunnel provided by the present invention;

[0047] Figure 3 It is a schematic flowchart of a positioning method when a rail vehicle enters and exits a tunnel provided by the present invention;

[0048] Figure 4 It is a schematic structural diagram of a system for determining the absolute position of track fasteners in a dynamic situation provided by the present invention;

[0049] Figure 5 It is a schematic physical structure diagram of an electronic device provided by the present invention. Detailed implementation manners

[0050] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0051] The following will, in conjunction with the drawings, through specific embodiments and their application scenarios, provide a detailed description of the method for determining the absolute position of track fasteners in a dynamic situation provided by the embodiments of the present application.

[0052] Figure 1 It is a schematic flowchart of a method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention. As Figure 1 shown, the method for determining the absolute position of track fasteners in a dynamic situation provided by the present invention. At the same time, Figure 2 It is a schematic structural diagram when a rail vehicle enters a tunnel provided by the present invention. In combination with Figure 2 reference, the method includes:

[0053] S100. Obtain the positioning information of the rail vehicle 1 through satellite positioning or odometer positioning.

[0054] Preferably, the odometer information includes mileage information and time information corresponding to the mileage. Odometer positioning needs to combine with kilometer markers.

[0055] Based on the tabular correspondence between the kilometer marker and the mileage information in the odometer, a mathematical fitting model between the kilometer marker and the odometer can be specifically implemented to calculate the actual distance of the train from the originating station or the stations passed before.

[0056] Taking a train journey as an example, the mileage information of the train at the originating station is a, and the corresponding kilometer marker is 0 km. Also, when the train is at the kilometer marker of 100 km, the mileage information is b. Fitting (a, 0) and (b, 100) forms a linear function model, and the kilometer marker (not necessarily an integer) corresponding to the mileage information c at any moment can be deduced. The value of the deduced kilometer marker is the distance of the train from the originating station. Based on this distance and the train route, train positioning can be achieved.

[0057] Optionally, the execution subject of this step is the satellite positioning device located on the rail vehicle 1.

[0058] It should be noted that the dynamic situation, optionally, refers to the rail vehicle 1 in motion.

[0059] Optionally, the satellite positioning device includes: GPS of the United States, "Galileo" of the European Union, "GLONASS" of Russia, and "Beidou" of China.

[0060] It should be noted that the positioning information obtained by odometer positioning is the positioning obtained by combining the line and mileage information, while the positioning information obtained by satellite positioning is longitude and latitude information, and there are differences in their presentation forms.

[0061] S200. Detect and identify the track fasteners 4 under the rail vehicle 1 to obtain fastener information.

[0062] It should be noted that the fastener 4 refers to the intermediate part used to connect the rail and the sleeper, and it is an essential component to ensure the safe operation of the rail vehicle 1. The railway system has strict requirements for the installation of the fasteners 4 on the track 3. The spacing of the fasteners 4 on the ballast track 3 generally takes 600 mm, and the ballastless track 3 generally takes 650 mm, and the actual spacing is adjusted according to the specific line.

[0063] Optionally, the execution subject of this step is the identification module 5 located on the rail vehicle 1.

[0064] Optionally, the identification module 5 is installed on the rail vehicle 1. Every time the rail vehicle 1 passes a fastener 4, the detector can detect the fastener 4 and output relevant signals.

[0065] S300. Calibrate the position of the fastener 4 based on the positioning information and the fastener information.

[0066] Optionally, the execution entity of this step is the control module 6 located on the rail vehicle 1. The control module 6 is communicatively connected to the satellite positioning device and the identification module 5.

[0067] Optionally, after the control module 6 obtains the positioning information and the fastener information, it assigns the geographical coordinates in the positioning information to the identified fastener 4, thereby realizing the calibration of the position of the fastener 4.

[0068] In this embodiment, by combining satellite positioning and fastener identification, the absolute position of the track fastener is determined under dynamic conditions.

[0069] Further, on the basis of the foregoing embodiment, in another embodiment, this embodiment provides a method for determining the absolute position of a track fastener under dynamic conditions. Based on the positioning information and the fastener information, the position of the fastener is calibrated, including:

[0070] Compare whether the time attributes in the positioning information and the fastener information are consistent;

[0071] If they are consistent, calibrate the position of the fastener 4 in the fastener information with the coordinates in the positioning information.

[0072] Optionally, when the satellite positioning device sends a positioning request, a first time attribute is associated in the positioning request; when the identification module 5 detects the fastener 4 through radar, a second time attribute is associated with the identified fastener information.

[0073] Optionally, if the first time attribute is equal to the second time attribute, assign the position of the fastener 4 at the second time to the positioning coordinates obtained from the positioning request at the first time.

[0074] In this embodiment, the calibration of the fastener 4 is realized by comparing the time attributes of the positioning information and the fastener information.

[0075] Further, on the basis of the foregoing embodiment, in another embodiment, this embodiment provides a method for determining the absolute position of a track fastener under dynamic conditions. Compare whether the time attributes in the positioning information and the fastener information are consistent, including:

[0076] The time attributes in the positioning information and the fastener information are accurate to the millisecond level.

[0077] It should be noted that a millisecond is a relatively small time unit, denoted by ms, and 1 second = 1000 milliseconds.

[0078] Optionally, an error range can be set for the consistency of the time attributes. When the difference between the two time attributes is within this error range, the control module 6 determines that the two time attributes are consistent.

[0079] In this embodiment, the calibration error of the fastener 4 is reduced by the millisecond-level time attribute, so that the satellite calibration of the fastener 4 has higher accuracy, and thus the starting point positioning accuracy of the positioning in the tunnel 2 is higher.

[0080] Further, on the basis of the foregoing embodiment, in another embodiment, the present embodiment provides a method for determining the absolute position of the track fastener in a dynamic situation, and the method is also used to assist the tunnel positioning of the rail vehicle, including:

[0081] Calibrate the position of the fastener 4 in front of the entrance of the tunnel 2 based on the positioning information and the fastener information;

[0082] Use the first fastener calibrated in front of the tunnel 2 as the starting point of the positioning in the tunnel 2.

[0083] It should be noted that the first fastener is located at a certain distance in front of the entrance of the tunnel 2, and the specific distance depends on the specific position of the first fastener calibrated. The positioning in the tunnel 2 starts from the first fastener.

[0084] In this embodiment, by combining satellite positioning and fastener 4 identification, after calibrating the fastener 4, it is used as the starting point of the positioning in the tunnel 2. Without additional equipment settings, the positioning of the starting point of the high-precision tunnel 2 positioning method can be completed, thus ensuring the accuracy of the subsequent positioning in the tunnel 2. In addition, through the starting point positioning method disclosed in this embodiment, in essence, there is a certain overlap in the positioning distance between the positioning method in front of the tunnel 2 and the positioning method in the tunnel 2, which overcomes the inertial thinking of using the end point of the front positioning method as the starting point of the back positioning method, and ensures that the positioning of the rail vehicle 1 is not interrupted throughout the whole section.

[0085] Further, on the basis of the foregoing embodiment, in another embodiment, Figure 3 It is a schematic flow chart of a positioning method for a rail vehicle when entering and exiting a tunnel provided by the present invention. As Figure 3 shown, the present embodiment provides a method for determining the absolute position of the track fastener in a dynamic situation. Using the fastener calibrated in front of the tunnel as the starting point of the positioning in the tunnel, and then including:

[0086] Identify the second fastener on the track 3 behind the first fastener;

[0087] Count the number of the second fasteners;

[0088] Calculate the driving distance of the rail vehicle 1 after the starting point based on the fastener spacing to realize the positioning of the rail vehicle 1.

[0089] It should be noted that there is no difference in form between the first fastener and the second fastener. However, in the process of identification and positioning, the first fastener is the fastener 4 that is calibrated as the positioning starting point, and the second fastener is the fastener 4 used for counting after it. All fasteners 4 after the first fastener, whether calibrated or not, are regarded as the second fastener.

[0090] By multiplying the counted quantity by the fastener spacing, the distance between the currently identified second fastener and the first fastener can be obtained. Combining with the coordinate information of the first fastener, the positioning of the second fastener can be achieved, that is, the positioning of the current rail vehicle 1 can be obtained.

[0091] This embodiment discloses a fastener 4 positioning method relied on for positioning in the tunnel 2. Because it relies on a specific hardware structure, it has the advantages of high positioning accuracy and being unaffected by the outside world.

[0092] Furthermore, on the basis of the foregoing embodiment, in another embodiment, this embodiment provides a method for determining the absolute position of track fasteners in a dynamic situation. Using the first fastener calibrated before entering the tunnel as the starting point for positioning in the tunnel, it includes:

[0093] The number of the first fasteners calibrated before the tunnel 2 exceeds one;

[0094] Using the first fastener calibrated last in time as the starting point for positioning in the tunnel 2.

[0095] It should be noted that the closer the starting point for positioning in the tunnel 2 is to the tunnel entrance, the less the positioning accuracy in the tunnel 2 is affected by the positioning method outside the tunnel 2, and the higher the positioning accuracy in the tunnel 2. Therefore, before entering the tunnel 2, through continuous calibration, multiple first fasteners are calibrated, and the last calibrated first fastener is taken as the starting point, and this first fastener is the closest to the tunnel entrance.

[0096] This embodiment uses the first fastener closest to the tunnel entrance as the starting point for positioning in the tunnel 2, reducing the mutual influence between the positioning method outside the tunnel 2 and the positioning method in the tunnel 2, minimizing the actual distance of positioning in the tunnel 2, making it closer to the actual distance in the tunnel 2 itself, and maximizing the application distance of the positioning method outside the tunnel 2, improving the positioning accuracy in the entire section process.

[0097] Next, a system for determining the absolute position of track fasteners in a dynamic situation provided by the present invention will be described. The system for determining the absolute position of track fasteners in a dynamic situation described below can be mutually corresponding and referenced with the method for determining the absolute position of track fasteners in a dynamic situation described above.

[0098] Figure 4 It is a schematic structural diagram of a system for determining the absolute position of track fasteners in a dynamic situation provided by the present invention, as Figure 4As shown in the figure, the present invention also provides a system for determining the absolute position of track fasteners in a dynamic situation. The system includes:

[0099] A positioning module that obtains the positioning information of the rail vehicle 1 through satellite positioning or an odometer;

[0100] An identification module 5 that detects and identifies the track fasteners under the rail vehicle to obtain fastener information;

[0101] A control module 6 that calibrates the position of the fastener 4 based on the positioning information and the fastener information.

[0102] In this embodiment, by combining satellite positioning and fastener identification, the absolute position of the track fasteners can be determined in a dynamic situation.

[0103] Further, based on the foregoing embodiment, in another embodiment, the present invention provides a system for determining the absolute position of track fasteners in a dynamic situation. The positioning module includes a first timing unit that assigns first time information accurate to milliseconds to the positioning information;

[0104] The identification module 5 includes a second timing unit that assigns second time information accurate to milliseconds to the fastener information;

[0105] The control module 6 includes a comparison unit that receives the first time information and the second time information as inputs, and the comparison unit outputs a comparison result; when the comparison result is a positive result, the fastener position in the fastener information is calibrated with the coordinates in the positioning information.

[0106] This embodiment discloses a further specific implementation structure of the system for positioning a rail vehicle in a tunnel.

[0107] Figure 5 It is a schematic physical structure diagram of an electronic device provided by the present invention. As Figure 5 shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the method for determining the absolute position of track fasteners in a dynamic situation. The method includes:

[0108] Obtain the positioning information of the rail vehicle through satellite positioning or odometer positioning;

[0109] Detect and identify the track fasteners under the rail vehicle to obtain fastener information;

[0110] Calibrate the position of the fastener based on the positioning information and the fastener information.

[0111] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0112] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for determining the absolute position of track fasteners in the dynamic situation provided by the above-mentioned various methods. The method includes:

[0113] Obtain the positioning information of the rail vehicle through satellite positioning or odometer positioning;

[0114] Detect and identify the track fasteners under the rail vehicle to obtain fastener information;

[0115] Calibrate the position of the fastener based on the positioning information and the fastener information.

[0116] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the method for determining the absolute position of track fasteners in the dynamic situation provided by the above-mentioned various methods. The method includes:

[0117] Obtain the positioning information of the rail vehicle through satellite positioning or odometer positioning;

[0118] Detect and identify the track fasteners under the rail vehicle to obtain fastener information;

[0119] Calibrate the position of the fastener based on the positioning information and the fastener information.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0121] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the absolute position of track fasteners under dynamic conditions, characterized in that, The method includes: Obtaining the positioning information of the rail vehicle through satellite positioning or odometer positioning; Detecting and identifying the track fasteners under the rail vehicle to obtain fastener information; Based on the positioning information and the fastener information, calibrating the position of the fasteners before the tunnel entrance, and using the first fastener calibrated before the tunnel as the starting point for positioning inside the tunnel; The calibrating the position of the fasteners based on the positioning information and the fastener information includes: Comparing whether the time attributes in the positioning information and the fastener information are consistent; If they are consistent, calibrating the fastener position in the fastener information with the coordinates in the positioning information; After using the first fastener calibrated before the tunnel as the starting point for positioning inside the tunnel, it includes: Identifying the second fastener on the track after the first fastener; Counting the number of the second fasteners; Based on the fastener spacing, calculating the traveling distance of the rail vehicle after the starting point to achieve the positioning of the rail vehicle.

2. The method for determining the absolute position of track fasteners in a dynamic situation according to claim 1, characterized in that, The comparing whether the time attributes in the positioning information and the fastener information are consistent includes: The time attributes in the positioning information and the fastener information are accurate to the millisecond level.

3. The method for determining the absolute position of track fasteners in a dynamic situation according to claim 1, characterized in that, The using the first fastener calibrated before the tunnel as the starting point for positioning inside the tunnel includes: The number of the first fasteners calibrated before the tunnel is more than one; Using the first fastener calibrated last in time as the starting point for positioning inside the tunnel.

4. A system for implementing the method for determining the absolute position of track fasteners in a dynamic situation as described in any one of claims 1-3, characterized in that, The system includes: A positioning module, which obtains the positioning information of the rail vehicle through satellite positioning or odometer positioning; An identification module, which detects and identifies the track fasteners under the rail vehicle to obtain fastener information; A control module, which calibrates the position of the fasteners based on the positioning information and the fastener information.

5. The system according to claim 4, wherein The positioning module includes a first timing unit, and the first timing unit assigns the first time information accurate to the millisecond to the positioning information; The identification module includes a second timing unit, and the second timing unit assigns the second time information accurate to the millisecond level to the fastener information; The control module includes a comparison unit, the comparison unit receives the first time information and the second time information as inputs, and the comparison unit outputs a comparison result; when the comparison result is an affirmative result, calibrating the fastener position in the fastener information with the coordinates in the positioning information.

6. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method for determining the absolute position of the track fasteners in the dynamic situation as described in any one of claims 1-3.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for determining the absolute position of the track fasteners in the dynamic situation as described in any one of claims 1-3.

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