Combined positioning method, device, electronic device, readable storage medium and vehicle

Abstract

The embodiment of the present invention provides a combined positioning method, device, electronic device, readable storage medium and vehicle, which belongs to the field of rail transit technology. The method includes: obtaining longitude and latitude data and track electronic map data; performing kilometer mark conversion calculation according to the longitude and latitude data and the track electronic map data to obtain satellite positioning kilometer mark data; obtaining pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained by the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained by the train attributes; calculating according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data; performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain train positioning data; determining the train position according to the train positioning data. It is applied to the train positioning process to improve the accuracy of train positioning.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a combined positioning method, device, electronic equipment, readable storage medium and vehicle. background

[0002] With the rapid development of urban rail transit, train positioning technology has become one of the key technologies of train operation automatic control system. The accuracy of train positioning directly affects the driving safety and operation efficiency of the train. Therefore, in the process of urban rail transit train operation, real-time and accurate acquisition of train position information is the guarantee of safe and efficient operation of the train.

[0003] In the prior art, the current train position is located by combining a transponder and a wheel speed sensor. Transponder tags are used on the rail transit line to divide the rail transit line into sections. Each transponder tag corresponds to the kilometer mark when the train runs to that position. The wheel speed sensor is used to calculate the mileage between two adjacent transponder tag sections. Then the train position is the sum of the kilometer mark of the previous transponder tag and the mileage traveled between sections.

[0004] However, in the process of train positioning, due to the limited accuracy of wheel speed sensor data collection, the relative displacement of wheels and tracks is difficult to detect accurately, so the mileage positioning based on wheel speed sensors has its own insurmountable cumulative errors. At the same time, the cost of transponder tags is high, and it is impossible to achieve high-density configuration of the entire rail transit line. Based on the above two factors, the method of combining transponders and wheel speed sensors to locate trains will result in low train positioning accuracy. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a combined positioning method, device, electronic device, readable storage medium and vehicle that overcome the above problems or at least partially solve the above problems.

[0006] According to a first aspect of the present invention, a combined positioning method is provided, the method comprising:

[0007] Obtain latitude and longitude data and track electronic map data;

[0008] Perform kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data;

[0009] Acquire pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes;

[0010] Calculating according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data;

[0011] Performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain train positioning data;

[0012] The train position is determined according to the train positioning data.

[0013] Optionally, performing kilometer mark conversion calculation according to the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data includes:

[0014] The latitude and longitude data are combined with the orbit electronic map data to perform point finding and proportional segmentation kilometer mark conversion calculation to obtain the centimeter-level satellite positioning kilometer mark data.

[0015] Optionally, the kilometer mark conversion calculation of the point search includes:

[0016] According to the latitude and longitude data output by the user terminal of the global navigation satellite system, specific points that meet the latitude and longitude data are marked on the orbit electronic map.

[0017] Optionally, the kilometer mark conversion calculation of the proportional division also includes:

[0018] Based on the latitude and longitude data of the specific point output by the user terminal of the global navigation satellite system, the latitude and longitude data of the current actual position of the train and the kilometer marker data of the specific point, calculation is performed to obtain the satellite positioning kilometer marker data of the current actual position of the train.

[0019] Optionally, performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data includes:

[0020] Calculate the unit time mileage data and the mileage cumulative correction data to obtain the calculated and corrected unit time mileage data;

[0021] The kilometer mark data of the current train position is calculated based on the kilometer mark data of the train position at the previous unit time, the corrected unit time mileage data and the unit attenuation data of the positioning error;

[0022] Calculate the current satellite positioning kilometer mark data and the current train position kilometer mark data to obtain real-time error value data;

[0023] Calculate according to the real-time error value data and the positioning error unit attenuation data to obtain the positioning error total pool data;

[0024] The current real-time error value data is subtracted from the real-time error value data of the previous unit time to obtain the difference data;

[0025] The difference data is stored in a cache queue for storage.

[0026] Optionally, storing the difference data into a cache queue for storage includes:

[0027] The cache queue state is full, and the average value of the data in the cache queue and the variance value of the data in the cache queue are calculated according to the difference data;

[0028] The variance value is less than SERR, and the mileage cumulative correction data is calculated based on the average value of the mileage cumulative correction data and the data in the cache queue to obtain the mileage cumulative correction data;

[0029] Clear the data in the cache queue.

[0030] According to a second aspect of the present invention, there is provided a combined positioning device, the device comprising:

[0031] The first acquisition module is used to acquire longitude and latitude data and track electronic map data;

[0032] A satellite positioning module, used to perform kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data;

[0033] A second acquisition module is used to acquire pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes;

[0034] A mileage positioning module, used for calculating according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain the unit time mileage data;

[0035] A positioning fusion module, used to perform combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data;

[0036] A control module is used to determine the train position according to the train positioning data.

[0037] According to a third aspect of the present invention, there is provided an electronic device, characterized in that it comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0038] Memory, used to store computer programs;

[0039] The processor is used to execute the program stored in the memory.

[0040] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer program is stored.

[0041] A combined positioning method, device, electronic device, readable storage medium and vehicle provided by an embodiment of the present invention obtain latitude and longitude data and track electronic map data; perform kilometer mark conversion calculation based on the latitude and longitude data and the track electronic map data to obtain satellite positioning kilometer mark data; obtain pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained by the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained by train attributes; perform calculation based on the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data; perform combined positioning calculation based on the satellite positioning kilometer mark data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data; determine the train position based on the train positioning data. This method improves the accuracy of train positioning by using a combined positioning algorithm in a positioning fusion module, thereby providing greater performance mining space for train control and protection; since the satellite positioning resolution is mostly at the level of 5Hz, there is a problem of low resolution for high-speed driving, and satellite positioning has failure scenarios such as signal blocking and multipath effects; and the wheel speed sensor resolution in this application is mostly above 1000Hz, so this application adopts a combination of wheel speed sensor positioning as the main and satellite positioning as the auxiliary, which can provide higher resolution while also increasing the reliability of the combined positioning solution system; this application improves the accuracy of mileage positioning by increasing the cumulative correction amount per unit mileage positioning; at the same time, compared with the prior art, the method of this application reduces the required number of transponder tags, thereby reducing the construction cost of rail transit lines.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0044] Figure 1 is a flow chart of a combined positioning method provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of a combined positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0047] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0048] The combined positioning method, device, electronic device, readable storage medium and vehicle provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0049] The first embodiment of the present invention relates to a combined positioning method, the flow chart of which is as follows: Figure 1 Said, including:

[0050] Step 101, obtaining longitude and latitude data and track electronic map data.

[0051] It should be noted that, in this embodiment, specifically, when the combined positioning system (satellite positioning module, mileage positioning module, positioning fusion module and train control module constitute the combined positioning system) is powered on, the satellite positioning module on the train receives the latitude and longitude information output by the user terminal of the global satellite navigation system, and simultaneously obtains the satellite positioning kilometer mark as the starting kilometer mark of the train. The equipment is taken to the track line manually to sample the attributes of the corresponding position points, and then these points are combined according to the rules on the computer to obtain the electronic track map.

[0052] Step 102, performing kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data.

[0053] It should be noted that, in this embodiment, the latitude and longitude information output by the user terminal of the global satellite navigation system received by the satellite positioning module is combined with the track electronic map, and the latitude and longitude information is manually measured to correspond to the track electronic map, and the specific points that meet the latitude and longitude information are marked on the track electronic map. When the train travels between the two marked specific points, if you want to locate the position of the current train at this time, you need to directly obtain the proportional relationship between the actual position of the train and the distance between the previous specific point and the next specific point according to the latitude and longitude information of the actual position of the train and the latitude and longitude information of the previous specific point and the next specific point, without the need for complicated calculations such as the radius of the earth and the altitude. According to the kilometer mark attributes of the previous and next specific points, the kilometer marks of the two are subtracted to obtain the distance between the previous and next specific points. Through the proportional relationship and the distance between the previous and next specific points, the kilometer mark of the actual position of the train can be calculated. At this time, the kilometer mark of the actual position of the train is added to the kilometer mark of the train start obtained in step 101, and the kilometer mark information of the centimeter-level satellite positioning of the train can be obtained. Since the smaller the unit of the kilometer marker information obtained by satellite positioning is, the higher the positioning accuracy of the train is, the present application does not limit the unit of the kilometer marker information obtained by satellite positioning.

[0054] Step 103, obtaining pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes.

[0055] It should be noted that, in this embodiment, the positioning fusion module can capture the pulse frequency information in the pulse signal output by the wheel speed sensor. The wheel speed signal disk resolution information and wheel radius information are fixed parameters, and the wheel speed signal disk resolution information and wheel radius information can be queried according to the attribute information of the train.

[0056] Step 104, performing calculations based on the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data.

[0057] It should be noted that in this embodiment, according to the pulse frequency information in the pulse signal output by the wheel speed sensor captured by the positioning fusion module, as well as the wheel speed signal disk resolution data and wheel radius data, these data are calculated according to the formula of unit time mileage to obtain the mileage data of the train per unit time, that is, the unit time mileage data. The mileage positioning kilometer mark can be obtained by multiplying the obtained unit mileage data by the train travel time. In the formula, the unit of pulse frequency is Hertz, the unit of wheel speed signal disk resolution is times / circle, and the unit of wheel radius is meter.

[0058] Mileage data per unit time ＝ (Pulse frequency÷wheel speed signal disk resolution)×2 π × Wheel radius

[0059] Step 105, performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain train positioning data.

[0060] It should be noted that, in this embodiment, when the train is running, the positioning fusion module receives the satellite positioning kilometer mark and the mileage positioning kilometer mark, and uses them as the input of the combined positioning algorithm to calculate the combined positioning. Among them, the combined positioning algorithm includes: (1) Calculate the corrected mileage per unit time; the corrected mileage per unit time = the mileage per unit time + the accumulated mileage correction; (2) Calculate the kilometer mark of the current train position; the kilometer mark of the current train position = the kilometer mark of the train position at the previous unit time + the corrected mileage per unit time + the single attenuation of the positioning error (the specific value is determined according to the actual project matching); (3) Calculate the real-time error value; the real-time error value = the current satellite positioning kilometer mark - the current train position kilometer mark; (4) Calculate the total positioning error pool; the total positioning error pool = the total positioning error pool + the real-time error value - the single attenuation of the positioning error; (5) In the order of first-in-first-out, the data obtained by subtracting the previous real-time error value from the real-time error value of the previous unit time is stored in a cache queue with a plurality of spaces; (6) Determine whether the cache queue status is full; if the cache queue status is full, calculate the average value and variance of the data in the cache queue; if the cache queue status is not full, the combined positioning calculation ends; (7) Determine whether the variance of the data in the cache queue is less than SERR; if the variance of the data in the cache queue is less than SERR (the data trend in the cache queue converges, where SERR is a calibrated content that needs to be determined based on actual project matching), then calculate the accumulated mileage correction amount, which is the accumulated mileage correction amount = the accumulated mileage correction amount + the average value of the data in the cache queue; if the variance of the data in the cache queue is greater than SERR, the combined positioning calculation ends; (8) After the data trend convergence process is completed, the cache queue needs to be cleaned up once to avoid repeated corrections caused by residual data.

[0061] Step 106, determining the train position according to the train positioning data.

[0062] It should be noted that, in this embodiment, the train positioning control module receives the train kilometer mark output by the positioning fusion module, and can locate the current position of the train according to the train kilometer mark, which is then used for train driving and protection control.

[0063] A combined positioning method, device, electronic device and readable storage medium provided by an embodiment of the present invention obtain latitude and longitude data and track electronic map data; perform kilometer mark conversion calculation based on the latitude and longitude data and the track electronic map data to obtain satellite positioning kilometer mark data; obtain pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained by the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained by train attributes; perform calculation based on the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data; perform combined positioning calculation based on the satellite positioning kilometer mark data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data; determine the train position based on the train positioning data. This method improves the accuracy of train positioning by using a combined positioning algorithm in a positioning fusion module, thereby providing greater performance mining space for train control and protection; since the satellite positioning resolution is mostly at the level of 5Hz, there is a problem of low resolution for high-speed driving, and satellite positioning has failure scenarios such as signal blocking and multipath effects; and the wheel speed sensor resolution in this application is mostly above 1000Hz, so this application adopts a combination of wheel speed sensor positioning as the main and satellite positioning as the auxiliary, which can provide higher resolution while also increasing the reliability of the combined positioning solution system; this application improves the accuracy of mileage positioning by increasing the cumulative correction amount per unit mileage positioning; at the same time, compared with the prior art, the method of this application reduces the required number of transponder tags, thereby reducing the construction cost of rail transit lines.

[0064] The second embodiment of the present invention relates to a combined positioning device, referring to Figure 2 The device may specifically include:

[0065] The first acquisition module 201 is used to acquire longitude and latitude data and track electronic map data;

[0066] A satellite positioning module 202 is used to perform kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data;

[0067] The second acquisition module 203 is used to acquire pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes;

[0068] The mileage positioning module 204 is used to calculate according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain the unit time mileage data;

[0069] The positioning fusion module 205 is used to perform combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain train positioning data;

[0070] The control module 206 is used to determine the train position according to the train positioning data.

[0071] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0072] A combined positioning device is provided in this specific embodiment, which obtains longitude and latitude data and track electronic map data; performs kilometer mark conversion calculation based on the longitude and latitude data and the track electronic map data to obtain satellite positioning kilometer mark data; obtains pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained by the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained by train attributes; performs calculation based on the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data; performs combined positioning calculation based on the satellite positioning kilometer mark data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data; and determines the train position based on the train positioning data. This method improves the accuracy of train positioning by using a combined positioning algorithm in a positioning fusion module, thereby providing greater performance mining space for train control and protection; since the satellite positioning resolution is mostly at the level of 5Hz, there is a problem of low resolution for high-speed driving, and satellite positioning has failure scenarios such as signal blocking and multipath effects; and the wheel speed sensor resolution in this application is mostly above 1000Hz, so this application adopts a combination of wheel speed sensor positioning as the main and satellite positioning as the auxiliary, which can provide higher resolution while also increasing the reliability of the combined positioning solution system; this application improves the accuracy of mileage positioning by increasing the cumulative correction amount per unit mileage positioning; at the same time, compared with the prior art, the method of this application reduces the required number of transponder tags, thereby reducing the construction cost of rail transit lines.

[0073] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0074] Those skilled in the art will appreciate that the embodiments of the embodiments of the present invention may be provided as methods, devices, storable media and processors. Therefore, the embodiments of the present invention may take the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0075] In a typical configuration, the computer device includes one or more processors (CPU), input / output interfaces, network interfaces and memory. Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash memory (fl ash RAM). Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include non-transitory computer-readable media (transient media), such as modulated data signals and carrier waves.

[0076] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0077] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0079] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0080] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0081] The above is a detailed introduction to a combined positioning method, device, electronic device, readable storage medium and vehicle provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A combined positioning method, characterized in that: The method comprises: Acquiring longitude and latitude data and track electronic map data, wherein the longitude and latitude data is the longitude and latitude information output by a user terminal of a global satellite navigation system received by a satellite positioning module on the train; Perform kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data; Acquire pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes; Calculating according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain unit time mileage data; Performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain train positioning data; The method of performing combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain the train positioning data includes: Calculate the unit time mileage data and the mileage cumulative correction data to obtain the calculated and corrected unit time mileage data; The kilometer mark data of the train position at the previous unit time is calculated, the corrected unit time mileage data and the unit attenuation data of the positioning error are calculated, and the kilometer mark data of the current train position is obtained; Calculate the current satellite positioning kilometer mark data and the current train position kilometer mark data to obtain real-time error value data; Calculate according to the real-time error value data and the positioning error unit attenuation data to obtain the positioning error total pool data; The difference between the current real-time error value data and the real-time error value data of the previous unit time is obtained to obtain the difference data; Storing the difference data in a cache queue for storage; After the step of storing the difference data in a cache queue for storage, the method includes: The cache queue state is full, and the average value of the data in the cache queue and the variance value of the data in the cache queue are calculated according to the difference data; The variance value is less than SERR, and the mileage cumulative correction data is calculated based on the average value of the mileage cumulative correction data and the data in the cache queue to obtain the mileage cumulative correction data; Clearing the data in the cache queue; The train position is determined according to the train positioning data.

2. The method according to claim 1, characterized in that The kilometer mark conversion calculation is performed according to the latitude and longitude data and the orbit electronic map data to obtain the satellite positioning kilometer mark data, including: The latitude and longitude data are combined with the orbit electronic map data to perform point finding and proportional segmentation of the kilometer mark conversion calculation to obtain the centimeter-level satellite positioning kilometer mark data.

3. The method according to claim 2, characterized in that The kilometer mark conversion calculation of the point search includes: According to the latitude and longitude data output by the user terminal of the global navigation satellite system, specific points that meet the latitude and longitude data are marked on the orbit electronic map.

4. The method according to claim 3, characterized in that The kilometer mark conversion calculation of the proportional division includes: Based on the latitude and longitude data of the specific point output by the user terminal of the global navigation satellite system, the latitude and longitude data of the current actual position of the train and the kilometer marker data of the specific point, calculation is performed to obtain the satellite positioning kilometer marker data of the current actual position of the train.

5. A combined positioning device, characterized in that: include: A first acquisition module is used to acquire longitude and latitude data and track electronic map data, wherein the longitude and latitude data is the longitude and latitude information output by the user terminal of the global satellite navigation system received by the satellite positioning module on the train; A satellite positioning module, used to perform kilometer mark conversion calculation based on the latitude and longitude data and the orbit electronic map data to obtain satellite positioning kilometer mark data; A second acquisition module is used to acquire pulse frequency data, wheel speed signal disk resolution data and wheel radius data, wherein the pulse frequency data is obtained from the pulse signal output by the wheel speed sensor, and the wheel speed signal disk resolution data and the wheel radius data are obtained from train attributes; A mileage positioning module, used for calculating according to the pulse frequency data, the wheel speed signal disk resolution data and the wheel radius data to obtain the unit time mileage data; The positioning fusion module is used to perform combined positioning calculation according to the satellite positioning kilometer mark data, the unit time mileage data and the combined positioning algorithm to obtain the train positioning data; wherein the positioning fusion module includes: calculating according to the unit time mileage data and the mileage cumulative correction data to obtain the corrected unit time mileage data; calculating according to the kilometer mark data of the train position at the previous unit time, the corrected unit time mileage data and the positioning error unit attenuation data to obtain the current train position kilometer mark data; calculating according to the current satellite positioning kilometer mark data and the current train position kilometer mark data to obtain real-time error value data; calculating according to the real-time error value data and the The positioning error unit attenuation data is calculated to obtain the positioning error total pool data; the current real-time error value data is subtracted from the real-time error value data of the previous unit time to obtain the difference data; the difference data is stored in the cache queue for storage; after the step of storing the difference data in the cache queue for storage, the device includes: when the cache queue state is full, the average value of the data in the cache queue and the variance value of the data in the cache queue are calculated according to the difference data; the variance value is less than SERR, and the mileage cumulative correction data and the average value of the data in the cache queue are calculated to obtain the mileage cumulative correction data; the data in the cache queue is cleared; A control module is used to determine the train position according to the train positioning data.

6. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1 to 4 when executing a program stored in a memory.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the combined positioning method according to any one of claims 1 to 4 are implemented.

8. A vehicle, characterized in that: Comprising the combined positioning device according to claim 5.

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