Train positioning method and device

Abstract

The present invention provides a train positioning method and device, the method comprising: receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal comprises: target radio frequency signal strength, the speed of a target train, and the antenna distance between the target antenna on the target train and the first antenna; determining the actual received radio frequency signal strength according to the target radio frequency signal strength and the speed; determining the first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant; determining the relative position of the target train and the receiving antenna according to the antenna distance and the first distance. The train positioning method and device provided by the present invention realizes train positioning by utilizing radio frequency signals transmitted by waveguides, and improves positioning accuracy according to the speed of the train and the fixed distance between the two antennas on the train, thereby realizing accurate positioning of the train.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a train positioning method and device. Background Art

[0002] There are many means of train positioning, but all have their limitations. For example, positioning using transponders or axle counters can achieve point positioning but cannot achieve continuous positioning. In addition, transponders and axle counter systems are expensive and require a lot of maintenance work.

[0003] Positioning technologies such as the Global Positioning System (GPS) cannot be applied to underground tunnels.

[0004] New ultra-wideband (UWB) technology and other positioning methods require the deployment of a large number of devices, and the system is very complex and expensive. In addition, since it measures straight-line distance, the positioning accuracy drops sharply in scenarios such as bends and forks. Summary of the invention

[0005] The present invention provides a train positioning method and device, which are used to solve the defect that the train cannot be accurately positioned in the prior art, and realize accurate positioning of the train.

[0006] The present invention provides a train positioning method, comprising:

[0007] receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and a first antenna;

[0008] Determining an actual received radio frequency signal strength according to the target radio frequency signal strength and the speed;

[0009] Determine a first distance between the target train and a receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and a signal attenuation constant;

[0010] The relative position of the target train and the receiving antenna is determined according to the antenna distance and the first distance.

[0011] According to the train positioning method provided by the present invention, determining the actual received radio frequency signal strength according to the target radio frequency signal strength and the speed includes:

[0012] Determining a speed attenuation of the target radio frequency signal strength according to the speed;

[0013] Determining the time attenuation of the target radio frequency signal strength according to the signal attenuation constant;

[0014] The speed attenuation and the time attenuation are filtered to determine the actual received radio frequency signal strength.

[0015] According to the train positioning method provided by the present invention, determining the speed attenuation of the target radio frequency signal strength according to the speed includes:

[0016] Collect the RF signal transmission strength and RF signal reception strength of the train at different speeds, and use regression analysis to determine the equation of train speed and signal strength attenuation;

[0017] The speed attenuation of the target radio frequency signal strength is determined according to the equation of the train speed and the signal strength attenuation and the speed.

[0018] According to the train positioning method provided by the present invention, determining the first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength and the signal attenuation constant includes:

[0019] The first distance between the target train and the receiving antenna is determined according to the ratio of the difference between the target radio frequency signal strength and the actual radio frequency signal strength to the signal attenuation constant.

[0020] According to the train positioning method provided by the present invention, determining the relative position of the target train and the receiving antenna according to the antenna distance and the first distance includes:

[0021] determining a second distance between the first antenna and the receiving antenna;

[0022] determining an error value according to the antenna distance, the first distance, and the second distance;

[0023] The first distance is corrected according to the error value to determine the relative position of the target train and the receiving antenna.

[0024] The present invention also provides a train positioning device, comprising:

[0025] A receiving module, configured to receive a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: target radio frequency signal strength, speed of a target train, and antenna distance between the target antenna on the target train and the first antenna;

[0026] A first determination module, configured to determine an actual received radio frequency signal strength according to the target radio frequency signal strength and the speed;

[0027] A second determination module is used to determine a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength and a signal attenuation constant;

[0028] A positioning module is used to determine the relative position of the target train and the receiving antenna according to the antenna distance and the first distance.

[0029] According to the train positioning device provided by the present invention, the first determination module is specifically used for:

[0030] Determining a speed attenuation of the target radio frequency signal according to the speed;

[0031] Determining the time attenuation of the target radio frequency signal according to the signal attenuation constant;

[0032] The speed attenuation and the time attenuation are filtered to determine the actual received radio frequency signal strength.

[0033] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned train positioning methods are implemented.

[0034] 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, the steps of any of the above-mentioned train positioning methods are implemented.

[0035] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned train positioning methods are implemented.

[0036] The train positioning method, device, electronic device and storage medium provided by the present invention realize train positioning by utilizing radio frequency signals transmitted by a waveguide tube, and improve the positioning accuracy according to the speed of the train and the fixed distance between two antennas on the train, thereby realizing precise positioning of the train and realizing continuous positioning of the train. Since there is no need to add new sensing equipment or install new equipment on the trackside, it also has the characteristics of low cost and no maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a flow chart of the train positioning method provided by the present invention;

[0039] Figure 2It is a structural schematic diagram of the train positioning device provided by the present invention;

[0040] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Figure 1 Schematic diagram of the flow of the train positioning method provided by the present invention. Figure 1 The train positioning method provided by the present invention may include:

[0043] Step S110, receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: target radio frequency signal strength, speed of a target train, and antenna distance between a target antenna on the target train and the first antenna;

[0044] Step S120, determining the actual received RF signal strength according to the target RF signal strength and speed;

[0045] Step S130, determining a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength and the signal attenuation constant;

[0046] Step S140: Determine the relative position of the target train and the receiving antenna according to the antenna distance and the first distance.

[0047] It should be noted that the execution subject of the train positioning method provided by the present invention can be an electronic device, a component in an electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited by the present invention.

[0048] Specifically, in step S110, a target radio frequency signal sent by a target antenna is received.

[0049] The target antenna refers to the transmitting antenna on the train, which is fixed on the train and can be used to send RF signals, which can be used for vehicle-ground communication. The RF signal sent by the target antenna is the target RF signal, which includes the signal strength of the target RF signal, the speed of the train, and the antenna distance between the target antenna on the train and the first antenna.

[0050] Waveguide is a channel for signal transmission. A large number of waveguides are used in urban rail transit as a means of vehicle-to-ground communication, which has the advantages of good signal quality and strong anti-interference ability. Waveguides are used to transmit ultra-high frequency electromagnetic waves, through which pulse signals can be transmitted to the destination with minimal loss. It is a hollow metal conduit or metal-coated tube with a very smooth inner wall; the size of the inner diameter of the waveguide varies depending on the wavelength of the transmitted signal; it is mostly used in radio fields such as centimeter wave and millimeter wave radio communications, radar, navigation, etc. At present, the most common ones are rectangular waveguides, circular waveguides, semicircular waveguides, Ku waveguides, radar waveguides and optical waveguides.

[0051] After the train-to-ground communication signal is transmitted by the train antenna, it enters the waveguide through the opening at the top of the waveguide and is transmitted to the antenna receiving end through the waveguide.

[0052] In step S120, the actual received RF signal strength is determined according to the target RF signal strength and the speed.

[0053] After the receiving antenna receives the target RF signal, it parses the communication message to determine the information contained in the target RF signal: the signal strength of the target RF signal and the speed of the train.

[0054] The target RF signal will be attenuated during transmission. The distance between the train antenna and the waveguide is fixed, with a small error. There are no obstacles between the train antenna and the waveguide. There will be no obstructions in the waveguide transmission signal. Compared with ordinary WIFI, the transmission clearance conditions are very good. The factor affecting signal attenuation is mainly the train speed. That is, the actual received RF signal strength can be determined based on the target RF signal strength and the speed of the train.

[0055] In step S130, a first distance between the target train and the receiving antenna is determined according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant.

[0056] The train-to-ground communication signal is transmitted through the transmitting antenna, enters the waveguide through the opening on the upper part of the waveguide, and is transmitted to the antenna receiving end through the waveguide, where the signal strength is attenuated. The loss of a specific waveguide is determined, so the distance between the train transmitting antenna and the receiving wire can be obtained based on the transmitted target RF signal strength, the received actual RF signal strength, and the attenuation loss in between.

[0057] The signal attenuation constant is one of the transmission constants, which represents the parameter of the amplitude or power attenuation of electromagnetic waves or electrical signals during the transmission process. It can be determined through experiments or theoretical calculations.

[0058] In step S140, the relative position of the target train and the receiving antenna is determined according to the antenna distance and the first distance.

[0059] Generally, a train has at least two antennas as redundant backups, and the distance between the two antennas is determined. The antenna distance obtained by parsing the received target radio frequency signal can be used to correct the distance between the train transmitting antenna and the receiving wire obtained in step S130, so as to more accurately determine the relative position of the target train and the receiving antenna, thereby achieving precise positioning of the train.

[0060] The train positioning method provided by the embodiment of the present invention realizes train positioning by utilizing the radio frequency signal transmitted by the waveguide, and improves the positioning accuracy according to the speed of the train and the fixed distance between the two antennas on the train, thereby realizing precise positioning of the train and realizing continuous positioning of the train. Since there is no need to add new sensing equipment or install new equipment on the trackside, it also has the characteristics of low cost and no maintenance.

[0061] In one embodiment, determining the actual received radio frequency signal strength according to the target radio frequency signal strength and speed includes:

[0062] According to the speed, determine the speed attenuation of the target radio frequency signal strength;

[0063] Determine the time attenuation of the target radio frequency signal strength according to the signal attenuation constant;

[0064] The speed attenuation and the time attenuation are filtered to determine the actual received radio frequency signal strength.

[0065] Specifically, the RF signal is emitted by the transmitting antenna and transmitted to the antenna receiving end through the waveguide, and the signal strength will be attenuated. Since there will be no obstructions in the waveguide transmission signal, the factor affecting the signal attenuation is mainly the train speed. According to the speed of the train, the speed attenuation of the target RF signal strength can be determined.

[0066] In one embodiment, determining the speed attenuation of the target radio frequency signal strength according to the speed includes:

[0067] Collect the RF signal transmission strength and RF signal reception strength of the train at different speeds, and use regression analysis to determine the equation of train speed and signal strength attenuation;

[0068] The speed attenuation of the target RF signal strength is determined based on the equation of train speed and signal strength attenuation and the speed.

[0069] Specifically, the signal transmission strength and the received signal strength of the train at different speeds can be collected multiple times, and regression analysis can be used to establish an equation of speed and signal attenuation, which is set as RSSIv=f(v). In statistics, regression analysis refers to a statistical analysis method that determines the quantitative relationship between two or more interdependent variables.

[0070] For example, let the signal attenuation constant be a, the time when the target antenna sends the target RF signal be t0, the time when the receiving antenna receives the target RF signal be t1, the target RF signal strength be RSSI0, and the train speed be v, then:

[0071] According to the signal attenuation constant a, the target RF signal strength decays over time, and the theoretical signal strength is:

[0072] RSSI1=RSSI0-a*(t1-t0)

[0073] According to the train speed, the attenuation of the target RF signal strength with the train speed is determined, and the theoretical signal strength is obtained as follows:

[0074] RSSI2=f(v)*(t1-t0)

[0075] Then, by establishing an α-β filter, the actual received RF signal strength is calculated as:

[0076] RSSI=α*RSSI1+β*RSSI2=α*(RSSI0-a*(t1-t0))+β*(f(v)*(t1-t0))

[0077] The values ​​of α and β are determined by experiments and satisfy the following conditions:

[0078] 0<α<1,

[0079] 0<β<2,

[0080] 0<4-2α-β.

[0081] It is found from experiments that when β = 0.3 and α = 0.1, a good filtering effect can be obtained, and the actual received RF signal strength can be determined.

[0082] The train positioning method provided by the embodiment of the present invention introduces the train speed as a variable into the calculation equation to determine the actual received radio frequency signal strength, and performs filtering processing, thereby improving the reliability of train positioning.

[0083] In one embodiment, determining a first distance between a target train and a receiving antenna according to a target radio frequency signal strength, an actual radio frequency signal strength, and a signal attenuation constant includes:

[0084] The first distance between the target train and the receiving antenna is determined according to the ratio of the difference between the target radio frequency signal strength and the actual radio frequency signal strength to the signal attenuation constant.

[0085] Specifically, the distance between the train transmitting antenna and the receiving wire can be obtained based on the transmission strength and receiving strength of the signal and the attenuation loss in between. The specific calculation formula for the first distance between the target train and the receiving antenna can be:

[0086] L1=(RSSI0-RSSI) / a

[0087] Among them, RSSI0 is the target RF signal strength, RSSI is the actual RF signal strength, and a is the signal attenuation constant.

[0088] The train positioning method provided in the embodiment of the present invention can obtain the distance between the train transmitting antenna and the receiving wire by utilizing the transmitting intensity and receiving intensity of the radio frequency signal transmitted by the waveguide and the attenuation loss in the middle, thereby realizing accurate and continuous positioning of the train.

[0089] In one embodiment, determining the relative position of the target train and the receiving antenna according to the antenna distance and the first distance includes:

[0090] determining a second distance between the first antenna and the receiving antenna;

[0091] Determining an error value according to the antenna distance, the first distance, and the second distance;

[0092] The first distance is corrected according to the error value to determine the relative position of the target train and the receiving antenna.

[0093] Specifically, both antennas on the target train can send radio frequency signals, and it is determined that the first distance between the target antenna and the receiving antenna is L1.

[0094] In the same way, the radio frequency signal sent by the first antenna is received, the train speed and the strength of the sent radio frequency signal are analyzed, and the second distance between the first antenna and the receiving antenna is calculated to be L2.

[0095] Since the two signals are transmitted at the same time and under the same working conditions, and the transmission power is the same, it is assumed that L1 and L2 produce the same error. In this way, the distance error △L of each antenna is:

[0096]

[0097] Wherein, L0 is the antenna distance between the target antenna and the first antenna.

[0098] The distance between the determined target antenna and the receiving antenna is corrected by the error value, that is,

[0099] L1′=L1-△L, L2′=L2+△L

[0100] Or L1'=L1+△L, L2'=L2-△L

[0101] Since the receiving antenna is fixed, the distance between the transmitting antenna and the receiving antenna is the location of the train. And since the waveguide is laid along the line, this distance is the actual location of the train on the track.

[0102] The train positioning method provided in the embodiment of the present invention calculates the error value through the fixed distance between two antennas on the train, and corrects the train position according to the error value, thereby further improving the accuracy of train positioning.

[0103] In one embodiment, the train positioning method provided by the present invention may be:

[0104] Step 1: Based on the communication message analysis, the received RF signal is analyzed to obtain the transmitted signal strength, the train speed, and the distance between the two antennas on the train.

[0105] Step 2, processing the received signal strength based on the received signal strength and the relationship between the train speed and the signal, including:

[0106] (1) Collect the signal transmission strength and received signal strength of the train at different speeds multiple times, and use regression analysis to establish an equation for speed and signal attenuation, which is set as RSSI v =f(v);

[0107] (2) Let the signal attenuation constant be a, let the time of the last acquisition point be t0, the time of this acquisition point be t1, and the signal strength at t0 be RSSI0. Then the distance between t1 and t0 is v*(t1-t0), and the theoretical signal strength is RSSI1=RSSI0-a*(t1-t0);

[0108] (3) Establish an α-β filter and calculate the actual signal strength of RSSI1 as:

[0109] RSSI=α*(RSSI0-a*(t1-t0))+β*f(v)*(t1-t0)

[0110] In this way, the RSSI value of the receiving end is obtained.

[0111] Step 3: Calculate two distances based on the signal attenuation constant a, the signal strength of the two antennas at the transmitting end and the signal strength at the receiving end. The formula is:

[0112] L1 = (RSSI send 1 - RSSI receive 1) / a;

[0113] L2 = (RSSI send 2 - RSSI receive 2) / a;

[0114] Step 4: Use the distance L0 between the two train-end antennas to correct L1 and L2. Since the two signals are transmitted at the same time and under the same working conditions, and the transmission power is the same, it is assumed that L1 and L2 produce the same error. In this way, the distance error of each antenna is:

[0115] ΔL=((L1-L2)-L0) / 2;

[0116] Step 5: The distances between the two antennas and the receiving antenna are:

[0117] L1′=L1-ΔL;

[0118] L2′=L2+ΔL;

[0119] or

[0120] L1′=L1+ΔL;

[0121] L2′=L2-ΔL;

[0122] Which set of data is used is determined by the positional relationship of the two transmitting antennas.

[0123] After these five steps, since the positions of the receiving antennas are consistent, the distance between the transmitting antenna and the receiving antenna is obtained, and the position of the train is obtained. And, since the waveguide is laid along the line, this distance is the actual position of the train on the track.

[0124] The train positioning method provided by the embodiment of the present invention realizes train positioning by utilizing the radio frequency signal transmitted by the waveguide, and improves the positioning accuracy according to the speed of the train and the fixed distance between the two antennas on the train, thereby realizing precise positioning of the train and realizing continuous positioning of the train. Since there is no need to add new sensing equipment or install new equipment on the trackside, it also has the characteristics of low cost and no maintenance.

[0125] The train locating device provided by the present invention is described below. The train locating device described below and the train locating method described above can be referenced to each other.

[0126] Figure 2 The structural diagram of the train positioning device provided by the present invention is as follows: Figure 2 As shown, the device may include:

[0127] The receiving module 210 is used to receive a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and the first antenna;

[0128] A first determination module 220, configured to determine the actual received RF signal strength according to the target RF signal strength and speed;

[0129] A second determination module 230, configured to determine a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant;

[0130] The positioning module 240 is used to determine the relative position of the target train and the receiving antenna according to the antenna distance and the first distance.

[0131] The train positioning device provided in the embodiment of the present invention realizes train positioning by utilizing the radio frequency signal transmitted by the waveguide tube, and improves the positioning accuracy according to the speed of the train and the fixed distance between the two antennas on the train, thereby realizing precise positioning of the train and realizing continuous positioning of the train. Since there is no need to add new sensing equipment or install new equipment on the trackside, it also has the characteristics of low cost and no maintenance.

[0132] In one embodiment, the first determining module 220 is specifically configured to:

[0133] According to the speed, determine the speed attenuation of the target radio frequency signal strength;

[0134] Determine the time attenuation of the target radio frequency signal strength according to the signal attenuation constant;

[0135] The speed attenuation and the time attenuation are filtered to determine the actual received radio frequency signal strength.

[0136] In one embodiment, determining the speed attenuation of the target radio frequency signal strength according to the speed includes:

[0137] Collect the RF signal transmission strength and RF signal reception strength of the train at different speeds, and use regression analysis to determine the equation of train speed and signal strength attenuation;

[0138] The speed attenuation of the target RF signal strength is determined based on the equation of train speed and signal strength attenuation and the speed.

[0139] In one embodiment, the second determining module 230 is specifically configured to:

[0140] Determining a first distance between a target train and a receiving antenna according to a target radio frequency signal strength, an actual radio frequency signal strength, and a signal attenuation constant includes:

[0141] The first distance between the target train and the receiving antenna is determined according to the ratio of the difference between the target radio frequency signal strength and the actual radio frequency signal strength to the signal attenuation constant.

[0142] In one embodiment, the positioning module 240 is specifically configured to:

[0143] determining a second distance between the first antenna and the receiving antenna;

[0144] Determining an error value according to the antenna distance, the first distance, and the second distance;

[0145] The first distance is corrected according to the error value to determine the relative position of the target train and the receiving antenna.

[0146] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the train positioning method, which includes:

[0147] receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and a first antenna;

[0148] Determine the actual received RF signal strength based on the target RF signal strength and speed;

[0149] determining a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant;

[0150] The relative position of the target train and the receiving antenna is determined according to the antenna distance and the first distance.

[0151] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0152] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the train positioning method provided by the above methods, the method includes:

[0153] receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and a first antenna;

[0154] Determine the actual received RF signal strength based on the target RF signal strength and speed;

[0155] determining a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant;

[0156] The relative position of the target train and the receiving antenna is determined according to the antenna distance and the first distance.

[0157] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the train positioning method provided by the above methods is implemented, and the method includes:

[0158] receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and a first antenna;

[0159] Determine the actual received RF signal strength based on the target RF signal strength and speed;

[0160] determining a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and the signal attenuation constant;

[0161] The relative position of the target train and the receiving antenna is determined according to the antenna distance and the first distance.

[0162] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0163] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method 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 above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train positioning method, characterized in that: include: receiving a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: a target radio frequency signal strength, a speed of a target train, and an antenna distance between a target antenna on the target train and a first antenna; Determining an actual received radio frequency signal strength according to the target radio frequency signal strength and the speed; Determine a first distance between the target train and a receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength, and a signal attenuation constant; Determining a relative position between the target train and the receiving antenna according to the antenna distance and the first distance; The determining, according to the target radio frequency signal strength and the speed, the actual received radio frequency signal strength includes: Determining a speed attenuation of the target radio frequency signal strength according to the speed; Determining the time attenuation of the target radio frequency signal strength according to the signal attenuation constant; Filtering the speed attenuation and the time attenuation to determine the actual received radio frequency signal strength; The determining, according to the speed, a speed attenuation of the target radio frequency signal strength includes: Collect the RF signal transmission strength and RF signal reception strength of the train at different speeds, and use regression analysis to determine the equation of train speed and signal strength attenuation; The speed attenuation of the target radio frequency signal strength is determined according to the equation of the train speed and the signal strength attenuation and the speed.

2. The train positioning method according to claim 1, characterized in that: The determining the first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength and the signal attenuation constant includes: The first distance between the target train and the receiving antenna is determined according to the ratio of the difference between the target radio frequency signal strength and the actual radio frequency signal strength to the signal attenuation constant.

3. The train positioning method according to claim 2, characterized in that: Determining the relative position of the target train and the receiving antenna according to the antenna distance and the first distance includes: determining a second distance between the first antenna and the receiving antenna; determining an error value according to the antenna distance, the first distance, and the second distance; The first distance is corrected according to the error value to determine the relative position of the target train and the receiving antenna.

4. A train positioning device, characterized in that: include: A receiving module, configured to receive a target radio frequency signal sent by a target antenna; wherein the target radio frequency signal includes: target radio frequency signal strength, speed of a target train, and antenna distance between the target antenna on the target train and the first antenna; A first determination module, configured to determine an actual received radio frequency signal strength according to the target radio frequency signal strength and the speed; A second determination module is used to determine a first distance between the target train and the receiving antenna according to the target radio frequency signal strength, the actual radio frequency signal strength and a signal attenuation constant; A positioning module, used to determine the relative position of the target train and the receiving antenna according to the antenna distance and the first distance; The first determining module is specifically used for: Determining a speed attenuation of the target radio frequency signal strength according to the speed; Determining the time attenuation of the target radio frequency signal strength according to the signal attenuation constant; Filtering the speed attenuation and the time attenuation to determine the actual received radio frequency signal strength; The determining, according to the speed, a speed attenuation of the target radio frequency signal strength includes: Collect the RF signal transmission strength and RF signal reception strength of the train at different speeds, and use regression analysis to determine the equation of train speed and signal strength attenuation; The speed attenuation of the target radio frequency signal strength is determined according to the equation of the train speed and the signal strength attenuation and the speed.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the train positioning method according to any one of claims 1 to 3 are implemented.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the train positioning method according to any one of claims 1 to 3 are implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the train positioning method according to any one of claims 1 to 3 are implemented.

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