A method for realizing train positioning processing, a computer storage medium and a terminal

Abstract

The application discloses a method, a computer storage medium and a terminal for realizing train positioning processing, and comprises the following steps: when a train is restarted at a station, determining a running track of the train based on an ultra-wideband (UWB) device pre-installed on the train and a track; and determining a position of the train restarted at the station according to the determined running track of the train and ranging information of the UWB device. The positioning processing is realized based on the UWB device, and the train position is quickly determined in the process of improving the operation level.

Description

Technical Field

[0001] This article relates to, but is not limited to, rail transit technology, and in particular to a method for realizing train positioning processing, computer storage media, and terminal. Background Technology

[0002] The next-generation train control system is an advanced transportation system designed to meet the demands for train safety and operational efficiency brought about by urbanization and increasing travel needs. Specifically, this system needs to: achieve automatic control and scheduling, improve train speed and efficiency, enhance passenger comfort, reduce energy consumption, support multiple communication methods, and facilitate maintenance and upgrades.

[0003] Next-generation train control systems require trains to achieve automatic control and scheduling, meaning trains must be able to quickly obtain their current position information after power-on restart and improve operational efficiency. In related technologies, when a train loses power and restarts during operation, all information is lost, including current displacement information, thus reducing operational efficiency. One solution in related technologies is to allow the train to pass the two nearest transponders at low speed to obtain its current position, thereby improving operational efficiency, but this slows down the position determination speed. Furthermore, current trains mostly use speed sensors for speed and distance measurement. While these sensors are relatively accurate in speed measurement, they are affected by wheel slippage and other factors, causing accumulated errors in distance measurement. To eliminate these errors, transponders need to be installed on the track, and the train's displacement needs to be corrected each time it passes a transponder. If higher accuracy positioning results are required, more transponders need to be installed. Since transponders are expensive, this inevitably increases the equipment and maintenance costs of the train control system.

[0004] In summary, how to quickly determine the train's location during the process of upgrading operational levels, and how to improve the accuracy of train distance measurement within a limited hardware cost range, has become a problem that needs to be solved. Summary of the Invention

[0005] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0006] This invention provides a method, computer storage medium, and terminal for train positioning processing, which can quickly determine the train's location during the process of upgrading operational levels.

[0007] This invention provides a method for implementing train positioning processing, including:

[0008] When the train restarts in place, the train's running track is determined based on the ultra-wideband (UWB) equipment pre-installed on the train and track;

[0009] Based on the determined train track and the ranging information from the UWB equipment, the location for the train to restart in place is determined.

[0010] On the other hand, embodiments of the present invention also provide a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for train positioning processing.

[0011] Furthermore, embodiments of the present invention also provide a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein,

[0012] The processor is configured to execute computer programs in memory;

[0013] When the computer program is executed by the processor, it implements the train positioning process as described above.

[0014] The technical solution of this application includes: when a train restarts in place, determining the train's operating track based on ultra-wideband (UWB) equipment pre-installed on the train and track; and determining the restart location of the train based on the determined operating track and the ranging information from the UWB equipment. This embodiment of the invention uses UWB equipment for positioning processing, enabling rapid determination of the train's position during the process of upgrading operational levels.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0017] Figure 1 This is a flowchart illustrating the method for train positioning processing according to an embodiment of the present invention;

[0018] Figure 2 A schematic diagram illustrating the distance between the train head and the third UWB device in an embodiment of the invention.

[0019] Figure 3 This is a schematic diagram of UWB equipment deployment in a single-track service scenario according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of UWB equipment deployment in a dual-track service scenario according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram illustrating the determination of the train's running track according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram illustrating the determination of the train's direction of travel according to an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram illustrating the receiving of ranging information by a train during operation, according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0025] The steps illustrated in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here.

[0026] Figure 1 This is a flowchart illustrating the method for train positioning processing according to an embodiment of the present invention, as shown below. Figure 1 As shown, it includes:

[0027] Step 101: When the train restarts in place, the train's running track is determined based on the ultra-wideband (UWB) equipment pre-installed on the train and track;

[0028] Step 102: Based on the determined train track and the distance measurement information from the UWB equipment, determine the location where the train will restart in place.

[0029] This invention embodiment uses UWB devices for positioning processing, enabling rapid determination of train location during the process of upgrading operational levels.

[0030] The UWB technology in this embodiment of the invention is a short-range wireless communication technology that can provide high data transmission rates with low power consumption. UWB uses short electromagnetic pulses to wirelessly transmit data, sending billions of pulses per second over a wide frequency band. Its operating frequency is 3.1 to 10.6 GHz, and its signal typically has very low power density. UWB technology is not easily affected by interference during data transmission, has low power consumption, and can achieve centimeter-level positioning.

[0031] In one exemplary instance, an embodiment of the present invention includes a UWB device pre-installed on a train and track, comprising:

[0032] The first UWB device installed at the front of the train;

[0033] A second UWB device installed at the rear of the train;

[0034] Two or more third UWB devices are installed on the track according to a pre-defined distribution.

[0035] In one exemplary instance, embodiments of the present invention include two or more third UWB devices installed on a track according to a preset distribution, comprising:

[0036] On one side of a single-track, two or more third UWB devices are installed at a first preset interval;

[0037] Two or more third UWB devices are installed on both sides of the double track at a second preset interval;

[0038] The first and second preset spacings are both less than or equal to the preset maximum installation spacing (x_gap_max).

[0039] In one exemplary instance, the setting of the maximum installation spacing (x_gap_max) in this embodiment of the invention can be based on the performance of the UWB device and the line environment; in another exemplary instance, the maximum installation spacing can be determined according to the following rules:

[0040] I. For the straight section of a single-track line, x_gap_max can be set to 1 / 3 of the UWB ranging range to ensure that: 1) the train can always receive signals from at least 2 UWB ground devices to complete ranging and direction determination; 2) even if a ground device is damaged, the train can still receive signals from at least 2 UWB ground devices.

[0041] II. For the straight section of the double-track line, the setting of x_gap_max should consider: 1) meeting the ranging requirements of a single-track straight track; 2) meeting the direction determination requirements; assuming the ranging accuracy of the UWB devices is e, the spacing between them is d, and the distance between the train head and each third UWB device is as follows: Figure 2 As shown, the arrangement spacing d should satisfy:

[0042]

[0043] After solving the equation, take the minimum value between 1 / 3 of the UWB ranging range and the d value.

[0044] III. For curved sections, the spacing of the UWB arrays should satisfy 1) the spacing of the two cases mentioned above, and 2) the visible range of the curved section. In an exemplary embodiment, the inner and outer rails in the curved track of this invention can be considered as concentric circles, and correspondingly, the clearance can also be considered as concentric circles. Assuming the distance from the track to the outer clearance is h1, the distance to the inner clearance is h2, and the radius of the curve is r, the visible range on the curve (considering the tunnel environment) after the equipment is installed is as follows:

[0045]

[0046] It should be noted that the maximum installation spacing in the embodiments of the present invention can be set according to UWB technical requirements and can be adjusted by technicians according to the usage scenario. Figure 3 This is a schematic diagram of UWB equipment deployment in a single-track service scenario according to an embodiment of the present invention, as shown below. Figure 3 As shown in the figure, the triangles represent UWB devices. UWB devices can be installed on any side of the track, and the installation spacing should be less than the maximum installation spacing (x_gap_max). Figure 4 This is a schematic diagram of UWB equipment deployment in a dual-track service scenario according to an embodiment of the present invention, as shown below. Figure 4 As shown in the diagram, the triangles represent UWB devices. At regular intervals, one UWB device needs to be installed on each side of the road. The UWB devices are installed symmetrically alongside the track, and the installation spacing should be less than the maximum installation spacing (x_gap_max).

[0047] In one exemplary instance, the installation alignment of the UWB device in the curve is exactly the same as that in the straight section; in another exemplary instance, the installation spacing of the UWB device in the curve of the present invention can be slightly smaller than that of the straight track section, and the specific spacing can be analyzed and set by technicians.

[0048] In one exemplary instance, embodiments of the present invention determine the train's operating track based on pre-installed UWB equipment, including:

[0049] The train's locomotive determines its running track based on ranging information received from three third UWB devices that are not on the same straight line. These three third UWB devices are defined as: three third UWB devices located at a first preset coverage area of ​​the train's locomotive that are not on the same straight line; or...

[0050] Based on the distance measurement information received from two third UWB devices located on both sides of the same distribution position on the track, the train head determines that the distance between the first third UWB device and the train head is greater than the distance between the second third UWB device and the train head, and the difference between the two distances is greater than twice the preset distance difference threshold 2d_e. Therefore, the train head determines that the track is located on one side of the second third UWB device.

[0051] Figure 5 This is a schematic diagram illustrating the determination of the train running track in an embodiment of the present invention, such as... Figure 5 As shown, based on the trilateration method, the train head can receive distance measurement information from three UWB devices 1005 (for simplicity, only the number information is shown in the diagram, i.e., the third UWB device 1005 is only identified as 1005), 1007, and 2007, which are not on the same straight line. The train position can then be calculated using the trilateration algorithm based on the least squares method. Let the coordinates of the three ground devices be {P1, P2, P3}, and let P... i =(x i ,y i Let the position of the train's head be P = (x, y); according to the principle of least squares, we can take:

[0052]

[0053]

[0054] X = P T

[0055] We can obtain: P T =(A T A) -1 A T b;

[0056] Based on the distance from point P to the straight line formed by equipment 1005 and 1007, it can be determined whether the train is located on the side of the track closer to equipment 1007 or the side closer to equipment 2007.

[0057] See also Figure 5 The train can simultaneously receive distance measurement information from the third UWB devices 2007 and 1007 on both sides of a point on the track. If the distance between the third UWB device 2007 and the train head is greater than the distance between the third UWB device 1007 and the train head, and the distance difference is greater than 2d_e, then the train is on the side of the track closer to the third UWB device 1007.

[0058] In one exemplary instance, during operation, the train of this embodiment determines which of the above methods to use to determine the track on which the train is located based on the value of the indicator rail_flag; that is, when the value of rail_flag is 1 and the value of rail_flag is 0, it indicates that one of the above methods is used to determine the track on which the train is located.

[0059] In one exemplary instance, embodiments of the present invention determine the location for the train to restart in place, including:

[0060] Based on the ranging information received by the train head from the fourth and fifth UWB devices, the location for the train to restart in place is determined;

[0061] The fourth and fifth UWB devices include the UWB device in the third UWB device that communicates with the train head.

[0062] In one exemplary instance, this embodiment of the invention determines the location for the train to restart in place based on the ranging information received by the train head from the fourth and fifth UWB devices, including:

[0063] Calculate the distance d1 between the train head and the fourth UWB device. If d1 is greater than a preset correction distance threshold, d′1 = d1; if d1 is less than or equal to the preset correction distance threshold, calculate the distance d′1 from the train head to the projection point of the fourth UWB device on the track, based on the distance h1 from the train head to the fourth UWB device to the train's running track.

[0064] Calculate the distance d2 between the train head and the fifth UWB device. If d2 is greater than a preset correction distance threshold, d′2 = d2; if d2 is less than or equal to the correction distance threshold, calculate the distance d′2 from the train head to the projection point of the fifth UWB device on the track, based on the distance h2 from the train head to the fifth UWB device to the track where the train is located.

[0065] Select two values ​​from {D1+d′1,D1-d′1,D2+d′2,D2-d′2} whose difference is less than the preset error tolerance threshold, and take the average of these two values ​​as the corrected position of the train.

[0066] Where D1 is the distance from the fourth UWB device to the starting point of the track section, and D2 is the distance from the fifth UWB device to the starting point of the track section.

[0067] In one exemplary instance, the method of this embodiment of the invention further includes:

[0068] If no two values ​​in {D1+d′1,D1-d′1,D2+d′2,D2-d′2} have a difference less than the error tolerance threshold, the fourth and fifth UWB devices are reselected within a first preset time period. Based on the ranging information received by the train head from the reselected fourth and fifth UWB devices, the position for the train to restart in place is re-determined until two values ​​in {D1+d′1,D1-d′1,D2+d′2,D2-d′2} with a difference less than the error tolerance threshold are selected, and the average of these two values ​​is taken as the corrected position of the train.

[0069] Within the first preset time period, after reselecting the fourth and fifth UWB devices, if neither of the two values ​​in {D1+d′1,D1-d′1,D2+d′2,D2-d′2} has a difference less than the preset error tolerance threshold, the first alarm message of positioning failure will be displayed through the preset interface.

[0070] In one exemplary instance, this embodiment of the invention assumes that the ranging error of the UWB device is e, and then the error tolerance threshold d_e is set to no more than 2e.

[0071] In one exemplary instance, when the train restarts in place, the method of this embodiment of the invention further includes:

[0072] The direction of train travel is determined based on UWB devices pre-installed on the train and track.

[0073] In one exemplary instance, embodiments of the present invention determine the direction of train travel by:

[0074] When the first and second UWB devices have communication capabilities, the train's direction of travel is determined based on the third UWB device installed on the track closest to the front and the third UWB device closest to the rear of the train; or,

[0075] The train's direction of travel is determined by measuring the distances between the two closest third UWB devices and the train head, as received by a directional antenna pre-installed on the train head.

[0076] Figure 6 This is a schematic diagram illustrating the determination of the train's direction of travel according to an embodiment of the present invention, as shown below. Figure 6 As shown, in this embodiment of the invention, the front and rear of the train can communicate with each other. Therefore, by taking the two third-party UWB devices closest to the front and rear of the train, the train's direction can be determined. (See [link to relevant documentation]). Figure 6The closest third UWB device to the front of the train is 1006, and the closest third UWB device to the rear of the train is 1001. Therefore, the current direction of travel for the train is from 1001 to 1006. This embodiment of the invention assumes that the front of the train is equipped with a directional antenna. Based on the distances received from the third UWB devices to the front of the train, the direction of travel for the train can be determined. Assuming the directional antenna on the front of the train is facing directly forward, meaning the front of the train can only receive signals from third UWB devices 1006 and 1007, the direction of travel for the train can be determined based on the distance measurement information from the two third UWB devices. If the front of the train is farther from third UWB device 1007, the direction of travel for the train is from third UWB device 1006 to third UWB device 1007; if the front of the train is closer to third UWB device 1007, the direction of travel for the train is from third UWB device 1007 to third UWB device 1006.

[0077] In one exemplary instance, when the train is running, the method for determining the running direction can be determined according to the configured algorithm indicator (direction_flag). If the value of direction_flag is 1 or 0, it represents one of the two determination methods mentioned above.

[0078] In one exemplary instance, the method of this embodiment of the invention further includes performing the following processing according to a preset cycle after the train is powered on and running:

[0079] Calculate the distance d3 between the train head and the sixth UWB device at the first time t1 within the preset period. If d3 is greater than the preset correction distance threshold, d′3 = d3; if d3 is less than or equal to the preset correction distance threshold, calculate the distance d′3 from the train head to the projection point of the sixth UWB device on the track, based on the distance h3 from the train head to the track where the train is located.

[0080] Calculate the distance d4 between the train head and the seventh UWB device at the second time t2 within the preset period. If d4 is greater than the preset correction distance threshold, d′4 = d4; if d4 is less than or equal to the correction distance threshold, calculate the distance d′4 from the train head to the projection point of the seventh UWB device on the track, based on the distance h4 from the train head to the seventh UWB device to the train's running track.

[0081] Determine the distance D3 from the sixth UWB device to the starting point of the track section and the distance D4 from the seventh UWB device to the starting point of the track section; the sixth and seventh UWB devices are located within the second preset coverage area from the head of the train;

[0082] Each time, select two elements from {D3+d′3,D3-d′3,D4+d′4,D4-d′4}, calculate the difference, and take the absolute value. The element containing D3 among the two elements with the smallest absolute value is denoted as D′3, and the element containing D4 is denoted as D′4.

[0083] Select a predetermined third time t3, where the intervals between the first time t1 and the second time t2 are both less than a preset time interval, and calculate D″1 and D″2 using the following formula:

[0084] D″1=D′3-(t3-t1)v

[0085] D″2=D′4-(t3-t2)v

[0086] Where v is the velocity at time t3. If t3 is the time when the speed and distance measurement algorithm outputs the velocity, then v is the output result of the current speed and distance measurement algorithm.

[0087] When it is determined that the difference between D″1 and D″2 is less than the preset ranging error threshold, the average of D″1 and D″2 is taken as the position of the train at the third time t3.

[0088] When it is determined that the difference between D″1 and D″2 is greater than or equal to the ranging error threshold, within the second preset time period, new D″1 and D″2 are calculated based on the newly selected sixth and seventh UWB devices to determine the position of the train at the third time t3.

[0089] If the difference between D″1 and D″2 is greater than or equal to the ranging error threshold, and the position of the train at the third time t3 cannot be determined within the second preset time period, a second alarm message indicating positioning failure will be displayed through a preset interface.

[0090] In one exemplary instance, assuming the preset time interval is represented by T, then T should be 3δ, where δ is the working cycle of the UWB device. This cycle is usually less than the working cycle of the speed and distance measurement algorithm. 3δ is to avoid communication failures of the device, so as to ensure that if a communication fails, the operation can still continue.

[0091] In one exemplary instance, this embodiment of the invention assumes that the speed measurement error of the speed and distance measurement algorithm in the current cycle is e1, and the error of the UWB device is e2. Therefore, d_E can be taken as d_E = 2e2 + e1. During operation, the train will move to the next position. Therefore, for real-time considerations, the device should be reselected and the calculation performed a certain number of times (a second preset time). If it still fails, the process should be skipped. However, if positioning fails for a continuous period (e.g., it can be set to 3 seconds), a fault is reported (e.g., a second alarm message indicating positioning failure is displayed on a preset interface).

[0092] Figure 7 This is a schematic diagram illustrating the receiving of ranging information by a train during operation, as described in an embodiment of the present invention. Figure 7 As shown, the sixth UWB device corresponds to device 1007 in the figure, and the seventh UWB device corresponds to device 1006 in the figure.

[0093] In one exemplary embodiment, the method of the present invention further includes: when the train's operating speed is greater than a preset operating speed threshold, correcting the train's displacement using the following autoregressive formula:

[0094]

[0095] Based on time point t n / 2 Displacement s at time n / 2 The train displacement s at time t is corrected using the following expression:

[0096] s = s n / 2 +(nn / 2)Δv i ;

[0097] in, Sequence S represents the calculated autoregressive information of the train's position {S1,S2,S3...Sn} at pre-selected time points {T1,T2,T3...Tn}; sequence V represents the speed information {v1,v2,v3...vn} corresponding to time points {T1,T2,T3...Tn}; Δ represents the time interval between time points {T1,T2,T3...Tn}; in an exemplary embodiment of the present invention, the value of Δ can be 10-20 milliseconds, which can be analyzed and set by those skilled in the art; for example, it can be set to the working cycle of the UWB device, or twice the working cycle of the UWB device.

[0098] In one exemplary instance, the maximum safe front end of the train in this embodiment of the invention is the train from t n / 2 The maximum cumulative safe front-end and s during the operation from time t to time t n / 2 The sum of the maximum errors. The minimum safe front end is the train from t n / 2 The minimum safe front-end and s accumulated during the operation from time t to time t n / 2 The difference in the maximum error; where s n / 2 The maximum error can be specified through the pre-set configuration parameter UWB_Error_Large. The definitions of the maximum and minimum security front-ends are determined with reference to relevant technologies, and will not be elaborated upon in this embodiment of the invention.

[0099] In one exemplary embodiment, the method of the present invention further includes: when the train's operating speed is greater than a preset operating speed threshold, correcting the train's displacement according to the following autoregressive formula:

[0100]

[0101] Based on time point t n The corresponding displacement s n For time t = t n The train displacement s is corrected by the following expression: s = s n ;

[0102] in, B i = iΔ / n; Sequence S is the calculated autoregressive information of the train's position {S1,S2,S3...Sn} at the pre-selected time points {T1,T2,T3...Tn}, and sequence V is the speed information {v1,v2,v3...vn} corresponding to the time points {T1,T2,T3...Tn}; Δ is the time interval between the time points {T1,T2,T3...Tn}.

[0103] In one exemplary instance, the maximum estimated front end in this embodiment of the invention is s. n and s n The sum of the maximum errors; the minimum safety front-end after correction is s. n and s n The difference in the maximum error; s n The maximum error is specified through the configuration option UWB_Error_Small.

[0104] This invention measures the distance between the train and the ground-based UWB devices through communication between UWB devices on the train and those on the track, and calculates the train's current track and position. After a power outage and restart, the train can quickly locate itself and perform on-site upgrades. By using the train position determined by the UWB devices instead of transponder information, the equipment cost for train positioning is reduced. Real-time transmission of train displacement information during operation allows for displacement correction, improving the accuracy of distance measurement, increasing train operating efficiency and empty-car efficiency, and further enhancing passenger comfort.

[0105] This invention also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for train positioning processing.

[0106] This invention also provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein,

[0107] The processor is configured to execute computer programs in memory;

[0108] When a computer program is executed by a processor, it implements the train positioning process as described above.

[0109] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for realizing train positioning processing, comprising: When the train restarts in place, the train's running track is determined based on the ultra-wideband (UWB) equipment pre-installed on the train and track; Based on the determined train track and the ranging information from the UWB equipment, the location for the train to restart in place is determined. The UWB devices pre-installed on the train and track include: a first UWB device installed at the front of the train; a second UWB device installed at the rear of the train; and two or more third UWB devices installed on the track according to a preset distribution. The two or more third UWB devices installed on the track according to the preset distribution include: two or more third UWB devices installed at a first preset interval on one side of a single-track track; and two or more third UWB devices installed at a second preset interval on both sides of a double-track track. Both the first preset interval and the second preset interval are less than or equal to a preset maximum installation interval. Determining the train's running track based on the pre-installed UWB devices includes: the train head determining the train's running track based on distance measurement information received from three third UWB devices that are not on the same straight line. The three third UWB devices that are not on the same straight line include: three third UWB devices that are not on the same straight line and are located within a first preset coverage area of ​​the train head. UWB devices; or, the train head determines, based on the distance measurement information received from two third UWB devices located on both sides of the same distribution position on the track, that the distance between the first third UWB device and the train head is greater than the distance between the second third UWB device and the train head, and the difference between the two distances is greater than twice a preset distance difference threshold, and determines that the train's running track is located on one side of the second third UWB device; determining the train's restart position includes: determining the train's restart position based on the distance measurement information received from the fourth and fifth UWB devices; the fourth and fifth UWB devices include: the UWB devices among the third UWB devices that communicate with the train head; determining the train's restart position based on the distance measurement information received from the fourth and fifth UWB devices includes: calculating the distance between the train head and the fourth UWB device. 1, When 1 is greater than the preset correction distance threshold, = 1, The distance from the train's locomotive to the projection point of the fourth UWB device on the track; When 1 is less than or equal to a preset correction distance threshold, the distance between the train head and the fourth UWB device and the train's running track is determined. Calculate the distance from the train's locomotive to the projection point of the fourth UWB device on the track. , ; Calculate the distance between the train head and the fifth UWB device. 2, When 2 is greater than the preset correction distance threshold, = 2, The distance from the train's locomotive to the projection point of the fifth UWB device on the track; When 2 is less than or equal to the corrected distance threshold, the distance between the train head and the fifth UWB device and the train's running track is determined. Calculate the distance from the train's locomotive to the projection point of the fifth UWB device on the track. , ;from Two values ​​are selected from the set values ​​whose difference is less than the preset error tolerance threshold, and the average of these two values ​​is taken as the corrected position of the train. The distance from the fourth UWB device to the starting point of the track section. The distance from the fifth UWB device to the starting point of the track section.

2. The method according to claim 1, characterized in that, The method further includes: If two values ​​with a difference less than the error tolerance threshold do not exist, within a first preset time period, the fourth and fifth UWB devices are reselected; based on the ranging information received by the train head from the reselected fourth and fifth UWB devices, the position for the train to restart in place is redefined, until... Two values ​​are selected from the list whose difference is less than the error tolerance threshold, and the average of these two values ​​is taken as the corrected position of the train. After reselecting the fourth UWB device and the fifth UWB device within the first preset time period, If neither of the two values ​​with a difference less than the preset error tolerance threshold exists, the first alarm message of positioning failure will be displayed through the preset interface.

3. The method according to any one of claims 1-2, characterized in that, When the train restarts in place, the method further includes: The direction of train travel is determined based on the UWB equipment pre-installed on the train and track.

4. The method according to claim 3, characterized in that, Determining the train's direction of travel includes: When the first UWB device and the second UWB device have communication interaction capabilities, the train's running direction is determined based on the third UWB device installed on the track closest to the front of the train and the third UWB device closest to the rear of the train; or, The train's direction of travel is determined by measuring the distances between the two closest third UWB devices and the front of the train, as received by a directional antenna pre-installed on the front of the train.

5. The method according to claim 3, characterized in that, The method also includes performing the following processing according to a preset cycle after the train is powered on and running: Calculate the first moment within the preset period The distance between the train head and the sixth UWB device 3, When the distance is greater than the preset correction threshold, = 3, The distance from the train's locomotive to the projection point of the sixth UWB device on the track; When 3 is less than or equal to the preset correction distance threshold, the distance between the train head and the sixth UWB device and the train's running track is determined. Calculate the distance from the train's locomotive to the projection point of the sixth UWB device on the track. , ; Calculate the second moment within the preset period The distance between the train head and the seventh UWB device 4, 4 When the distance is greater than the preset correction threshold, = 4, The distance from the train's locomotive to the projection point of the seventh UWB device on the track; When 4 is less than or equal to the corrected distance threshold, the distance between the train head and the seventh UWB device and the train's running track is determined. Calculate the distance from the train head to the projection point of the seventh UWB device on the track. , ; Determine the distance from the sixth UWB device to the starting point of the track section. and the distance from the seventh UWB device to the starting point of the track section The sixth and seventh UWB devices are located within a second preset coverage area at a distance from the front of the train. Every time from Select two elements from the list, calculate their difference, and take the absolute value. Then, include the elements with the smallest absolute value among the selected elements. The element item is denoted as ,Include The element item is denoted as ; Select a predetermined time interval from the first moment. and the second moment The intervals are all less than the third time interval of the preset time interval. In conjunction with the aforementioned third moment The velocity v is calculated using the following formula. and : Determine and When the difference is less than the preset ranging error threshold, take... and The average value is used as the train's value at the third moment. The position at that time; Determine and When the difference is greater than or equal to the ranging error threshold, within a second preset time period, a new range is calculated based on the newly selected sixth and seventh UWB devices. and To determine the train at the third moment The position at that time; Determine and If the difference is greater than or equal to the ranging error threshold, and it cannot be determined within the second preset time period that the train will be at the third moment. When the location is determined, a second alarm message indicating a location failure is displayed through a preset interface.

6. The method according to claim 3, characterized in that, The method further includes: when the train's operating speed exceeds a preset operating speed threshold, using the following autoregressive formula to correct the train's displacement: Based on time points Corresponding displacement For time as The train displacement s is corrected using the following expression: ; in, Sequence S is the calculated autoregressive information of the position {S1,S2,S3...Sn} of the train at the pre-selected time points {T1,T2,T3...Tn}, and sequence V is the speed information {v1,v2,v3...vn} corresponding to the time points {T1,T2,T3...Tn}. The time interval is the time point {T1,T2,T3...Tn}.

7. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for implementing train positioning processing as described in any one of claims 1-6.

8. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method for implementing train positioning processing as described in any one of claims 1-6.

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