Train speed limit early warning method, system, device and medium based on satellite positioning

Abstract

The application provides a train speed limit early warning method, system, device and medium based on satellite positioning, which comprises the following steps: searching the number of satellites; calculating the position information and speed information of the train; comparing the position information of the train with preset speed limit loop coordinate information to obtain the current position of the train, and calculating the current overspeed result of the train according to the speed information of the train; calculating the distance value of the train from the next speed limit interval, and generating real-time suggestions according to the speed limit value of the next speed limit interval of the train and the speed information of the train. The application is independent, convenient to use, suitable for temporary needs during the trial operation of locomotives and rolling stocks, realizes early deceleration before reaching the deceleration area and delayed acceleration after reaching the acceleration interval, considers the influence of related factors such as the length and weight of the rolling stock on the operation of the rolling stock, and can temporarily change the speed limit requirements of different road sections according to the needs of different trial operation loops, so that the operation is flexible and the applicability is strong.

Description

Technical Field

[0001] This invention relates to the field of speed limit warning, and more particularly to a train speed limit warning method, system, device and medium based on satellite positioning. Background Technology

[0002] After assembly and debugging, rail transit vehicles need to undergo trial runs on a designated loop line within the factory. Locomotives, in particular, are required to complete a 100-kilometer trial run according to the test outline. If a locomotive is currently running on a straight section with a speed limit of 80 km / h, and the next section is a curved section with a speed limit of 50 km / h, and the driver only slows down after seeing the 50 km / h speed limit sign, the locomotive may slow down too late, already reaching the 50 km / h speed limit section while still running at a speed higher than 50 km / h, posing a risk of derailment. Conversely, if the locomotive is running from the 50 km / h speed limit loop section towards the 80 km / h speed limit straight section, and the driver begins to accelerate upon reaching the 80 km / h speed limit sign, the rear of the vehicle may still be on the 50 km / h speed limit curve. Accelerating at this point could cause the rear of the vehicle to fishtail, leading to derailment, unnecessary accidents, compromised safety, and significant economic losses.

[0003] A speed limiting device for diesel locomotives is disclosed in prior art CN201720799274.0. This device includes a programmable alarm setting device connected to a DC 22-300V power supply or an AC 90-260V power supply. The input terminal of the programmable alarm setting device is connected to a locomotive speed detection circuit, which includes a data conversion box and a speedometer. The programmable alarm setting device is connected in series with the speedometer via the data conversion box. The output terminal of the programmable alarm setting device is connected to the locomotive excitation circuit, and the programmable alarm setting device is connected in series in the circuit between relays YJ and DJ in the locomotive excitation circuit. The locomotive excitation circuit is connected to the main generator excitation circuit. The programmable alarm setting device controls the excitation of the main generator and the exciter based on the locomotive speed. This achieves low-speed limiting, high-speed limiting, and simultaneous high and low speed limiting for diesel locomotive operation.

[0004] However, its drawback is that this speed limiting device requires a pre-set speed limit value for a specific interval in the program. It connects to the locomotive motor speed detection device to obtain the vehicle's speed. When the speed exceeds the limit, it provides an alarm and prompts the vehicle to slow down. This device is suitable for detecting speed limits within a single speed limit interval. If a locomotive loop line has multiple speed limit intervals, such as our company's loop line with eight intervals, each with different speed limits (30 km / h, 50 km / h, 80 km / h, etc.), and varying interval lengths and distributions, this device cannot meet the speed limit requirements of the vehicles within the plant. Furthermore, this device lacks traction calculation capabilities, and therefore cannot perform pre-deceleration or real-time vehicle positioning. This speed limiting device is complex to operate, requiring connection to locomotive speed limit detection modules, excitation modules, and other related equipment. For temporary equipment used during vehicle trial runs within the factory, its operation is cumbersome and inconvenient for installation and disassembly on different vehicles. Furthermore, for electric locomotives, the communication protocols differ between vehicles when connecting to the same speed detection data interface, resulting in poor compatibility. This speed limiting device is only used for speed detection and alarm functions within a single speed limit zone; it cannot be used on a loop with multiple speed limit zones, cannot read different speed limit values ​​for different zones on a loop, and cannot perform locomotive traction calculations to provide the optimal speed for the driver to perform early deceleration or provide real-time positioning of the locomotive during actual operation.

[0005] An existing technology proposes an automatic speed limiting control system and method for automobiles. This control system is characterized by comprising: a control unit, which includes a controller, an ABS braking device, and a control valve installed on the vehicle's fuel supply line to control gasoline flow; the ABS braking device and the control valve are both connected to the controller; and a signal acquisition unit, which includes a speed sensor for acquiring vehicle speed, a speed limit acquisition device for acquiring the speed limit value of the current road segment, and a satellite positioning device for acquiring the current vehicle's direction of travel and road conditions. The speed sensor, speed limit acquisition device, and satellite positioning device are all connected to the controller. The controller determines whether the vehicle is speeding based on signals received from the speed sensor and speed limit acquisition device, and determines the opening / closing degree of the control valve and whether the ABS braking device is activated based on the determination signal and information acquired from the satellite positioning device. However, this speed limiting device, which uses a speed sensor installed on the vehicle to acquire vehicle speed information and a satellite positioning device to acquire the vehicle's position on the road and the speed limit range information on the road surface, forms a control system. Firstly, since the trial operation of locomotives and rolling stock in the factory is a temporary test condition, it is impossible to install speed sensors and other related equipment, which would cause operational inconvenience and prevent its implementation. Secondly, the loop line used for locomotive test runs is an in-plant testing route, which differs from external highway conditions. Therefore, speed limit information cannot be obtained from satellite location data. Consequently, this device is not suitable for the closed loop line within the factory.

[0006] Existing technology proposes a novel forklift factory area positioning and speed measurement scheme, which includes a microwave base station and a microwave tag testing module for receiving and processing distance signals from each base station to calculate speed. The microwave base station consists of a power supply module, a microwave generator, an amplifier, an MCU processor, and an antenna. The microwave tag testing module includes an MCU module, a light indicator module, a voice indicator module, a speed limiter, a power supply module, and an amplifier. Specifically, the power supply module provides power to all modules; the microwave generator continuously generates microwave waveforms; the amplifier amplifies the microwave signal by applying a frequency booster, enabling long-distance transmission; the MCU processor performs calculations on the returned microwave signals; the antenna transmits microwaves further, improving the signal strength of both transmission and reception; the MCU module acts as the processing center, receiving microwave tag speed signals, processing whether the vehicle is speeding, and executing light and voice prompts and speed limit settings; the light indicator module provides light prompts; the voice indicator module provides voice prompts; the power supply module provides different power voltages to each module; and the speed limiter automatically limits speeds at different speeds. However, the main idea behind this speed measurement scheme is to establish multiple base stations within the factory. Detection equipment sends signals and measures the distance between the forklift and each base station to determine the vehicle's location and speed, thus enabling an overspeed alarm. The drawbacks of this scheme are twofold: firstly, it requires the construction of multiple microwave base stations within the factory, resulting in high construction costs and a complex and cumbersome system setup. Secondly, relying on onboard equipment for signal transmission and reception for positioning and speed calculation only addresses the speed limit requirement of a single speed limit within a single area, failing to meet the complex speed limit requirements of multiple speed ranges and multiple speed limits at different locations within the same area. Furthermore, the overall system has a high production cost, making it unsuitable for economical production needs.

[0007] The in-plant locomotive test run loop is a privately owned line without an electronic map, making it impossible to utilize existing speed limit devices for speed limit warnings. Furthermore, the existing speed limit devices do not meet the requirements for rail transit vehicles. During the loop test run, the locomotive's speed is entirely determined by the driver's observation of the speed limit signs around the loop. Due to limitations in driver concentration and observation distance, it is difficult to consistently perform deceleration and acceleration at the appropriate locations, increasing both operational complexity and the inherent dangers of locomotive operation. Summary of the Invention

[0008] In view of this, the present invention proposes a train speed limit warning method, system, equipment and medium based on satellite positioning, which monitors the locomotive's running position on the loop line in real time, reminds the driver in advance to reduce speed before entering the next deceleration zone, or reminds the driver that the entire train has reached the acceleration zone and can accelerate, thus ensuring safer and more reliable operation of the locomotive.

[0009] To achieve the above objectives, one aspect of the present invention provides a train speed limit warning method based on satellite positioning, which specifically includes the following steps:

[0010] This invention proposes a train speed limit warning method based on satellite positioning, comprising the following steps:

[0011] Number of satellites being searched;

[0012] When the number of satellites exceeds the preset number, the train's position and speed information are calculated.

[0013] The train's location information is compared with the preset speed limit loop coordinate information to obtain the train's current location, and the train's current speeding result is calculated based on the train's speed information.

[0014] Calculate the distance of the train to the next speed limit zone, generate real-time suggestions based on the speed limit of the next speed limit zone and the train's speed information, and return the real-time suggestions and the train's current speeding result.

[0015] In some embodiments, the step of determining the number of search satellites includes:

[0016] The number of satellites is searched using position and velocity sensors;

[0017] If the number of satellites is lower than the preset number, the search will continue.

[0018] In some embodiments, the step of calculating the train's position and speed information in response to the number of satellites exceeding a preset number includes:

[0019] Establish satellite velocity model and satellite position model respectively;

[0020] Measure the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference;

[0021] By inputting the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference into the satellite velocity model and satellite position model, the train's position and speed information can be calculated.

[0022] In some embodiments, the step of comparing the train's location information with the preset speed-limited loop coordinate information to obtain the train's current location includes:

[0023] Speed ​​limit requirements are set for different sections of the line to obtain the coordinate information of the speed limit loop.

[0024] The train's location information is compared with the coordinate information of the speed limit loop to obtain the speed limit zone in which the train is located, and the train's current position is calculated.

[0025] In some embodiments, the step of calculating the current speeding result of the train based on the train's speed information includes:

[0026] Obtain the speed limit value of the speed-limited section where the train is located;

[0027] Compare the train's speed information with the speed limit value;

[0028] If the train's speed exceeds the speed limit, the current speeding result is considered speeding.

[0029] If the train's speed information does not exceed the speed limit, then the current speeding result is considered normal.

[0030] In some embodiments, the step of calculating the distance of the train to the next speed-limited section and generating real-time recommendations based on the speed limit of the next speed-limited section and the train's speed information includes:

[0031] Calculate the distance from the train to the next speed-limited section based on the train's current position;

[0032] A real-time speed curve model was established using traction calculation procedures and dynamic sliding diaphragm closed-loop control algorithms.

[0033] The distance from the train to the next speed limit zone, the speed limit zone the train is in, the speed limit of the next speed limit zone, and the train's speed information are input into the real-time speed curve model to obtain real-time suggestions.

[0034] In some embodiments, the real-time recommendations include real-time speed and guidance recommendations for guiding train operation.

[0035] This invention proposes a satellite positioning-based train speed limit warning system, comprising:

[0036] The search unit is configured to search for the number of satellites.

[0037] The computing unit is configured to calculate the train's position and speed information in response to the number of satellites exceeding a preset number.

[0038] The comparison unit is configured to compare the train's position information with the preset speed limit loop coordinate information to obtain the train's current position, and calculate the train's current speeding result based on the train's speed information;

[0039] The suggestion unit is configured to calculate the distance between the train and the next speed limit zone, generate real-time suggestions based on the speed limit of the next speed limit zone and the train's speed information, and return the real-time suggestions and the train's current speeding result.

[0040] This invention proposes a computer device, comprising:

[0041] At least one processor; and a memory storing a computer program executable on the processor, wherein the processor, when executing the program, performs the steps of the satellite-based train speed limit warning method.

[0042] The present invention proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the satellite positioning-based train speed limit warning method.

[0043] The present invention has at least the following beneficial technical effects:

[0044] This invention does not require the addition of any related components to the test locomotive, operates independently, is easy to use, and is suitable for temporary needs during locomotive and rolling stock test runs. The entire system incorporates rail transit vehicle traction calculations, enabling early deceleration before reaching the deceleration zone and delayed acceleration upon reaching the acceleration zone. It considers the impact of factors such as vehicle length and weight on vehicle operation, and can temporarily change the speed limit requirements of different sections according to the needs of different test run loops. It is flexible in operation and highly applicable. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart of the train speed limit warning method based on satellite positioning provided by the present invention;

[0047] Figure 2 A module diagram of a train speed limit warning system based on satellite positioning provided by the present invention;

[0048] Figure 3 A system block diagram of an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention;

[0049] Figure 4 A system topology diagram of an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention;

[0050] Figure 5 An apparatus for an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention. Figure 1 ;

[0051] Figure 6An apparatus for an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention. Figure 2 ;

[0052] Figure 7 An apparatus for an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention. Figure 3 ;

[0053] Figure 8 This is a logic diagram illustrating an embodiment of the satellite positioning-based train speed limit warning method provided by the present invention.

[0054] Figure 9 A schematic diagram of the structure of an embodiment of the computer device provided by the present invention;

[0055] Figure 10 This is a schematic diagram of an embodiment of the computer-readable storage medium provided by the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to specific examples and the accompanying drawings.

[0057] It should be noted that all uses of "first" and "second" in the embodiments of the present invention are for the purpose of distinguishing two entities or parameters with the same name but different names. It is clear that "first" and "second" are only for the convenience of expression and should not be construed as limiting the embodiments of the present invention. Subsequent embodiments will not explain this in detail.

[0058] This invention proposes a train speed limit warning method based on satellite positioning. Please refer to [link / reference]. Figure 1 and Figure 8 It includes the following steps:

[0059] S1: Number of satellites being searched;

[0060] S2: In response to the number of satellites exceeding the preset number, the train's position and speed information are calculated;

[0061] S3: Compare the train's position information with the preset speed limit loop coordinate information to obtain the train's current position, and calculate the train's current speeding result based on the train's speed information;

[0062] S4: Calculate the distance between the train and the next speed limit zone, generate real-time suggestions based on the speed limit of the next speed limit zone and the train's speed information, and return the real-time suggestions and the train's current speeding result.

[0063] This invention can monitor the locomotive's running position on the loop line in real time, remind the driver in advance to slow down before entering the next deceleration zone, or remind the driver that the entire train of locomotives has reached the acceleration zone and can accelerate, ensuring safer and more reliable operation of the locomotives.

[0064] This invention does not require the addition of any related components to the test locomotive, operates independently, is easy to use, and is suitable for temporary needs during locomotive and rolling stock test runs. The entire system incorporates rail transit vehicle traction calculations, enabling early deceleration before reaching the deceleration zone and delayed acceleration upon reaching the acceleration zone. It considers the impact of factors such as vehicle length and weight on vehicle operation, and can temporarily change the speed limit requirements of different sections according to the needs of different test run loops. It is flexible in operation and highly applicable.

[0065] In some embodiments, please refer to Figure 1 and Figure 4 The steps for searching the number of satellites include:

[0066] The number of satellites is searched using position and velocity sensors;

[0067] If the number of satellites is lower than the preset number, the search will continue.

[0068] In some embodiments, please refer to Figure 1 and Figure 4 The step of calculating the train's position and speed information in response to the number of satellites exceeding a preset number includes:

[0069] Establish satellite velocity model and satellite position model respectively;

[0070] Measure the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference;

[0071] By inputting the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference into the satellite velocity model and satellite position model, the train's position and speed information can be calculated.

[0072] After the system is powered on, the position sensor and velocity sensor first search for the number of satellites in the air. Once the number of satellites found meets the system requirements, the preset number can be set to 5. Then, the current position and velocity are calculated using ephemeris.

[0073] For satellite velocity calculation, the calculation model is established as follows:

[0074]

[0075]

[0076]

[0077]

[0078] Where x and y are the coordinates of the satellite in the orbital plane rectangular coordinate system, L is the geodetic accuracy of the ascending node, I is the orbital inclination, ω is the Earth's rotation parameter, and tk is the time difference between the observation time t and the reference time toe.

[0079] The model for calculating the relative position of satellites is as follows:

[0080]

[0081] After the calculation results are filtered, the vehicle's current position and corresponding speed information can be accurately determined. Through dual-satellite positioning, the accuracy is high, improving safety and reliability.

[0082] In some embodiments, please refer to Figure 1 and Figure 4 The step of comparing the train's location information with the preset speed-limited loop coordinate information to obtain the train's current location includes:

[0083] Speed ​​limit requirements are set for different sections of the line to obtain the coordinate information of the speed limit loop.

[0084] The train's location information is compared with the coordinate information of the speed limit loop to obtain the speed limit zone in which the train is located, and the train's current position is calculated.

[0085] The entire system's software employs an intelligent human-machine interface, making it easy to operate. Operators can manually input speed limit requirements for different sections to meet varying route needs, as shown in the loop diagram.

[0086] Depending on the needs of the ring road, speed limit zones can be set in the speed limit setting interface. Different area coordinates can be set according to the different speed limit values ​​in different areas. The system is flexible, simple to operate, and highly adaptable.

[0087] This product allows for flexible adaptation to the needs of trial operation of the factory's loop line, and enables flexible adjustment of speed limits for each section based on the site conditions.

[0088] In some embodiments, please refer to Figure 1 and Figure 4 The step of calculating the current speeding result of the train based on the train's speed information includes:

[0089] Obtain the speed limit value of the speed-limited section where the train is located;

[0090] Compare the train's speed information with the speed limit value;

[0091] If the train's speed exceeds the speed limit, the current speeding result is considered speeding.

[0092] If the train's speed information does not exceed the speed limit, then the current speeding result is considered normal.

[0093] The system compares the information with a pre-set speed to determine whether the locomotive is speeding within the specified area. It also calculates the locomotive speed and the distance to the next speed limit zone, provides relevant acceleration / deceleration information, and prompts the driver to perform the corresponding operation on the display unit.

[0094] Its working principle is that the satellite sensors for position positioning and speed detection transmit the detected position and speed signals of the test locomotive to the unit for calculation.

[0095] Based on the pre-set loop coordinate information, the locomotive position is determined, and it is determined whether the locomotive speed exceeds the speed limit within the area. The locomotive speed information and the specific distance to the next speed limit zone are calculated, and relevant acceleration and deceleration information is given. The driver is prompted to perform the corresponding operation on the display unit.

[0096] In some embodiments, please refer to Figure 1 and Figure 4 The step of calculating the distance of the train to the next speed-limited section and generating real-time suggestions based on the speed limit of the next speed-limited section and the train's speed information includes:

[0097] Calculate the distance from the train to the next speed-limited section based on the train's current position;

[0098] A real-time speed curve model was established using traction calculation procedures and dynamic sliding diaphragm closed-loop control algorithms.

[0099] The distance from the train to the next speed limit zone, the speed limit zone the train is in, the speed limit of the next speed limit zone, and the train's speed information are input into the real-time speed curve model to obtain real-time suggestions.

[0100] The locomotive's real-time speed is detected by speed satellites, and the speed limit of the current section, the linear speed of the next section, and the locomotive's distance from the next speed limit section are located by position satellites.

[0101] The equipment is independent and does not need to be installed on the vehicle. It is simple and flexible to operate, convenient for workers, and meets the technical requirements for locomotive speed limits.

[0102] In some embodiments, please refer to Figure 1 and Figure 4 The real-time recommendations include real-time speed and guidance suggestions to guide train operation.

[0103] If the current speed limit section is 80 km / h and the next section is 50 km / h, this model, combined with the locomotive's current position and the distance to the next section, provides a real-time deceleration suggestion to guide the driver and prevent the driver from speeding into the next section, thus affecting driving safety.

[0104] If the current section has a speed limit of 30 or 50, and the next section has a speed limit of 50 or 80, the driver must increase speed when reaching the next section.

[0105] Based on the vehicle's length and operating speed, the system calculates and reminds the driver to accelerate when the vehicle enters the next section, preventing the driver from accelerating too early upon entering the acceleration zone, thus reducing the risk of accidents such as skidding and ensuring driving safety.

[0106] This invention proposes a train speed limit warning system based on satellite positioning. Please refer to [link / reference]. Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 7 ,include:

[0107] Search unit 100 is configured to search for the number of satellites;

[0108] The computing unit 200 is configured to calculate the train's position and speed information in response to the number of satellites exceeding a preset number.

[0109] The comparison unit 300 is configured to compare the train's position information with the preset speed limit loop coordinate information to obtain the train's current position, and calculate the train's current speeding result based on the train's speed information.

[0110] The suggestion unit 400 is configured to calculate the distance between the train and the next speed limit zone, generate real-time suggestions based on the speed limit of the next speed limit zone and the train's speed information, and return the real-time suggestions and the train's current speeding result.

[0111] In one embodiment, the entire system comprises a computing and storage unit, position and speed acquisition sensors, a display unit, and a UPS power supply. The entire system uses a color touchscreen display with excellent human-machine interaction. It employs a high-precision multi-band positioning module, capable of concurrently receiving GPS / GLONASS / Galileo and BeiDou signals, achieving centimeter-level positioning accuracy. Its portable design makes it easy to carry and place, allowing for flexible parameter selection and suitability for different types of trains. Speed ​​limits within designated sections can be adjusted in real-time according to customer operational needs. It features voice warning prompts and displays real-time speed and speed limit curves. A large-capacity log storage function records operational logs and alarm information in real-time, storing at least 500 reports for easy information retrieval and management. A UPS power supply with added power retention circuitry ensures continued power supply to critical systems after a vehicle power outage.

[0112] Based on the same inventive concept, according to another aspect of the present invention, such as Figure 9 As shown, an embodiment of the present invention also provides a computer device 30, which includes a processor 310 and a memory 320. The memory 320 stores a computer program 321 that can be run on the processor. When the processor 310 executes the program, it performs the steps of the method described above.

[0113] Based on the same inventive concept, according to another aspect of the present invention, such as Figure 10 As shown, embodiments of the present invention also provide a computer-readable storage medium 40, which stores a computer program 410 that, when executed by a processor, performs the methods described above.

[0114] Embodiments of the present invention may also include a corresponding computer device. The computer device includes a memory, at least one processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes any of the methods described above when executing the program.

[0115] The memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions / modules in the embodiments of this application. The processor executes various functional applications and data processing of the device by running the non-volatile software programs, instructions, and modules stored in the memory, thereby implementing the above-described method.

[0116] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the device. Furthermore, the memory may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the local module via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0117] Finally, it should be noted that those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium for the program can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. The above computer program embodiments can achieve the same or similar effects as any of the corresponding foregoing method embodiments.

[0118] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the functionality of various illustrative components, blocks, modules, circuits, and steps has been generally described. Whether this functionality is implemented as software or as hardware depends on the specific application and the design constraints imposed on the system as a whole. Those skilled in the art can implement the functionality in various ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the embodiments disclosed herein.

[0119] The above are exemplary embodiments disclosed in this invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this invention as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. The sequence numbers of the disclosed embodiments of this invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. Furthermore, although the elements disclosed in the embodiments of this invention may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0120] It should be understood that, as used herein, the singular form “a” is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, “and / or” refers to any and all possible combinations of one or more of the associated listed items.

[0121] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples. Within the framework of the invention, technical features of the above embodiments or different embodiments can be combined, and many other variations of different aspects of the invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A train speed limit warning method based on satellite positioning, characterized in that, Includes the following steps: Number of satellites being searched; When the number of satellites exceeds the preset number, the train's position and speed information are calculated. The train's location information is compared with the preset speed limit loop coordinate information to obtain the train's current location, and the train's current speeding result is calculated based on the train's speed information. Calculate the distance between the train and the next speed limit zone, generate real-time suggestions based on the speed limit of the next speed limit zone and the train's speed information, and return the real-time suggestions and the train's current speeding result; The step of calculating the distance between the train and the next speed-limited section, and generating real-time suggestions based on the speed limit of the next speed-limited section and the train's speed information, includes: Calculate the distance from the train to the next speed-limited section based on the train's current position; A real-time speed curve model is established using traction calculation procedures and dynamic sliding mode closed-loop control algorithms. The distance from the train to the next speed limit zone, the speed limit zone the train is in, the speed limit of the next speed limit zone, and the train's speed information are input into the real-time speed curve model to obtain real-time suggestions.

2. The train speed limit warning method based on satellite positioning according to claim 1, characterized in that, The steps for determining the number of search satellites include: The number of satellites is searched using position and velocity sensors; If the number of satellites is lower than the preset number, the search will continue.

3. The train speed limit warning method based on satellite positioning according to claim 1, characterized in that, The step of calculating the train's position and speed information in response to the number of satellites exceeding a preset number includes: Establish satellite velocity model and satellite position model respectively; Measure the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference; By inputting the coordinates of the satellite in the train's Cartesian coordinate system and the observation time difference into the satellite velocity model and satellite position model, the train's position and speed information can be calculated.

4. The train speed limit warning method based on satellite positioning according to claim 1, characterized in that, The step of comparing the train's location information with the preset speed-limited loop coordinate information to obtain the train's current location includes: Speed ​​limit requirements are set for different sections of the line to obtain the coordinate information of the speed limit loop. The train's location information is compared with the coordinate information of the speed limit loop to obtain the speed limit zone in which the train is located, and the train's current position is calculated.

5. The train speed limit warning method based on satellite positioning according to claim 4, characterized in that, The steps for calculating the current speeding result of the train based on the train's speed information include: Obtain the speed limit value of the speed-limited section where the train is located; Compare the train's speed information with the speed limit value; If the train's speed exceeds the speed limit, the current speeding result is considered speeding. If the train's speed information does not exceed the speed limit, then the current speeding result is considered normal.

6. The train speed limit warning method based on satellite positioning according to claim 1, characterized in that, The real-time recommendations include real-time speed and guidance suggestions to guide train operations.

7. A train speed limit warning system based on satellite positioning, characterized in that, include: The search unit is configured to search for the number of satellites. The computing unit is configured to calculate the train's position and speed information in response to the number of satellites exceeding a preset number. The comparison unit is configured to compare the train's position information with the preset speed limit loop coordinate information to obtain the train's current position, and calculate the train's current speeding result based on the train's speed information. The suggestion unit is configured to calculate the distance between the train and the next speed-limited section, and generate real-time suggestions based on the speed limit of the next speed-limited section and the train's speed information, returning the real-time suggestions and the train's current speeding result. Specifically, "calculating the distance between the train and the next speed-limited section and generating real-time suggestions based on the speed limit of the next speed-limited section and the train's speed information" includes: calculating the distance between the train and the next speed-limited section based on the train's current position; establishing a real-time speed curve model using a traction calculation procedure and a dynamic sliding mode closed-loop control algorithm; and inputting the distance between the train and the next speed-limited section, the speed-limited section the train is in, the speed limit of the next speed-limited section, and the train's speed information into the real-time speed curve model to obtain the real-time suggestions.

8. A computer device, comprising: At least one processor; The processor also includes a memory storing a computer program that can run on the processor, characterized in that the processor executes the program to perform the steps of the satellite positioning-based train speed limit warning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it performs the steps of the satellite positioning-based train speed limit warning method as described in any one of claims 1 to 6.

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