Satellite positioning signal interference detection method, domain controller and train

Abstract

This disclosure provides a satellite positioning signal interference detection method, a domain controller, and a train. The method includes: acquiring the position of an obstacle; and determining whether the satellite positioning signal is interfered with based on the positional relationship between the obstacle and the interference-free zone of the signal receiver. The interference-free zone is obtained by dividing the space where the signal receiver is located according to a region partitioning model, where the region partitioning model is an upward-opening geometric shape. In this embodiment, the space where the signal receiver is located is pre-divided according to the region partitioning model to obtain an interference-free zone. Based on the acquired positional relationship between the obstacle and the interference-free zone, it is possible to accurately determine whether the satellite positioning signal is interfered with, thereby providing an accurate reference for subsequent train positioning.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of rail transit control, and in particular to a satellite positioning signal interference detection method, a domain controller and a train. BACKGROUND

[0002] The positioning method of the existing train more and more uses the global satellite navigation system (GNSS) to determine the specific position of the vehicle.

[0003] However, the satellite positioning signal will be interfered by obstacles such as terrain, vegetation and buildings during the process of propagating to the ground, thereby producing the multipath effect of shielding the satellite positioning signal. Once the satellite positioning signal is not detected for interference during the running process of the train, the positioning accuracy of the train will be seriously affected. Therefore, how to provide a satellite positioning signal interference detection method to detect the interference of the satellite positioning signal is a problem to be solved by the person skilled in the art at present. SUMMARY

[0004] The present disclosure provides a satellite positioning signal interference detection method and device for detecting whether the satellite positioning signal is interfered.

[0005] To achieve the above purpose, the present disclosure provides the following technical solutions:

[0006] In a first aspect, a satellite positioning signal interference detection method is provided, which comprises: acquiring the position of an obstacle; determining whether the satellite positioning signal is interfered according to the positional relationship between the obstacle and the interference-free area of a signal receiver, the interference-free area being obtained by dividing the space where the signal receiver is located according to a region division model, and the region division model being an open upward geometric body.

[0007] In the above method, the space where the signal receiver is located is divided according to the region division model in advance, thereby obtaining the interference-free area. According to the positional relationship between the acquired obstacle and the interference-free area, it can be accurately judged whether the satellite positioning signal is interfered, thereby providing an accurate reference basis for the subsequent positioning of the train.

[0008] In an implementation manner of the first aspect, the acquiring of the position of the obstacle specifically comprises: acquiring a point cloud cluster corresponding to the obstacle; and determining the position of the obstacle according to the coordinates of the point cloud cluster.

[0009] In an implementation form of the first aspect, the determining whether the satellite positioning signal is interfered according to the position relationship between the obstacle and the non-interference area of the signal receiver comprises: determining a target point cloud point representing the obstacle in the point cloud cluster according to the feature of the point cloud cluster; and determining that the satellite positioning signal is interfered if the target point cloud point is located in the interference area.

[0010] In an implementation form of the first aspect, the determining a target point cloud point representing the obstacle in the point cloud cluster according to the feature of the point cloud cluster comprises: calculating a distance mean of each point cloud point in the point cloud cluster from other point cloud points; and taking the point cloud point with the minimum distance mean as the target point cloud point.

[0011] In an implementation form of the first aspect, the determining whether the satellite positioning signal is interfered according to the position relationship between the obstacle and the non-interference area of the signal receiver comprises: determining a target point cloud point representing the obstacle in the point cloud cluster according to the feature of the point cloud cluster; and determining that the satellite positioning signal is interfered if the target point cloud point is located in the interference area and the target point cloud point exists in the interference area for a preset time.

[0012] In an implementation form of the first aspect, the determining whether the satellite positioning signal is interfered according to the position relationship between the obstacle and the non-interference area of the signal receiver comprises: calculating a minimum area polygon surrounding the point cloud cluster; and determining that the satellite positioning signal is interfered if an area of the minimum area polygon located in the interference area is greater than a preset area.

[0013] In an implementation form of the first aspect, the determining whether the satellite positioning signal is interfered according to the position relationship between the obstacle and the non-interference area of the signal receiver comprises: calculating a minimum area polygon surrounding the point cloud cluster; and determining that the satellite positioning signal is interfered if an area of the minimum area polygon located in the interference area is greater than a preset area and a time for which the minimum area polygon exists in the interference area reaches a preset time.

[0014] In an implementation form of the first aspect, the non-interference area is obtained by dividing a space where the signal receiver is located according to a region division model, and the region division model is a circular cone with an opening upward, and a top point of the circular cone is the signal receiver, and a region inside a side surface of the circular cone is taken as the non-interference area.

[0015] In an implementation form of the first aspect, the interference-free region is obtained by dividing a space where the signal receiver is located according to a region division model, specifically including: the region division model is a circular truncated cone with an opening upward, and a lower base of the circular truncated cone coincides with a plane where the signal receiver is located, and a region inside a side surface of the circular truncated cone is taken as the interference-free region.

[0016] In a second aspect, a non-transitory computer-readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the method described above.

[0017] In a third aspect, a domain controller is provided, including a processor and a memory, and the processor runs a program corresponding to executable program code stored in the memory to implement the method described above.

[0018] In a fourth aspect, a train is provided, including a signal receiver and a domain controller connected to the signal receiver, and the domain controller is as described above.

[0019] Additional aspects and advantages of the present disclosure will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic flowchart of a satellite positioning signal interference detection method according to an embodiment of the present disclosure;

[0021] Figure 2 is a schematic diagram of a region division model according to an embodiment of the present disclosure;

[0022] Figure 3 is a schematic block diagram of a domain controller according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to make the technical problems solved by the present disclosure, technical solutions and beneficial effects clearer, the present disclosure will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, and are not used to limit the present disclosure.

[0024] The inventor found that, with the development of urban rail transit, its operation line gradually extends to the deep part of the city, that is, the operation line of the train is built near the city buildings, which gradually increases the complexity of the surrounding environment of the train operation, and the satellite positioning signal is more susceptible to interference. Once the satellite positioning signal is not detected in time during the train operation, the signal is distorted or errors are generated due to the influence of multipath effect, which will seriously affect the positioning accuracy of the train and is not conducive to the safe operation of the train.

[0025] To solve the above problems, the disclosure provides a satellite positioning signal interference detection method. The execution subject of the embodiment can be a domain controller, a vehicle-mounted controller or other devices with similar functions, which are not limited here.

[0026] As shown in Figure 1 The satellite positioning signal interference detection method includes the following steps:

[0027] S101, obtaining the position of the obstacle.

[0028] Specifically, the point cloud data of the environment around the train can be obtained by a laser radar, and then the point cloud data is divided into different point cloud clusters in a clustering manner, the point cloud cluster corresponding to the obstacle is screened out, and the position of the obstacle is determined according to the coordinates of the point cloud cluster in the laser radar coordinate system.

[0029] In a possible implementation, a mixed solid-state radar with a horizontal viewing angle of 120° is used, so that the obstacles within a range of 360° in the horizontal direction of the train can be perceived.

[0030] S102, determining whether the satellite positioning signal is interfered according to the positional relationship between the obstacle and the interference-free area of the signal receiver, the interference-free area being obtained by dividing the space where the signal receiver is located according to a region division model, and the region division model being an open upward geometric body.

[0031] Specifically, whether the satellite positioning signal is interfered can be determined according to the positional relationship between the point cloud cluster and the interference-free area of the signal receiver.

[0032] In a possible implementation, a target point cloud point representing the obstacle in the point cloud cluster is determined according to the characteristics of the point cloud cluster; if the target point cloud point is located in the interference area, it is determined that the satellite positioning signal is interfered. The judgment condition of the above embodiment is simple, and whether the satellite positioning signal is interfered can be quickly determined.

[0033] For example, the target point cloud point representing the obstacle in the point cloud cluster is determined according to the characteristics of the point cloud cluster, specifically including: calculating the average distance of each point cloud point in the point cloud cluster from other point cloud points, and taking the point cloud point with the smallest average distance as the target point cloud point.

[0034] Of course, the target point cloud point representing the obstacle in the point cloud cluster can also be determined according to the geometric characteristics of the point cloud cluster, such as taking the center of the point cloud cluster as the target point cloud point, or taking the center of gravity of the point cloud cluster as the target point cloud point, which are not limited here.

[0035] In another possible implementation, a target point cloud point representing the obstacle in the point cloud cluster is determined according to a feature of the point cloud cluster; if the target point cloud point is located in the interference region and a time for which the target point cloud point exists in the interference region reaches a first preset time, it is determined that the satellite positioning signal is interfered. By detecting the positional relationship between the target point cloud point and the interference region and the time for which the target point cloud point exists in the interference region, accidental situations are avoided, and the accuracy of detection is further ensured.

[0036] It should be noted that the first preset time can be set to 3 seconds or 5 seconds, which is not limited here.

[0037] In addition, the determination method of the target point cloud point has been described in the above embodiments, which will not be repeated here.

[0038] In another possible implementation, a minimum area polygon surrounding the point cloud cluster is calculated; if an area of the minimum area polygon located in the interference region is greater than a preset area, it is determined that the satellite positioning signal is interfered. In the above implementation, the minimum area polygon represents the obstacle, and whether the satellite positioning signal is interfered is determined by area comparison, which can improve the accuracy of detection.

[0039] For example, the minimum area polygon surrounding the point cloud cluster can be calculated by the convex hull method, the preset area can be 1 square meter, and if the area of the minimum area polygon located in the interference region is greater than 1 square meter, it is determined that the satellite positioning signal is interfered.

[0040] In another possible implementation, a minimum area polygon surrounding the point cloud cluster is calculated; if an area of the minimum area polygon located in the interference region is greater than a preset area and a time for which the minimum area polygon exists in the interference region reaches a second preset time, it is determined that the satellite positioning signal is interfered. By detecting the area of the minimum area polygon located in the interference region and the time for which the minimum area polygon exists in the interference region, accidental situations are avoided, and the accuracy of detection is further ensured.

[0041] It should be noted that the second preset time can be set to 3 seconds or 5 seconds, which is not limited here.

[0042] In addition, the calculation method of the minimum area polygon has been described in the above embodiments, which will not be repeated here.

[0043] The satellite positioning signal interference detection method provided by the embodiments of the present disclosure can pre-divide the space where the signal receiver is located by using a region division model, so as to obtain an interference-free region, and then obtain the position of an obstacle, and determine whether the satellite positioning signal is interfered according to the positional relationship between the obstacle and the interference-free region, so as to provide an accurate reference basis for subsequent positioning of the train.

[0044] In a possible implementation, as shown in Figure 2 the region division model is an open upward cone, the signal receiver can be an antenna, and the vertex of the cone is the antenna, the region inside the side surface of the cone is the non-interference region, and the region outside the side surface of the cone is the interference region.

[0045] For example, a coordinate system as shown in Figure 2 is established with the vertex of the cone as the origin, the non-interference region can be represented by the formula , is the included angle between the cone and the Z axis; the position of the obstacle is obtained by obtaining the coordinates of the obstacle in the coordinate system, and the coordinates of the obstacle are brought into the above formula to determine whether it is in the non-interference region, if yes, it is considered that the satellite positioning signal is interfered, if not, it is considered that the satellite positioning signal is not interfered.

[0046] In another possible implementation, the region division model is an open upward circular truncated cone, and the lower bottom surface of the circular truncated cone coincides with the plane where the antenna is located, the region inside the side surface of the circular truncated cone is the non-interference region, and the region outside the side surface of the circular truncated cone is the interference region.

[0047] Figure 3 A schematic block diagram of a domain controller provided by an embodiment of the present disclosure is shown, the domain controller 200 includes a memory 20 and a processor 21, wherein the processor 21 runs a program corresponding to an executable program code by reading the executable program code stored in the memory 20, to implement the method described in the above embodiments.

[0048] The processor 11 or the processor 21 can be implemented in the form of a general-purpose CPU (Central Processing Unit, central processor), a microprocessor, an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), or one or more integrated circuits, to execute related programs to implement the technical solutions provided by the embodiments of the present disclosure.

[0049] The memory 10 or the memory 20 can be implemented in the form of a ROM (Read Only Memory, read-only memory), a RAM (Random Access Memory, random access memory), a static storage device, a dynamic storage device, etc.

[0050] To implement the above embodiments, the present disclosure further proposes a non-transitory computer readable storage medium.

[0051] The computer readable storage medium has a computer program stored thereon, and the program is executed by the processor to implement the method described in the above embodiments.

[0052] In an alternative implementation form, the embodiments can employ any combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0053] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0054] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0055] Computer program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In an alternative scenario, multiple systems can act as a single computer, or multiple computers can act as a single system.

[0056] To achieve the above-mentioned embodiments, the present disclosure further provides a computer program product. When the computer program is executed by a processor, the method described in the above-mentioned embodiments is implemented.

[0057] To achieve the above-mentioned embodiments, the present disclosure further provides a train, which comprises a signal receiver and a domain controller as described above connected with the signal receiver, and the train can receive satellite positioning signals through the signal receiver.

[0058] In the present disclosure, unless otherwise explicitly specified and limited, the terms such as "setting", "connection" and the like should be understood in a broad sense, for example, which can be mechanical connection, or electrical connection; which can be directly connected, or indirectly connected through an intermediate medium; which can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0059] In the description of the present disclosure, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure.

[0060] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0061] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions or other processes. The scope of preferred embodiments of the present disclosure includes additional implementation involving other processes or methods, in which the order of the steps can be changed, including substantially simultaneously or in reverse order, unless otherwise specifically stated as "before" or "after", according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0062] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0063] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0064] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for detecting interference in satellite positioning signals, characterized in that, The method includes: Find the location of the obstacle; Based on the positional relationship between the obstacle and the interference-free zone of the signal receiver, it is determined whether the satellite positioning signal is interfered with. The interference-free zone is obtained by dividing the space where the signal receiver is located according to a region division model. The region division model is a geometric body with an upward opening. The region division model is a cone with an upward opening, and the vertex of the cone is the signal receiver. The area inside the side of the cone is taken as the interference-free zone. The acquisition of the obstacle's location specifically includes: Obtain the point cloud clusters corresponding to the obstacles; The location of the obstacle is determined based on the coordinates of the point cloud cluster; The step of determining whether the satellite positioning signal is interfered with based on the positional relationship between the obstacle and the interference-free area of ​​the signal receiver specifically includes: calculating the minimum area polygon surrounding the point cloud cluster; if the area of ​​the minimum area polygon located in the interference area is greater than a preset area and the minimum area polygon exists in the interference area for a second preset time, then it is determined that the satellite positioning signal is interfered with.

2. The method according to claim 1, characterized in that, The step of determining whether the satellite positioning signal is interfered with based on the positional relationship between the obstacle and the interference-free zone of the signal receiver specifically includes: Based on the characteristics of the point cloud cluster, the target point cloud points representing the obstacle in the point cloud cluster are determined; If the target point cloud is located within the interference zone, then the satellite positioning signal is determined to be interfered with.

3. The method according to claim 2, characterized in that, The step of determining the target point cloud point representing the obstacle in the point cloud cluster based on the characteristics of the point cloud cluster specifically includes: Calculate the average distance between each point in the point cloud cluster and other point cloud points; The point cloud point with the smallest mean distance is selected as the target point cloud point.

4. The method according to claim 1, characterized in that, The step of determining whether the satellite positioning signal is interfered with based on the positional relationship between the obstacle and the interference-free zone of the signal receiver specifically includes: Based on the characteristics of the point cloud cluster, the target point cloud points representing the obstacle in the point cloud cluster are determined; If the target point cloud is located within the interference zone and the target point cloud exists within the interference zone for a period of time equal to a first preset time, then it is determined that the satellite positioning signal is being interfered with.

5. The method according to claim 1, characterized in that, The step of determining whether the satellite positioning signal is interfered with based on the positional relationship between the obstacle and the interference-free zone of the signal receiver specifically includes: Calculate the minimum area polygon that encloses the point cloud cluster; If the area of ​​the minimum area polygon located in the interference zone is greater than a preset area, then the satellite positioning signal is determined to be interfered with.

6. The method according to claim 1, characterized in that, The interference-free zone can be obtained by dividing the space where the signal receiver is located according to a region division model, specifically including: The region division model is an upward-opening frustum, and the bottom surface of the frustum coincides with the plane where the signal receiver is located. The area inside the side of the frustum is regarded as an interference-free zone.

7. 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, it implements the method as described in any one of claims 1-6.

8. A domain controller, characterized in that, include: Processor and memory; The processor runs a program corresponding to the executable program code stored in the memory to implement the method as described in any one of claims 1-6.

9. A train, characterized in that, It includes a signal receiver and a domain controller as described in claim 8 connected to the signal receiver.

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