A positioning device, method, system and medium for rail transit train

Abstract

The present invention discloses a positioning device, method, system and medium for rail transit trains, and specifically relates to the technical field of train positioning. The technical key points are as follows: the positioning device comprises an acceleration detection unit, a power supply unit, a control processing unit, a data storage unit and a data transmission unit; the acceleration detection unit is fixed on the body of a subway, and the acceleration detection unit is used to detect the three-axis acceleration of the train; the power supply unit is used to supply power to the positioning device; the data storage unit is used to store a track line information map containing position parameters corresponding to each line position point; the control processing unit is used to calculate a positioning information group of the current running position of the train according to the three-axis acceleration detected by the acceleration detection unit, and extract the track line information map in the data storage unit, and compare the positioning information group with the position parameters in the track line information map one by one to determine the line position point corresponding to the current position of the train.

Description

Technical Field

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

[0002] With the continuous advancement of technology, people's travel methods have also changed greatly. In recent years, more and more cities in China have built subways and light rails, and they have become the first choice for most people to travel outdoors. Since rail transit trains have the characteristics of high operation density and close distance between stations, especially during peak hours, it is crucial to ensure their efficient operation while ensuring their high safety. Therefore, it is necessary to monitor the position of trains on the line in real time and accurately.

[0003] At present, the methods for train positioning are mainly divided into two categories: one is trackside positioning technology; the other is on-board train positioning technology. Among them, trackside positioning technology mainly uses trackside and on-board equipment to track trains in real time, which is usually refined into track circuit positioning, beacon positioning, axle counter positioning, cable loop positioning, crack waveguide positioning, spread spectrum radio station positioning and other methods; while on-board train positioning technology mainly uses GPS positioning technology, which is currently the most widely used real-time positioning technology, but its disadvantage is that there is position drift and it cannot be used in confined spaces such as tunnels. Although beacon positioning and axle counter positioning are used in tunnels and confined spaces, they have the problems of high cost, complex and cumbersome installation, and can only be used at fixed points and lack flexibility.

[0004] Therefore, the present invention aims to provide a positioning device, method, system and medium for rail transit trains to solve the above-mentioned related problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing GPS positioning technology has position drift and cannot be used in confined spaces such as tunnels; at the same time, the trackside positioning technology has the problems of high cost, complex and cumbersome installation, and can only be used at fixed points and lacks flexibility. The purpose is to provide a positioning device, method, system and medium for rail transit trains, which obtains the three-axis acceleration of the train by using a three-axis acceleration sensor to determine the first angle set between the three-axis acceleration and the horizontal plane when the train is running, and the second angle set between the three-axis acceleration and the gravity acceleration of the train; and then calculate the current position of the train by the first angle set. The slope value of the position is set, and the curvature value of the current position of the train is calculated by using the second angle set. The positioning information group composed of the slope value and the curvature value is compared one by one with the position parameters of each line position point in the track line information map, so as to determine the line position point corresponding to the current position of the train. This method is not affected by the region and the strength of the GPS signal, etc., and increases the safety and efficiency of subway operation, thereby solving the problem that the existing GPS positioning technology has position drift and cannot be used in confined spaces such as tunnels; at the same time, the trackside positioning technology has the problems of high cost, complex and cumbersome installation, and can only be used at fixed points and lacks flexibility.

[0006] The present invention is achieved through the following technical solutions:

[0007] A positioning device for a rail transit train, the positioning device comprising an acceleration detection unit, a power supply unit, a control processing unit, a data storage unit and a data transmission unit;

[0008] The acceleration detection unit is fixed on the body of the train, and the acceleration detection unit is used to detect the three-axis acceleration of the train; the power supply unit is used to supply power to the positioning device;

[0009] The data storage unit is used to store a track line information map including position parameters corresponding to each line position point;

[0010] The control processing unit is used to calculate the positioning information group of the current running position of the train according to the three-axis acceleration detected by the acceleration detection unit, and extract the track line information map in the data storage unit, and compare the position parameters in the positioning information group and the track line information map one by one to determine the line position point corresponding to the current position of the train;

[0011] The data transmission unit is used to send the calculated information parameters and the line position point corresponding to the current position of the train obtained by processing to the host computer.

[0012] Furthermore, the acceleration detection unit adopts a three-axis acceleration sensor.

[0013] The present invention also provides a method for positioning a rail transit train, the method utilizing any one of the above-mentioned positioning devices for a rail transit train, the method comprising:

[0014] A three-axis rectangular coordinate system is constructed with the vertical direction of the train as the Z axis, the direction of the train as the X axis, and the direction perpendicular to the train as the Y axis;

[0015] Continuously acquiring the three-axis acceleration of the train when it is running by using the acceleration detection unit, and determining a first set of angles between the three-axis acceleration of the train when it is running and a horizontal plane, and a second set of angles between the three-axis acceleration and the gravity acceleration of the train;

[0016] The first angle set is used to calculate the slope value of the current position of the train, the second angle set is used to calculate the curvature value of the current position of the train, and the slope value and the curvature value are combined to construct a positioning information group;

[0017] The position parameters of each line position point in the positioning information group and the track line information map in the data storage unit are compared one by one to determine the line position point corresponding to the current position of the train.

[0018] Furthermore, the three-axis acceleration includes X-axis acceleration, Y-axis acceleration and Z-axis acceleration.

[0019] Furthermore, a first set of angles between the three-axis acceleration and the horizontal plane and a second set of angles between the three-axis acceleration and the gravity acceleration of the train when the train is running are determined, specifically:

[0020] The first angle set includes the X-axis acceleration The first angle with the horizontal plane , Y-axis acceleration The second angle with the horizontal plane and Z-axis acceleration The third angle with the horizontal plane ;

[0021] The second angle set includes the X-axis acceleration The fourth angle with the acceleration due to gravity , Y-axis acceleration The fifth angle with the acceleration due to gravity and Z-axis acceleration The sixth angle between the acceleration due to gravity ;

[0022] Among them, the first angle and the fourth angle The specific calculation formula is: ; In the formula, Indicates the acceleration value on the X-axis; Indicates the acceleration of the X axis The fourth angle with the acceleration due to gravity; Indicates the acceleration of the X axis The first angle with the horizontal plane; represents the acceleration due to gravity; Indicates the acceleration value on the Y axis; Indicates the acceleration value on the Z axis.

[0023] Furthermore, the first angle set is used to calculate the slope value of the train's current position , specifically: , where is the slope value at the current moment; Indicates the acceleration value on the X-axis; Indicates the acceleration value on the Y axis; Indicates the acceleration value on the Z axis.

[0024] Furthermore, the curvature value of the train's current position is calculated using the second angle set, specifically:

[0025] Get the current X-axis acceleration The fourth angle with the acceleration due to gravity and the X-axis acceleration at the next moment The fourth angle with the acceleration due to gravity , determine the difference of the fourth angle between the two moments before and after ;

[0026] Reusing the curvature calculation formula Calculate the curvature value at the current position, where: s Represents the orbit arc length parameter.

[0027] The present invention further provides a positioning system for a rail transit train, the system being used in any one of the above-mentioned positioning methods for a rail transit train, the system comprising:

[0028] The first module is used to construct a three-axis rectangular coordinate system with the vertical direction of the train as the Z axis, the train travel direction as the X axis and the vertical direction of the train as the Y axis;

[0029] The second module is used to continuously obtain the three-axis acceleration of the train when it is running by using the acceleration detection unit, and determine the first angle set between the three-axis acceleration and the horizontal plane when the train is running and the second angle set between the three-axis acceleration and the gravity acceleration of the train;

[0030] The third module is used to calculate the slope value of the current position of the train using the first angle set, calculate the curvature value of the current position of the train using the second angle set, and construct a positioning information group in combination with the slope value and the curvature value;

[0031] The fourth module is used to compare the position parameters of each line position point in the positioning information group and the track line information map in the data storage unit one by one to determine the line position point corresponding to the current position of the train.

[0032] The present invention also provides a computer device, comprising a system memory and a processor, wherein the system memory stores a computer program, and the processor implements the steps of any one of the above-mentioned methods when executing the computer program.

[0033] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the methods described above are implemented.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] In the present invention, the three-axis acceleration of the train is obtained by using a three-axis acceleration sensor to determine the first angle set between the three-axis acceleration and the horizontal plane when the train is running, and the second angle set between the three-axis acceleration and the gravity acceleration of the train; then the slope value of the current position of the train is calculated by the first angle set, and the curvature value of the current position of the train is calculated by using the second angle set, and the positioning information group composed of the slope value and the curvature value is compared with the position parameters of each line position point in the track line information map one by one, so as to determine the line position point corresponding to the current position of the train. This method is not affected by the region and the strength of the GPS signal, etc., and increases the safety and efficiency of the subway operation, thereby solving the problem that the existing GPS positioning technology has position drift and cannot be used in confined spaces such as tunnels; at the same time, the trackside positioning technology has the problems of high cost, complex and cumbersome installation, and can only be used at fixed points and lacks flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0037] Figure 1 Schematic diagram of the structure of a positioning device for a rail transit train in this embodiment;

[0038] Figure 2 is a method flow chart of a method for positioning a rail transit train in this embodiment;

[0039] Figure 3 Schematic diagram of the posture of a three-axis acceleration sensor in a positioning method for a rail transit train in this embodiment;

[0040] Figure 4 Schematic diagram of the changing angle between slopes in a positioning method for rail transit trains in this embodiment;

[0041] Figure 5 Schematic diagram of curvature calculation in a positioning method for a rail transit train in this embodiment;

[0042] Figure 6 This is a schematic diagram of module connections of a positioning system for a rail transit train in this embodiment;

[0043] Figure 7 It is a structural schematic diagram of a computer device in this embodiment.

[0044] Marks and corresponding parts names in the attached drawings:

[0045] 1. Acceleration detection unit; 2. Power supply unit; 3. Control processing unit; 4. Data storage unit; 5. Data transmission unit. DETAILED DESCRIPTION

[0046] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0047] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0048] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0049] In order to facilitate understanding of the embodiments of the present invention, first, some terms involved in the present invention are explained.

[0050] Urban rail transit refers to a vehicle transportation system that uses a track structure for load-bearing and guidance. According to the requirements of the overall urban transportation plan, a fully or partially enclosed dedicated rail line is set up to transport a considerable amount of passenger flow in the form of trains or single vehicles. Urban rail transit includes: subway system, light rail system, urban rapid rail transit system, monorail system, tram system, automatic guided rail (APM) system, and maglev system.

[0051] Example 1

[0052] See also Figure 1 As shown, the method provides a positioning device for rail transit trains, the positioning device includes an acceleration detection unit, a power supply unit, a control processing unit, a data storage unit and a data transmission unit; the acceleration detection unit is fixed on the body of the subway, and the acceleration detection unit is used to detect the three-axis acceleration of the train. It should be noted that in this embodiment, the acceleration detection unit is horizontally fixed at the bottom or top of the subway, and the length direction and the width direction are respectively parallel to the length direction and the train direction of the train; the power supply unit is used to power the positioning device; the data storage unit is used to store a track line information map containing position parameters corresponding to each line position point; the control processing unit is used to calculate the positioning information group of the current driving position of the train according to the three-axis acceleration detected by the acceleration detection unit, and extract the track line information map in the data storage unit, and compare the positioning information group with the position parameters in the track line information map one by one to determine the line position point corresponding to the current position of the train; the data transmission unit is used to send the calculated information parameters and the processed line position point corresponding to the current position of the train to the host computer. It should be noted that in this embodiment, the host computer can be a vehicle-mounted terminal or a mobile terminal of a staff member, including but not limited to a mobile phone, a tablet computer, a laptop computer or other computer equipment, and no excessive restrictions are made here.

[0053] As a possible implementation, the acceleration detection unit uses a three-axis acceleration sensor.

[0054] It should be noted that, in this embodiment, the acceleration detection unit adopts a three-axis acceleration sensor, and in other embodiments, other detection devices or equipment capable of detecting three-axis acceleration may also be adopted, and no excessive restrictions are made here.

[0055] Also, see Figure 2 As shown, the present invention also provides a positioning method for a rail transit train, the positioning method using any one of the positioning devices for a rail transit train described above, the method comprising:

[0056] S1: Construct a three-axis rectangular coordinate system with the vertical direction of the train as the Z axis, the train travel direction as the X axis and the Y axis perpendicular to the train travel direction;

[0057] S2: using the acceleration detection unit to continuously obtain the three-axis acceleration of the train when it is running, and determining a first set of angles between the three-axis acceleration of the train and the horizontal plane and a second set of angles between the three-axis acceleration and the gravity acceleration of the train when the train is running;

[0058] It should be noted that, in this embodiment, the three-axis acceleration includes X-axis acceleration, Y-axis acceleration and Z-axis acceleration; at the same time, when the train is in a stationary state, the X-axis acceleration of the three-axis acceleration and Y-axis acceleration Both are 0, and the Z-axis acceleration is the gravity acceleration g.

[0059] S3: using the first angle set to calculate the slope value of the current position of the train, using the second angle set to calculate the curvature value of the current position of the train, and combining the slope value and the curvature value to construct a positioning information group;

[0060] S4: Compare the location parameters of each line location point in the positioning information group and the track line information map in the data storage unit one by one to determine the line location point corresponding to the current position of the train.

[0061] It should be noted that, in this embodiment, the rail line information map specifically refers to the China Urban Rail Transit Association Group Standard T / CAMET 04010.3-2018. The technical content is common knowledge known to technical personnel in this field and will not be elaborated here.

[0062] Specifically, in this embodiment, the three-axis acceleration of the train is obtained by using a three-axis acceleration sensor to determine the first angle set between the three-axis acceleration and the horizontal plane when the train is running, and the second angle set between the three-axis acceleration and the gravity acceleration of the train; then the slope value of the current position of the train is calculated by the first angle set, and the curvature value of the current position of the train is calculated by using the second angle set, and the positioning information group composed of the slope value and the curvature value is compared with the position parameters of each line position point in the track line information map one by one, so as to determine the line position point corresponding to the current position of the train. This method is not affected by the region and the strength of the GPS signal, etc., and increases the safety and efficiency of the subway operation, thereby solving the problem that the existing GPS positioning technology has position drift and cannot be used in confined spaces such as tunnels; at the same time, the trackside positioning technology has the problems of high cost, complex and cumbersome installation, and can only be used at fixed points and lacks flexibility.

[0063] See also Figure 3 As shown, as a possible implementation, the first angle set between the three-axis acceleration and the horizontal plane when the train is running and the second angle set between the three-axis acceleration and the gravity acceleration of the train are determined, specifically:

[0064] The first angle set includes the X-axis acceleration The first angle with the horizontal plane , Y-axis acceleration The second angle with the horizontal plane and Z-axis acceleration The third angle with the horizontal plane ;

[0065] The second angle set includes the X-axis acceleration The fourth angle with the acceleration due to gravity , Y-axis acceleration The fifth angle with the acceleration due to gravity and Z-axis acceleration The sixth angle between the acceleration due to gravity ;

[0066] Among them, the first angle and the fourth angle The specific calculation formula is: ; In the formula, Indicates the acceleration value on the X-axis; Indicates the acceleration of the X axis The fourth angle with the acceleration due to gravity; Indicates the acceleration of the X axis The first angle with the horizontal plane; represents the acceleration due to gravity; Indicates the acceleration value on the Y axis; Indicates the acceleration value on the Z axis.

[0067] Specifically, the first angle and the fourth angle The calculation formula derivation process is as follows: , = + , = / , ,tan = / = / = ,so It should be noted that, in this embodiment, Referring to the first angle and the fourth angle The calculation method is similar, that is, ; .

[0068] Specifically, in this embodiment, when the running posture of the train changes, the sensitive axis of the three-axis acceleration sensor will rotate a certain angle accordingly. Due to the effect of gravity, the acceleration on the sensitive axis of the sensor will change. Therefore, the change in the running posture of the subway train can be reflected by measuring the change in acceleration.

[0069] At the same time, it should be noted that when the slope of a train line changes, an angle will be generated between two adjacent lines with different slope values, see Figure 4 As shown, the angle B between the slope 1 and the slope 2 is an example of this angle, which can improve the accuracy of the slope positioning train position. The angle B is obtained by subtracting the slope values ​​of the slope 1 and the slope 2 from the horizontal angle (180°), and Figure 4 Point A is one end point of slope 1, angle C is the angle between slope 2 and slope 3, angle D is the angle between slope 3 and slope 4, angle E is the angle between slope 4 and slope 5, and point F is one end point of slope 5. Similarly, angles C, D and E are also obtained by subtracting the slope values ​​of the slopes on both sides from the horizontal angle (180°).

[0070] As a possible implementation method, the first angle set is used to calculate the slope value of the train's current position. , specifically: , where is the slope value at the current moment; Indicates the acceleration value on the X-axis; Indicates the acceleration value on the Y axis; Indicates the acceleration value on the Z axis.

[0071] See also Figure 5 As shown in the figure, M in the figure represents the location of the train at the current moment, and Q represents the location of the train at the next moment. represents the arc length of the track between two position points; as a possible implementation method, the curvature value of the train's current position is calculated using the second angle set, specifically:

[0072] Get the current X-axis acceleration The fourth angle with the acceleration due to gravity and the X-axis acceleration at the next moment The fourth angle with the acceleration due to gravity , determine the difference of the fourth angle between the two moments before and after ;

[0073] Reusing the curvature calculation formula Calculate the curvature value at the current position, where: s Represents the orbit arc length parameter.

[0074] It should be noted that, in this embodiment, only an example of curvature calculation in one running direction is given, and the calculation example in other running directions can be obtained in the same way, which will not be described in detail here.

[0075] Example 2

[0076] See also Figure 6 As shown, the present invention further provides a positioning system for a rail transit train, the system is used in any one of the above-mentioned positioning methods for a rail transit train, and the system includes:

[0077] The first module 100 is used to construct a three-axis rectangular coordinate system with the vertical direction of the train as the Z axis, the train travel direction as the X axis and the vertical direction of the train as the Y axis;

[0078] The second module 200 is used to continuously obtain the three-axis acceleration of the train when it is running by using the acceleration detection unit, and determine a first set of angles between the three-axis acceleration and the horizontal plane when the train is running and a second set of angles between the three-axis acceleration and the gravity acceleration of the train;

[0079] The third module 300 is used to calculate the slope value of the current position of the train using the first angle set, calculate the curvature value of the current position of the train using the second angle set, and construct a positioning information group in combination with the slope value and the curvature value;

[0080] The fourth module 400 is used to compare the location parameters of each line location point in the positioning information group and the track line information map in the data storage unit one by one to determine the line location point corresponding to the current position of the train.

[0081] It should be noted that the modules in the system of Example 2 correspond to the steps in the method of Example 1. The steps in the method of Example 1 have been described in detail in Example 1. In this Example 2, the contents of the modules in the system will not be described in detail.

[0082] Example 3

[0083] See also Figure 7 As shown, this embodiment further provides a computer device, including a system memory 1005 and a processor 1001, wherein the system memory 1005 stores a computer program, and the processor 1001 implements the steps of any of the above methods when executing the computer program.

[0084] It should be noted that the processor 1001 is used to execute the steps in the above method embodiments according to the instructions in the program code. Alternatively, the processor 1001 implements the functions of each module / unit in the above system / device embodiments when executing the computer program.

[0085] Specifically, in this embodiment, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the system memory 1005, and are executed by the processor 1001 to complete the present application. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0086] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor 1001 and a system memory 1005. Those skilled in the art will appreciate that this does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include an input / output device 1003, a network access device 1002, a bus 1006, etc.

[0087] The processor 1001 may be a central processing unit (CPU), or other general-purpose processors 1001, digital signal processors 1001 (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 1001 may be a microprocessor or any conventional processor, etc.

[0088] The system memory 1005 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The system memory 1005 may also be a storage device 1004 of the terminal device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the terminal device. Further, the system memory 1005 may also include both the internal storage unit of the terminal device and the storage device 1004. The system memory 1005 is used to store computer programs and other programs and data required by the terminal device. The system memory 1005 may also be used to temporarily store data that has been output or is to be output.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, systems and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] Example 4

[0091] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the above methods are implemented.

[0092] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art.

[0093] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In an embodiment of the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system, or device.

[0094] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for positioning a rail transit train, characterized in that: The positioning method is used in a positioning device, which includes an acceleration detection unit, a power supply unit, a control processing unit, a data storage unit and a data transmission unit; the acceleration detection unit is fixed on the body of the train, and the acceleration detection unit is used to detect the three-axis acceleration of the train; The power supply unit is used to supply power to the positioning device; The data storage unit is used to store a track line information map including position parameters corresponding to each line position point; the control processing unit is used to calculate the positioning information group of the current running position of the train according to the three-axis acceleration detected by the acceleration detection unit, and extract the track line information map in the data storage unit, and compare the positioning information group with the position parameters in the track line information map one by one to determine the line position point corresponding to the current position of the train; The data transmission unit is used to send the calculated information parameters and the line position point corresponding to the current position of the train obtained by processing to the host computer; The positioning method includes: constructing a three-axis rectangular coordinate system with the vertical direction of the train as the Z axis, the direction of the train as the X axis, and the direction perpendicular to the train as the Y axis; The acceleration detection unit is used to continuously obtain the three-axis acceleration of the train when it is running, and the first angle set between the three-axis acceleration and the horizontal plane and the second angle set between the three-axis acceleration and the gravity acceleration of the train when the train is running are determined, wherein the three-axis acceleration includes the X-axis acceleration, the Y-axis acceleration and the Z-axis acceleration, specifically: The first angle set includes the X-axis acceleration A x The first angle α1 with the horizontal plane, the Y-axis acceleration A y The second angle β1 with the horizontal plane and the Z-axis acceleration A z The third angle γ1 with the horizontal plane; The second angle set includes the X-axis acceleration A x The fourth angle α between the acceleration due to gravity and the Y-axis acceleration A y The fifth angle β between the acceleration due to gravity and the Z-axis acceleration A z The sixth angle γ between the acceleration due to gravity; The calculation formulas for the first angle α1 and the fourth angle α are as follows: In the formula, A x Indicates the acceleration value on the X-axis; α indicates the X-axis acceleration A x The fourth angle between the acceleration due to gravity; α1 represents the acceleration A on the X axis x The first angle between the plane and the horizontal plane; g represents the acceleration due to gravity; A y Indicates the acceleration value on the Y axis; A z Indicates the acceleration value on the Z axis; The first angle set is used to calculate the slope value of the current position of the train, the second angle set is used to calculate the curvature value of the current position of the train, and the slope value and the curvature value are combined to construct a positioning information group; The position parameters of each line position point in the positioning information group and the track line information map in the data storage unit are compared one by one to determine the line position point corresponding to the current position of the train.

2. A method for positioning a rail transit train according to claim 1, characterized in that: The acceleration detection unit adopts a three-axis acceleration sensor.

3. A method for positioning a rail transit train according to claim 1, characterized in that: Use the first angle set to calculate the slope value of the train's current location Specifically: In the formula, is the slope value at the current moment; A x Indicates the acceleration value on the X-axis; A y Indicates the acceleration value on the Y axis; A z Indicates the acceleration value on the Z axis.

4. A method for positioning a rail transit train according to claim 1, characterized in that: The curvature value of the train's current position is calculated using the second angle set, specifically: Get the current X-axis acceleration A x The fourth angle α between the acceleration due to gravity and the X-axis acceleration A at the next moment x The fourth angle α between the acceleration due to gravity * , determine the fourth angle difference between the two moments before and after Δα=α * -α; Reusing the curvature calculation formula Calculate the curvature value at the current position.

5. A positioning system for rail transit trains, characterized in that: The system is used in a positioning method for a rail transit train according to any one of claims 1 to 4, and the system comprises: The first module is used to construct a three-axis rectangular coordinate system with the vertical direction of the train as the Z axis, the train travel direction as the X axis and the vertical direction of the train as the Y axis; The second module is used to continuously obtain the three-axis acceleration of the train when it is running by using the acceleration detection unit, and determine the first angle set between the three-axis acceleration and the horizontal plane when the train is running and the second angle set between the three-axis acceleration and the gravity acceleration of the train; The third module is used to calculate the slope value of the current position of the train using the first angle set, calculate the curvature value of the current position of the train using the second angle set, and construct a positioning information group in combination with the slope value and the curvature value; The fourth module is used to compare the position parameters of each line position point in the positioning information group and the track line information map in the data storage unit one by one to determine the line position point corresponding to the current position of the train.

6. A computer device comprising a system memory and a processor, wherein the system memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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