Train envelope determination method and electronic equipment

Abstract

The invention provides a train envelope determination method and electronic equipment. The method is used for improving the accuracy of train enveloping. Comprising the following steps: obtaining a plurality of distance ranges by using a preset error value and a plurality of ranging distances sent by each ground UWB base station; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station; obtaining a positioning area of the vehicle-mounted UWB base station based on the plurality of distance ranges; according to the position coordinates of the region boundary points of the positioning region and the running track position interval of the train corresponding to the vehicle-mounted UWB base station, obtaining a target running track position interval of the positioning region; obtaining extreme point position coordinates of the vehicle-mounted UWB base station through the target moving track position interval and the positioning area; based on the base station identifier of the vehicle-mounted UWB base station, obtaining position coordinates of a train head extreme point and position coordinates of a train tail extreme point of the train; and obtaining an envelope of the train according to the extreme point position coordinates of the train head and the extreme point position of the train tail of the train.

Description

Background Art

[0002] To determine the envelope of a train, it is first necessary to locate the train, obtain the position of the train, and then obtain the envelope of the train based on the position of the train. Therefore, train positioning is a very important step in determining the envelope of the train.

[0003] In the prior art, when using UWB (Ultra Wide Band) positioning technology to locate trains, the distance measurement and communication between the train and the ground are realized by installing UWB base stations at the trackside and at the front and rear of the train. Then, the actual position of the train is obtained by triangulation based on the measured distance. Figure 1 As shown, it is a schematic diagram of train positioning using the three-sided positioning method. Among them, R1 is the measured distance between the ground UWB base station A and the vehicle-mounted UWB base station measured by the ground UWB base station A, R2 is the measured distance between the ground UWB base station B and the vehicle-mounted UWB base station measured by the ground UWB base station B, and R3 is the measured distance between the ground UWB base station C and the vehicle-mounted UWB base station measured by the ground UWB base station C. Based on R1, R2 and R3, the circular rings corresponding to the three ground UWB base stations are obtained, and the intersection E of the three circular rings is determined as the position of the vehicle-mounted UWB base station. However, since UWB positioning will have errors, that is, the obtained measured distances R1, R2 and R3 will have errors, so the located vehicle-mounted UWB base station will have errors, which will result in poor accuracy of the determined train envelope. Summary of the invention

[0004] In an exemplary embodiment of the present disclosure, a method for determining a train envelope and an electronic device are provided to improve the accuracy of the train envelope.

[0005] A first aspect of the present disclosure provides a method for determining a train envelope, the method comprising:

[0006] After receiving the ranging distances respectively sent by each ground ultra-wideband UWB base station, a preset error value and a specified number of multiple ranging distances are used to obtain distance ranges corresponding to the multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train;

[0007] Based on multiple distance ranges, obtaining a positioning area where the vehicle-mounted UWB base station is located;

[0008] Obtaining a target running track position interval where the positioning area is located according to the position coordinates of the area boundary point of the positioning area and the running track position interval of the train corresponding to the on-board UWB base station;

[0009] Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area;

[0010] Based on the base station identifier of the vehicle-mounted UWB base station, the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train are obtained, wherein the base station identifier includes the front identifier and the rear identifier of the train;

[0011] The envelope of the train is obtained according to the position coordinates of the extreme point of the front of the train and the position coordinates of the extreme point of the rear of the train.

[0012] In this embodiment, the positioning area is obtained by measuring the ranging distance and error value measured by multiple ground UWB base stations, and then the extreme point position coordinates of the front and rear of the train are determined based on the positioning area and the train's running track position interval, and the train envelope is obtained through the extreme point coordinates of the front and rear of the train. Therefore, in the embodiment of the present application, the ranging distance is combined with the error value of UWB to obtain the positioning area of ​​the on-board UWB base station, and then the train is positioned based on the positioning area and the train's running track position interval. Therefore, in the embodiment of the present application, the measured distance of the on-board UWB base station is corrected, and the positioning is performed in combination with the actual running track position interval of the train, which improves the accuracy of the train positioning and further improves the accuracy of the determined train envelope.

[0013] In one embodiment, the extreme point position coordinates include maximum point position coordinates and minimum point position coordinates;

[0014] The step of obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train comprises:

[0015] Determine the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and

[0016] Determine the position coordinates of the minimum point at the rear of the train as the position coordinates of the rear envelope of the train;

[0017] The envelope of the train is obtained according to the position coordinates of the front envelope and the position coordinates of the rear envelope.

[0018] In this embodiment, the maximum value point position coordinates of the front of the train are determined as the position coordinates of the front envelope of the train, and the minimum value point position coordinates of the rear of the train are determined as the position coordinates of the rear envelope of the train. Thus, it is ensured that the obtained train envelope can completely cover the train, and the accuracy of the train envelope is improved.

[0019] In one embodiment, after obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, the method further includes:

[0020] The offset distance of the train is obtained according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to characterize the delay time of signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to characterize the distance that the train is offset in the direction of travel;

[0021] Using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope;

[0022] The corrected envelope of the train is obtained by using the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

[0023] In this embodiment, the offset distance of the train is determined by the current running speed of the train and the communication delay time sent by the ground UWB base station, and the envelope of the train is corrected based on the offset distance, thereby further improving the accuracy of the determined train envelope.

[0024] In one embodiment, obtaining the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station includes:

[0025] The offset distance of the train is obtained by the following formula:

[0026]

[0027] Wherein, S is the offset distance of the train, V is the current running speed of the train, a is the preset acceleration, and T is the communication delay time.

[0028] In one embodiment, the method of using the offset distance to correct the position of the vehicle head envelope to obtain the position coordinates of the corrected vehicle head envelope includes:

[0029] The horizontal position coordinate of the train's front envelope is added to the offset distance to obtain the target horizontal position coordinate, and the position coordinate of the corrected front envelope is obtained based on the target horizontal position coordinate and the vertical position coordinate of the train's front envelope.

[0030] Since the train will only deviate in the direction of travel, in the embodiment of the present application, only the offset distance is used to correct the locomotive envelope, thereby avoiding the situation where the locomotive envelope cannot cover the front of the train, and further improving the accuracy of the determined train envelope.

[0031] In one embodiment, the using of a preset error value and a specified number of multiple ranging distances to obtain distance ranges corresponding to the multiple ranging distances respectively includes:

[0032] For any ranging distance, subtract the ranging distance from the error value to obtain a minimum distance value;

[0033] Adding the ranging distance to the error value to obtain a maximum distance;

[0034] A distance range corresponding to the ranging distance is obtained according to the minimum distance value and the maximum distance value.

[0035] In one embodiment, obtaining the positioning area where the vehicle-mounted UWB base station is located based on multiple distance ranges includes:

[0036] The intersection area of ​​the multiple distance ranges is determined as the positioning area where the vehicle-mounted UWB base station is located.

[0037] In the embodiment of the present application, the intersection area of ​​the multiple distance ranges is determined as the positioning area where the vehicle-mounted UWB base station is located, thereby improving the accuracy of the positioning of the vehicle-mounted UWB base station.

[0038] In one embodiment, obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area includes:

[0039] According to the position coordinates of the interval boundary points of the target running track position interval, a trajectory straight line function corresponding to the target running track position interval is obtained;

[0040] The position coordinates of the intersection point between the trajectory straight line function and the positioning area are determined as the extreme point position coordinates of the vehicle-mounted UWB base station.

[0041] A second aspect of the present disclosure provides an electronic device, including a processor and a memory, wherein the processor and the memory are connected via a bus;

[0042] The memory stores a computer program, and the processor is configured to perform the following operations based on the computer program:

[0043] After receiving the ranging distances respectively sent by each ground ultra-wideband UWB base station, a preset error value and a specified number of multiple ranging distances are used to obtain distance ranges corresponding to the multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train;

[0044] Based on multiple distance ranges, obtaining a positioning area where the vehicle-mounted UWB base station is located;

[0045] Obtaining a target running track position interval where the positioning area is located according to the position coordinates of the area boundary point of the positioning area and the running track position interval of the train corresponding to the on-board UWB base station;

[0046] Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area;

[0047] Based on the base station identifier of the vehicle-mounted UWB base station, the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train are obtained, wherein the base station identifier includes the front identifier and the rear identifier of the train;

[0048] The envelope of the train is obtained according to the position coordinates of the extreme point of the front of the train and the position coordinates of the extreme point of the rear of the train.

[0049] In one embodiment, the extreme point position coordinates include maximum point position coordinates and minimum point position coordinates;

[0050] The processor executes the step of obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, and is specifically configured as follows:

[0051] Determine the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and

[0052] Determine the position coordinates of the minimum point at the rear of the train as the position coordinates of the rear envelope of the train;

[0053] The envelope of the train is obtained according to the position coordinates of the front envelope and the position coordinates of the rear envelope.

[0054] In one embodiment, the processor is further configured to:

[0055] After obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, the offset distance of the train is obtained according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to characterize the delay time of signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to characterize the distance that the train is offset in the direction of travel;

[0056] Using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope;

[0057] The corrected envelope of the train is obtained by using the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

[0058] In one embodiment, the processor executes the step of obtaining the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station, and is specifically configured as follows:

[0059] The offset distance of the train is obtained by the following formula:

[0060]

[0061] Wherein, S is the offset distance of the train, V is the current running speed of the train, a is the preset acceleration, and T is the communication delay time.

[0062] In one embodiment, the processor performs the position correction of the vehicle head envelope by using the offset distance to obtain the position coordinates of the corrected vehicle head envelope, which is specifically configured as follows:

[0063] The horizontal position coordinate of the train's front envelope is added to the offset distance to obtain the target horizontal position coordinate, and the position coordinate of the corrected front envelope is obtained based on the target horizontal position coordinate and the vertical position coordinate of the train's front envelope.

[0064] In one embodiment, the processor executes the method of using a preset error value and a specified number of multiple ranging distances to obtain distance ranges corresponding to the multiple ranging distances, and is specifically configured as follows:

[0065] For any ranging distance, subtract the ranging distance from the error value to obtain a minimum distance value;

[0066] Adding the ranging distance to the error value to obtain a maximum distance;

[0067] A distance range corresponding to the ranging distance is obtained according to the minimum distance value and the maximum distance value.

[0068] In one embodiment, the processor executes the step of obtaining the positioning area where the vehicle-mounted UWB base station is located based on multiple distance ranges, and is specifically configured as follows:

[0069] The intersection area of ​​the multiple distance ranges is determined as the positioning area where the vehicle-mounted UWB base station is located.

[0070] In one embodiment, the processor executes the step of passing through the target running track position interval and the positioning area to obtain the extreme point position coordinates of the vehicle-mounted UWB base station, and is specifically configured as follows:

[0071] According to the position coordinates of the interval boundary points of the target running track position interval, a trajectory straight line function corresponding to the target running track position interval is obtained;

[0072] The position coordinates of the intersection point between the trajectory straight line function and the positioning area are determined as the extreme point position coordinates of the vehicle-mounted UWB base station.

[0073] According to a third aspect provided by an embodiment of the present disclosure, a computer storage medium is provided, wherein the computer storage medium stores a computer program, and the computer program is used to execute the method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0075] Figure 1 It is a schematic diagram of train positioning in the prior art according to an embodiment of the present disclosure;

[0076] Figure 2 is a schematic diagram of a train positioning error according to an embodiment of the present disclosure;

[0077] Figure 3 This is one of the flow charts of a method for determining a train envelope according to an embodiment of the present disclosure;

[0078] Figure 4 A schematic diagram of UWB base station deployment according to an embodiment of the present disclosure;

[0079] Figure 5 A schematic diagram of a positioning area where a vehicle-mounted UWB base station is located according to an embodiment of the present disclosure;

[0080] Figure 6 is a schematic diagram of a train envelope according to an embodiment of the present disclosure;

[0081] Figure 7 A schematic diagram of a process for correcting a train envelope according to an embodiment of the present disclosure;

[0082] Figure 8 The second flowchart of the method for determining a train envelope according to an embodiment of the present disclosure is shown;

[0083] Fig. 9 A train envelope determination device according to an embodiment of the present disclosure;

[0084] Fig.10 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0086] In the embodiments of the present disclosure, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0087] The application scenarios described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It is known to those skilled in the art that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems. In the description of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more.

[0088] In the prior art, when using UWB (Ultra Wide Band) positioning technology to locate trains, the distance measurement and communication functions between the train and the ground are mainly achieved by installing UWB base stations at the trackside and at the front and rear of the train. Then, the actual position of the train is obtained by triangulation based on the measured distance. However, since UWB positioning may have errors, the positioning of the on-board UWB base station may have errors, which may result in poor accuracy in determining the train envelope. Figure 2 As shown, the positioning error of the ground UWB base station A is taken as an example for explanation. ′ is the actual length of R1, so the position of the vehicle-mounted UWB base station located by measuring the distance is point E, but the actual position of the vehicle-mounted UWB base station is point F. Based on the current direction of travel of the train, it will be determined that the envelope of the train cannot completely cover the train.

[0089] Therefore, the present disclosure provides a method for determining the envelope of a train, wherein the positioning area is obtained by measuring the ranging distance and the error value measured by multiple ground UWB base stations, and then the extreme point position coordinates of the front and rear of the train are determined based on the positioning area and the train's running track position interval, and the train envelope is obtained through the extreme point coordinates of the front and rear of the train. Therefore, in the embodiment of the present application, the ranging distance is combined with the error value of UWB to obtain the positioning area of ​​the on-board UWB base station, and then the train is positioned based on the positioning area and the train's running track position interval. Therefore, in the embodiment of the present application, the measured distance of the on-board UWB base station is corrected, and the positioning is performed in combination with the actual running track position interval of the train, thereby improving the accuracy of the train positioning and further improving the accuracy of the determined train envelope. Below, the scheme of the present disclosure is described in detail in conjunction with the accompanying drawings.

[0090] like Figure 3 FIG. 1 is a flow chart of a method for determining a train envelope of the present disclosure, which may include the following steps:

[0091] Step 301: after receiving ranging distances respectively sent by various ground ultra-wideband UWB base stations, using a preset error value and a specified number of multiple ranging distances, obtain distance ranges respectively corresponding to the multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train;

[0092] In the embodiment of the present application, UWB base stations are deployed both on the trackside and on the train. Among them, the UWB base station deployed on the train is a vehicle-mounted UWB base station, and the UWB base station deployed on the trackside is a ground UWB base station. The vehicle-mounted UWB base station in the embodiment of the present application is arranged at the top of the front of the train and the top of the rear of the train. One UWB base station is arranged at the position of the car body axis. In the embodiment of the present application, a ground UWB base station is deployed at a fixed distance (for example, 300m) along the tunnel wall along the trackside. The height of the ground UWB base station must be greater than the height of the train to avoid excessive interference to the communication between the ground UWB base station and the vehicle-mounted UWB base station when the train body passes. In addition, a proper amount of ground UWB base stations can be added at curves or switches to ensure that the on-board UWB base station can communicate with at least three or more ground UWB base stations at any position of the train, as shown in the following details. Figure 4 As shown, from Figure 4 It can be seen that no matter where the train runs, the onboard UWB base station can communicate with at least three ground UWB base stations. Figure 4It can be seen that the principle of establishing the coordinate system in the embodiment of the present application is that the longitudinal direction of the tunnel (the direction of train travel) is the X-axis, the transverse direction of the tunnel is the Y-axis, and the vertical height direction of the tunnel is the Z-axis, so as to establish a relative coordinate system based on the tunnel.

[0093] It should be noted that the base station deployment method and the establishment principle of the coordinate system in the embodiment of the present application are only used for illustration, and the base station deployment method and the establishment principle of the coordinate system in the embodiment of the present application are not limited. The specific deployment method of the base station and the specific establishment principle of the coordinate system can be set according to the actual situation. And the specified number in the embodiment of the present application is three, but the specified number is not limited, and the specified number in the embodiment of the present application can be set according to the actual situation.

[0094] In one embodiment, step 301 can be specifically implemented as follows: for any ranging distance, subtract the ranging distance from the error value to obtain a minimum distance value; and add the ranging distance to the error value to obtain a maximum distance value; and obtain a distance range corresponding to the ranging distance based on the minimum distance value and the maximum distance value.

[0095] For example, if the minimum distance is d1 and the maximum distance is d2, the corresponding distance range is [d1, d2].

[0096] Step 302: Based on multiple distance ranges, obtain the positioning area where the vehicle-mounted UWB base station is located;

[0097] The distance measurement sent by the ground UWB base station includes the train identifier of the vehicle-mounted UWB base station and the base station identifier of the vehicle-mounted base station. The train identifier is used to determine which train the measured distance is between the ground UWB base station and, and the base station identifier is used to indicate which vehicle-mounted UWB base station in which train the measured distance is between the ground UWB base station and.

[0098] In one embodiment, step 302 may be specifically implemented as follows: determining the intersection area of ​​the multiple distance ranges as the location area where the vehicle-mounted UWB base station is located. The location area may be obtained by the following formula (1):

[0099]

[0100] Among them, x is the horizontal position coordinate of the vehicle-mounted UWB base station, y is the vertical position coordinate of the vehicle-mounted UWB base station, y1 is the vertical position coordinate of the first ground UWB base station among the three ground UWB base stations, x1 is the horizontal position coordinate of the first ground UWB base station, R1 is the first measurement distance measured by the first ground UWB base station, y2 is the vertical position coordinate of the second ground UWB base station among the three ground UWB base stations, x2 is the horizontal position coordinate of the second ground UWB base station among the three ground UWB base stations, R2 is the second measurement distance measured by the second ground UWB base station, y3 is the vertical position coordinate of the third ground UWB base station among the three ground UWB base stations, x3 is the horizontal position coordinate of the third ground UWB base station among the three ground UWB base stations, R3 is the third measurement distance measured by the second ground UWB base station, h is the preset error value, and H is the pre-set height difference between the ground UWB base station and the vehicle-mounted UWB base station.

[0101] For example, Figure 5 As shown in the figure, the shaded part is the positioning area where the vehicle-mounted UWB base station is located.

[0102] Step 303: obtaining a target running track position interval of the positioning area according to the position coordinates of the area boundary points of the positioning area and the running track position interval of the train corresponding to the vehicle-mounted UWB base station;

[0103] The train running track position interval in the embodiment of the present application is pre-set, and the same train includes multiple running track position intervals. For any running track position interval, the running track position interval includes a running track horizontal position interval and a running track longitudinal position interval.

[0104] In one embodiment, step 303 can be specifically implemented as follows: obtaining the horizontal position interval of the boundary point according to the horizontal coordinate with the largest value and the horizontal coordinate with the smallest value among the boundary points of each area in the positioning area; and obtaining the vertical position interval of the boundary point according to the vertical position coordinate with the largest value and the vertical position coordinate with the smallest value among the boundary points of each area in the positioning area; traversing the running track position interval of the train, for any traversed interval, if the horizontal position interval of the boundary point is included in the horizontal position interval of the running track in the running track position interval, and the vertical position interval of the boundary point is included in the vertical position interval of the running track in the running track position interval, then determining that the running track position interval is the target running track position interval.

[0105] Step 304: Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area;

[0106] In one embodiment, step 304 can be specifically implemented as follows: according to the position coordinates of the interval boundary points of the target running trajectory position interval, a trajectory straight line function corresponding to the target running trajectory position interval is obtained; and the position coordinates of the intersection between the trajectory straight line function and the positioning area are determined as the extreme point position coordinates of the vehicle-mounted UWB base station.

[0107] For example, the horizontal position interval of the target running track is [m,n], and the vertical position interval of the target running track is [p,q]. Then the position coordinates of the two interval boundary points are (m,p) and (n,q) respectively. Substitute the position coordinates of the two interval boundary points into the preset straight line function y=kx+b to obtain the values ​​of k and b, and substitute the values ​​of k and b into the preset straight line function to obtain the trajectory straight line function.

[0108] The position coordinates of the intersection point between the trajectory straight line function and the positioning area in the embodiment of the present application can be obtained by solving the corresponding formula (1) of the trajectory straight line function and the positioning area, and the solution process is a method in the prior art. The embodiment of the present application will not be repeated here.

[0109] Step 305: based on the base station identifier of the vehicle-mounted UWB base station, obtaining the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train, wherein the base station identifier includes the front identifier and the rear identifier of the train;

[0110] In one embodiment, step 305 can be specifically implemented as follows: determining the extreme point position coordinates identified by the base station as the front mark as the extreme point position coordinates of the front of the train, and determining the extreme point position coordinates identified by the base station as the rear mark as the extreme point position coordinates of the rear of the train.

[0111] Step 306: Obtain the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train.

[0112] Wherein, the extreme point position coordinates include the maximum point position coordinates and the minimum point position coordinates;

[0113] In one embodiment, step 306 can be specifically implemented as follows: determining the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and determining the position coordinates of the minimum point of the rear of the train as the position coordinates of the rear envelope of the train; and obtaining the envelope of the train based on the position coordinates of the front envelope and the position coordinates of the rear envelope.

[0114] like Figure 6 As shown, it is a schematic diagram of the train envelope, and the position area corresponding to the front envelope to the rear envelope is the envelope of the train.

[0115] In order to further improve the accuracy of the train envelope, in one embodiment, after executing step 306, the train envelope needs to be corrected, such as Figure 7 As shown, it is a schematic diagram of the process of correcting the train envelope, which may include the following steps:

[0116] Step 701: Obtain the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to characterize the delay time of signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to characterize the distance that the train is offset in the direction of travel; wherein the offset distance can be obtained by formula (2):

[0117]

[0118] Wherein, S is the offset distance of the train, V is the current running speed of the train, a is the preset acceleration, and T is the communication delay time.

[0119] The ground UWB base station obtains the communication delay time through formula (3):

[0120] T=(a2-b1)×x2-(a1-c1)×x1……(3);

[0121] Among them, T is the communication delay time, a2 is the number of cycles when the vehicle-mounted UWB base station sends a signal to the ground UWB, a1 is the number of cycles when the ground UWB base station sends a signal to the vehicle-mounted UWB base station, b1 is the cycle number of the vehicle-mounted UWB base station when the ground UWB base station receives the last signal sent by the vehicle-mounted UWB base station, c1 is the cycle number of the ground UWB base station when the ground UWB base station receives the last signal sent by the vehicle-mounted UWB base station, x1 is the cycle length of the ground UWB base station, and x2 is the cycle length of the vehicle-mounted UWB base station.

[0122] Step 702: using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope;

[0123] Wherein, the extreme point position coordinates include the extreme point horizontal position coordinates and the extreme point vertical position coordinates;

[0124] In one embodiment, step 702 can be specifically implemented as follows: adding the transverse position coordinate of the locomotive envelope of the train to the offset distance to obtain the target transverse position coordinate, and obtaining the position coordinate of the corrected locomotive envelope based on the target transverse position coordinate and the longitudinal position coordinate of the locomotive envelope of the train.

[0125] Step 703: Obtain a corrected envelope of the train through the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

[0126] The position coordinates of the corrected vehicle front envelope are determined as the vehicle front envelope, and the position coordinates of the vehicle rear envelope are determined as the vehicle rear envelope.

[0127] In order to further understand the technical solution of the present disclosure, Figure 8 A detailed description may include the following steps:

[0128] Step 801: after receiving ranging distances respectively sent by various ground ultra-wideband UWB base stations, using a preset error value and a specified number of multiple ranging distances, obtain distance ranges respectively corresponding to the multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train;

[0129] Step 802: Based on multiple distance ranges, obtain the positioning area where the vehicle-mounted UWB base station is located;

[0130] Step 803: obtaining a target running track position interval of the positioning area according to the position coordinates of the area boundary points of the positioning area and the running track position interval of the train corresponding to the vehicle-mounted UWB base station;

[0131] Step 804: Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area;

[0132] Step 805: based on the base station identifier of the vehicle-mounted UWB base station, obtaining the position coordinates of the front extreme point of the train and the position coordinates of the rear extreme point of the train, wherein the base station identifier includes the front identifier and the rear identifier of the train;

[0133] Step 806: determining the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train, and determining the position coordinates of the minimum point of the rear of the train as the position coordinates of the rear envelope of the train;

[0134] Step 807: Obtaining the envelope of the train according to the position coordinates of the front envelope and the position coordinates of the rear envelope;

[0135] Step 808: Obtaining the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to characterize the delay time of the signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to characterize the distance that the train is offset in the direction of travel;

[0136] Step 809: using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope;

[0137] Step 810: Obtain a corrected envelope of the train through the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

[0138] Based on the same disclosed concept, the train envelope determination method described above in the present disclosure can also be implemented by a train envelope determination device. The effect of the train envelope determination device is similar to that of the aforementioned method, and will not be repeated here.

[0139] Fig. 9 The figure is a schematic diagram of the structure of a device for determining a train envelope according to an embodiment of the present disclosure.

[0140] like Fig. 9 As shown, the train envelope determination device 900 of the present disclosure may include a distance range determination module 910, a positioning area determination module 920, a target running trajectory position interval determination module 930, a first position determination module 940, a second position determination module 950 and a train envelope determination module 960.

[0141] The distance range determination module 910 is used to obtain the distance ranges corresponding to the multiple ranging distances respectively after receiving the ranging distances respectively sent by the ground ultra-wideband UWB base stations, using a preset error value and a specified number of multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of the train;

[0142] A positioning area determination module 920 is used to obtain the positioning area where the vehicle-mounted UWB base station is located based on multiple distance ranges;

[0143] The target running track position interval determination module 930 is used to obtain the target running track position interval of the positioning area according to the position coordinates of the area boundary points of the positioning area and the running track position interval of the train corresponding to the on-board UWB base station;

[0144] A first position determination module 940 is used to obtain the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area;

[0145] The second position determination module 950 is used to obtain the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train based on the base station identifier of the vehicle-mounted UWB base station, wherein the base station identifier includes the front identifier and the rear identifier of the train;

[0146] The train envelope determination module 960 is used to obtain the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train.

[0147] In one embodiment, the extreme point position coordinates include maximum point position coordinates and minimum point position coordinates;

[0148] The train envelope determination module 960 is specifically used to:

[0149] Determine the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and

[0150] Determine the position coordinates of the minimum point at the rear of the train as the position coordinates of the rear envelope of the train;

[0151] The envelope of the train is obtained according to the position coordinates of the front envelope and the position coordinates of the rear envelope.

[0152] In one embodiment, the apparatus further comprises:

[0153] The offset distance determination module 970 is used to obtain the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, and then obtain the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to represent the delay time of signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to represent the distance that the train is offset in the direction of travel;

[0154] Using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope;

[0155] The corrected envelope of the train is obtained by using the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

[0156] In one embodiment, the offset distance determination module 970 is specifically configured to:

[0157] The offset distance of the train is obtained by the following formula:

[0158]

[0159] Wherein, S is the offset distance of the train, V is the current running speed of the train, a is the preset acceleration, and T is the communication delay time.

[0160] In one embodiment, the offset distance determination module 970 is specifically configured to:

[0161] The horizontal position coordinate of the train's front envelope is added to the offset distance to obtain the target horizontal position coordinate, and the position coordinate of the corrected front envelope is obtained based on the target horizontal position coordinate and the vertical position coordinate of the train's front envelope.

[0162] In one embodiment, the distance range determination module 910 is specifically configured to:

[0163] For any ranging distance, subtract the ranging distance from the error value to obtain a minimum distance value;

[0164] Adding the ranging distance to the error value to obtain a maximum distance;

[0165] A distance range corresponding to the ranging distance is obtained according to the minimum distance value and the maximum distance value.

[0166] In one embodiment, the positioning area determination module 920 is specifically configured to:

[0167] The intersection area of ​​the multiple distance ranges is determined as the positioning area where the vehicle-mounted UWB base station is located.

[0168] In one embodiment, the first location determination module 940 is specifically configured to:

[0169] According to the position coordinates of the interval boundary points of the target running track position interval, a trajectory straight line function corresponding to the target running track position interval is obtained;

[0170] The position coordinates of the intersection point between the trajectory straight line function and the positioning area are determined as the extreme point position coordinates of the vehicle-mounted UWB base station.

[0171] After introducing a method and apparatus for determining a train envelope according to an exemplary embodiment of the present disclosure, next, an electronic device according to another exemplary embodiment of the present disclosure is introduced.

[0172] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0173] In some possible implementations, the electronic device according to the present disclosure may include at least one processor and at least one computer storage medium. The computer storage medium stores program code, and when the program code is executed by the processor, the processor executes the steps in the method for determining the train envelope according to various exemplary embodiments of the present disclosure described above in this specification. For example, the processor may execute the following steps: Figure 3 Steps 301-306 shown in .

[0174] Refer to the following Fig.10 The electronic device 1000 according to this embodiment of the present disclosure is described. Fig.10 The electronic device 1000 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0175] like Fig.10 As shown, the electronic device 1000 is in the form of a general electronic device. The components of the electronic device 1000 may include but are not limited to: the at least one processor 1001, the at least one computer storage medium 1002, and a bus 1003 connecting different system components (including the computer storage medium 1002 and the processor 1001).

[0176] Bus 1003 represents one or more of several types of bus structures, including a computer storage media bus or computer storage media controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

[0177] The computer storage medium 1002 may include readable media in the form of volatile computer storage media, such as random access computer storage media (RAM) 1021 and / or cache storage media 1022 , and may further include read-only computer storage media (ROM) 1023 .

[0178] The computer storage medium 1002 may also include a program / utility 1025 having a set (at least one) of program modules 1024, such program modules 1024 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0179] The electronic device 1000 may also communicate with one or more external devices 1004 (e.g., keyboards, pointing devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1000, and / or communicate with any device that enables the electronic device 1000 to communicate with one or more other electronic devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1005. Furthermore, the electronic device 1000 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 1006. As shown, the network adapter 1006 communicates with other modules for the electronic device 1000 via a bus 1003. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1000, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0180] In some possible implementations, various aspects of a method for determining a train envelope provided by the present disclosure may also be implemented in the form of a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the method for determining a train envelope according to various exemplary embodiments of the present disclosure described above in this specification.

[0181] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access computer storage medium (RAM), a read-only computer storage medium (ROM), an erasable programmable read-only computer storage medium (EPROM or flash memory), an optical fiber, a portable compact disk read-only computer storage medium (CD-ROM), an optical computer storage medium, a magnetic computer storage medium, or any suitable combination of the above.

[0182] The program product of train envelope determination of the embodiment of the present disclosure can adopt a portable compact disk read-only computer storage medium (CD-ROM) and include program code, and can be run on an electronic device. However, the program product of the present disclosure is not limited to this. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0183] The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0184] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0185] Program code for performing the disclosed operations may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user electronic device, partially on the user device, as a separate software package, partially on the user electronic device and partially on a remote electronic device, or entirely on a remote electronic device or server. In the case of a remote electronic device, the remote electronic device may be connected to the user electronic device via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external electronic device (e.g., via the Internet using an Internet service provider).

[0186] It should be noted that although several modules of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules to be embodied.

[0187] In addition, although the operations of the disclosed method are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0188] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk computer storage media, CD-ROM, optical computer storage media, etc.) containing computer-usable program codes.

[0189] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0190] These computer program instructions may also be stored in a computer-readable computer storage medium that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable computer storage medium produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0191] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0192] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for determining a train envelope, characterized in that: The method comprises: After receiving the ranging distances respectively sent by each ground ultra-wideband UWB base station, a preset error value and a specified number of multiple ranging distances are used to obtain distance ranges corresponding to the multiple ranging distances; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train; Based on multiple distance ranges, obtaining a positioning area where the vehicle-mounted UWB base station is located; Obtaining a target running track position interval where the positioning area is located according to the position coordinates of the area boundary point of the positioning area and the running track position interval of the train corresponding to the on-board UWB base station; Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area; Based on the base station identifier of the vehicle-mounted UWB base station, the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train are obtained, wherein the base station identifier includes the front identifier and the rear identifier of the train; The envelope of the train is obtained according to the position coordinates of the extreme point of the front of the train and the position coordinates of the extreme point of the rear of the train.

2. The method according to claim 1, characterized in that The extreme point position coordinates include the maximum point position coordinates and the minimum point position coordinates; The step of obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train comprises: Determine the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and Determine the position coordinates of the minimum point at the rear of the train as the position coordinates of the rear envelope of the train; The envelope of the train is obtained according to the position coordinates of the front envelope and the position coordinates of the rear envelope.

3. The method according to claim 2, characterized in that After obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, the method further includes: The offset distance of the train is obtained according to the current running speed of the train and the communication delay time sent by the ground UWB base station, wherein the communication delay time is used to characterize the delay time of signal interaction between the ground UWB base station and the vehicle-mounted UWB base station during ranging, and the offset distance is used to characterize the distance that the train is offset in the direction of travel; Using the offset distance to correct the position of the vehicle head envelope, to obtain the position coordinates of the corrected vehicle head envelope; The corrected envelope of the train is obtained by using the position coordinates of the corrected front envelope and the position coordinates of the rear envelope.

4. The method according to claim 3, characterized in that The obtaining of the offset distance of the train according to the current running speed of the train and the communication delay time sent by the ground UWB base station includes: The offset distance of the train is obtained by the following formula: Wherein, S is the offset distance of the train, V is the current running speed of the train, a is the preset acceleration, and T is the communication delay time.

5. The method according to claim 3, characterized in that: The method of using the offset distance to correct the position of the vehicle head envelope to obtain the position coordinates of the corrected vehicle head envelope includes: The horizontal position coordinate of the train's front envelope is added to the offset distance to obtain the target horizontal position coordinate, and the position coordinate of the corrected front envelope is obtained based on the target horizontal position coordinate and the vertical position coordinate of the train's front envelope.

6. The method according to claim 1, characterized in that The method of using a preset error value and a specified number of multiple ranging distances to obtain distance ranges corresponding to the multiple ranging distances respectively includes: For any ranging distance, subtract the ranging distance from the error value to obtain a minimum distance value; Adding the ranging distance to the error value to obtain a maximum distance; A distance range corresponding to the ranging distance is obtained according to the minimum distance value and the maximum distance value.

7. The method according to claim 1, characterized in that The obtaining, based on multiple distance ranges, a positioning area where the vehicle-mounted UWB base station is located, includes: The intersection area of ​​the multiple distance ranges is determined as the positioning area where the vehicle-mounted UWB base station is located.

8. The method according to claim 1, characterized in that The obtaining of the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area includes: According to the position coordinates of the interval boundary points of the target running track position interval, a trajectory straight line function corresponding to the target running track position interval is obtained; The position coordinates of the intersection point between the trajectory straight line function and the positioning area are determined as the extreme point position coordinates of the vehicle-mounted UWB base station.

9. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor and the memory are connected via a bus; The memory stores a computer program, and the processor is configured to perform the following operations based on the computer program: After receiving the ranging distances respectively sent by each ground ultra-wideband UWB base station, using a preset error value and a specified number of multiple ranging distances, obtain the distance ranges corresponding to the multiple ranging distances respectively; wherein the ranging distance is the distance between the ground UWB base station and the vehicle-mounted UWB base station measured by the ground UWB base station, and the vehicle-mounted UWB base station is a base station installed at the front or rear of a train; and, Based on multiple distance ranges, obtaining a positioning area where the vehicle-mounted UWB base station is located; Obtaining a target running track position interval where the positioning area is located according to the position coordinates of the area boundary point of the positioning area and the running track position interval of the train corresponding to the on-board UWB base station; Obtaining the extreme point position coordinates of the vehicle-mounted UWB base station through the target running track position interval and the positioning area; Based on the base station identifier of the vehicle-mounted UWB base station, the extreme point position coordinates of the front of the train and the extreme point position coordinates of the rear of the train are obtained, wherein the base station identifier includes the front identifier and the rear identifier of the train; The envelope of the train is obtained according to the position coordinates of the extreme point of the front of the train and the position coordinates of the extreme point of the rear of the train.

10. The electronic device according to claim 9, characterized in that: The extreme point position coordinates include the maximum point position coordinates and the minimum point position coordinates; The processor executes the step of obtaining the envelope of the train according to the extreme point position coordinates of the front of the train and the extreme point position of the rear of the train, and is specifically configured as follows: Determine the position coordinates of the maximum point of the front of the train as the position coordinates of the front envelope of the train; and Determine the position coordinates of the minimum point at the rear of the train as the position coordinates of the rear envelope of the train; The envelope of the train is obtained according to the position coordinates of the front envelope and the position coordinates of the rear envelope.

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