Train positioning method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of train positioning, and provides a train positioning method and device, electronic equipment and a medium. The method comprises the following steps: controlling ground distance measuring equipment to perform distance measuring communication with train distance measuring equipment arranged on a train, and acquiring a real-time relative distance between the ground distance measuring equipment and the train distance measuring equipment based on the distance measuring communication; based on the real-time relative distance, determining a first position relation between the ground distance measuring equipment and the train distance measuring equipment; and determining a second position relationship between the train track section and the train distance measuring equipment according to the ground position relationship between the ground distance measuring equipment and the corresponding train track section and the first position relationship. According to the scheme, only real-time communication between the ground distance measuring equipment and the train distance measuring equipment is needed, whole-line cable laying is not needed, the situation that the train is in the power-on time period of the ground equipment when passing through the ground equipment is not needed either, and therefore the method has the advantages of being real-time, efficient, reliable, stable and low in cost.

Description

Technical Field

[0001] The present application relates to the technical field of train positioning, and in particular to a train positioning method, device, electronic equipment and medium. Background Art

[0002] Regardless of CTCS or CBTC, train occupancy checks are performed based on ground detection equipment.

[0003] The current train occupancy check is used to locate whether the train is in a certain track section. It can be achieved through changes in the electrical parameters of the railway rails, or by comparing the counts of a pair of axle counting devices. The former requires laying cables along the entire line, which has high operation and maintenance costs, and the latter has high time requirements. If any axle counting device is not powered on in time, that is, if an axle counting device is not powered on when the train passes, then effective inspection cannot be achieved based on this pair of axle counting devices, and the specific location of the train can only be checked manually.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a train positioning method, device, electronic device and medium to solve the problem of high operational requirements for train occupancy inspection in the prior art.

[0006] A first aspect of an embodiment of the present application provides a train positioning method, which is applied to a ground track system, comprising:

[0007] Controlling the distance measurement communication between the ground distance measurement device and the train distance measurement device on the train, and obtaining the real-time relative distance between the ground distance measurement device and the train distance measurement device based on the distance measurement communication;

[0008] Determine a first position relationship between the ground distance measuring device and the train distance measuring device based on the real-time relative distance;

[0009] Determine a second position relationship between the train track section and the train distance measuring device according to a ground position relationship between the ground distance measuring device and the corresponding train track section and a first position relationship;

[0010] The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device within the train track section.

[0011] A second aspect of an embodiment of the present application provides a train positioning device, comprising:

[0012] The distance measuring module is used to control the distance measuring communication between the ground distance measuring device and the train distance measuring device on the train, and obtain the real-time relative distance between the ground distance measuring device and the train distance measuring device based on the distance measuring communication;

[0013] A first position module, used to determine a first position relationship between the ground distance measuring device and the train distance measuring device based on the real-time relative distance;

[0014] A second position module, used to determine a second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship;

[0015] The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device within the train track section.

[0016] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0017] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0018] Compared with the prior art, the beneficial effects of the embodiments of the present application include at least the following: the embodiments of the present application determine the real-time relative distance between the ground ranging equipment and the train ranging equipment through ranging communication between the ground ranging equipment and the train ranging equipment, thereby obtaining a first position relationship between the ground ranging equipment and the train ranging equipment, and further derive a second position relationship between the train track section and the train ranging equipment based on the ground position relationship between the train ranging equipment and the train track section. The second position relationship can quickly and effectively meet the needs of train occupancy inspection, and the present solution only requires real-time communication between the ground ranging equipment and the train ranging equipment. It does not require the laying of cables along the entire line, nor does it require the train to be within the power-on time period of the ground equipment when passing through it. Therefore, the present solution is real-time, efficient, reliable, stable, and low-cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a flow chart of a train positioning method provided in an embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of an application scenario of an embodiment of the present application;

[0022] Figure 3 It is a position diagram of a train positioning method provided in an embodiment of the present application;

[0023] Figure 4 It is a position diagram of another train positioning method provided in an embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of a train positioning device provided in an embodiment of the present application;

[0025] Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] A train positioning method, device, electronic device and medium according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 It is a flow chart of a train positioning method provided in an embodiment of the present application. Figure 1 The train positioning method can be executed by the control system. Figure 1 As shown, the train positioning method includes:

[0029] S101: Controlling the ground distance measuring device to perform distance measuring communication with the train distance measuring device provided on the train, and obtaining the real-time relative distance between the ground distance measuring device and the train distance measuring device based on the distance measuring communication;

[0030] S102: Determine a first position relationship between the ground distance measuring device and the train distance measuring device based on the real-time relative distance;

[0031] S103: determining a second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship;

[0032] The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device within the train track section.

[0033] Figure 2 2 is a schematic diagram of an application scenario of an embodiment of the present application. The application scenario may include a ground distance measuring device 201, a train 202, a train distance measuring device 203 corresponding to the train 202, and a train track section 204 corresponding to the ground distance measuring device 201.

[0034] The train distance measuring device 203 is arranged on the train 202 and moves with the train 202; the ground distance measuring device 201 and the train track section 204 are arranged on the ground and have fixed positions on the ground. The ground mentioned here refers to a spatial area relative to the train; a train track section 204 refers to a section of a specific train track, and the train 202 should move along different train track sections 204. The real-time relative distance between the train distance measuring device 203 and the ground distance measuring device 201 will change with the movement of the train 202, and the ground distance measuring device 201 and the train distance measuring device 203 can perform distance measurement communication to determine the real-time relative distance.

[0035] It can be understood that since the positions of the ground ranging equipment and the train track section are fixed, the relative position relationship between the two is determined and can be recorded as the ground position relationship; and the train ranging equipment can reflect the position of the train. After the first position relationship between the train ranging equipment and the ground ranging equipment is determined through ranging communication, the relative position relationship between the train ranging equipment and the train track section can be further derived based on the ground position relationship and the first position relationship, that is, the second position relationship, which may specifically include whether the train ranging equipment is located in the train track section, the specific position of the train ranging equipment in the train track section, etc. Since the second position relationship can be determined by executing one round of steps S101-S103 in this embodiment, the execution of this embodiment only requires that the train is equipped with a train ranging device that is powered on and in working state, and the ground track section is equipped with a ground ranging device that is powered on and in working state. The configuration cost and operation and maintenance cost of the ranging equipment are much lower than the solution of laying cables along the entire line; and the ranging equipment is implemented using wireless ranging communication with a large communication range, and it is not required that the train must pass when the equipment is powered on. As long as the distance between the train ranging equipment and the ground ranging equipment is within the communication range, ranging communication can be achieved, thereby realizing the method of this embodiment. This solution significantly relaxes the requirements of the train positioning method in time and space, and can achieve efficient and convenient train positioning purposes with low cost and simple ranging communication.

[0036] It should be noted that Figure 2The specific types, quantities and forms of expression of the ground ranging device 201, the train 202, the train ranging device 203 corresponding to the train 202, and the train track section 204 corresponding to the ground ranging device 201 can be adjusted according to the actual needs of the application scenario, and the embodiments of the present application do not limit this.

[0037] Specifically, the ranging communication between the ground ranging device and the train ranging device can be based on UltraWide Band (UWB). UWB is a wireless communication technology with a signal bandwidth of more than 500MHz, usually operating in the frequency band of 3.1-10.6GHz. Since the UWB signal has an extremely wide bandwidth, it can resist multipath effects and has better anti-interference ability, and is widely used in short-distance positioning. Based on the ranging communication of UWB, the specific ranging means include unilateral two-way ranging, bilateral two-way ranging, etc. Specifically, assuming that the position of the on-board ranging device does not change in a short time, the on-board ranging device sends a message to the ground ranging device at time t1, the ground ranging device receives the message at time time1, and processes the message again and broadcasts it at time time2. The on-board ranging device receives the broadcast message at time t2, then the real-time relative distance between the on-board ranging device and the ground ranging device can be calculated at this time d = ((t2-t1)-(time2-time1))×c / 2, where c is the speed of light.

[0038] It is understandable that for a ground ranging device, its communication range includes the communication radius in distance and the communication angle interval in angle. If a train ranging device is located within the communication range, the ground ranging device and the train ranging device can obtain the real-time relative distance between the ground ranging device and the train ranging device through ranging communication. Furthermore, how to accurately obtain the second position relationship between the train ranging device and the train track section through real-time relative distance, there are usually two ideas, one is to use multiple ground ranging devices as the calculation basis, and the other is to use at least one ground ranging device and the train track section as the calculation basis.

[0039] Among them, in the first idea, at the same time, multiple real-time relative distances corresponding to the same train distance measuring device are obtained through multiple ground distance measuring devices, and the unique position coordinates of this train distance measuring device relative to all ground distance measuring devices can be determined through geometric operations. In fact, at this time, the position coordinates of each ground distance measuring device are known by default, and then the real-time relative distance is used to determine the real-time position coordinates of the train distance measuring device. At the same time, the corresponding train track section is also represented by the form of position coordinates. According to the position coordinates, it can be analyzed whether the current train distance measuring device is on the train track section. If the current train distance measuring device is on the train track section, the specific position of the train distance measuring device in the train track section can also be analyzed according to the position coordinates. The specific position refers to the relative position of the train distance measuring device in the train track section, such as the front section of the section, the back section of the section, and other positions.

[0040] Therefore, according to the first idea, based on the real-time relative distance, the process of determining the first position relationship between the ground distance measuring device and the train distance measuring device includes:

[0041] Based on the device position coordinates of each ground distance measuring device, the train position coordinates of the train distance measuring device are determined by using multiple real-time relative distances of multiple ground distance measuring devices corresponding to the same train distance measuring device at the same time;

[0042] Correspondingly, the process of determining the second position relationship between the train track section and the train ranging device according to the ground position relationship between the ground ranging device and the corresponding train track section and the first position relationship includes:

[0043] Based on the track position coordinates of the same train track area corresponding to multiple ground ranging devices, a second positional relationship between the train position coordinates and the track position coordinates is analyzed.

[0044] It can be understood that the equipment location coordinates, train location coordinates, and track location coordinates are all in the same location coordinate system, which can be an earth coordinate system marked with longitude and latitude, wherein the equipment location coordinates and the train location coordinates correspond to specific location points, which are used to describe the coordinates of the location points corresponding to the ground ranging equipment and the train ranging equipment; the track location coordinates correspond to the location of this section of the track in the train track area, which are used to describe the location of the train track area, and can usually be represented by a set of location points listed in the form of location coordinates or a curve relationship.

[0045] Among them, in the second idea, the positions of the ground distance measuring device and the train track section remain unchanged, so the positional relationship between the ground distance measuring device and the train track section remains unchanged, and the positional relationship includes distance and orientation. In fact, in the second idea, the entire train track is regarded as a curve, the train track section is a fixed line segment on the curve, and the ground distance measuring device is regarded as a fixed position point. Assuming that the train always runs on the train track, the real-time relative distance between the train distance measuring device and the ground distance measuring device is the distance between the ground distance measuring device and a point on the train track. Draw a circle with the ground distance measuring device as the center and the real-time relative distance as the radius. The obtained circular curve intersects with the train track, and the actual position of the train distance measuring device falls on the intersection of the circular curve and the train track. Therefore, based on the specific position and real-time relative distance of the ground distance measuring device and the train track section, the position of the intersection of the circular curve and the train track can be determined. If there are multiple intersections, the intersection corresponding to the current train distance measuring device can be further determined from the multiple intersections according to the communication direction between the train distance measuring device and the ground distance measuring device. Therefore, in some embodiments, the first position relationship is: the train distance measuring device is located in the communication direction of the ground distance measuring device, and the distance between the train distance measuring device and the ground distance measuring device is a real-time relative distance;

[0046] Correspondingly, the process of determining the second position relationship between the train track section and the train ranging device according to the ground position relationship between the ground ranging device and the corresponding train track section and the first position relationship includes:

[0047] The second positional relationship between the train track section and the train distance measuring device is determined based on the ground positional relationship between the ground distance measuring device and the corresponding train track section, the track shape of the train track section and the first positional relationship.

[0048] Specifically, the shape of the train track is usually designed according to the specific terrain environment, and there are generally two types: straight tracks and curved tracks; the ground ranging equipment is set in a ground area close to the train track section, or is set on the train track section and the position point coincides with the train track section. The setting of the ground ranging equipment requires that the communication range can cover the corresponding train track section. For straight tracks, the setting spacing of ground ranging equipment is usually not more than 1000m. If redundancy is considered, a ground ranging equipment can be set every 500m; for curved tracks, considering that the visible distance of the curve is limited, especially the visible distance of the curve in the tunnel is limited, the shape parameters of the curve need to be considered when setting the ground ranging equipment on the curve. The difference between the arc length and the chord length between the two ground ranging equipment set on the train track section cannot be too large, and the difference between the arc length and the chord length is usually required not to exceed 100m.

[0049] Specifically, the position of the train distance measuring device on the straight road can be determined by constructing a right triangle with the train track as one of the right angles, such as Figure 3As shown, the ground distance measuring device and the train distance measuring device are respectively the two acute-angle endpoints A and B of the right triangle, and the track projection position of the ground distance measuring device projected onto the train track section is used as the right-angle endpoint C of the right triangle. Based on the ground position relationship between the ground distance measuring device and the train track section, the distance between the ground distance measuring device and the train track section can be known, that is, the length of the right-angled side AC in the right triangle. At present, the real-time relative distance between the ground distance measuring device and the train distance measuring device can be obtained, that is, the length of the hypotenuse AB in the right triangle. Based on the trigonometric relationship calculation, specifically based on the Pythagorean theorem calculation, the length of the right-angled side BC in the right triangle can be obtained, and then it can be determined whether the train distance measuring device is located on the straight road, and if it is located on the straight road, the specific position of the train distance measuring device on the straight road.

[0050] It can be understood that the train track includes multiple train track sections, each train track section is a part of the train track, the ground ranging device can be projected onto the train track, and the train ranging device is usually on the train track. Each ground ranging device can be projected onto the train track. Generally, the ground ranging device takes communication efficiency into consideration so that the ground ranging device can be projected onto the corresponding train track section; the train ranging device is not necessarily within the train track section, but may also be on the extension line of the train track section.

[0051] It can be understood that if the distance between the ground ranging device and the train track section is zero, that is, the ground ranging device is directly located on the train track, if the train track section is a straight road at this time, the position of the train ranging device can be obtained by simple addition and subtraction: the position of the ground ranging device is moved on the train track by the real-time relative distance, and the moving direction is determined by the communication direction of the ground ranging device and the shape of the train track.

[0052] It can be understood that in this embodiment, the train tracks are all one-way, and the movement directions on the train tracks are only forward and backward. The communication direction of the ground ranging device can be determined by the signal transmission angle range of the device, for example, Figure 3 In the description, the ground ranging device has two signal transmission angle intervals. A vertical line is drawn through the ground ranging device to the train track interval. The vertical line clearly divides the communication direction of the ground ranging device into two intervals on the left and right of the ground ranging device. At this time, the communication direction can be described as two communication directions of 0° to 180° and 180° to 360°. Specifically, when describing the communication direction, the ground position relationship between the ground ranging device and the train track is used as the basis. The essential description is whether the train ranging device is on the left or right side, or the front or rear side of the ground ranging device after the ground ranging device divides the train track into two parts, front and back, or left and right, so as to more quickly and accurately determine the only intersection among multiple intersections.

[0053] Therefore, in some embodiments, the process of determining the second positional relationship between the train track section and the train ranging device according to the ground positional relationship between the ground ranging device and the corresponding train track section, the track shape of the train track section, and the first positional relationship includes:

[0054] When the track shape of the train track section corresponding to the ground distance measuring device is a straight track, the track projection position of the ground distance measuring device in the train track section is determined according to the ground position relationship between the ground distance measuring device and the train track section;

[0055] Based on the relationship between the track projection position and the first position, the specific position of the train distance measuring equipment on the straight road is determined through trigonometric calculation.

[0056] It is understandable that the location of the train distance measuring device on the curve is similar to that on the straight road, but in order to reduce the calculation complexity, the train distance measuring device is usually directly set on the train track, and the target parameters of the curve are further used to perform geometric operations. The target parameters of the curve include radian, radius, etc. Figure 4 As shown, the ground distance measuring device A and the train distance measuring device B are both located on the track of the train track. The real-time relative distance AB is used as the chord length. The target parameters of the curve of the train track are known. The position of the ground distance measuring device A on the train track section is obtained based on the ground position relationship between the ground distance measuring device and the train track section. The position of the train distance measuring device B can be determined by performing geometric operations of circles and triangles.

[0057] Therefore, in some embodiments, the process of determining the second positional relationship between the train track section and the train ranging device according to the ground positional relationship between the ground ranging device and the corresponding train track section, the track shape of the train track section, and the first positional relationship includes:

[0058] When the track shape of the train track section corresponding to the ground ranging device is a curve of the target parameters, and the ground ranging device is set at a certain track position of the curve, the ground ranging device and the train ranging device are used as the two end points of the target chord, and the real-time relative distance is used as the chord length of the target chord. Based on the target parameters, the specific position of the train ranging device on the curve is determined.

[0059] It can be understood that for judging whether the train distance measuring equipment is located within the train track section, the specific position of the train distance measuring equipment can be ignored. When the train runs on the train track, the real-time relative distance between the train distance measuring equipment and the ground distance measuring equipment changes, and the real-time relative distance corresponding to the train distance measuring equipment being located within the train track section is always within a specific area range, which is determined based on the ground position relationship between the ground distance measuring equipment and the train track section. The maximum value of the area range is the maximum distance of the section, which is usually the distance between a certain section endpoint of the train track section and the ground distance measuring equipment. The minimum value is the minimum distance of the section, which is usually the distance between another section endpoint, or the shortest distance between the train track section and the ground distance measuring equipment. It can be specifically determined based on the ground position relationship between the ground distance measuring equipment and the train track section, the shape of the train track section, etc.

[0060] Therefore, in some embodiments, the process of determining the second position relationship between the train track section and the train ranging device according to the ground position relationship and the first position relationship between the ground ranging device and the corresponding train track section includes:

[0061] According to the ground position relationship between the ground distance measuring device and the corresponding train track section, the maximum distance of the train track section corresponding to the ground distance measuring device is obtained;

[0062] Determine whether the real-time relative distance is less than the maximum distance of the interval;

[0063] If so, it is determined that the train distance measuring device is located within the train track section;

[0064] If not, it is determined that the train distance measuring equipment is located outside the train track section.

[0065] It is understandable that the train distance measuring device is located outside the train track section, which only indicates that the train distance measuring device has left the train track section, usually entering the next train track section. It is understandable that based on the judgment of the second position relationship of multiple train distance measuring devices of the same train, it is also possible to further analyze whether the train is located in the train track section, whether the train has entered a certain train track section, whether the train has completely left a certain train track section, etc., which can be set according to actual conditions and user needs.

[0066] Similarly, if the real-time relative distance is less than the minimum distance of the section, the train distance measuring equipment has left the train track section and is likely to have failed, and an alarm message may be issued.

[0067] It can be understood that, when the train runs on the train track, the real-time relative distance between the train distance measuring device and the ground distance measuring device changes, and the train operation has a certain time plan. Therefore, whether the train operation is normal can be judged based on whether the change in the real-time relative distance over time conforms to the corresponding time plan. At this time, the method of this embodiment also includes:

[0068] Monitoring whether the change of the second position relationship over time meets the normal operating conditions, where the normal operating conditions include speed operating conditions and / or position change conditions;

[0069] When the second position relationship changes over time and does not meet the normal operating conditions, train position error information is generated.

[0070] Among them, the speed operation condition includes the speed and acceleration operation requirements. The second position relationship can calculate the real-time speed and acceleration and analyze whether the speed operation conditions are met. The position change condition includes whether the position is within the corresponding area range. The specific settings can be made according to the actual situation and are not limited here.

[0071] It can be understood that different train track sections, ground distance measuring equipment, train distance measuring equipment, and trains are all pre-configured with their own identification information and corresponding relationships to ensure that the corresponding relationships are effectively handled during the method of this embodiment and subsequent information processing and that no information confusion occurs.

[0072] In the method of this embodiment, the train ranging device and the ground ranging device are in two-way communication. Therefore, the method of this embodiment can be executed by a ground control system on the ground to obtain relevant position information of the train passing through the current ground ranging device, and can also be executed by a train control system on the train to obtain relevant position information of the train track where the current train is located. The specific selection and setting is based on actual needs and is not limited here.

[0073] It is understandable that the method of this embodiment can obtain the second position relationship between the train distance measuring device and the train track section, and further obtain the train track section where the train distance measuring device is actually located. Furthermore, the method of this embodiment can also be combined with other methods, such as a train occupancy inspection method based on track circuits and axle counting devices, such as a positioning method based on ground transponders and on-board speed sensors, etc., to achieve more complex or more accurate position information processing requirements. This is not limited here.

[0074] The method of the embodiment of the present application determines the real-time relative distance between the ground ranging device and the train ranging device through ranging communication between the ground ranging device and the train ranging device, and then obtains a first position relationship between the ground ranging device and the train ranging device, and further derives a second position relationship between the train track section and the train ranging device based on the ground position relationship between the train ranging device and the train track section. The second position relationship can quickly and effectively meet the needs of train occupancy inspection, and this solution only requires real-time communication between the ground ranging device and the train ranging device. It does not require the laying of cables along the entire line, nor does it require the train to be within the power-on time period of the ground equipment when passing through it. Therefore, this solution is real-time, efficient, reliable, stable, and low-cost.

[0075] All the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here. It should be understood that the size of the sequence number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0076] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0077] Figure 5 Schematic diagram of a train positioning device provided in an embodiment of the present application. Figure 5 As shown, the train positioning device comprises:

[0078] The ranging module 500 is used to control the ranging communication between the ground ranging device and the train ranging device provided on the train, and obtain the real-time relative distance between the ground ranging device and the train ranging device based on the ranging communication;

[0079] A first position module 501, used to determine a first position relationship between a ground distance measuring device and a train distance measuring device based on a real-time relative distance;

[0080] A second position module 502, configured to determine a second position relationship between the train track section and the train distance measuring device according to a ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship;

[0081] The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device within the train track section.

[0082] The device of the embodiment of the present application determines the real-time relative distance between the ground ranging device and the train ranging device through ranging communication between the ground ranging device and the train ranging device, and then obtains a first position relationship between the ground ranging device and the train ranging device, and further derives a second position relationship between the train track section and the train ranging device based on the ground position relationship between the train ranging device and the train track section. The second position relationship can quickly and effectively meet the needs of train occupancy inspection, and this solution only requires real-time communication between the ground ranging device and the train ranging device. It does not require the laying of cables along the entire line, nor does it require the train to be within the power-on time period of the ground equipment when passing through it. Therefore, this solution is real-time, efficient, reliable, stable, and low-cost.

[0083] In an exemplary embodiment, the first location module is specifically configured to:

[0084] Based on the device position coordinates of each ground distance measuring device, the train position coordinates of the train distance measuring device are determined by using multiple real-time relative distances of multiple ground distance measuring devices corresponding to the same train distance measuring device at the same time;

[0085] The second position module is specifically used for:

[0086] Based on the track position coordinates of the same train track area corresponding to multiple ground ranging devices, a second positional relationship between the train position coordinates and the track position coordinates is analyzed.

[0087] In an exemplary embodiment, the first position relationship is: the train distance measuring device is located in the communication direction of the ground distance measuring device, and the distance between the train distance measuring device and the ground distance measuring device is a real-time relative distance;

[0088] The second position module is specifically used for:

[0089] The second positional relationship between the train track section and the train distance measuring device is determined based on the ground positional relationship between the ground distance measuring device and the corresponding train track section, the track shape of the train track section and the first positional relationship.

[0090] In an exemplary embodiment, the second location module is specifically configured to:

[0091] When the track shape of the train track section corresponding to the ground distance measuring device is a straight track, the track projection position of the ground distance measuring device in the train track section is determined according to the ground position relationship between the ground distance measuring device and the train track section;

[0092] Based on the relationship between the track projection position and the first position, the specific position of the train distance measuring equipment on the straight road is determined through trigonometric calculation.

[0093] In an exemplary embodiment, the second location module is specifically configured to:

[0094] When the track shape of the train track section corresponding to the ground ranging device is a curve of the target parameters, and the ground ranging device is set at a certain track position of the curve, the ground ranging device and the train ranging device are used as the two end points of the target chord, and the real-time relative distance is used as the chord length of the target chord. Based on the target parameters, the specific position of the train ranging device on the curve is determined.

[0095] In an exemplary embodiment, the second location module is specifically configured to:

[0096] According to the ground position relationship between the ground distance measuring device and the corresponding train track section, the maximum distance of the train track section corresponding to the ground distance measuring device is obtained;

[0097] Determine whether the real-time relative distance is less than the maximum distance of the interval;

[0098] If so, it is determined that the train distance measuring device is located within the train track section;

[0099] If not, it is determined that the train distance measuring equipment is located outside the train track section.

[0100] In an exemplary embodiment, the second location module is further configured to:

[0101] Monitoring whether the change of the second position relationship over time meets the normal operating conditions, where the normal operating conditions include speed operating conditions and / or position change conditions;

[0102] When the second position relationship changes over time and does not meet the normal operating conditions, train position error information is generated.

[0103] Figure 6 Schematic diagram of an electronic device 6 provided in an embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601. When the processor 601 executes the computer program 603, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 601 executes the computer program 603, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0104] The electronic device 6 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 6 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that Figure 6 The electronic device 6 is merely an example and does not limit the electronic device 6 . The electronic device 6 may include more or less components than those shown in the figure, or different components.

[0105] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (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.

[0106] The memory 602 may be an internal storage unit of the electronic device 6, for example, a hard disk or memory of the electronic device 6. The memory 602 may also be an external storage device of the electronic device 6, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 6. The memory 602 may also include both an internal storage unit of the electronic device 6 and an external storage device. The memory 602 is used to store computer programs and other programs and data required by the electronic device.

[0107] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A train positioning method, characterized in that: include: Controlling the ground distance measuring device to perform distance measuring communication with the train distance measuring device provided on the train, and obtaining the real-time relative distance between the ground distance measuring device and the train distance measuring device based on the distance measuring communication; Based on the real-time relative distance, determining a first positional relationship between the ground distance measuring device and the train distance measuring device; Determine a second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship; The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device in the train track section.

2. The method according to claim 1, characterized in that The process of determining a first positional relationship between the ground distance measuring device and the train distance measuring device based on the real-time relative distance includes: Based on the device position coordinates of each of the ground distance measuring devices, the train position coordinates of the train distance measuring device are determined by using the multiple real-time relative distances of the multiple ground distance measuring devices corresponding to the same train distance measuring device at the same time; Correspondingly, the process of determining the second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship includes: Based on the track position coordinates of the same train track area corresponding to the multiple ground ranging devices, the second position relationship between the train position coordinates and the track position coordinates is analyzed.

3. The method according to claim 1, characterized in that The first position relationship is: the train distance measuring device is located in the communication direction of the ground distance measuring device, and the distance between the train distance measuring device and the ground distance measuring device is the real-time relative distance; Correspondingly, the process of determining the second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship includes: The second positional relationship between the train track section and the train distance measuring device is determined based on the ground positional relationship between the ground distance measuring device and the corresponding train track section, the track shape of the train track section and the first positional relationship.

4. The method according to claim 3, characterized in that The process of determining a second positional relationship between the train track section and the train distance measuring device according to a ground positional relationship between the ground distance measuring device and a corresponding train track section, a track shape of the train track section, and the first positional relationship includes: When the track shape of the train track section corresponding to the ground distance measuring device is a straight track, determining the track projection position of the ground distance measuring device in the train track section according to the ground position relationship between the ground distance measuring device and the train track section; Based on the relationship between the track projection position and the first position, the specific position of the train distance measuring device on the straight road is determined through trigonometric calculation.

5. The method according to claim 3, characterized in that: The process of determining a second positional relationship between the train track section and the train distance measuring device according to a ground positional relationship between the ground distance measuring device and a corresponding train track section, a track shape of the train track section, and the first positional relationship includes: When the track shape of the train track section corresponding to the ground ranging device is a curve of the target parameters, and the ground ranging device is set at a certain track position of the curve, the ground ranging device and the train ranging device are used as the two endpoints of the target chord, and the real-time relative distance is used as the chord length of the target chord, and based on the target parameters, the specific position of the train ranging device on the curve is determined.

6. The method according to claim 1, characterized in that The process of determining a second position relationship between the train track section and the train distance measuring device according to the ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship includes: According to the ground position relationship between the ground distance measuring device and the corresponding train track section, obtaining the maximum distance of the train track section corresponding to the ground distance measuring device; Determine whether the real-time relative distance is less than the maximum distance of the interval; If so, determining that the train distance measuring device is located within the train track section; If not, it is determined that the train distance measuring device is located outside the train track section.

7. The method according to any one of claims 1 to 6, characterized in that Also includes: monitoring whether the change of the second position relationship over time meets normal operating conditions, wherein the normal operating conditions include speed operating conditions and / or position change conditions; When the change of the second position relationship over time does not meet the normal operating conditions, train position error information is generated.

8. A train positioning device, characterized in that: include: A distance measuring module is used to control the distance measuring communication between the ground distance measuring device and the train distance measuring device arranged on the train, and obtain the real-time relative distance between the ground distance measuring device and the train distance measuring device based on the distance measuring communication; A first position module, used for determining a first position relationship between the ground distance measuring device and the train distance measuring device based on the real-time relative distance; A second position module, used for determining a second position relationship between the train track section and the train distance measuring device according to a ground position relationship between the ground distance measuring device and the corresponding train track section and the first position relationship; The second position relationship includes: whether the train distance measuring device is located within the train track section, and / or the specific position of the train distance measuring device in the train track section.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, 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 7 are implemented.

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