Train positioning method and system based on Beidou navigation and inertial navigation

Abstract

The invention provides a train positioning method and system based on Beidou navigation and inertial navigation, and the method comprises the steps: arranging a Beidou positioning terminal and inertial navigation equipment on a train, enabling the Beidou positioning terminal to operate independently of vehicle-mounted automatic protection equipment of the train, enabling the Beidou positioning terminal to be connected with the vehicle-mounted automatic protection equipment, and enabling the inertial navigation equipment to operate independently of the vehicle-mounted automatic protection equipment; the Beidou positioning terminal is used as an input source of the vehicle-mounted access unit; satellite positioning data of the Beidou positioning terminal are converted into signal electronic map position information through vehicle-mounted automatic protection equipment; when the train passes through an area in which the satellite signal is lower than a preset signal threshold value, performing auxiliary maintenance on the position information of the signal electronic map through inertial navigation equipment to obtain updated position information of the train; the updated position information is transmitted to the ground based on the vehicle-mounted access unit, so that the ground carries out movement authorization calculation on the train and a rear train of the train based on the updated position information; according to the invention, the train positioning precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of train positioning, and in particular to a train positioning method and system based on Beidou navigation and inertial navigation. Background Art

[0002] With the acceleration of urbanization, urban rail transit has been widely used as an efficient and convenient public transportation mode. The precise positioning of trains is an important guarantee for the safe and efficient operation of urban rail transit, and it is of great significance for the dispatching, control and management of trains.

[0003] At present, the main method of locating urban rail transit trains is to query the transponder and combine it with speed sensors, speed radars and other speed and distance measuring equipment. The advantage of this positioning method is that the train's location information can be obtained in real time, but its positioning accuracy is affected by environmental conditions. In addition, the train reports the train's location to the ground through wireless communication between the train and the ground. The advantage of this method is that the ground can obtain the real-time positioning of the train, but its reliability is affected by the wireless channel.

[0004] It can be seen that the train positioning method in the related art cannot accurately position the train when the environmental conditions are poor or the wireless channel is disconnected. Summary of the invention

[0005] The present invention provides a train positioning method and system based on Beidou navigation and inertial navigation, which are used to solve the defect that the train positioning method in the prior art cannot accurately position the train when the environmental conditions are poor or the wireless channel is disconnected, and realize high-precision positioning of the train while improving the transmission reliability of the positioning result.

[0006] The present invention provides a train positioning method based on Beidou navigation and inertial navigation, comprising the following steps: a Beidou positioning terminal and an inertial navigation device are arranged on the train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal interfaces with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of an on-board access unit; the satellite positioning data of the Beidou positioning terminal is converted into signal electronic map position information through the on-board automatic protection device; when the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map position information is assisted and maintained through the inertial navigation device to obtain updated position information of the train; the updated position information is transmitted to the ground based on the on-board access unit, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

[0007] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after the Beidou positioning terminal and the inertial navigation device are set on the train, the method further comprises: when the on-board automatic protection device fails and causes the train to degrade, the Beidou positioning terminal converts the satellite positioning data into a signal electronic ground signal. Figure 1 dimensional location information, wherein the satellite positioning data is latitude and longitude information; based on the vehicle access unit, the signal is electronically Figure 1 The 3D position information is transmitted to the ground so that the ground can electronically Figure 1 dimensional position information to expand the safety envelope of the train.

[0008] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after the Beidou positioning terminal and the inertial navigation device are set on the train, the method also includes: when the communication road between the train and the ground fails and the on-board automatic protection device is not faulty, the satellite positioning data of the Beidou positioning terminal is converted into precise location information in the signal electronic map through the on-board automatic protection device; and the precise location information is sent to the Beidou positioning terminal; based on the precise location information, a short message of the target frequency is generated by the Beidou positioning terminal, wherein the short message includes the precise location information and the satellite positioning data; and the short message is sent to the ground through the Beidou positioning terminal.

[0009] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after the short message is sent to the ground through the Beidou positioning terminal, the method also includes: receiving the short message through the ground; determining the current position of the train based on the maximum speed of the train in the previous frame of short message, the maximum speed of the train in this frame of short message and the average communication period of the short message; and calculating the movement authorization for the following vehicle of the train based on the current position of the train through the ground.

[0010] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, before the updated position information is transmitted to the ground based on the on-board access unit, the method also includes: setting a target number of transponders and positioning tags on the ground to correct the updated position information of the train.

[0011] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, the train envelope of the train is in a nonlinear growth form.

[0012] The present invention also provides a train positioning system based on Beidou navigation and inertial navigation, comprising the following modules: a setting module, used to set a Beidou positioning terminal and an inertial navigation device on a train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal interfaces with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of an on-board access unit; a conversion module, used to convert the satellite positioning data of the Beidou positioning terminal into signal electronic map position information through the on-board automatic protection device; an auxiliary module, used to assist in maintaining the signal electronic map position information through the inertial navigation device when the train passes through an area where the satellite signal is lower than a preset signal threshold, so as to obtain updated position information of the train; a transmission module, used to transmit the updated position information to the ground based on the on-board access unit, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a train positioning method based on Beidou navigation and inertial navigation as described in any one of the above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the train positioning method based on Beidou navigation and inertial navigation as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned train positioning methods based on Beidou navigation and inertial navigation.

[0016] The train positioning method and system based on Beidou navigation and inertial navigation provided by the present invention are provided with an independent Beidou positioning terminal through the train, the vehicle-mounted Beidou positioning terminal is independent of the vehicle-mounted automatic protection equipment, and the Beidou positioning terminal is interfaced with the vehicle-mounted access unit to transmit the current position information of the Beidou positioning terminal to the ground; at the same time, the Beidou positioning terminal is interfaced with the vehicle-mounted automatic protection equipment as the input source for active positioning of the vehicle-mounted automatic protection equipment, and provides accurate positioning information for the vehicle-mounted automatic protection equipment when the train is operating normally; when the train passes through an area where the satellite signal is lower than the preset signal threshold, the signal electronic map position information is assisted and maintained by the inertial navigation equipment to obtain the updated position information of the train, thereby improving the positioning accuracy, and the inertial navigation maintains and guarantees the safety of the train operation; the ground calculates the mobile authorization for the train and the following vehicle of the train based on the updated position information. Thus, the technical problem that the train positioning method in the related art cannot accurately position the train when the environmental conditions are poor or the wireless channel is disconnected is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a train positioning method based on Beidou navigation and inertial navigation provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the signal satellite positioning principle provided by the present invention.

[0020] Figure 3 It is a structural schematic diagram of a train positioning system based on Beidou navigation and inertial navigation provided by the present invention.

[0021] Figure 4 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] With the acceleration of urbanization, urban rail transit has been widely used as an efficient and convenient public transportation mode. The precise positioning of trains is an important guarantee for the safe and efficient operation of urban rail transit, and it is of great significance for the dispatching, control and management of trains.

[0024] At present, the main way to locate urban rail transit trains is to query the transponder and combine it with speed sensors, speed radars and other speed and distance measuring equipment. The advantage of this positioning method is that the train's location information can be obtained in real time, but its accuracy is affected by equipment performance and environmental conditions. In addition, the train reports the train's position to the ground through vehicle-ground wireless communication. The advantage of this method is that the ground can obtain the real-time positioning of the train, but its reliability is affected by the wireless channel. After the train is downgraded, the vehicle-ground communication is disconnected and the train positioning information is lost. The downgraded train can be tracked by the ground according to the section occupancy status provided by the interlocking equipment, but the train cannot know its own position.

[0025] The positioning of downgraded trains can only be achieved by ground interlocking equipment through idle and occupied checks in sections with larger granularity, and the positioning accuracy is low.

[0026] The high-precision positioning results of the train are transmitted to the ground through the train-to-ground wireless communication channel. When the transmission channel is disturbed, the communication is interrupted and the train is degraded. The efficient operation of the train is subject to this only wireless channel. At the same time, after the train is degraded, its position is only known to the ground, and the train cannot know its own position. This not only affects the operating efficiency of the train, but also increases the operating risk of the train.

[0027] The current high-precision positioning of trains relies on ground-based transponders and on-board speed and distance measurement equipment. A large number of transponders increases construction and operation and maintenance costs.

[0028] A train positioning method based on Beidou navigation and inertial navigation provided by the present invention can solve the problem that downgraded trains cannot be accurately positioned; the existing positioning methods are highly dependent on trackside positioning equipment, which increases construction and maintenance costs. The present invention uses satellite positioning to reduce the number of trackside positioning equipment and reduce construction and operation and maintenance costs; when the train-ground wireless communication fails, the train positioning results can be transmitted to the ground in the form of satellite short messages.

[0029] refer to Figure 1 , Figure 1 : is a flow chart of a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, such as Figure 1 As shown, the method includes the following steps.

[0030] Step 101, set up a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the train's on-board automatic protection equipment, the Beidou positioning terminal interfaces with the on-board automatic protection equipment, and the Beidou positioning terminal is used as an input source for the on-board access unit.

[0031] In the embodiment of the present invention, the train is provided with an independent Beidou positioning terminal and an onboard display terminal, and a Beidou positioning display terminal is provided on the ground. The Beidou positioning terminal operates independently of the onboard automatic train protection equipment (ATP, Automatic Train Protection), and the Beidou positioning terminal interfaces with the onboard access unit (TAU, Train Access Unit) to transmit the current location information of the Beidou positioning terminal to the ground; at the same time, the Beidou positioning terminal interfaces with the onboard automatic protection equipment, as an input source for active positioning of the onboard automatic protection equipment, and provides accurate positioning information for the onboard automatic protection equipment when the train is operating normally.

[0032] The inertial navigation device can be an inertial navigation system (INS), also known as an inertial reference system. It is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it is possible to obtain information such as speed, yaw angle and position in the navigation coordinate system.

[0033] The Beidou positioning terminal and the vehicle-mounted automatic protection device are independently interfaced with the vehicle-mounted access unit respectively, and the vehicle-mounted automatic protection device and the Beidou positioning terminal can communicate bidirectionally.

[0034] Among them, the on-board automatic protection equipment is the core safety equipment of the high-speed railway train operation control system; it coordinates with the ground equipment to achieve train speed control and safety distance monitoring to ensure the safety of the train during operation. The on-board access unit can be regarded as an on-board access unit or on-board terminal, which is responsible for data communication and access services between the train and the ground system.

[0035] Independent Beidou positioning terminals and on-board display terminals are integrated into the train system to receive signals from Beidou satellites to determine key information such as the train's real-time position, speed, and direction. Beidou positioning terminals have strong anti-interference capabilities and high positioning accuracy, and can provide stable positioning services even in complex environments or severe weather conditions.

[0036] Step 102, converting the satellite positioning data of the Beidou positioning terminal into signal electronic map location information through the vehicle-mounted automatic protection equipment.

[0037] Under normal circumstances, the on-board automatic protection equipment receives data from the Beidou positioning terminal and converts it into signal electronic map location information. The positioning information is transmitted to the ground through the on-board access unit. After receiving the location information, the ground calculates the movement authorization for the vehicle and the following vehicle to protect driving safety.

[0038] Step 103, when the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map position information is assisted to be maintained by the inertial navigation equipment to obtain updated position information of the train.

[0039] In areas with poor satellite signals such as mountainous areas and tunnels, inertial navigation equipment is used to assist in maintaining train positioning. During the process of inertial navigation estimating and maintaining the train positioning, the train envelope adopts a nonlinear growth form to improve positioning accuracy. Inertial navigation maintenance ensures the safety of train operation.

[0040] In an embodiment of the present invention, in mountainous areas and tunnels, satellite signals may be severely interfered or even completely lost due to mountain obstruction or the influence of tunnel structure. At this time, satellite navigation systems such as Beidou cannot provide effective positioning information. Inertial navigation equipment (such as gyroscopes, accelerometers, etc.) does not rely on external signals, but is based on the principles of Newtonian mechanics. It measures parameters such as acceleration and angular velocity inside the train, combines the initial position and velocity information, and uses integral operations to estimate the position and velocity of the train. When satellite signals are unavailable, inertial navigation equipment can provide continuous, high-precision positioning information to ensure the safe operation of trains in complex environments.

[0041] Step 104: The updated position information is transmitted to the ground based on the vehicle access unit, so that the ground calculates movement authorization for the train and the following vehicles of the train based on the updated position information.

[0042] In the embodiment of the present invention, after receiving the above-mentioned updated position information on the ground, the updated position information is decoded and analyzed to restore the original positioning information and other driving data. The ground system calculates the movement authorization for the vehicle and the following vehicle based on the received positioning information, combined with the electronic map and real-time traffic data, wherein the movement authorization usually includes the speed, direction, distance and other restrictions allowed for the vehicle to travel, so as to ensure driving safety.

[0043] By calculating the mobile authorization, the ground system can monitor and control the driving status of the vehicle in real time to prevent unsafe behaviors such as speeding and crossing the boundary. If potential safety risks are found, the ground system will promptly issue an alarm or take other measures to ensure driving safety.

[0044] Through the above steps of the embodiment of the present invention, a Beidou positioning terminal and an inertial navigation device are set on the train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal interfaces with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of the on-board access unit; the satellite positioning data of the Beidou positioning terminal is converted into signal electronic map position information through the on-board automatic protection device; when the train passes through an area where the satellite signal is lower than the preset signal threshold, the signal electronic map position information is assisted and maintained by the inertial navigation device to obtain the updated position information of the train; the updated position information is transmitted to the ground based on the on-board access unit, so that the ground calculates the movement authorization for the train and the following vehicle of the train based on the updated position information. This solves the technical problem that the train positioning method in the related art cannot accurately position the train when the environmental conditions are poor or the wireless channel is disconnected.

[0045] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after the Beidou positioning terminal and the inertial navigation device are set on the train, the method further includes: When the on-board automatic protection equipment fails and the train is degraded, the Beidou positioning terminal converts the satellite positioning data into electronic signals. Figure 1 dimensional location information, where satellite positioning data is longitude, latitude and altitude information; Based on the vehicle access unit, the signal is electronically Figure 1 The 3D position information is transmitted to the ground so that the ground can be electronically mapped based on the signal. Figure 1 Maintain position information and expand the safety envelope of the train.

[0046] In the embodiment of the present invention, when the on-board automatic protection equipment fails and causes the train to degrade, the on-board automatic protection equipment no longer receives Beidou positioning data information, and the on-board Beidou positioning terminal automatically interprets the satellite positioning data and converts the latitude and longitude information into signal electronic location information. Figure 1 The train's location information is transmitted to the ground through the onboard access unit. After receiving this location information, the ground regional controller comprehensively considers factors such as the train's satellite positioning error and data transmission delay, expands the train's safety envelope, and calculates movement authorization for the following train based on this information.

[0047] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after the Beidou positioning terminal and the inertial navigation device are set on the train, the method further includes: When the communication road between the train and the ground fails and the on-board automatic protection equipment is not faulty, the on-board automatic protection equipment converts the satellite positioning data of the Beidou positioning terminal into precise location information in the signal electronic map; and sends the precise location information to the Beidou positioning terminal; Generate a short message of the target frequency based on the precise location information through the Beidou positioning terminal, where the short message includes the precise location information and satellite positioning data; The short message is sent to the ground through the Beidou positioning terminal.

[0048] In an embodiment of the present invention, when the vehicle-to-ground wireless communication channel fails and the vehicle-mounted automatic protection equipment is fully functional, the vehicle-mounted satellite positioning terminal sends the satellite positioning data to the vehicle-mounted automatic protection equipment. The vehicle-mounted automatic protection equipment converts the satellite positioning data into precise location information in the signal electronic map through safety logic operations, and then sends it to the vehicle-mounted satellite positioning terminal (Beidou positioning terminal). The satellite positioning terminal sends the positioning result of the vehicle-mounted automatic protection equipment to the ground in the form of a low-frequency short message or through the public network. At the same time, the short message contains the positioning result of the original satellite positioning terminal.

[0049] In the event of a failure in the vehicle-ground wireless communication channel, the vehicle-mounted satellite positioning terminal uses low-frequency short messages (such as Beidou short message service) or borrows public communication networks (such as 4G / 5G, etc.) to send the positioning results to the ground system.

[0050] Low-frequency short message services typically have lower bandwidth and longer latency, but can provide a reliable communication link when other means of communication are unavailable. This service is particularly suitable for sending critical safety information and positioning data.

[0051] If you choose to use the public network for transmission, you need to ensure the stability and security of the connection between the on-board equipment and the public network to avoid data leakage or tampering.

[0052] In the embodiment of the present invention, the short message sent not only contains the precise location information processed by the vehicle-mounted automatic protection equipment, but also contains the direct positioning result of the original satellite positioning terminal. Thus, a data verification and redundant backup method can be provided, and the ground system can compare and verify after receiving the data to ensure the accuracy and reliability of the positioning information.

[0053] Through the embodiments of the present invention, the continuity and security of train positioning information can be maintained even when a train-to-ground wireless communication channel fails.

[0054] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, after sending a short message to the ground through a Beidou positioning terminal, the method further includes: Receiving short messages through the ground; Determine the current position of the train based on the maximum speed of the train in the previous short message frame, the maximum speed of the train in the current short message frame, and the average communication cycle of the short message; Based on the current position of the train at the ground level, the movement authorization is calculated for the train behind.

[0055] In an embodiment of the present invention, the ground area controller receives the satellite positioning result, takes the maximum speed of the train speed in the previous frame positioning message and the train speed in the current frame message as a reference, takes the average period of short message communication as a delay time, accumulates the position information in the short message and the travel distance of the aforementioned maximum speed within the average travel period, and determines it as the position of the train at the current moment, and calculates the movement authorization for the following vehicle based on this position.

[0056] After the ground zone controller (ZC) receives the short message positioning result sent by the vehicle-mounted satellite positioning terminal, in order to more accurately estimate the current train position and calculate the movement authorization of the subsequent train, first, the train speed information is extracted from the positioning messages of the previous frame and the current frame. The speed data in the two frames of messages reflect the movement state of the train at different time points. By comparing the speed values ​​in the two frames of messages, the larger one is selected as the reference speed. This maximum speed is considered to be the highest speed that the train can reach within the time interval between two messages. Determine the average period of short message communication (that is, the average time interval between two frames of messages). Using the selected maximum speed and the average period of short message communication, the distance that the train may travel between two positioning can be estimated. This distance is calculated by multiplying the maximum speed by the communication period. The estimated travel distance is added to the position information in the previous frame of the message to determine the approximate position of the train at the current moment.

[0057] Based on the current determined train position, the ground area controller can further calculate movement authorizations for subsequent trains. Movement authorizations specify the maximum distance and speed a train can travel. When calculating movement authorizations, the ground area controller considers multiple factors such as the current train position, speed, direction, track occupancy, signal status, etc. to ensure safe spacing between trains and avoid potential conflicts.

[0058] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, before the updated position information is transmitted to the ground based on the vehicle access unit, the method further includes: A target number of balises and positioning tags are set up on the ground to correct the updated position information of the train.

[0059] In the embodiment of the present invention, in order to ensure the reliability and continuity of satellite positioning and improve the accuracy of satellite positioning, a small number of passive devices such as transponders or positioning tags are deployed on the ground to assist in correcting the satellite positioning results.

[0060] According to a train positioning method based on Beidou navigation and inertial navigation provided by the present invention, the train envelope of the train is in a nonlinear growth form.

[0061] In an embodiment of the present invention, in areas with poor satellite signals such as mountainous areas and tunnels, inertial navigation equipment is used to assist in maintaining the train positioning. During the process of estimating and maintaining the train positioning by the inertial navigation, the train envelope adopts a nonlinear growth form to improve the positioning accuracy, and the inertial navigation maintains the safety of the train operation.

[0062] In train positioning, the envelope usually refers to the uncertainty range of the possible position of the train. This range will gradually expand over time and with the accumulated errors of the train's motion. The positioning accuracy of the inertial navigation equipment will be affected by many factors, such as sensor errors, integral errors, etc. Over time, these errors will gradually accumulate, resulting in a decrease in positioning accuracy. In complex environments such as mountainous areas and tunnels, the motion state of the train may change (such as acceleration, deceleration, turning, etc.), and these changes will further increase the uncertainty of positioning. The trajectory and speed changes of the train are often not linear, but are affected by a variety of nonlinear factors (such as terrain undulations, track curvature, etc.).

[0063] In the embodiment of the present invention, the train envelope adopts a nonlinear growth form, which can more accurately reflect the actual motion state of the train in a complex environment, thereby improving the estimation accuracy of the positioning accuracy. The train envelope range estimated by nonlinear growth can exceed the safety threshold earlier, providing earlier warning information for train dispatchers and drivers, so that necessary measures can be taken to ensure the safe operation of the train.

[0064] refer to Figure 2 , Figure 2 It is a schematic diagram of the signal satellite positioning principle provided by the present invention, which includes a vehicle-mounted signal system, trackside signal equipment, a satellite ground control center and satellite equipment.

[0065] Among them, the on-board signal system includes: on-board information terminal / human-machine interface, satellite positioning terminal equipment, on-board automatic protection equipment (on-board ATP), inertial navigation system, transponder transmission module (BTM, Balise Transmission Module), and on-board access unit (TAU, Train Access Unit).

[0066] Trackside signal equipment includes: transponder, area controller, ground receiving display terminal, core switch, baseband processing unit (BBU, Building Base band Unit), and remote radio unit (RRU, Remote Radio Unit).

[0067] Through the above-mentioned embodiments provided by the present invention, satellite positioning is used as the input of the vehicle-mounted automatic protection equipment positioning data. After the vehicle-mounted cold start, the vehicle initialization positioning can be completed without moving the vehicle, and the positioning efficiency is high. When the vehicle-ground wireless channel fails, the positioning result of the vehicle-mounted automatic protection equipment is transmitted by satellite short message. The satellite positioning error, inertial navigation drift, data transmission delay, etc. are compensated in the form of expanded envelope to ensure driving safety.

[0068] Compared with the related art, the present invention has at least the following effective effects: Improve positioning accuracy: The present invention adopts the Beidou navigation positioning system and inertial navigation equipment, which can achieve high-precision positioning in areas with poor satellite signals, such as tunnels and mountainous areas, effectively solving the problem of low positioning accuracy in the prior art and improving the operation safety of trains.

[0069] Reduced reliance on trackside positioning equipment: The positioning method of the present invention is independent of the active positioning of the on-board ATP and is applicable to trains in any operating mode and operating level, greatly reducing reliance on trackside positioning equipment and reducing construction and maintenance costs.

[0070] Realize all-weather continuous positioning of trains: The positioning method of the present invention can realize all-weather continuous positioning of trains, which not only improves the operation efficiency of trains, but also reduces the operation risks of trains.

[0071] Providing precise positioning method: For downgraded trains, the positioning method of the present invention can provide precise positioning, so that the train can accurately grasp its own position, thereby improving the operation efficiency and safety of the train.

[0072] Transmitting positioning results in multiple ways: The positioning method of the present invention can be transmitted to the ground through the train-ground wireless communication channel or the public network or Beidou short message, so that the ground can always monitor the running position and running status of the train, thereby improving the reliability of the transmission of positioning results.

[0073] The train positioning system based on Beidou navigation and inertial navigation provided by the present invention is described below. The train positioning system based on Beidou navigation and inertial navigation described below and the train positioning method based on Beidou navigation and inertial navigation described above can refer to each other.

[0074] refer to Figure 3 , Figure 3 It is a structural schematic diagram of a train positioning system based on Beidou navigation and inertial navigation provided by the present invention, which includes: a setting module 301, a conversion module 302, an auxiliary module 303 and a transmission module 304.

[0075] A setting module 301 is used to set a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal interfaces with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of the on-board access unit; The conversion module 302 is used to convert the satellite positioning data of the Beidou positioning terminal into signal electronic map position information through the vehicle-mounted automatic protection equipment; The auxiliary module 303 is used to assist in maintaining the signal electronic map position information through the inertial navigation device when the train passes through an area where the satellite signal is lower than a preset signal threshold, so as to obtain updated position information of the train; The transmission module 304 is used to transmit the updated position information to the ground based on the vehicle access unit, so that the ground calculates the movement authorization for the train and the following vehicles of the train based on the updated position information.

[0076] Specifically, the train positioning system based on Beidou navigation and inertial navigation provided by the present invention can implement all the method steps implemented by the above-mentioned train positioning method embodiment based on Beidou navigation and inertial navigation, and can achieve the same technical effect. The parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0077] Figure 4 is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor (processor) 410 , a communication interface (Communications Interface) 420 , a memory (memory) 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 can call the logic instructions in the memory 430 to execute a train positioning method based on Beidou navigation and inertial navigation, which method includes: setting a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the train's on-board automatic protection equipment, the Beidou positioning terminal interfaces with the on-board automatic protection equipment, and the Beidou positioning terminal is used as an input source for the on-board access unit; through the on-board automatic protection equipment, the satellite positioning data of the Beidou positioning terminal is converted into signal electronic map location information; when the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map location information is assisted in maintaining through the inertial navigation device to obtain updated position information of the train; based on the on-board access unit, the updated position information is transmitted to the ground, so that the ground calculates movement authorization for the train and the train's following vehicle based on the updated position information.

[0078] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0079] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train positioning method based on Beidou navigation and inertial navigation provided by the above methods, the method including: setting a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the train's on-board automatic protection equipment, the Beidou positioning terminal interfaces with the on-board automatic protection equipment, and the Beidou positioning terminal is used as an input source for an on-board access unit; through the on-board automatic protection equipment, the satellite positioning data of the Beidou positioning terminal is converted into signal electronic map location information; when the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map location information is assisted in maintaining through the inertial navigation device to obtain updated position information of the train; based on the on-board access unit, the updated position information is transmitted to the ground, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

[0080] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the train positioning method based on Beidou navigation and inertial navigation provided by the above-mentioned methods, the method comprising: arranging a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the train's on-board automatic protection equipment, the Beidou positioning terminal interfaces with the on-board automatic protection equipment, and the Beidou positioning terminal is used as an input source for an on-board access unit; through the on-board automatic protection equipment, the satellite positioning data of the Beidou positioning terminal is converted into signal electronic map position information; when the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map position information is assisted in maintaining through the inertial navigation device to obtain updated position information of the train; based on the on-board access unit, the updated position information is transmitted to the ground, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

[0081] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0082] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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. However, 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 invention.

Claims

1. A train positioning method based on Beidou navigation and inertial navigation, characterized in that: include: A Beidou positioning terminal and an inertial navigation device are arranged on the train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal interfaces with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of the on-board access unit; The satellite positioning data of the Beidou positioning terminal is converted into signal electronic map position information through the vehicle-mounted automatic protection device; When the train passes through an area where the satellite signal is lower than a preset signal threshold, the signal electronic map position information is assisted to be maintained by the inertial navigation device to obtain updated position information of the train; The updated position information is transmitted to the ground based on the on-board access unit, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

2. The train positioning method based on Beidou navigation and inertial navigation according to claim 1 is characterized in that: After the Beidou positioning terminal and the inertial navigation device are set on the train, the method further includes: When the train is degraded due to a failure of the on-board automatic protection equipment, the satellite positioning data is converted into one-dimensional position information of a signal electronic map through the Beidou positioning terminal, wherein the satellite positioning data is latitude and longitude information; The one-dimensional position information of the signal electronic map is transmitted to the ground based on the on-board access unit, so that the ground expands the safety envelope of the train based on the one-dimensional position information of the signal electronic map.

3. The train positioning method based on Beidou navigation and inertial navigation according to claim 1 is characterized in that: After the Beidou positioning terminal and the inertial navigation device are set on the train, the method further includes: When the communication road between the train and the ground fails and the on-board automatic protection device is not faulty, the satellite positioning data of the Beidou positioning terminal is converted into precise location information in the signal electronic map through the on-board automatic protection device; and the precise location information is sent to the Beidou positioning terminal; Generate a short message of a target frequency based on the precise location information by the Beidou positioning terminal, wherein the short message includes the precise location information and the satellite positioning data; The short message is sent to the ground through the Beidou positioning terminal.

4. The train positioning method based on Beidou navigation and inertial navigation according to claim 3 is characterized in that: After sending the short message to the ground through the Beidou positioning terminal, the method further includes: receiving the short message via the ground; Determine the current position of the train based on the maximum speed of the train in the previous frame of short message, the maximum speed of the train in the current frame of short message and the average communication cycle of the short message; Based on the current position of the train at a certain moment, the ground is used to calculate movement authorization for the following vehicle of the train.

5. The train positioning method based on Beidou navigation and inertial navigation according to claim 1 is characterized in that: Before transmitting the updated position information to the ground based on the vehicle-mounted access unit, the method further includes: A target number of transponders and positioning tags are set on the ground to correct the updated position information of the train.

6. The train positioning method based on Beidou navigation and inertial navigation according to claim 1 is characterized in that: The train envelope of the train is in a nonlinear growth form.

7. A train positioning system based on Beidou navigation and inertial navigation, characterized in that: include: A setting module is used to set a Beidou positioning terminal and an inertial navigation device on the train, wherein the Beidou positioning terminal operates independently of the on-board automatic protection device of the train, the Beidou positioning terminal is interfaced with the on-board automatic protection device, and the Beidou positioning terminal is used as an input source of the on-board access unit; A conversion module, used to convert the satellite positioning data of the Beidou positioning terminal into signal electronic map position information through the vehicle-mounted automatic protection device; an auxiliary module, used for assisting in maintaining the signal electronic map position information through the inertial navigation device to obtain updated position information of the train when the train passes through an area where the satellite signal is lower than a preset signal threshold; A transmission module is used to transmit the updated position information to the ground based on the on-board access unit, so that the ground calculates movement authorization for the train and the following vehicle of the train based on the updated position information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the train positioning method based on Beidou navigation and inertial navigation as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the train positioning method based on Beidou navigation and inertial navigation as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the train positioning method based on Beidou navigation and inertial navigation as described in any one of claims 1 to 6 is implemented.

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