Full-scene multi-stage linkage simulation test system and method, electronic equipment and storage medium

Abstract

The invention discloses a full-scene multi-stage linkage simulation test system and method, electronic equipment and a storage medium, which are applied to a train autonomous operation control system, and the system comprises a cooperative positioning and sensing simulation module which is used for realizing Beidou high-safety and high-precision positioning under multi-source spatio-temporal information fusion; the ground signal control system simulation module is connected with the cooperative positioning and sensing simulation module; a vehicle and vehicle-mounted control system simulation module; and a trackside simulation module. According to the method, comprehensive processing of Beidou positioning, train data, environment perception and trackside data is realized, synchronous fusion and dynamic collaborative perception of'air-train-ground-ring 'multi-dimensional information are realized, and train-road-ring multi-dimensional information space-time consistency synchronization is realized by constructing a Beidou virtual space-time reference, so that the system is high in reliability and high in reliability. The problems that a traditional train control system is not uniform in space-time benchmark and large in simulation test data analysis difficulty are solved.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a full-scenario multi-level linkage simulation test system, method, electronic equipment and storage medium. Background Art

[0002] With the rapid development of the economy and society, higher requirements have been put forward for railway transportation capacity. Technologies such as high-security and reliable positioning and multi-dimensional fusion perception have been widely used in the next-generation train control system. Building a train control system with multi-source information fusion positioning, multi-dimensional integrated synchronous perception, and autonomous train operation is the development trend of future railway signal systems.

[0003] The existing technology lacks a simulation test platform that covers the integrated collection, synchronization, and perception of air-vehicle-ground-environment, and lacks the technology of dynamic multi-dimensional perception of vehicle-ground-environment that integrates Beidou multi-source time-space reference. It cannot realize the comprehensive processing of Beidou positioning, train data, environmental perception, and trackside data. In the existing traditional train control system simulation test platform, the data of on-board equipment, trackside equipment, and environmental monitoring equipment are isolated, information cannot be shared, the equipment investment is large, the integration is low, and information resources cannot be effectively utilized. Summary of the invention

[0004] The purpose of the present invention is to provide a full-scenario multi-level linkage simulation test system, method, electronic device and storage medium. The purpose is to solve the problems in the conventional train control system simulation test platform in the prior art, such as isolated data of on-board equipment, trackside equipment and environmental monitoring equipment, inability to share information, high equipment investment, low integration and ineffective use of information resources.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] On the one hand, the present invention provides a full-scenario multi-level linkage simulation test system, which is applied to a train autonomous operation control system, including:

[0007] Collaborative positioning and perception simulation module, which is used to achieve Beidou high-security and high-precision positioning under multi-source spatiotemporal information fusion;

[0008] A ground signal control system simulation module, which is connected to the collaborative positioning and perception simulation module and exchanges status information of key trackside location information points with the collaborative positioning and perception simulation module in real time;

[0009] A vehicle and onboard control system simulation module, which is connected to the collaborative positioning and perception simulation module and exchanges train perception and positioning information with the collaborative positioning and perception simulation module in real time;

[0010] The trackside simulation module is respectively connected to the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module. It is used to realize information fusion and interface information conversion among the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module, so as to realize full-scenario multi-level linkage simulation test of the train control system.

[0011] Preferably, the collaborative positioning and perception simulation module includes:

[0012] Collaborative positioning equipment, which uses the "air-vehicle-ground-ring" integrated Beidou virtual space-time benchmark to build a lightweight three-dimensional map with multiple elements for complex scenes, so as to realize the geometric modeling of Beidou three-dimensional data to orbital two-dimensional data, and is used to ensure the reliability of the virtual space-time benchmark model under data defect conditions, and realize the high-precision positioning of Beidou virtual space-time on the simulation test platform;

[0013] The sensing device is used to collect roadside target positioning information and integrate it with the information provided by the on-board inertial measurement unit to achieve coordinated train positioning on sections with weak satellite signals.

[0014] Preferably, the collaborative positioning and perception simulation module also includes: a satellite navigation data estimation module with a redundant structure, the collaborative positioning device inputs redundant satellite navigation information to the satellite navigation data estimation module, the satellite navigation data estimation module performs multi-level and multi-dimensional screening and comparison on the satellite navigation information, and selects two consistent or similar satellite navigation information from the multiple satellite navigation information as train positioning input information, thereby realizing real-time transmission of Beidou positioning data.

[0015] Preferably, the collaborative positioning and perception simulation module also includes: a collaborative positioning and perception device simulation verification platform, which collects train data of the vehicle simulation platform in the vehicle and on-board control system simulation module to verify the simulation of the collaborative positioning and perception simulation module.

[0016] Preferably, the ground signal control system simulation module includes:

[0017] Station equipment, which is connected to the collaborative positioning and perception simulation module, and is used to send station collection information to the collaborative positioning and perception simulation module, and receive timing information and perception information sent by the collaborative positioning and perception simulation module;

[0018] The train control system central equipment is respectively connected with the station equipment, the vehicle and the on-board control system simulation module. The train control system central equipment receives the station collection information and sends the route command to the station equipment. The train control system central equipment sends the mobile authorized temporary speed limit information to the vehicle and the on-board control system simulation module, and receives the train status information and temporary speed limit feedback information sent by the vehicle and the on-board control system simulation module.

[0019] Preferably, the different station devices communicate with each other via a secure communication network, and the secure communication network adopts a dual-network redundant architecture.

[0020] Preferably, the communication between the station equipment and the train control system central equipment is carried out using a train control system communication network, and the train control system communication network adopts a dual-network redundant architecture.

[0021] Preferably, the ground signal control system simulation module adopts a three-level ground time synchronization structure, obtains the first-level time node information based on the multi-data fusion of Beidou satellite data and network data, and performs unified timing through the precision time synchronization protocol and the network time protocol to achieve multi-level equipment linkage time synchronization of the railway train control system.

[0022] Preferably, the vehicle and on-board control system simulation module receives timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends train status feedback information to the collaborative positioning and perception simulation module.

[0023] Preferably, the trackside simulation module receives the timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends the trackside status information to the collaborative positioning and perception simulation module;

[0024] The trackside simulation module receives the route command, balise information, and track circuit code information sent by the train control system central device, and sends the station section real-time status information to the train control system central device;

[0025] The trackside simulation module receives the real-time status information of the station section sent by the station equipment, and sends the transponder information and the track circuit code information to the station equipment;

[0026] The trackside simulation module sends route commands, transponder information, and track circuit coding information to the vehicle and on-board control system simulation module, and receives train position and train integrity information sent by the vehicle and on-board control system simulation module.

[0027] Preferably, the trackside simulation module exchanges information with the vehicle and onboard control system simulation module via a simulation communication network, and the simulation communication network adopts a single network architecture.

[0028] On the other hand, the present invention also provides a full-scenario multi-level linkage simulation test method, which is implemented using the above-mentioned full-scenario multi-level linkage simulation test system, and realizes the comprehensive processing of Beidou positioning, train data, environmental perception, and trackside data through the integrated data collection synchronization and fusion perception of the "air-vehicle-ground-loop" information of complex train operation scenarios.

[0029] An electronic device includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned full-scenario multi-level linkage simulation test method is implemented.

[0030] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned full-scenario multi-level linkage simulation test method is implemented.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The full-scenario multi-level linkage simulation test system, method, electronic device and storage medium proposed in the present invention are designed according to the control flow and architecture of center-vehicle-trackside equipment-positioning and perception equipment, realizing multi-level linkage simulation and collaborative testing between air-vehicle-ground-environment equipment. The architecture is simple and the availability is strong. It realizes the comprehensive processing of Beidou positioning, train data, environmental perception and trackside data, thereby supporting the verification of the requirements, key technologies, interfaces and functional indicators of the train autonomous operation control system, and meeting the high safety, high reliability, high precision, short distance and tight tracking operation control requirements of the next generation train control system;

[0033] 2. The full-scenario multi-level linkage simulation test system, method, electronic device and storage medium proposed in the present invention solve the problems of isolated data, inability to share information, high equipment investment, low integration and ineffective use of information resources in the traditional train control system simulation test platform for onboard equipment, trackside equipment and environmental monitoring equipment, and realize the synchronous fusion and dynamic collaborative perception of multi-dimensional information of "air-vehicle-ground-environment", and realize the full-scenario, full-element, full-time and full-space integrated train multi-level linkage simulation;

[0034] 3. The full-scenario multi-level linkage simulation test system, method, electronic device and storage medium proposed in the present invention realize the time-space consistency synchronization of multi-dimensional information of vehicle-road-loop by constructing a Beidou virtual time-space benchmark, solving the problems of inconsistent time-space benchmarks in traditional train control systems and difficulty in analyzing simulation test data. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for the description. Obviously, the drawings described below are an embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0036] Figure 1 An equipment layout diagram of a full-scenario multi-stage linkage simulation test system provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the column information flow of a full-scenario multi-stage linkage simulation test system provided by an embodiment of the present invention;

[0038] Figure 3 A network layout diagram of a full-scenario multi-stage linkage simulation test system provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-3 The full-scenario multi-stage linkage simulation test system, method, electronic device and storage medium proposed in the present invention are further described in detail with specific implementation methods. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the implementation methods of the present invention. In order to make the purposes, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects that can be produced by the present invention and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0040] On the one hand, reference Figure 1 and Figure 2As shown, this embodiment provides a full-scenario multi-level linkage simulation test system, which is applied to the train autonomous operation control system, including: a collaborative positioning and perception simulation module, which is used to realize Beidou high-security and high-precision positioning under multi-source spatiotemporal information fusion; a ground signal control system simulation module, which is connected to the collaborative positioning and perception simulation module, and interacts with the collaborative positioning and perception simulation module in real time for the status information of key trackside position information points; a vehicle and on-board control system simulation module, which is connected to the collaborative positioning and perception simulation module, and interacts with the collaborative positioning and perception simulation module in real time for train perception and positioning information; a trackside simulation module, which is respectively connected to the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module, for realizing information fusion and interface information conversion between the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module, so as to realize the full-scenario multi-level linkage simulation test of the train control system.

[0041] The collaborative positioning and perception simulation module includes: a collaborative positioning device, which adopts the "air-vehicle-ground-ring" integrated Beidou virtual space-time benchmark to construct a lightweight three-dimensional map with multiple elements for complex scenes, so as to realize the geometric modeling of Beidou three-dimensional data to track two-dimensional data, and is used to ensure the reliability of the virtual space-time benchmark model under data defect conditions, and realize the high-precision positioning of Beidou virtual space-time on the simulation test platform; a perception device, which is used to collect roadside target positioning information and integrate it with the information provided by the vehicle-mounted inertial measurement unit to realize the collaborative positioning of trains in sections with weak satellite signals.

[0042] The collaborative positioning and perception simulation module also includes: a satellite navigation data estimation module with a redundant structure, the collaborative positioning device inputs redundant satellite navigation information to the satellite navigation data estimation module, the satellite navigation data estimation module performs multi-level and multi-dimensional screening and comparison on the satellite navigation information, and selects two consistent or similar satellite navigation information from the multiple satellite navigation information as train positioning input information, thereby realizing real-time transmission of Beidou positioning data.

[0043] The collaborative positioning and perception simulation module also includes: a collaborative positioning and perception device simulation verification platform, which collects train data of the vehicle simulation platform in the vehicle and on-board control system simulation module to verify the simulation of the collaborative positioning and perception simulation module. The collaborative positioning and perception device simulation verification platform collects key train data such as train traction / braking / bogie of the TBTS (train interface simulation system) vehicle simulation platform.

[0044] refer to Figure 2As shown, the ground signal control system simulation module includes: station equipment, which is connected to the collaborative positioning and perception simulation module, and is used to send station collection information to the collaborative positioning and perception simulation module, and receive timing information and perception information sent by the collaborative positioning and perception simulation module; train control system central equipment, which is respectively connected to the station equipment, the vehicle and the on-board control system simulation module, the train control system central equipment receives the station collection information, and sends the route command to the station equipment, the train control system central equipment sends mobile authorization temporary speed limit information to the vehicle and the on-board control system simulation module, and receives the train status information and temporary speed limit feedback information sent by the vehicle and the on-board control system simulation module.

[0045] The train simulation driving console in the station equipment collects cloud data and image data of the environment ahead of the train through the perception device cameras and lidars; key position points along the track use sensors such as cameras and radars to monitor the status of key environmental sections, realizing multi-dimensional heterogeneous data fusion collection of air-train-ground-loop.

[0046] The on-board equipment of the vehicle and on-board control system simulation module obtains trackside information and preceding vehicle information in real time through the ground server and the vehicle-to-vehicle and vehicle-to-ground wireless communication fusion perception platform.

[0047] The ground signal control system simulation module adopts a three-level ground time synchronization structure, obtains the first-level time node information based on the multi-data fusion of Beidou satellite data and network data, and performs unified timing through the precise time synchronization protocol and the network time protocol to realize the time synchronization of multi-level equipment linkage in the railway train control system.

[0048] Continue to refer Figure 2 As shown, the vehicle and on-board control system simulation module receives the timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends train status feedback information to the collaborative positioning and perception simulation module.

[0049] The trackside simulation module receives the timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends the trackside status information to the collaborative positioning and perception simulation module; the trackside simulation module receives the route command, transponder information, and track circuit coding information sent by the train control system central equipment, and sends the station section real-time status information to the train control system central equipment; the trackside simulation module receives the station section real-time status information sent by the station equipment, and sends the transponder information and track circuit coding information to the station equipment; the trackside simulation module sends the route command, transponder information, and track circuit coding information to the vehicle and on-board control system simulation module, and receives the train position and train integrity information sent by the vehicle and on-board control system simulation module.

[0050] refer to Figure 3 As shown, the trackside simulation module exchanges information with the vehicle and onboard control system simulation module through a simulation communication network, and the simulation communication network adopts a single network architecture. The different station equipment communicates through a safety communication network, and the safety communication network adopts a dual-network redundant architecture. The communication between the station equipment and the central equipment of the train control system adopts the train control system communication network (CTC communication network), and the train control system communication network adopts a dual-network redundant architecture. Figure 3 The CTC central device in the figure represents the central device of the train control system, TSRS represents the temporary speed restriction server (Temporary Speed ​​Restriction Server), and RMU represents the resource management unit (Resource Management Unit) for the allocation, management and monitoring of trackside resources.

[0051] On the other hand, this embodiment also provides a full-scenario multi-level linkage simulation test method, which is implemented using the above-mentioned full-scenario multi-level linkage simulation test system, and realizes the comprehensive processing of Beidou positioning, train data, environmental perception, and trackside data through the integrated data collection synchronization and fusion perception of the "air-vehicle-ground-loop" information of complex train operation scenarios.

[0052] An electronic device includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned full-scenario multi-level linkage simulation test method is implemented.

[0053] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned full-scenario multi-level linkage simulation test method is implemented.

[0054] refer to Figure 1 and Figure 2As shown, the system structure and equipment composition of the full-scenario multi-level linkage simulation test system provided by this embodiment are mainly composed of four levels of equipment, level one is the collaborative positioning and perception equipment simulation module, level two is the ground signal control system simulation module, including the train control system center equipment and station equipment, level three is the vehicle and on-board control system simulation module, and level four is the trackside simulation module. Level one is a new device compared to the traditional test platform, which is composed of perception equipment, collaborative positioning adaptation server, state perception simulation server and interface equipment. Through data collection and analysis, model establishment, based on the basic data of the tested station signal, Beidou high-security and high-precision positioning and timing data output is realized in the complex railway environment. The collaborative positioning and perception equipment simulation module in level one interacts with the station equipment of the ground signal control system simulation module in level two in real time to exchange the trackside POI (Point of Information, key location information point) status information, and the collaborative positioning and perception equipment simulation module in level one interacts with the vehicle and on-board control system simulation module in level three in real time to exchange train perception and positioning information. As the central equipment of the multi-level linkage simulation test platform, the hierarchical four-trackside simulation undertakes information fusion and interface information conversion from the center, ground, vehicle-mounted and perception equipment.

[0055] Through the above-mentioned full-time, full-element "air-train-ground-loop" full-scene multi-level linkage simulation test environment, full coverage testing of the performance, functions and faults of equipment at all levels of the train control system is achieved. Through closed-loop verification, complex train operation scenarios are simulated to ensure effective evaluation of train positioning, speed measurement, timing equipment and train integrity, and verify that relevant functional indicators meet the high safety, high reliability, high precision, short distance and tight tracking operation control requirements of the train control system.

[0056] In summary, this embodiment proposes a full-scenario multi-level linkage simulation test system, which is designed according to the control flow and architecture of the center-vehicle-trackside equipment-positioning and perception equipment, and realizes multi-level linkage simulation and collaborative testing between air-vehicle-ground-environment equipment. The architecture is simple and the availability is strong. It realizes the comprehensive processing of Beidou positioning, train data, environmental perception, and trackside data, thereby supporting the verification of the requirements, key technologies, interfaces, and functional indicators of the train autonomous operation control system, and meeting the high safety, high reliability, high precision, short distance, and tight tracking operation control requirements of the next generation train control system; it solves the problems of isolated data of on-board equipment, trackside equipment, and environmental monitoring equipment in the traditional train control system simulation test platform, inability to share information, high equipment investment, low integration, and ineffective use of information resources, and realizes the synchronous fusion and dynamic collaborative perception of multi-dimensional information of "air-vehicle-ground-environment", and realizes the multi-level linkage simulation of full-scenario, full-element, and full-time and space integrated trains; by constructing the Beidou virtual space-time benchmark, the space-time consistency synchronization of multi-dimensional information of vehicle-road-environment is realized, and the problems of inconsistent space-time benchmarks and difficult analysis of simulation test data in traditional train control systems are solved.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0058] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device implementation described above is only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of this article. In this regard, each box in the flowchart or block diagram can represent a part of a module, program or code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0059] In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0060] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A full-scenario multi-level linkage simulation test system, characterized in that: It is applied to train autonomous operation control systems, including: Collaborative positioning and perception simulation module, which is used to achieve Beidou high-security and high-precision positioning under multi-source spatiotemporal information fusion; A ground signal control system simulation module, which is connected to the collaborative positioning and perception simulation module and exchanges status information of key trackside location information points with the collaborative positioning and perception simulation module in real time; A vehicle and onboard control system simulation module, which is connected to the collaborative positioning and perception simulation module and exchanges train perception and positioning information with the collaborative positioning and perception simulation module in real time; The trackside simulation module is respectively connected to the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module, and is used to realize information fusion and interface information conversion among the collaborative positioning and perception simulation module, the ground signal control system simulation module, and the vehicle and on-board control system simulation module, so as to realize full-scenario multi-level linkage simulation test of the train control system.

2. The full-scenario multi-level linkage simulation test system according to claim 1, characterized in that: The collaborative positioning and perception simulation module includes: Collaborative positioning equipment, which uses the "air-vehicle-ground-ring" integrated Beidou virtual space-time benchmark to build a lightweight three-dimensional map with multiple elements for complex scenes, so as to realize the geometric modeling of Beidou three-dimensional data to orbital two-dimensional data, and is used to ensure the reliability of the virtual space-time benchmark model under data defect conditions, and realize the high-precision positioning of Beidou virtual space-time on the simulation test platform; The sensing device is used to collect roadside target positioning information and integrate it with the information provided by the on-board inertial measurement unit to achieve coordinated train positioning on sections with weak satellite signals.

3. The full-scenario multi-level linkage simulation test system according to claim 2, characterized in that: The collaborative positioning and perception simulation module also includes: a satellite navigation data estimation module with a redundant structure, the collaborative positioning device inputs redundant satellite navigation information to the satellite navigation data estimation module, the satellite navigation data estimation module performs multi-level and multi-dimensional screening and comparison on the satellite navigation information, and selects two consistent or similar satellite navigation information from the multiple satellite navigation information as train positioning input information, thereby realizing real-time transmission of Beidou positioning data.

4. The full-scenario multi-level linkage simulation test system according to claim 1, characterized in that: The collaborative positioning and perception simulation module also includes: a collaborative positioning and perception device simulation verification platform, which collects train data of the vehicle simulation platform in the vehicle and on-board control system simulation module to verify the simulation of the collaborative positioning and perception simulation module.

5. The full-scenario multi-level linkage simulation test system according to claim 1, characterized in that: The ground signal control system simulation module includes: Station equipment, which is connected to the collaborative positioning and perception simulation module, and is used to send station collection information to the collaborative positioning and perception simulation module, and receive timing information and perception information sent by the collaborative positioning and perception simulation module; The train control system central equipment is respectively connected with the station equipment, the vehicle and the on-board control system simulation module. The train control system central equipment receives the station collection information and sends the route command to the station equipment. The train control system central equipment sends the mobile authorized temporary speed limit information to the vehicle and the on-board control system simulation module, and receives the train status information and temporary speed limit feedback information sent by the vehicle and the on-board control system simulation module.

6. The full-scenario multi-level linkage simulation test system according to claim 5, characterized in that: The different station devices communicate with each other via a secure communication network, and the secure communication network adopts a dual-network redundant architecture.

7. The full-scenario multi-level linkage simulation test system according to claim 5, characterized in that: The communication between the station equipment and the central equipment of the train control system is carried out using the train control system communication network, and the train control system communication network adopts a dual-network redundant architecture.

8. The full-scenario multi-level linkage simulation test system according to claim 1, characterized in that: The ground signal control system simulation module adopts a three-level ground time synchronization structure, obtains the first-level time node information based on the multi-data fusion of Beidou satellite data and network data, and performs unified timing through the precise time synchronization protocol and the network time protocol to realize the time synchronization of multi-level equipment linkage in the railway train control system.

9. The full-scenario multi-level linkage simulation test system according to claim 1, characterized in that: The vehicle and on-board control system simulation module receives the timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends train status feedback information to the collaborative positioning and perception simulation module.

10. The full-scenario multi-level linkage simulation test system according to claim 5, characterized in that: The trackside simulation module receives the timing information, perception information and positioning information sent by the collaborative positioning and perception simulation module, and sends the trackside status information to the collaborative positioning and perception simulation module; The trackside simulation module receives the route command, balise information, and track circuit code information sent by the train control system central device, and sends the station section real-time status information to the train control system central device; The trackside simulation module receives the real-time status information of the station section sent by the station equipment, and sends the transponder information and the track circuit code information to the station equipment; The trackside simulation module sends route commands, transponder information, and track circuit coding information to the vehicle and on-board control system simulation module, and receives train position and train integrity information sent by the vehicle and on-board control system simulation module.

11. The full-scenario multi-level linkage simulation test system according to claim 10, characterized in that: The trackside simulation module exchanges information with the vehicle and onboard control system simulation modules via a simulation communication network, and the simulation communication network adopts a single network architecture.

12. A full-scenario multi-level linkage simulation test method, characterized in that: It is implemented by a full-scenario multi-level linkage simulation test system as described in any one of claims 1-11, and realizes the comprehensive processing of Beidou positioning, train data, environmental perception, and trackside data through the integrated data collection synchronization and fusion perception of "air-train-ground-environment" information in complex train operation scenarios.

13. An electronic device, characterized in that: It includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the full-scenario multi-level linkage simulation test method described in claim 12 is implemented.

14. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by the processor, the full-scenario multi-level linkage simulation test method described in claim 12 is implemented.

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