Method for calculating real-time angle of train operation in heavy haul railway freight field

Abstract

The invention discloses a method for calculating a real-time angle of train operation in the field of heavy haul railway freight, which comprises the following steps: acquiring positioning data of a train in real time, and determining the positioning data as first positioning data which comprises first latitude and longitude data, first operation speed and first timestamp information; according to preset operation line data, determining the next positioning data of the train as target positioning data, the target positioning data including target latitude and longitude data and target timestamp information; determining a target operation angle of the train according to the first positioning data and the target positioning data; according to the target running angle of the train, a train model in a map engine is controlled to run to a target position corresponding to the target positioning data within preset time, and the preset time is the difference between the target timestamp information and the first timestamp information. Therefore, the running angle of the train can be obtained more accurately, and the train running visualization effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of railway freight transport, and in particular to a method for calculating the real-time angle of train operation in the field of heavy-load railway freight transport. Background Art

[0002] Train-related staff in the heavy-haul railway freight industry need to understand the location and direction of trains on the map in real time, so as to promptly discover potential problems caused by train operation and take corresponding countermeasures, so as to dispatch and manage train operations more efficiently and safely. At present, the existing API of map manufacturers cannot calculate the rotation direction of the train based on the latitude and longitude uploaded by the real train in real time, and rotate the train icon on the map, so it is impossible to update the location and direction of the train diagram on the map in real time.

[0003] There are three common ways to display vehicle trajectories in maps. The first method is to use AMapUI's PathSimplifier to create a cruise control to display the trajectory. The second method is to use moveAlong, moveAlong, which allows the marker to move at a specified speed according to the given longitude and latitude array. The third method is to use moveTo, which allows the marker to move from one longitude and latitude to another at a given speed and automatically adjust the direction of the vehicle head to be parallel to the straight line from the starting point to the end point.

[0004] Therefore, it is extremely important to obtain a more accurate algorithm for the real-time running angle of the train to simulate the operation in the map. Summary of the invention

[0005] This application provides a method for calculating the real-time angle of train operation in the field of heavy-duty railway freight, which can more accurately calculate the real-time running angle of the train and improve the visualization effect of the train operation in the map engine.

[0006] The present application provides a method for calculating the real-time angle of a train in the field of heavy-haul railway freight, comprising: Acquire the positioning data of the train in real time and determine it as first positioning data, where the first positioning data includes first latitude and longitude data, a first running speed, and first timestamp information; According to the preset running line data, the next positioning data of the train is determined as the target positioning data, and the target positioning data includes the target latitude and longitude data and the target timestamp information; Determining a target running angle of the train according to the first positioning data and the target positioning data; According to the target running angle of the train, the train model in the map engine is controlled to run to the target position corresponding to the target positioning data at a preset time, and the preset time is the difference between the target timestamp information and the first timestamp information.

[0007] Preferably, the method further comprises: After a preset time, the positioning data of the train is obtained in real time and determined as the second positioning data; The second positioning data is compared with the target positioning data, and if the difference between the second positioning data and the target positioning data is greater than the difference threshold, the target position of the train model in the map engine is controlled to be corrected to the position corresponding to the second positioning data; The first positioning data, the second positioning data and the target positioning data are acquired cyclically until the train completes the preset running route, and a simulated running route of the train is generated.

[0008] Preferably, determining the target running angle of the train according to the first positioning data and the target positioning data comprises: Determine the horizontal component X and the vertical component Y according to the first longitude and latitude data and the target longitude and latitude data; According to the horizontal component X and the vertical component Y, the target running angle of the train is calculated by the two-variable inverse tangent function.

[0009] Preferably, determining the horizontal component X and the vertical component Y according to the first longitude and latitude data and the target longitude and latitude data includes: According to the first conversion factor, the first longitude and latitude data and the target longitude and latitude data are converted into first radian data and target radian data respectively; Subtract the target arc data from the arc value corresponding to the longitude in the first arc data to obtain the longitude arc difference ΔM; According to the longitude arc difference ΔM and the first latitude arc value, the horizontal component X is obtained; The vertical component Y is obtained according to the first latitude radian value, the target latitude radian value and the longitude radian difference ΔM.

[0010] Preferably, the converting the first longitude and latitude data and the target longitude and latitude data into first radian data and target radian data respectively according to the first conversion factor comprises: Multiplying the first longitude and latitude data and the target longitude and latitude data by a first conversion factor respectively to obtain first radian data and target radian data; The first radian data includes a first longitude radian value and a first latitude radian value, and the target radian data includes a target longitude radian value and a target latitude radian value.

[0011] Preferably, the calculation formula for obtaining the horizontal component X according to the longitude radian difference ΔM and the first latitude radian value is: X=cos(N1)*sin(ΔM), N1 is the radian value of the first latitude, ΔM is the radian difference of longitude, and X is the horizontal component.

[0012] Preferably, the calculation formula for obtaining the vertical component Y according to the first latitude arc value, the target latitude arc value and the longitude arc difference ΔM is: Y=cos(N2)*sin(N1) - sin(N2)*cos(N1)*cos(ΔM), N1 is the radian value of the first latitude, N2 is the radian value of the second latitude, ΔM is the radian difference of longitude, and Y is the vertical component.

[0013] Preferably, the step of calculating the target running angle of the train by using a two-variable inverse tangent function according to the horizontal component X and the vertical component Y includes: The target radian value is calculated according to the following formula: L = arctan2(Y,X), where L is the target radian value corresponding to the target running angle, Y is the vertical component, and X is the horizontal component; The target radian value is converted into a target operating angle according to a second conversion factor.

[0014] Preferably, converting the target radian value into the target operating angle according to the second conversion factor comprises: Multiply the target radian value by the second conversion factor to obtain the target operating angle.

[0015] Preferably, the first conversion factor is Π / 180, and the second conversion factor is 180 / Π.

[0016] One or more technical solutions provided in this application have at least the following technical effects or advantages: 1. In the map engine, through real-time train model updates and simulated operation, a more intuitive and dynamic map display is provided for dispatchers or railway managers, which can be applied in the field of train dispatch simulation. Among them, according to the acquired real-time longitude and latitude data of the train and the preset target longitude and latitude data, the accurate train running angle is calculated, and the running angle of the train model in the map engine is controlled to truly simulate the actual train operation and improve the visualization and authenticity of the simulated line; and when the real-time positioning is obtained for the second time, the accuracy is determined, and the position of the train model is corrected according to the actual position of the train, so as to facilitate the simulation of subsequent lines more accurately, avoid deviations due to special circumstances in the train operation, and facilitate managers to monitor the driving status of the train in real time.

[0017] 2. The algorithm for calculating the real-time angle of train operation in the field of heavy-duty railway freight and displaying it synchronously in the map engine fully considers the objective fact that the train runs on the entire sphere of the earth, and calculates the running angle based on this. Compared with other algorithms that do not consider the curvature of the earth, it is more accurate, especially when the distance between two adjacent longitudes and latitudes is far, the algorithm advantage of the embodiment of the present invention is more obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of a method for calculating the real-time angle of a train running in the field of heavy-haul railway freight according to an embodiment of the present invention; Figure 2 is a schematic diagram of a flow chart of determining a target running angle of a train according to first positioning data and target positioning data according to an embodiment of the present invention; Figure 3 is a schematic diagram of a process for determining a horizontal component X and a vertical component Y according to an embodiment of the present invention; Figure 4 It is a schematic diagram of a flow chart of obtaining a target running angle of a train by calculating a two-variable inverse tangent function according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0020] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items. Example

[0022] Figure 1 It is a flow chart of a method for calculating the real-time angle of train operation in the field of heavy-load railway freight according to an embodiment of the present invention.

[0023] In an embodiment of the present invention, the train positioning system transmits the real-time positioning data of the train to the background server through a wireless network. The background server processes the received positioning data to obtain the rotation angle of the train model, and sends the update instruction to the map engine through the API interface, so as to realize the real-time update of the position and simulation operation of the train model in the map engine according to the running angle.

[0024] like Figure 1 As shown, a method for calculating the real-time angle of train operation in the field of heavy-duty railway freight transport comprises the following steps: S101, acquiring the positioning data of the train in real time and determining it as first positioning data, where the first positioning data includes first longitude and latitude data, a first running speed, and first timestamp information.

[0025] S102, according to the preset running line data, determining the next positioning data of the train as the target positioning data, the target positioning data including the target longitude and latitude data and the target timestamp information.

[0026] When formulating railway freight routes, train dispatchers or administrators formulate strict route data for trains based on railway freight safety experience. The route data includes various positioning data on the railway freight line and the timestamp information of the train's expected arrival at each positioning data point. In actual train operation, the train operates according to the preset route data, so that the transportation of goods can be completed at the preset time.

[0027] However, in the actual operation of the train, it is inevitable to encounter some force majeure factors, which may cause errors in the train's positioning data at a certain point in time. At this time, the simulation of the actual operation of the train based on the map engine is extremely important for the dispatcher. In order to accurately simulate the actual train's route, the angle at which the train runs to the next positioning data point has a great influence on the simulated route.

[0028] Therefore, preset operation route data is pre-stored in the background server, and the target positioning data is determined in the operation route data according to the first positioning data acquired in real time.

[0029] Specifically, the first longitude and latitude data in the first positioning data is (m1, n1), and the target longitude and latitude data in the target positioning data is (m2, n2).

[0030] S103: Determine a target running angle of the train according to the first positioning data and the target positioning data.

[0031] In some embodiments, the target running angle of the train is determined based on the first positioning data and the target positioning data, such as Figure 2 As shown, specifically including: S201, determining a horizontal component X and a vertical component Y according to first longitude and latitude data and target longitude and latitude data.

[0032] Specifically, if Figure 3 As shown, the following steps are included: S301, converting first longitude and latitude data and target longitude and latitude data into first radian data and target radian data respectively according to a first conversion factor.

[0033] The first radian data includes a first longitude radian value and a first latitude radian value, and the target radian data includes a target longitude radian value and a target latitude radian value.

[0034] Specifically, the longitude and latitude data are multiplied by the first conversion factor to obtain radian data, and the first conversion factor is Π / 180. The first radian data corresponding to the first longitude and latitude data (m1, n1) is (M1, N1), and the target radian data corresponding to the target longitude and latitude data (m2, n2) is (M2, N2). As an example, M1=m1*(Π / 180).

[0035] S302, subtract the target arc data from the arc value corresponding to the longitude in the first arc data to obtain the longitude arc difference ΔM.

[0036] Specifically, ΔM=M2-M1, wherein ΔM is the longitude radian difference, M2 is the target longitude radian value, and M1 is the first longitude radian value.

[0037] S303, obtaining a horizontal component X according to the longitude radian difference ΔM and the first latitude radian value.

[0038] Specifically, according to the longitude arc difference ΔM and the first latitude arc value, the calculation formula of the horizontal component X is obtained as follows: X=cos(N1)*sin(ΔM), where N1 is the radian value of the first latitude, ΔM is the radian difference of longitude, and X is the horizontal component.

[0039] S304, obtaining a vertical component Y according to the first latitude radian value, the target latitude radian value and the longitude radian difference ΔM.

[0040] Specifically, according to the first latitude arc value, the target latitude arc value and the longitude arc difference ΔM, the calculation formula of the vertical component Y is obtained as follows: Y=cos(N2)*sin(N1) - sin(N2)*cos(N1)*cos(ΔM), where N1 is the radian value of the first latitude, N2 is the radian value of the second latitude, ΔM is the radian difference of longitude, and Y is the vertical component.

[0041] S202, according to the horizontal component X and the vertical component Y, the target running angle of the train is calculated by using a two-variable inverse tangent function.

[0042] Specifically, if Figure 4 As shown, the following steps are included: S401, calculate the target arc value according to the following formula: L = arctan 2 (Y,X), where L is the target radian value corresponding to the target running angle, Y is the vertical component, and X is the horizontal component.

[0043] S402: Convert the target radian value into a target running angle according to a second conversion factor.

[0044] The target radian value is multiplied by the second conversion factor to obtain the target operating angle, and the second conversion factor is 180 / Π. The target operating angle corresponding to the target radian value L is θ, as an example, θ=L*(180 / Π).

[0045] It should be noted that the horizontal component X and the vertical component Y of the longitude difference between two coordinate points on the earth's spherical surface are calculated using trigonometric functions. The above-mentioned two-variable inverse tangent function arctan 2 The meaning represented by (Y,X) is the angle between the ray pointing to (X,Y) and the positive direction of the x-axis on the coordinate plane, starting from the origin of the coordinate system. When Y>0, the angle between the ray pointing to (X,Y) and the positive direction of the x-axis refers to the angle around the positive direction of the x-axis.

[0046] S104, according to the target running angle of the train, controlling the train model in the map engine to run to the target position corresponding to the target positioning data at a preset time, where the preset time is the difference between the target timestamp information and the first timestamp information.

[0047] Based on the preset time, the train model in the map engine is controlled to move to the target position corresponding to the target positioning data according to the target running angle, and the preset time is determined according to the difference between the target timestamp information and the first timestamp information to ensure that the train model in the map engine can keep pace with the actual train.

[0048] S105, after a preset time, the positioning data of the train is acquired in real time and determined as the second positioning data.

[0049] Specifically, when the train model in the map engine moves to the target position, the background server obtains the current positioning data of the train, i.e., the second positioning data, in real time. The purpose is to determine whether the current position of the train model in the map engine is consistent with the current positioning of the actual train, thereby improving the accuracy and real-time performance of the train simulation and providing dispatchers with a visualization effect for observing the train transportation situation.

[0050] S106, comparing the second positioning data with the target positioning data, if the difference between the second positioning data and the target positioning data is greater than a difference threshold, controlling the target position of the train model in the map engine to be corrected to a position corresponding to the second positioning data.

[0051] Specifically, if the difference between the second positioning data and the target positioning data is greater than the difference threshold, it means that there is an error between the actual transportation process of the train and the preset operating route data. Possible factors are that the freight train is delayed in unloading or receiving goods on the way, or time is saved due to higher operating efficiency, or the train operation efficiency is affected by special reasons such as weather.

[0052] Furthermore, in the map engine, the position of the train model is controlled to be corrected to the position of the second positioning data in the map engine, so that the actual position of the train can be observed in the map engine.

[0053] S107, looping steps S101 to S106 until the train completes the preset running route and generates a simulated running route of the train.

[0054] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: 1. In the map engine, through real-time train model updates and simulated operation, a more intuitive and dynamic map display is provided for dispatchers or railway managers, which can be applied in the field of train dispatch simulation. Among them, according to the acquired real-time longitude and latitude data of the train and the preset target longitude and latitude data, the accurate train running angle is calculated, and the running angle of the train model in the map engine is controlled to truly simulate the actual train operation and improve the visualization and authenticity of the simulated line; and when the real-time positioning is obtained for the second time, the accuracy is determined, and the position of the train model is corrected according to the actual position of the train, so as to facilitate the simulation of subsequent lines more accurately, avoid deviations due to special circumstances in the train operation, and facilitate managers to monitor the driving status of the train in real time.

[0055] 2. The algorithm for calculating the real-time angle of train operation in the field of heavy-duty railway freight and displaying it synchronously in the map engine fully considers the objective fact that the train runs on the entire sphere of the earth, and calculates the running angle based on this. Compared with other algorithms that do not consider the curvature of the earth, it is more accurate, especially when the distance between two adjacent longitudes and latitudes is far, the algorithm advantage of the embodiment of the present invention is more obvious.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calculating the real-time angle of train operation in the field of heavy-duty railway freight, applied to a background server, characterized in that: include: Acquire the positioning data of the train in real time and determine it as first positioning data, where the first positioning data includes first latitude and longitude data, a first running speed, and first timestamp information; According to the preset running line data, the next positioning data of the train is determined as the target positioning data, and the target positioning data includes the target latitude and longitude data and the target timestamp information; Determining a target running angle of the train according to the first positioning data and the target positioning data; According to the target running angle of the train, the train model in the map engine is controlled to run to the target position corresponding to the target positioning data at a preset time, and the preset time is the difference between the target timestamp information and the first timestamp information.

2. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 1, characterized in that: The method further comprises: After a preset time, the positioning data of the train is obtained in real time and determined as the second positioning data; The second positioning data is compared with the target positioning data, and if the difference between the second positioning data and the target positioning data is greater than the difference threshold, the target position of the train model in the map engine is controlled to be corrected to the position corresponding to the second positioning data; The first positioning data, the second positioning data and the target positioning data are acquired cyclically until the train completes the preset running route, and a simulated running route of the train is generated.

3. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 1, characterized in that: Determining the target running angle of the train according to the first positioning data and the target positioning data includes: Determine the horizontal component X and the vertical component Y according to the first longitude and latitude data and the target longitude and latitude data; According to the horizontal component X and the vertical component Y, the target running angle of the train is calculated by the two-variable inverse tangent function.

4. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 3, characterized in that: The determining of the horizontal component X and the vertical component Y according to the first longitude and latitude data and the target longitude and latitude data includes: According to the first conversion factor, the first longitude and latitude data and the target longitude and latitude data are converted into first radian data and target radian data respectively; Subtract the target arc data from the arc value corresponding to the longitude in the first arc data to obtain the longitude arc difference ΔM; According to the longitude arc difference ΔM and the first latitude arc value, the horizontal component X is obtained; The vertical component Y is obtained according to the first latitude radian value, the target latitude radian value and the longitude radian difference ΔM.

5. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 4, characterized in that: The converting the first longitude and latitude data and the target longitude and latitude data into first radian data and target radian data respectively according to the first conversion factor includes: Multiplying the first longitude and latitude data and the target longitude and latitude data by a first conversion factor respectively to obtain first radian data and target radian data; The first radian data includes a first longitude radian value and a first latitude radian value, and the target radian data includes a target longitude radian value and a target latitude radian value.

6. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 5, characterized in that: The calculation formula for obtaining the horizontal component X according to the longitude arc difference ΔM and the first latitude arc value is: X=cos(N1)*sin(ΔM), N1 is the radian value of the first latitude, ΔM is the radian difference of longitude, and X is the horizontal component.

7. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 5, characterized in that: The calculation formula for obtaining the vertical component Y according to the first latitude arc value, the target latitude arc value and the longitude arc difference ΔM is: Y=cos(N2)*sin(N1) - sin(N2)*cos(N1)*cos(ΔM), N1 is the radian value of the first latitude, N2 is the radian value of the second latitude, ΔM is the radian difference of longitude, and Y is the vertical component.

8. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 3, characterized in that: The target running angle of the train is calculated by using a two-variable inverse tangent function according to the horizontal component X and the vertical component Y, including: The target arc value is calculated according to the following formula: L = arctan 2 (Y, X), where L is the target arc value corresponding to the target running angle, Y is the vertical component, and X is the horizontal component; The target radian value is converted into a target operating angle according to a second conversion factor.

9. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 8, characterized in that: The step of converting the target radian value into the target operating angle according to the second conversion factor includes: Multiply the target radian value by the second conversion factor to obtain the target operating angle.

10. A method for calculating the real-time angle of train operation in the field of heavy-haul railway freight according to claim 9, characterized in that: The first conversion factor is Π / 180, and the second conversion factor is 180 / Π.

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