Railway section and station vehicle avoidance warning method and system based on Beidou positioning

Abstract

The present invention relates to the field of personnel positioning technology, specifically disclosing a method and system for early warning of oncoming vehicles within railway sections and stations based on Beidou positioning. The system comprises: a basic data module for storing basic data; a work order interface module for synchronizing work order data; a TDCS query module for acquiring TDCS query data for electric services; a Beidou real-time location module for acquiring user location information in real time through Beidou positioning and, based on the user's location information, obtaining the user's theoretical early warning range; an oncoming vehicle early warning processing module for executing different preset early warning steps based on the early warning scenario; and a group communication module for transmitting early warning information to users. The present invention can achieve accurate early warning of oncoming vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of personnel positioning, and in particular to a method and system for early warning of vehicle avoidance within railway sections and stations based on Beidou positioning. Background Art

[0002] Conventional methods of oncoming vehicle avoidance warning include: (i) Manual section warning technology: This uses human intervention to provide early warning of approaching trains. A safety zone is set up before and after the construction line section. The safety zone must ensure that construction workers can evacuate in time after receiving the evacuation signal. Safety personnel are assigned to the warning zone to constantly observe the train's operation and ensure that when a train approaches, the construction workers and equipment in the safety zone are promptly given an evacuation signal. (ii) Based on the principle of vibration amplitude and sound recognition technology: This method uses the measurement of changes in solid-body sound in the rails to warn of approaching trains. The interaction between the train and the rails generates an excitation sound, which propagates as solid-body sound in the rails. The propagation pattern of solid-body sound in the rails is used to determine the approaching train and issue an alarm.

[0003] However, manual section warning technology is significantly affected by environmental factors, such as limited visibility due to rainy and foggy conditions, as well as busy construction sites and equipment noise. This makes it difficult to transmit notification signals in a timely manner, threatening the safety of life and property. Furthermore, this technology consumes a lot of manpower and material resources, which affects its effectiveness. Based on the vibration amplitude principle and sound recognition technology, it is susceptible to interference, making it difficult to accurately identify the train's direction and sound source. The algorithm is computationally intensive and consumes high power, making it unsuitable for low-power outdoor applications. Based on this, a Beidou positioning-based railway section and station oncoming vehicle avoidance warning method and system are proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and system for early warning of vehicle avoidance in railway sections and stations based on Beidou positioning to solve the above technical problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The railway section and station oncoming vehicle avoidance warning system based on Beidou positioning includes:

[0007] A basic data module is used to store basic data, including personnel, equipment, organizational binding information, line station mileage information, entry and exit station signal equipment binding information, entry and exit station train window binding information, and interval equipment sequence information;

[0008] Work order interface module, used to synchronize work order data;

[0009] TDCS query module, used to obtain TDCS query data for electric services;

[0010] Beidou real-time location module, used to obtain user location information in real time through Beidou positioning, and obtain the user's theoretical warning range based on the user's location information. The theoretical warning range is used to measure the error of Beidou positioning;

[0011] The vehicle approach warning processing module executes different preset warning steps according to the warning scenario, including the following: vehicle approach warning in the interval - automatic block section, vehicle approach warning in the interval - semi-automatic block section, vehicle approach warning in the station - vehicle approach in the working area, and vehicle approach warning in the station - vehicle approach in the adjacent line area;

[0012] The group communication module is used to send oncoming vehicle warning information to users.

[0013] As a further solution of the present invention: in the Beidou real-time location module, the process of obtaining the user's theoretical warning range specifically includes:

[0014] Obtain the user's location information based on Beidou positioning and determine the user's coordinates (x, y, z), where x, y, and z represent the user's x-axis coordinate, y-axis coordinate, and z-axis coordinate in a preset spatial rectangular coordinate system, respectively;

[0015] Get the coordinates of user i (x i ,y i , z i ) and the coordinates of user j (x j ,y j , z j ), calculate the theoretical distance between user i and user j , get the actual distance d between user i and user j ij , calculate the deviation ratio K ij =d ij / D ij ;

[0016] The circular area with the user i's location as the origin and a radius of the preset value r is called circle A. ij , the circle A ij The points whose deviation ratio with user j is equal to 1 are marked as the pending points of user i, and the set of pending points of user i S is generated. ij = (s1, s2, ..., s n ), s n Represents circle A ij For the nth pending point of user i, obtain the intersection of the pending point sets corresponding to user i as the target set;

[0017] Mark the undetermined point in the target set as the target point, and obtain the coordinates of the target point a (X a , Y a , Z a ), X a 、Ya , Z a They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target point a in the preset spatial rectangular coordinate system, respectively. The deviation between the coordinates of the target point a and the user i is calculated using the following formula: a，i =|X a -x i |+|Y a -y i |+|Z a -z i |.

[0018] As a further solution of the present invention, the process of obtaining the user's theoretical warning range further includes the following steps:

[0019] Step 1: Obtain a deviation, which is used to measure the difference between the user's actual location information and the Beidou positioning information, and sort the deviations in ascending order to obtain a first ranking;

[0020] Step 2: Obtain the total number m of the deviations, use the first m / 2 deviations in the first sort as the second sort FIR, and use the remaining deviations in the first sort as the second sort SEC;

[0021] Calculate the difference F between the deviations at the same sorting position in the second sorting FIR and the second sorting SEC, and obtain the maximum difference;

[0022] When the maximum difference is greater than or equal to the preset difference threshold, the splitting step is performed:

[0023] Step 2-1: Calculate the average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC respectively. The average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC are recorded as average deviation DY, average deviation DRFIR, and average deviation DRSEC respectively.

[0024] Step 2-2: Calculate the difference ΔCZ1 between the average deviation DY and the average deviation DRFIR, and calculate the difference ΔCZ2 between the average deviation DY and the average deviation DRSEC. When the difference ΔCZ2>ΔCZ1, execute step 2-3; when the difference ΔCZ2≤ΔCZ1, execute step 2-4.

[0025] Step 2-3: remove the deviation of the last digit in the second ranking SEC to obtain a new second ranking SEC', and combine it with the second ranking FIR to obtain a new first ranking;

[0026] Steps 2-4: removing the deviation of the first position in the second ranking FIR to obtain a new second ranking FIR', and combining it with the second ranking SEC to obtain a new first ranking;

[0027] When the maximum difference is less than the preset difference threshold, the mean value CJZ of the deviations in the first sorting at this time is calculated;

[0028] Step 3: Obtain the user's location information based on Beidou positioning, draw a circle with the user's location as the center and the mean CJZ as the radius to obtain the user's theoretical warning range.

[0029] As a further solution of the present invention: when the total number of deviations in the first sorting is not an even number, the mean of the deviations in the first sorting is calculated to supplement the total number of deviations in the first sorting to be an even number.

[0030] As a further solution of the present invention: in the oncoming vehicle warning processing module, the warning steps include four types, corresponding to different warning scenarios.

[0031] As a further solution of the present invention: in the group communication module, the method of sending the vehicle warning information includes voice call, video call, multi-party audio and video call, and group intercom call.

[0032] As a further solution of the present invention: the vehicle warning processing module further includes the following steps:

[0033] When the theoretical warning range of a user intersects with the preset warning area, the user is regarded as a target user, and the oncoming vehicle warning information is only sent to the target user.

[0034] The Beidou positioning-based railway section and station vehicle avoidance warning method includes the following steps:

[0035] S1: Storing basic data, including personnel, equipment, organizational binding information, line station mileage information, station entry and exit signal equipment binding information, station entry and exit train window binding information, and interval equipment sequence information;

[0036] S2: used to synchronize job task data;

[0037] S3: Obtaining TDCS query data;

[0038] S4: obtaining the user's location information in real time through Beidou positioning, and obtaining the user's theoretical warning range based on the user's location information, wherein the theoretical warning range is used to measure the error of Beidou positioning;

[0039] S5: Determine whether to send an oncoming vehicle warning message to the user based on the basic data and the theoretical warning range;

[0040] S6: Send oncoming vehicle warning information to the user.

[0041] Beneficial effects of the present invention: The basic data module centrally stores information such as personnel, equipment, and organizational structures, avoiding data dispersion and redundancy, and improving data consistency and manageability. The work order interface module can synchronize work order data in a timely manner, ensure information synchronization between departments, and improve the efficiency of collaborative work. The TDCS query module obtains the electric service TDCS data in real time, helping the electric service department to quickly understand the line status and respond to emergencies in a timely manner. The Beidou real-time location module ensures the accuracy of early warning information and enhances the reliability of the system by accurately locating the location of users and equipment and evaluating positioning errors. The incoming vehicle warning processing module automatically executes preset steps according to different warning scenarios to ensure that necessary measures are taken before potential dangers occur, thereby improving operational safety. The group communication module efficiently sends incoming vehicle warning information to relevant users, ensuring the timeliness and coverage of information transmission and reducing the possibility of information omissions. In addition, the modular design and open interface give the system good scalability and flexibility, and can be expanded and integrated with other systems according to actual needs. Comprehensive data support and intelligent early warning processing procedures provide management with accurate decision-making basis, improving the timeliness and scientificity of decision-making. This invention uses TDCS query data and railway electrical signal equipment to safely and reliably obtain train information and train location. Based on Beidou positioning technology, it analyzes the precise location of operators in real time and accurately pushes incoming train information to operators, thus achieving accurate oncoming vehicle avoidance warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below with reference to the accompanying drawings.

[0043] Figure 1 It is a flowchart of the method for avoiding and warning oncoming vehicles within railway sections and stations based on Beidou positioning of the present invention;

[0044] Figure 2 It is a structural diagram of the railway section and station oncoming vehicle avoidance warning system based on Beidou positioning of the present invention. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0046] See also Figure 1-2 As shown, the present invention is a railway section and station vehicle avoidance warning system based on Beidou positioning, comprising:

[0047] A basic data module is used to store basic data, including personnel, equipment, organizational binding information, line station mileage information, entry and exit station signal equipment binding information, entry and exit station train window binding information, and interval equipment sequence information;

[0048] Work order interface module, used to synchronize work order data;

[0049] TDCS query module, used to obtain TDCS query data for electric services;

[0050] Beidou real-time location module, used to obtain user location information in real time through Beidou positioning, and obtain the user's theoretical warning range based on the user's location information. The theoretical warning range is used to measure the error of Beidou positioning;

[0051] The vehicle approach warning processing module executes different preset warning steps according to the warning scenario, including the following: vehicle approach warning in the interval - automatic block section, vehicle approach warning in the interval - semi-automatic block section, vehicle approach warning in the station - vehicle approach in the working area, and vehicle approach warning in the station - vehicle approach in the adjacent line area;

[0052] The group communication module is used to send oncoming vehicle warning information to users.

[0053] It can be understood that the work order interface module is used to connect to the user's integrated management system, such as the electrical 8D system, the engineering 8M system, the power supply 6C system, etc., synchronize work order business data, pull the work tasks into this system in real time, and add them to the cache for easy access by other modules at any time; the TDCS query module is used to obtain electrical TDCS query data and synchronize the collection and representation information and logical representation information of TDCS in real time. The collection and representation information mainly includes: track, non-switch section, block section, and switch information. The logical representation information mainly includes: train number information, which is converted into train occupancy status (red light band) data, locking status (white light band approach) data, incoming train number, incoming train direction information, etc., and added to the cache for easy access by other modules at any time;

[0054] In another preferred embodiment of the present invention, in the Beidou real-time location module, the process of obtaining the user's theoretical warning range specifically includes:

[0055] Obtain the user's location information based on Beidou positioning and determine the user's coordinates (x, y, z), where x, y, and z represent the user's x-axis coordinate, y-axis coordinate, and z-axis coordinate in a preset spatial rectangular coordinate system, respectively;

[0056] Get the coordinates of user i (x i ,y i , z i ) and the coordinates of user j (x j ,y j , zj ), calculate the theoretical distance between user i and user j , get the actual distance d between user i and user j ij , calculate the deviation ratio K ij =d ij / D ij ;

[0057] The circular area with the user i's location as the origin and a radius of the preset value r is called circle A. ij , the circle A ij The points whose deviation ratio with user j is equal to 1 are marked as the pending points of user i, and the set of pending points of user i S is generated. ij = (s1, s2, ..., s n ), s n Represents circle A ij For the nth pending point of user i, obtain the intersection of the pending point sets corresponding to user i as the target set;

[0058] Mark the undetermined point in the target set as the target point, and obtain the coordinates of the target point a (X a , Y a , Z a ), X a 、Y a , Z a They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target point a in the preset spatial rectangular coordinate system, respectively. The deviation between the coordinates of the target point a and the user i is calculated using the following formula: a，i =|X a -x i |+|Y a -y i |+|Z a -z i |.

[0059] In another preferred embodiment of the present invention, the process of obtaining the user's theoretical warning range further includes the following steps:

[0060] Step 1: Obtain a deviation, which is used to measure the difference between the user's actual location information and the Beidou positioning information, and sort the deviations in ascending order to obtain a first ranking;

[0061] Step 2: Obtain the total number m of the deviations, use the first m / 2 deviations in the first sort as the second sort FIR, and use the remaining deviations in the first sort as the second sort SEC;

[0062] Calculate the difference F between the deviations at the same sorting position in the second sorting FIR and the second sorting SEC, and obtain the maximum difference;

[0063] When the maximum difference is greater than or equal to the preset difference threshold, the splitting step is performed:

[0064] Step 2-1: Calculate the average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC respectively. The average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC are recorded as average deviation DY, average deviation DRFIR, and average deviation DRSEC respectively.

[0065] Step 2-2: Calculate the difference ΔCZ1 between the average deviation DY and the average deviation DRFIR, and calculate the difference ΔCZ2 between the average deviation DY and the average deviation DRSEC. When the difference ΔCZ2>ΔCZ1, execute step 2-3; when the difference ΔCZ2≤ΔCZ1, execute step 2-4.

[0066] Step 2-3: remove the deviation of the last digit in the second ranking SEC to obtain a new second ranking SEC', and combine it with the second ranking FIR to obtain a new first ranking;

[0067] Steps 2-4: removing the deviation of the first position in the second ranking FIR to obtain a new second ranking FIR', and combining it with the second ranking SEC to obtain a new first ranking;

[0068] When the maximum difference is less than the preset difference threshold, the mean value CJZ of the deviations in the first sorting at this time is calculated;

[0069] Step 3: Obtain the user's location information based on Beidou positioning, draw a circle with the user's location as the center and the mean CJZ as the radius to obtain the user's theoretical warning range.

[0070] In another preferred embodiment of the present invention, when the total number of deviations in the first sorting is not an even number, the mean of the deviations in the first sorting is calculated to supplement the total number of deviations in the first sorting to be an even number.

[0071] In another preferred embodiment of the present invention, in the incoming vehicle warning processing module, the warning steps include four types, corresponding to different warning scenarios.

[0072] It is understandable that when the warning scenario is the section approaching vehicle warning - automatic block section, the following steps are performed:

[0073] Get the currently executed work order and obtain relevant data such as the station ID, personnel list, and work area from it. At the same time, get the station IDs of the two adjacent stations based on the station ID and determine the two stations adjacent to the current station.

[0074] Based on the work area of ​​the work order, obtain the IDs and regional equipment sequence information of all signal equipment in the corresponding two station areas, and obtain the real-time status of the corresponding station area signal equipment and the entry and exit train window information from the TDCS query module cache. Then determine whether there is an occupied state (red light band). If so, obtain the real-time location of the personnel in the work order from the Beidou real-time location module and convert the personnel's real-time location into the corresponding section location;

[0075] Combined with the regional equipment sequence and inbound and outbound train window information, the occupied equipment area position (red light band) is compared with the personnel area position. If the train is heading towards the personnel and the regional position distance difference is less than or equal to 3, the group communication module interface is called to send an incoming train forecast to all target personnel in the work order;

[0076] If the distance difference is equal to 1, the group communication module interface is called to send an incoming vehicle forecast to all target personnel in the work order, notifying them to get off the road;

[0077] When the warning scenario is the section approaching vehicle warning - semi-automatic block section, perform the following steps:

[0078] The current work order is retrieved from the work order interface module cache, and the work order is parsed to obtain the station ID, personnel list, work area, and other data of the work. At the same time, the station IDs of the two adjacent stations are obtained based on the station ID. Based on the work area of ​​the work order, the train collection information of the in-and-out station signal equipment corresponding to the two stations is obtained, and the real-time information of the station train schedule window is entered;

[0079] The system obtains the real-time status of the relevant entry and exit signal equipment at the corresponding station, as well as the real-time information of the relevant entry and exit train windows, from the TDCS query module cache to determine whether it is occupied (red light band). If so, it determines whether a vehicle has left the station and entered the section. If a vehicle has entered the section, the system obtains the real-time location of the personnel in the work order based on the Beidou real-time location module and converts the personnel's real-time location into the corresponding route mileage.

[0080] Based on the information in the train number window, the train type and planned operating speed are obtained. The time to arrive at the work area is calculated based on the difference between the mileage of inbound and outbound equipment and the real-time mileage of personnel, combined with the train number information of the outbound train. If the time is less than or equal to 3 minutes, the group communication transmission module interface is called to send an incoming train alert to the target user, notifying them to get off the track.

[0081] When the warning scenario is "Incoming Vehicle Warning - Vehicle Approaching the Operation Area," perform the following steps:

[0082] Retrieve the current work order from the work order interface module cache, obtain the station ID, personnel list, work area and other data of the work, and obtain basic information related to the work, including the station ID, the list of personnel involved and the specific work area;

[0083] According to the operation area, the corresponding station signal equipment is obtained, and the real-time status of the corresponding signal equipment is obtained from the TDCS query module cache to determine whether it is occupied (red light band) or locked (white light band approach). If it is occupied, a warning message is sent to the corresponding target user;

[0084] When the warning scenario is "Incoming Vehicle Preview - Adjacent Line Area Vehicle", perform the following steps:

[0085] The work order is parsed to obtain data such as the station ID, personnel list, and work area of ​​the work, and the real-time location of the operating personnel is obtained from the Beidou real-time location module. The personnel location is matched with the influence area of ​​all signal devices in the station to determine whether the personnel are in the influence area of ​​a certain signal device. The real-time status of the corresponding signal device is obtained from the TDCS query module cache, and it is determined whether the signal device is in an occupied state (red light band) or locked state (white light band approach). If so, the group communication module interface is called to send a message to all target personnel in the work order: the train is about to pass through the relevant line area, please pay attention to the oncoming train.

[0086] In another preferred embodiment of the present invention, in the group communication module, the method of sending the oncoming vehicle warning information includes voice call, video call, multi-party audio and video call, and group intercom call.

[0087] In another preferred embodiment of the present invention, the vehicle warning processing module further includes the following steps:

[0088] When the theoretical warning range of a user intersects with the preset warning area, the user is regarded as a target user, and the oncoming vehicle warning information is only sent to the target user.

[0089] It is worth noting that early warning information is only sent to users who may be in danger to ensure the rational allocation and utilization of resources, thereby improving the efficiency and effectiveness of overall security management.

[0090] The Beidou positioning-based railway section and station vehicle avoidance warning method includes the following steps:

[0091] S1: Storing basic data, including personnel, equipment, organizational binding information, line station mileage information, station entry and exit signal equipment binding information, station entry and exit train window binding information, and interval equipment sequence information;

[0092] S2: used to synchronize job task data;

[0093] S3: Obtaining TDCS query data;

[0094] S4: obtaining the user's location information in real time through Beidou positioning, and obtaining the user's theoretical warning range based on the user's location information, wherein the theoretical warning range is used to measure the error of Beidou positioning;

[0095] S5: Determine whether to send an oncoming vehicle warning message to the user based on the basic data and the theoretical warning range;

[0096] S6: Send oncoming vehicle warning information to the user.

[0097] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. The railway section and station vehicle avoidance warning system based on Beidou positioning is characterized by: include: A basic data module is used to store basic data, including personnel, equipment, organizational binding information, line station mileage information, entry and exit station signal equipment binding information, entry and exit station train window binding information, and interval equipment sequence information; Work order interface module, used to synchronize work order data; TDCS query module, used to obtain TDCS query data for electric services; Beidou real-time location module, used to obtain user location information in real time through Beidou positioning, and obtain the user's theoretical warning range based on the user's location information. The theoretical warning range is used to measure the error of Beidou positioning; The vehicle approach warning processing module executes different preset warning steps according to the warning scenario, including the following: vehicle approach warning in the interval - automatic block section, vehicle approach warning in the interval - semi-automatic block section, vehicle approach warning in the station - vehicle approach in the working area, and vehicle approach warning in the station - vehicle approach in the adjacent line area; Group communication module, used to send oncoming vehicle warning information to users; The process of obtaining the user's theoretical warning range includes the following steps: Step 1: Obtain a deviation, which is used to measure the difference between the user's actual location information and the Beidou positioning information, and sort the deviations in ascending order to obtain a first ranking; Step 2: Obtain the total number m of the deviations, use the first m / 2 deviations in the first sort as the second sort FIR, and use the remaining deviations in the first sort as the second sort SEC; Calculate the difference F between the deviations at the same sorting position in the second sorting FIR and the second sorting SEC, and obtain the maximum difference; When the maximum difference is greater than or equal to the preset difference threshold, the splitting step is performed: Step 2-1: Calculate the average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC respectively. The average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC are recorded as average deviation DY, average deviation DRFIR, and average deviation DRSEC respectively. Step 2-2: Calculate the difference ΔCZ1 between the average deviation DY and the average deviation DRFIR, and calculate the difference ΔCZ2 between the average deviation DY and the average deviation DRSEC. When the difference ΔCZ2>ΔCZ1, execute step 2-3; when the difference ΔCZ2≤ΔCZ1, execute step 2-4. Step 2-3: remove the deviation of the last digit in the second ranking SEC to obtain a new second ranking SEC', and combine it with the second ranking FIR to obtain a new first ranking, and perform step 2 again; Step 2-4: remove the deviation of the first position in the second sort FIR to obtain a new second sort FIR', and combine it with the second sort SEC to obtain a new first sort, and perform step 2 again; When the maximum difference is less than the preset difference threshold, the mean value CJZ of the deviations in the first sorting at this time is calculated; Step 3: Obtain the user's location information based on Beidou positioning, draw a circle with the user's location as the center and the mean CJZ as the radius to obtain the user's theoretical warning range.

2. The railway section and station vehicle avoidance warning system based on Beidou positioning according to claim 1 is characterized in that: In the Beidou real-time location module, the process of obtaining the user's theoretical warning range specifically includes: Obtain the user's location information based on Beidou positioning and determine the user's coordinates (x, y, z), where x, y, and z represent the user's x-axis coordinate, y-axis coordinate, and z-axis coordinate in a preset spatial rectangular coordinate system, respectively; Get the coordinates of user i (x i ,y i , z i ) and the coordinates of user j (x j ,y j , z j ), calculate the theoretical distance between user i and user j , get the actual distance d between user i and user j ij , calculate the deviation ratio K ij =d ij / D ij ; The circular area with the user i's location as the origin and a radius of the preset value r is called circle A. ij , the circle A ij The points whose deviation ratio with user j is equal to 1 are marked as the pending points of user i, and the set of pending points of user i S is generated. ij = (s1, s2, ..., s n ), s n Represents circle A ij For the nth pending point of user i, obtain the intersection of the pending point sets corresponding to user i as the target set; Mark the undetermined point in the target set as the target point, and obtain the coordinates of the target point a (X a , Y a , Z a ), X a 、Y a , Z a They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target point a in the preset spatial rectangular coordinate system, respectively. The deviation between the coordinates of the target point a and the user i is calculated using the following formula: a，i =|X a -x i |+|Y a -y i |+|Z a -z i |.

3. The railway section and station oncoming vehicle avoidance warning system based on Beidou positioning according to claim 1 is characterized in that: When the total number of deviations in the first sorting is not an even number, the average of the deviations in the first sorting is calculated to supplement the total number of deviations in the first sorting to be an even number.

4. The railway section and station vehicle avoidance warning system based on Beidou positioning according to claim 1 is characterized in that: In the oncoming vehicle warning processing module, the warning steps include four types, corresponding to different warning scenarios.

5. The railway section and station oncoming vehicle avoidance warning system based on Beidou positioning according to claim 1 is characterized in that: In the group communication module, the methods of sending the oncoming vehicle warning information include voice call, video call, multi-party audio and video call, and group intercom call.

6. The railway section and station oncoming vehicle avoidance warning system based on Beidou positioning according to claim 1 is characterized in that: The vehicle warning processing module further includes the following steps: When the theoretical warning range of a user intersects with the preset warning area, the user is regarded as a target user, and the oncoming vehicle warning information is only sent to the target user.

7. A railway section and station vehicle avoidance warning method based on Beidou positioning is characterized by: The following steps are involved: S1: Storing basic data, including personnel, equipment, organizational binding information, line station mileage information, station entry and exit signal equipment binding information, station entry and exit train window binding information, and interval equipment sequence information; S2: Synchronize work order data; S3: Obtaining TDCS query data; S4: obtaining the user's location information in real time through Beidou positioning, and obtaining the user's theoretical warning range based on the user's location information, wherein the theoretical warning range is used to measure the error of Beidou positioning; S5: Execute different preset warning steps for the warning scenarios, including section train arrival warning - automatic block section, section train arrival warning - semi-automatic block section, station train arrival warning - train arrival in the working area, and station train arrival warning - train arrival in the adjacent line area; S6: Sending vehicle warning information to the user; The process of obtaining the user's theoretical warning range includes the following steps: Step 1: Obtain a deviation, which is used to measure the difference between the user's actual location information and the Beidou positioning information, and sort the deviations in ascending order to obtain a first ranking; Step 2: Obtain the total number m of the deviations, use the first m / 2 deviations in the first sort as the second sort FIR, and use the remaining deviations in the first sort as the second sort SEC; Calculate the difference F between the deviations at the same sorting position in the second sorting FIR and the second sorting SEC, and obtain the maximum difference; When the maximum difference is greater than or equal to the preset difference threshold, the splitting step is performed: Step 2-1: Calculate the average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC respectively. The average deviations corresponding to the first ranking, the second ranking FIR, and the second ranking SEC are recorded as average deviation DY, average deviation DRFIR, and average deviation DRSEC respectively. Step 2-2: Calculate the difference ΔCZ1 between the average deviation DY and the average deviation DRFIR, and calculate the difference ΔCZ2 between the average deviation DY and the average deviation DRSEC. When the difference ΔCZ2>ΔCZ1, execute step 2-3; when the difference ΔCZ2≤ΔCZ1, execute step 2-4. Step 2-3: remove the deviation of the last digit in the second ranking SEC to obtain a new second ranking SEC', and combine it with the second ranking FIR to obtain a new first ranking, and perform step 2 again; Step 2-4: remove the deviation of the first position in the second sort FIR to obtain a new second sort FIR', and combine it with the second sort SEC to obtain a new first sort, and perform step 2 again; When the maximum difference is less than the preset difference threshold, the mean value CJZ of the deviations in the first sorting at this time is calculated; Step 3: Obtain the user's location information based on Beidou positioning, draw a circle with the user's location as the center and the mean CJZ as the radius to obtain the user's theoretical warning range.

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