Multi-sensor train positioning method and system

Abstract

The invention discloses a multi-sensor train positioning method and system. The method comprises the following steps: acquiring respective measurement data of an inertial measurement unit, a wheel speed sensor and a satellite data processing unit on a train; the inertial measurement unit is used as a reference system, the wheel speed sensor and the satellite data processing unit are used as calibration systems, and the measurement data are fused to obtain the current position of the train; and determining the current section of the train according to the current position and the electronic map of the train track. According to the embodiment of the invention, the train can be accurately positioned without a ground transponder.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a multi-sensor train positioning method and system. Background Art

[0002] Train positioning is the basis of train interval control and plays a pivotal role in train operation control. It has always been a hot topic in the research and application of train operation control and other fields. Currently, the most widely used train positioning methods are transponders and on-board speed sensors. The transponders are used to calibrate the position of the train on the track, and the train position is periodically updated by accumulating the displacement of the train.

[0003] The transponder is a short-range radio device. Generally, the transponder is installed on the ground track, and the transponder reading unit BTM is installed on the train. When the train passes the transponder laid on the ground, a radio signal is transmitted to the ground to activate the ground transponder. After the ground transponder is activated, it sends a location message to the train. After receiving the location message, the BTM unit on the train can obtain its own precise positioning. Since the transponder is installed at a fixed position on the ground, it can only provide point positioning information to the train, so it is usually used as auxiliary calibration information for the positioning system. In actual applications, the on-board speed sensor will need to calibrate the pulse distance due to wear on the edge of the wheel diameter, and other sensors are required to detect idling, slipping and other problems and compensate for them. At the same time, due to the error of the speed sensor itself, the uncertainty of its position will increase with the distance traveled, and it is necessary to use a transponder for calibration in practice. In addition, since the transponder uses radio waves to transmit signals, there is uncertainty in position observation.

[0004] It can be seen that on the one hand, the positioning method combining traditional transponders and speed sensors is difficult to meet the requirements of high positioning accuracy; on the other hand, the ground deployment of transponders also brings high installation and maintenance costs. Summary of the invention

[0005] The present invention provides a multi-sensor train positioning method and system to achieve accurate train positioning without a ground transponder.

[0006] According to one aspect of the present invention, a multi-sensor train positioning method is provided, comprising:

[0007] Obtaining respective measurement data of the inertial measurement unit, wheel speed sensor and satellite data processing unit on the train;

[0008] Using the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, the measurement data are integrated to obtain the current position of the train;

[0009] The current section of the train is determined based on the current position and the electronic map of the train track.

[0010] According to another aspect of the present invention, a multi-sensor train positioning system is provided, comprising:

[0011] An acquisition module is used to acquire measurement data of an inertial measurement unit, a wheel speed sensor and a satellite data processing unit on the train;

[0012] A fusion module, used to use the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, and fuse the measurement data to obtain the current position of the train;

[0013] The determination module is used to determine the current section of the train based on the current position and the electronic map of the train track.

[0014] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the multi-sensor train positioning method according to any embodiment of the present invention is implemented.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the multi-sensor train positioning method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the multi-sensor train positioning method described in any embodiment of the present invention when executed.

[0017] The embodiment of the present invention adds an inertial measurement unit and a satellite data processing unit to the traditional positioning structure to form a dual-redundancy positioning structure, thereby enhancing the safety and reliability of the system and improving the positioning accuracy. By using the electronic map of the train position and the train track, the current section of the train can be accurately located without the cooperation of a transponder, and there is no need to deploy a large number of transponders on the ground, thereby reducing the installation and maintenance costs of the train positioning system.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 1A is a flow chart of a multi-sensor train positioning method provided according to an embodiment of the present invention;

[0021] Figure 1B is a structural schematic diagram of a transponder-free positioning system provided according to an embodiment of the present invention;

[0022] Figure 1C is a schematic diagram of a multi-sensor data fusion process provided according to an embodiment of the present invention;

[0023] Figure 2A is a flow chart of a multi-sensor train positioning method provided according to another embodiment of the present invention;

[0024] Figure 2B is a schematic diagram of a segment position relationship provided according to another embodiment of the present invention;

[0025] Figure 3 is a structural schematic diagram of a multi-sensor train positioning system provided according to another embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of an electronic device implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0029] Figure 1A This is a flow chart of a multi-sensor train positioning method provided by an embodiment of the present invention. This embodiment is applicable to the situation where a train is traveling along a track and no transponder is deployed on the ground. The method can be executed by a multi-sensor train positioning system. The system can be implemented in the form of hardware and / or software. The system can be configured in an electronic device with corresponding data processing capabilities, such as a main control unit. Figure 1A As shown, the method includes:

[0030] S110, obtaining measurement data of the inertial measurement unit, wheel speed sensor and satellite data processing unit on the train.

[0031] S120: Using the inertial measurement unit as a reference system, and the wheel speed sensor and satellite data processing unit as a calibration system, the measurement data are integrated to obtain the current position of the train.

[0032] S130: Determine the section where the train is currently located based on the current position and the electronic map of the train track.

[0033] Among them, Figure 1B As shown, a secondary train occupancy detection system (track circuit or axle counting equipment) and ground control equipment are arranged on the ground. Speed ​​measuring equipment, satellite receiving antennas and on-board VOBC equipment are installed at both ends of the train. The on-board VOBC equipment includes wheel speed sensors, satellite data processing units, inertial measurement units, main control units, etc.

[0034] Specifically, when the train moves along the track, the inertial measurement unit, wheel speed sensor and satellite data processing unit work synchronously to measure the position and / or speed of the vehicle respectively, and feed the measurement data back to the main control unit.

[0035] Multi-sensor data fusion refers to a combined positioning method that combines the measurement values ​​of different sensors to provide appropriate auxiliary information for the train, enhance the positioning accuracy and robustness of the system, and obtain the optimal position information. For measurement data from different sources, the main control unit adopts the Extended Kalman Filter (EKF) method, sets the inertial measurement unit as the reference system, uses the speed and calculated by the speed sensor as the measurement quantity to correct the speed estimated by the IMU, and uses the speed and position updated by the GPS as the measurement quantity to correct the speed and position estimated by the IMU, and calculates the current position of the train.

[0036] The train position obtained at this time is the train position in the universal coordinate system, such as the longitude and latitude information of the train. In rail transportation, the position of the train is usually marked by the section (or interval) in which it is located. The railway line is divided into multiple sections, each separated by a station or signal. The train will pass through these sections in turn during operation. The railway dispatching system and signal system will monitor the section where the train is located to ensure safe intervals and effectively manage the train operation.

[0037] In the previous scheme, the section where the train is located can be determined by a large number of transponders deployed on the ground. However, since the present invention is a transponder-free positioning scheme, after determining the current position, it is necessary to cooperate with the electronic map of the train track to indirectly infer the current section where the train is located through the current position.

[0038] The embodiment of the present invention adds an inertial measurement unit and a satellite data processing unit to the traditional positioning structure to form a dual-redundancy positioning structure, thereby enhancing the safety and reliability of the system and improving the positioning accuracy. By using the electronic map of the train position and the train track, the current section of the train can be accurately located without the cooperation of a transponder, and there is no need to deploy a large number of transponders on the ground, thereby reducing the installation and maintenance costs of the train positioning system.

[0039] Based on the above embodiment, optionally, taking the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, and fusing the measurement data to obtain the current position of the train includes:

[0040] Determine the speed and position measured by the inertial measurement unit as a reference speed and a reference position;

[0041] The reference speed is calibrated according to the speed calculated by the speed sensor and the speed updated by the satellite data processing unit to obtain the current speed of the train;

[0042] The reference position is calibrated according to the position updated by the satellite data processing unit to obtain the current position of the train.

[0043] Specifically, the speed and position measured by the inertial measurement unit are determined as the reference speed and reference position. Before calibration (fusion), first determine whether the speed sensor or satellite data processing unit is faulty or abnormal. If there is a fault or abnormality, its measurement data will no longer be included in the calibration process. When it is determined that the speed sensor and satellite data processing unit are normal, the calibration process is as follows: Figure 1C As shown. For the speed measured by the inertial measurement unit, the reference speed is calibrated by the speed calculated by the speed sensor and the speed updated by the satellite data processing unit, and the calibration result is used as the current speed of the train. Similarly, for the position measured by the inertial measurement unit, the reference position is calibrated by the position updated by the satellite data processing unit, and the calibration result is used as the current position of the train.

[0044] Based on the above embodiment, optionally, after the inertial measurement unit is used as a reference system, the wheel speed sensor and the satellite data processing unit are used as a calibration system, and the measurement data are fused to obtain the current position of the train, the method further includes:

[0045] The inertial measurement unit is periodically calibrated according to the deviation between the current speed and the reference speed, and the deviation between the current position and the reference position.

[0046] Specifically, due to its internal structure, the inertial measurement unit will drift after long-term operation. Therefore, after the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit have been running for a certain period of time, the deviation between the current speed at the current moment and the reference speed, as well as the deviation between the current position at the current moment and the reference position are calculated, and based on these two deviations, the inertial measurement unit is calibrated through algorithms such as Kalman filtering to reduce the drift of the inertial measurement unit.

[0047] Based on the above embodiment, optionally, the method further includes:

[0048] When the train stops at a station, obtaining preset positioning data of the stop station in the electronic map and / or current positioning data of the satellite data processing unit;

[0049] The inertial measurement unit is calibrated at a fixed point according to the preset positioning data and / or the current positioning data.

[0050] Specifically, the electronic map records the positioning data of each station. When the train stops at a station and remains stationary, the satellite data processing unit works to obtain the current positioning data of the train. At the same time, the expected positioning data of the stop station is also marked on the electronic map. Based on these two positioning data, the inertial measurement unit is calibrated when the train is stationary to reduce the drift accumulated by the inertial measurement unit during the previous travel process.

[0051] Figure 2A This is a flow chart of a multi-sensor train positioning method provided by another embodiment of the present invention. This embodiment is optimized and improved on the basis of the above embodiment. Figure 2A As shown, the method includes:

[0052] S210: Acquire measurement data of the inertial measurement unit, wheel speed sensor and satellite data processing unit on the train.

[0053] S220: Using the inertial measurement unit as a reference system, and the wheel speed sensor and satellite data processing unit as a calibration system, the measurement data are integrated to obtain the current position of the train.

[0054] S230: Project the current position onto an electronic map of the train track to obtain a candidate section matching the current position.

[0055] S240. Filter out the section where the train is currently located from the candidate sections according to the uplink and downlink information of the train.

[0056] Specifically, the main control unit obtains the current position of the train through the multi-sensor information fusion positioning algorithm and projects the current position onto the section of the electronic map. However, due to the close distance between the two tracks of the train and the positioning error within a certain range, it is impossible to directly determine which section the train is in, that is, it may be projected onto multiple sections, and these projected sections are temporarily used as candidate sections for the section where the train is located. According to the train's up and down information, turnout information, and axle counting information, the candidate section where the train is most likely to be located is screened out from the candidate sections, and the candidate section is determined as the section where the train is currently located.

[0057] For example, Figure 2B As shown, the current position P may be projected onto two candidate sections. As shown in the figure above, points P1 and P2 are both possible projection points. At this time, based on the uplink and downlink information and the section occupancy (the section where P1 is located is occupied), it can be determined that P1 is the correct projection point. On a section with a turnout, it is necessary to know whether the turnout is currently in the positioning or reverse position to determine which section it is.

[0058] Based on the above embodiment, optionally, before determining the current section of the train according to the current position and the electronic map of the train track, the method further includes:

[0059] Measure the key nodes on the train track to obtain the longitude and latitude information of each key node;

[0060] The latitude and longitude information of each key node is marked on an electronic map to obtain an electronic map of the train track.

[0061] Specifically, the locations of key nodes such as signals, switches, platforms, and intersections are mapped in advance, and the longitude and latitude information of each key node is obtained as static data and marked on the electronic map. In this way, the location of each key node in the electronic map and the corresponding geographic coordinates can be matched. Later, according to the current position of the train, the key elements near the train can be quickly determined to assist in determining the section where the train is located.

[0062] The embodiment of the present invention estimates the section where the train is located by referring to the uplink and downlink information, thereby improving the accuracy of the estimation.

[0063] Figure 3 A schematic diagram of the structure of a multi-sensor train positioning system provided by another embodiment of the present invention. Figure 3 As shown, the system includes:

[0064] An acquisition module 310 is used to acquire measurement data of an inertial measurement unit, a wheel speed sensor and a satellite data processing unit on the train;

[0065] A fusion module 320 is used to use the inertial measurement unit as a reference system and the wheel speed sensor and satellite data processing unit as a calibration system to fuse the measurement data to obtain the current position of the train;

[0066] The determination module 330 is used to determine the current section of the train based on the current position and the electronic map of the train track.

[0067] The multi-sensor train positioning system provided in the embodiment of the present invention can execute the multi-sensor train positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0068] Optionally, the fusion module 320 includes: a reference unit, configured to determine the speed and position measured by the inertial measurement unit as a reference speed and a reference position;

[0069] A first calibration unit, configured to calibrate the reference speed according to the speed calculated by the speed sensor to obtain a second speed;

[0070] A second calibration unit, configured to calibrate the reference speed and reference position according to the speed and position updated by the satellite data processing unit, to obtain a third speed and a current position;

[0071] A fusion unit is used to fuse the third speed and the second speed to obtain a current speed.

[0072] Optionally, the system further includes:

[0073] The periodic calibration module is used to periodically calibrate the inertial measurement unit according to the deviation between the current speed and the reference speed, and the deviation between the current position and the reference position.

[0074] Optionally, the system further includes:

[0075] The fixed-point calibration module is used to obtain the preset positioning data of the stop station in the electronic map and / or the current positioning data of the satellite data processing unit when the train stops at the station; and perform fixed-point calibration on the inertial measurement unit according to the preset positioning data and / or the current positioning data.

[0076] Optionally, the determination module 330 includes:

[0077] A projection unit, used for projecting the current position onto an electronic map of the train track to obtain a candidate section matching the current position;

[0078] A screening unit is used to screen out the section where the train is currently located from the candidate sections according to the uplink and downlink information of the train.

[0079] Optionally, the system further includes:

[0080] The measurement module is used to measure the key nodes on the train track and obtain the longitude and latitude information of each key node;

[0081] The marking module is used to mark the latitude and longitude information of each key node on the electronic map to obtain the electronic map of the train track.

[0082] The multi-sensor train positioning system further described can also execute the multi-sensor train positioning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0083] Figure 4 A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0084] like Figure 4As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0085] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0086] The processor 41 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a multi-sensor train positioning method.

[0087] In some embodiments, the multi-sensor train positioning method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the multi-sensor train positioning method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to perform the multi-sensor train positioning method in any other appropriate manner (e.g., by means of firmware).

[0088] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0089] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0090] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0093] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-sensor train positioning method, characterized in that: The method comprises: Obtaining respective measurement data of the inertial measurement unit, wheel speed sensor and satellite data processing unit on the train; Using the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, the measurement data are integrated to obtain the current position of the train; The current section of the train is determined based on the current position and the electronic map of the train track.

2. The method according to claim 1, characterized in that: The method of using the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, and fusing the measurement data to obtain the current position of the train includes: Determine the speed and position measured by the inertial measurement unit as a reference speed and a reference position; Calibrate the reference speed according to the speed calculated by the speed sensor to obtain a second speed; Calibrate the reference speed and reference position respectively according to the speed and position updated by the satellite data processing unit to obtain a third speed and a current position; The third speed and the second speed are combined to obtain a current speed.

3. The method according to claim 2, characterized in that After the inertial measurement unit is used as a reference system and the wheel speed sensor and the satellite data processing unit are used as a calibration system, and the measurement data are integrated to obtain the current position of the train, the method further includes: The inertial measurement unit is periodically calibrated according to the deviation between the current speed and the reference speed, and the deviation between the current position and the reference position.

4. The method according to claim 3, characterized in that The method further comprises: When the train stops at a station, obtaining preset positioning data of the stop station in the electronic map and / or current positioning data of the satellite data processing unit; The inertial measurement unit is calibrated at a fixed point according to the preset positioning data and / or the current positioning data.

5. The method according to claim 1, characterized in that Determining the current section of the train according to the current position and the electronic map of the train track includes: Projecting the current position onto an electronic map of the train track to obtain a candidate section matching the current position; The section where the train is currently located is selected from the candidate sections according to the uplink and downlink information of the train.

6. The method according to claim 4, characterized in that Before determining the current section of the train according to the current position and the electronic map of the train track, the method further includes: Measure the key nodes on the train track to obtain the longitude and latitude information of each key node; The latitude and longitude information of each key node is marked on an electronic map to obtain an electronic map of the train track.

7. A multi-sensor train positioning system, characterized in that: The system comprises: An acquisition module is used to acquire measurement data of an inertial measurement unit, a wheel speed sensor and a satellite data processing unit on the train; A fusion module, used to use the inertial measurement unit as a reference system, the wheel speed sensor and the satellite data processing unit as a calibration system, and fuse the measurement data to obtain the current position of the train; The determination module is used to determine the current section of the train based on the current position and the electronic map of the train track.

8. The system according to claim 7, characterized in that The fusion module includes: A reference unit, used to determine the speed and position measured by the inertial measurement unit as a reference speed and a reference position; A first calibration unit, configured to calibrate the reference speed according to the speed calculated by the speed sensor to obtain a second speed; A second calibration unit, configured to calibrate the reference speed and reference position according to the speed and position updated by the satellite data processing unit, to obtain a third speed and a current position; A fusion unit is used to fuse the third speed and the second speed to obtain a current speed.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the multi-sensor train positioning method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the multi-sensor train positioning method according to any one of claims 1 to 6 when executed.

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