A method and system for railway train positioning main line and branch line based on Beidou

Abstract

The present invention relates to the field of high-precision positioning technology, and proposes a method and system for positioning the main line and branch line of a railway train based on Beidou, including: dividing the track segment, collecting the running speed, running direction, reference coordinates and Beidou data; determining the deviation degree at the current collection time, according to the Beidou data at the current collection time, the deviation degree and the Beidou data at the previous Beidou data collection time, and the changes in the running speed and running direction of all collection times between the previous Beidou data collection time and the current collection time relative to the previous adjacent collection time, obtaining the preliminary correction Beidou data at the current collection time; determining the track conformity, the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time; combining the Beidou data at the current collection time and the preliminary correction Beidou data, determining the main line and branch line where the railway train is located in the train wiring diagram. The present invention improves the accuracy of train positioning and ensures reasonable train control and scheduling.

Description

Technical Field

[0001] The present invention relates to the field of high-precision positioning technology, and in particular to a Beidou-based railway train positioning main line and branch line method and system. Background Art

[0002] The Beidou Global Positioning System is a radio navigation and positioning system that uses Beidou satellites to provide three-dimensional position, three-dimensional speed and other information to all parts of the world in real time and around the clock. During the operation of railway trains, drivers can match the Beidou data obtained by the Beidou Global Positioning System with the wiring diagram to obtain the train's running track and the main line and branch line where the train is located, and retrieve the driving control data according to the branch line number at the specified location to achieve accurate control and dispatch of the train.

[0003] The Beidou data obtained by the Beidou global positioning system will be affected by factors such as weather, environment, and complex tracks, resulting in data deviation or delay, affecting the accuracy of train position identification and causing unreasonable train control and scheduling. Therefore, it is necessary to improve the accuracy of train positioning based on Beidou data and train operation data to ensure train control and scheduling. Summary of the invention

[0004] The present invention provides a method and system for railway train positioning main line and branch line based on Beidou to solve the problem of unreasonable train control and scheduling caused by insufficient train positioning accuracy. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present invention provides a method for main line and branch line positioning of a railway train based on Beidou, the method comprising the following steps:

[0006] Divide the track segment according to the direction of the train's traveling track, collect the running speed, running direction and reference coordinates of a preset number of collection moments from the front Beidou data collection moment to the rear Beidou data collection moment, collect Beidou data at the front Beidou data collection moment and the rear Beidou data collection moment, the reference coordinates are the position of the train on the track segment, and record the rear Beidou data collection moment as the current collection moment;

[0007] Determine the deviation degree of the current collection moment according to the difference in running direction and reference coordinates between the current collection moment and the previous Beidou data collection moment, and select one method from the first method and the second method to obtain preliminary corrected Beidou data at the current collection moment according to the value of the deviation degree at the current collection moment, wherein the first method obtains preliminary corrected Beidou data at the current collection moment according to the Beidou data at the current collection moment, the deviation degree and the Beidou data at the previous Beidou data collection moment, and the second method determines the train running data change degree at the current collection moment according to the change in running speed and running direction of all collection moments between the previous Beidou data collection moment and the current collection moment relative to the previous adjacent collection moment, and obtains preliminary corrected Beidou data at the current collection moment according to the train running data change degree;

[0008] Determine the track conformity of the train at the current collection moment according to the running speed at the current collection moment, the collection time interval of the running speed, and the difference between the running directions at the current collection moment and the collection moment before the current collection moment, and determine the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment in combination with the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection moment;

[0009] According to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment, as well as the Beidou data and the preliminary revised Beidou data at the current collection moment, the main line and branch line of the railway train are determined in the train wiring diagram.

[0010] Furthermore, the method for obtaining the deviation degree at the current acquisition moment specifically includes:

[0011] The absolute value of the difference between the running direction at the current collection time and the previous Beidou data collection time is recorded as the running direction difference at the current collection time; the absolute value of the difference between the reference coordinates at the current collection time and the previous Beidou data collection time is recorded as the reference coordinate difference at the current collection time; the product of the running direction difference at the current collection time and the reference coordinate difference is recorded as the first difference at the current collection time;

[0012] The opposite number of the first difference at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the deviation degree at the current collection moment.

[0013] Further, according to the value of the deviation degree at the current collection time, a method is selected from the first method and the second method to obtain the preliminary corrected Beidou data at the current collection time, including the specific method of:

[0014] When the deviation degree at the current collection time is greater than or equal to the preset deviation degree judgment threshold, the first method is used to obtain the preliminary corrected Beidou data at the current collection time;

[0015] When the deviation degree at the current collection moment is less than the preset deviation degree judgment threshold, the second method is used to obtain the preliminary corrected Beidou data at the current collection moment.

[0016] Further, the method of obtaining the preliminary corrected Beidou data at the current collection time according to the Beidou data at the current collection time, the deviation and the Beidou data at the previous Beidou data collection time includes:

[0017] Multiply the longitude and latitude of the Beidou data at the previous Beidou data collection time by the deviation at the current collection time, respectively, to obtain the first longitude and the first latitude at the current collection time, add the longitude of the Beidou data at the current collection time to the first longitude, and obtain the second longitude at the current collection time, add the latitude of the Beidou data at the later Beidou data collection time to the first latitude, and obtain the second latitude at the current collection time, use the second longitude and the second latitude at the current collection time as the longitude and latitude values ​​of the Beidou data, respectively, to obtain the preliminary corrected Beidou data at the current collection time.

[0018] Furthermore, the method for obtaining the train operation data change degree at the current collection time specifically includes:

[0019] Any collection time after the previous Beidou data collection time and before the current collection time is recorded as the target collection time;

[0020] The absolute value of the difference between the running speed at the target collection time and the previous adjacent collection time of the target collection time is recorded as the running speed difference at the target collection time; the absolute value of the difference between the running direction at the target collection time and the previous adjacent collection time of the target collection time is recorded as the running direction absolute difference at the target collection time; the product of the running speed difference at the target collection time and the running direction absolute difference is recorded as the running data difference at the target collection time;

[0021] The normalized value of the accumulated sum of the running data differences at all collection times after the previous Beidou data collection time and before the current collection time is recorded as the train running data change degree at the current collection time.

[0022] Further, the method of obtaining the preliminary corrected Beidou data at the current collection time according to the train operation data change degree includes:

[0023] When the train operation data change degree at the current collection time is less than or equal to the preset change degree judgment threshold, the Beidou data at the current collection time is recorded as the preliminary revised Beidou data at the current collection time;

[0024] When the degree of change of the train operation data at the current collection moment is greater than the preset degree of change judgment threshold, the reference coordinates of the previous adjacent collection moment of the current collection moment are recorded as the preliminary corrected Beidou data of the current collection moment.

[0025] Furthermore, the method for obtaining the track conformity of the train at the current collection time specifically includes:

[0026] The product of the running speed of the train at the current collection time and the collection time interval of the running speed is recorded as the running distance of the train at the current collection time; the position of the running distance of the reference coordinates of the train at the current collection time along the travel direction of the track where the train is located is recorded as the first future position of the train at the current collection time; the position of the running distance of the reference coordinates of the train at the current collection time along the opposite direction of the travel direction of the track where the train is located is recorded as the first past position of the train at the current collection time; the absolute value of the difference between the running directions of the first future position and the first past position of the train at the current collection time is recorded as the calculated travel angle of the train at the current collection time;

[0027] The absolute value of the difference between the running direction of the train at the current collection time and the previous collection time is recorded as the actual running angle of the train at the current collection time;

[0028] The absolute value of the difference between the calculated travel angle and the actual travel angle of the train at the current collection moment is recorded as the first absolute value of the train at the current collection moment; the opposite of the first absolute value at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the track conformity of the train at the current collection moment.

[0029] Further, the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time are determined by combining the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection time, including the specific method of:

[0030] Taking the reference coordinates of the train at the current collection time as the center and the preset radius parameter as the radius, establish the local area of ​​the train at the current collection time, and record the number of different track segments contained in the local area of ​​the train at the current collection time as the number of local track segments of the train at the current collection time;

[0031] The normalized value of the ratio of the number of local track segments to the track conformity at the current collection time is recorded as the first adjustment coefficient of the train at the current collection time;

[0032] The difference between the number 1 and the first adjustment coefficient of the train at the current collection time is recorded as the second adjustment coefficient of the train at the current collection time.

[0033] Further, the method of determining the main line and branch line of the railway train in the wiring diagram of the train according to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time, as well as the Beidou data and the preliminary revised Beidou data at the current collection time, includes the following specific methods:

[0034] The first adjustment coefficient of the train at the current collection time is used as the weight of the preliminary correction Beidou data at the current collection time, and the second adjustment coefficient of the train at the current collection time is used as the weight of the Beidou data at the current collection time, and the Beidou data at the current collection time and the preliminary correction Beidou data are weighted summed to obtain the final correction Beidou data at the current collection time;

[0035] The final corrected Beidou data at the current collection time is used as the real Beidou data at the current collection time, and the main line and branch line corresponding to the position of the real Beidou data are determined in the wiring diagram.

[0036] In the second aspect, an embodiment of the present invention also provides a Beidou-based railway train positioning main line and branch line system, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of any one of the above methods when executing the computer program.

[0037] The beneficial effects of the present invention are:

[0038] According to the characteristic that the more complex the direction of travel and road conditions of the track section where the train is located, the more likely the Beidou data is affected by the complex track section and becomes inaccurate, the application evaluates the complexity of the train's track, determines the deviation at the current collection time, and uses the first method to correct the Beidou data with a larger complexity of the track according to the value of the deviation to obtain preliminary corrected Beidou data, further analyzes the preliminary corrected Beidou data with a smaller complexity of the track, determines the degree of change of the train operation data at the current collection time, and obtains the preliminary corrected Beidou data at the current collection time according to the degree of change of the train operation data; considering that when the train is running on the track, the direction corresponding to the track where the train is located is different from the direction of the train The direction of the train is consistent, and the reference coordinates of the train should also be the characteristics of the track where the train is located. The degree of conformity between the train operation data and the track direction is evaluated, the track conformity is obtained, and the possibility of the train changing the running track is evaluated in combination with the number of forks and forks around the position of the train on the running track, and the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment are determined; finally, according to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment, as well as the Beidou data and the preliminary revised Beidou data at the current collection moment, the main line and branch line of the railway train are determined in the train wiring diagram, the train position is accurately identified, and the problem of unreasonable train control and scheduling caused by insufficient train positioning accuracy is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative labor.

[0040] Figure 1 A schematic flow chart of a Beidou-based railway train positioning main line and branch line method provided by an embodiment of the present invention;

[0041] Figure 2 A flowchart for obtaining preliminary corrected Beidou data provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0043] See also Figure 1 , which shows a flow chart of a method for railway train positioning main line and branch line based on Beidou provided by an embodiment of the present invention, the method comprising the following steps:

[0044] Step S001, divide the track segment according to the direction of the train's travel track, collect the running speed, running direction and reference coordinates of a preset number of collection moments from the front Beidou data collection moment to the rear Beidou data collection moment, collect Beidou data at the front Beidou data collection moment and the rear Beidou data collection moment, the reference coordinates are the position of the train on the track segment, and the rear Beidou data collection moment is recorded as the current collection moment.

[0045] Since the train track includes both straight lines and curves, the train often slows down when turning or changing tracks. In order to more accurately identify the train position, the train track is segmented according to the train wiring diagram. The train wiring diagram includes the turnout and track connection information between stations and stations, and the fixed and reverse position information of the turnout between stations and stations.

[0046] In order to ensure the safety of trains on the track, it is necessary to segment the train track according to the minimum curve radius of the track. The train track is topologically constructed, and nodes are set at the positions where the values ​​of all curve radii on the train track are the minimum curve radius. The curve radii of all positions on the train track between two nodes are greater than the minimum curve radius or less than the minimum curve radius. The train track is divided according to the nodes to obtain the track segments.

[0047] The minimum curve radius is a well-known technical standard commonly used on railways. In this embodiment, the value of the minimum curve radius is the minimum curve radius of the Beijing-Tianjin Intercity Railway, which is 5,500 meters.

[0048] Beidou data is collected through the Beidou global positioning system. Beidou data includes the longitude and latitude of the train. The speed of the train is collected through the speed measurement unit composed of the speed sensor and the body radar on the train, and the running direction of the train is collected through the direction sensor on the train.

[0049] Preferably, as an embodiment of the present application, Beidou data is collected once every 30 seconds, and the running speed and running direction are collected once every 1 second.

[0050] The running direction of the train is the direction in which the train moves. For the running direction, the due north direction is recorded as a direction angle of 0 degrees, and the due south direction is recorded as a direction angle of 180 degrees.

[0051] Since there are multiple collection times of running speeds and running directions between two adjacent Beidou data collection times, the collection time of Beidou data is recorded as Beidou collection time. For Beidou data collected at two adjacent collection times, there are 30 collection times of running speeds and running directions from the previous Beidou data collection time to the next Beidou data collection time. The Beidou data at the next Beidou data collection time can be predicted and corrected based on the running speeds and running directions of these 30 collection times and the Beidou data at the previous Beidou data collection time. Therefore, the current collection time is the Beidou collection time.

[0052] Specifically, the current collection time is recorded as the post-Beidou data collection time, and the Beidou data collection time that is closest to the current collection time before the current collection time is recorded as the pre-Beidou data collection time. This embodiment corrects the Beidou data at the post-Beidou data collection time according to the running speed and running direction of all collection times from the pre-Beidou data collection time to the post-Beidou data collection time, as well as the Beidou data at the pre-Beidou data collection time and the post-Beidou data collection time.

[0053] At each collection moment, the position of the train on the track segment is recorded as the reference coordinates of the train at the collection moment, and the reference coordinates include the longitude and latitude of the train.

[0054] At this point, the trajectory segment, Beidou data before Beidou data collection, running speed, running direction and reference coordinates at the time of collection are obtained.

[0055] Step S002, according to the difference in running direction and reference coordinate between the current collection moment and the previous Beidou data collection moment, determine the deviation degree of the current collection moment, and according to the value of the deviation degree at the current collection moment, select one method from the first method and the second method to obtain the preliminary corrected Beidou data at the current collection moment, wherein the first method obtains the preliminary corrected Beidou data at the current collection moment according to the Beidou data at the current collection moment, the deviation degree and the Beidou data at the previous Beidou data collection moment, and the second method determines the change degree of train operation data at the current collection moment according to the changes in running speed and running direction of all collection moments between the previous Beidou data collection moment and the current collection moment relative to the previous adjacent collection moment, and obtains the preliminary corrected Beidou data at the current collection moment according to the change degree of train operation data.

[0056] From the previous Beidou data collection time to the current collection time, the train is constantly moving. When the direction and road conditions of the track section where the train is located are more complex, the Beidou data is more likely to be inaccurate due to the influence of the complex track section. Therefore, based on the changes in the train's running direction and reference coordinates from the previous Beidou data collection time to the current collection time, the complexity of the train's track during this period is evaluated.

[0057] The deviation degree of the current collection time is determined based on the difference in running direction and reference coordinates between the current collection time and the previous Beidou data collection time.

[0058] Preferably, as an embodiment of the present application, the absolute value of the difference between the running direction at the current collection moment and the previous Beidou data collection moment is recorded as the running direction difference at the current collection moment, the absolute value of the difference between the reference coordinates at the current collection moment and the previous Beidou data collection moment is recorded as the reference coordinate difference at the current collection moment, the product of the running direction difference at the current collection moment and the reference coordinate difference is recorded as the first difference at the current collection moment, the opposite of the first difference at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the deviation degree at the current collection moment.

[0059] The greater the difference in running direction and reference coordinates between the current collection time and the previous Beidou data collection time, the greater the deviation of the current collection time. During the period from the previous Beidou data collection time to the later Beidou data collection time, the greater the change in the direction and position of the train, the greater the complexity of the train's trajectory, and the greater the possibility that the Beidou data will be affected by the complex trajectory segment and become inaccurate.

[0060] A deviation judgment threshold is set. In this embodiment, the deviation judgment threshold is set to 0.7.

[0061] When the deviation degree at the current collection moment is greater than or equal to the deviation degree judgment threshold, the first method is used to correct the Beidou data at the current collection moment; when the deviation degree at the current collection moment is less than the deviation degree judgment threshold, the second method is used to correct the Beidou data at the current collection moment.

[0062] Specifically, the first method is to correct the Beidou data at the current collection time as follows.

[0063] When the deviation at the current collection time is greater than or equal to the deviation judgment threshold, the complexity of the train trajectory is obviously larger. The preliminary corrected Beidou data at the current collection time is obtained based on the Beidou data at the current collection time, the deviation and the Beidou data at the previous Beidou data collection time.

[0064] Preferably, as an embodiment of the present application, the longitude and latitude of the Beidou data at the previous Beidou data collection time are multiplied by the deviation at the current collection time, respectively, to obtain the first longitude and the first latitude at the current collection time, respectively, the longitude of the Beidou data at the current collection time is added to the first longitude, to obtain the second longitude at the current collection time, the latitude of the Beidou data at the later Beidou data collection time is added to the first latitude, to obtain the second latitude at the current collection time, the second longitude and the second latitude at the current collection time are used as the longitude and latitude values ​​of the Beidou data, respectively, to obtain the preliminary corrected Beidou data at the current collection time.

[0065] Specifically, the second method for correcting the Beidou data at the current collection time is as follows.

[0066] When the deviation at the current collection time is less than the deviation judgment threshold, the complexity of the train's trajectory is relatively small. The train's running trajectory from the previous Beidou data collection time to the current collection time is further analyzed to further distinguish whether the train has simply traveled in a straight line or has complex driving behaviors such as turning and changing lines during this period.

[0067] When a train has complex running behaviors such as turning and changing lanes during the period from the previous Beidou data collection time to the current collection time, since the train often slows down when turning and changing lanes, the train running data change degree at the current collection time is determined based on the changes in the running speed and running direction of all collection times between the previous Beidou data collection time and the current collection time relative to the previous adjacent collection time.

[0068] Any collection time after the previous Beidou data collection time and before the current collection time is recorded as the target collection time, the absolute value of the difference between the running speed at the target collection time and the previous adjacent collection time is recorded as the running speed difference at the target collection time, the absolute value of the difference between the running direction at the target collection time and the previous adjacent collection time is recorded as the running direction absolute difference at the target collection time, and the product of the running speed difference at the target collection time and the absolute running direction difference is recorded as the running data difference at the target collection time; the normalized value of the cumulative sum of the running data differences of all collection times after the previous Beidou data collection time and before the current collection time is recorded as the train running data change degree at the current collection time.

[0069] It should be noted that this embodiment uses the Z-Score standard normalization method to calculate the normalized value. In actual application, the implementer may use other methods in the prior art such as the maximum and minimum value normalization method, the sigmoid function, etc. to calculate the normalized value, which is not limited here.

[0070] The greater the change in the running speed and running direction of all collection moments between the current Beidou data collection moment and the current collection moment relative to the previous adjacent collection moment, the greater the degree of change in the train running data at the current collection moment. At this time, the greater the possibility that the train has complex driving behaviors such as turning and changing lanes during the period from the previous Beidou data collection moment to the current collection moment, the greater the possibility that the Beidou data is affected by the complex trajectory segment and becomes inaccurate.

[0071] A change degree judgment threshold is set. In this embodiment, the value of the change degree judgment threshold is 0.3.

[0072] When the degree of change of the train operation data at the current collection moment is less than or equal to the degree of change judgment threshold, the Beidou data at the current collection moment is used as the preliminary corrected Beidou data at the current collection moment.

[0073] When the degree of change of the train operation data at the current collection moment is greater than the degree of change judgment threshold, the reference coordinates of the previous adjacent collection moment of the current collection moment are used as the preliminary corrected Beidou data of the current collection moment.

[0074] At this point, the preliminary revised Beidou data at the current collection time is obtained. The preliminary revised Beidou data acquisition flow chart is as follows: Figure 2 shown.

[0075] Step S003, determine the track conformity of the train at the current collection moment according to the running speed at the current collection moment, the collection time interval of the running speed, and the difference between the running directions at the current collection moment and the collection moment before the current collection moment, and determine the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment in combination with the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection moment.

[0076] When the train is on a complex multi-route section, the collected reference coordinates may have errors. In order to further improve the accuracy of the corrected Beidou data, the preliminary corrected Beidou data is further corrected according to the number and direction of different tracks around the current collection time.

[0077] When a train is running on a track, the direction of the track where the train is located is consistent with the direction of the train's travel, and the reference coordinates of the train should also be on the track where the train is located.

[0078] The track conformity of the train at the current collection moment is determined according to the running speed at the current collection moment, the collection time interval of the running speed, and the difference between the running direction at the current collection moment and the collection moment before the current collection moment.

[0079] Preferably, as an embodiment of the present application, the product of the running speed of the train at the current collection moment and the collection time interval of the running speed is recorded as the running distance of the train at the current collection moment, the position of the running distance of the reference coordinates of the train at the current collection moment along the direction of travel of the track where the train is located is recorded as the first future position of the train at the current collection moment, and the position of the running distance of the reference coordinates of the train at the current collection moment along the direction opposite to the direction of travel of the track where the train is located is recorded as the first past position of the train at the current collection moment; the absolute value of the difference between the running directions of the first future position and the first past position of the train at the current collection moment is recorded as the calculated travel angle of the train at the current collection moment. The absolute value of the difference between the running directions of the train at the current collection moment and the collection moment before the current collection moment is recorded as the actual travel angle of the train at the current collection moment. The absolute value of the difference between the calculated travel angle and the actual travel angle of the train at the current collection moment is recorded as the first absolute value of the train at the current collection moment. The opposite of the first absolute value at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the track conformity of the train at the current collection moment.

[0080] The more forks and forks there are around the train's position on the running track, the greater the possibility that the train will change its running track, and the greater the possibility that the train's Beidou data will be affected and become inaccurate. Therefore, the analysis continues in combination with the number of different tracks around the train at the current time of collection.

[0081] According to the track conformity of the train at the current collection moment and the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection moment, a first adjustment coefficient and a second adjustment coefficient of the train at the current collection moment are determined.

[0082] Preferably, as an embodiment of the present application, a local area of ​​the train at the current collection moment is established with the reference coordinates of the train at the current collection moment as the center and a preset radius parameter as the radius, and the number of different track segments contained in the local area of ​​the train at the current collection moment is recorded as the number of local track segments of the train at the current collection moment, and the normalized value of the ratio of the number of local track segments at the current collection moment to the track conformity is recorded as the first adjustment coefficient of the train at the current collection moment, and the difference between the number 1 and the first adjustment coefficient of the train at the current collection moment is recorded as the second adjustment coefficient of the train at the current collection moment.

[0083] In this embodiment, the preset radius parameter value is 50 meters.

[0084] The more different track segments the train contains within the reference coordinate neighborhood at the current collection moment and the smaller the track conformity of the train at the current collection moment, the greater the possibility that the train's Beidou data will be affected and become inaccurate, and the more it will be necessary to continue to correct the collected Beidou data based on the preliminary corrected Beidou data at the current collection moment. At this time, the larger the first adjustment coefficient of the train at the current collection moment, the smaller the second adjustment coefficient of the train at the current collection moment.

[0085] At this point, the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time are obtained.

[0086] Step S004, determining the main line and branch line of the railway train in the wiring diagram of the train according to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time, as well as the Beidou data and the preliminary revised Beidou data at the current collection time.

[0087] The final corrected Beidou data at the current collection moment is determined according to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment, as well as the Beidou data and the preliminary corrected Beidou data at the current collection moment.

[0088] Preferably, as an embodiment of the present application, the first adjustment coefficient of the train at the current collection moment is used as the weight of the preliminary revised Beidou data at the current collection moment, and the second adjustment coefficient of the train at the current collection moment is used as the weight of the Beidou data at the current collection moment. The Beidou data at the current collection moment and the preliminary revised Beidou data are weighted summed to obtain the final revised Beidou data at the current collection moment.

[0089] The final corrected Beidou data at the current collection time is used as the real Beidou data at the current collection time, and the position corresponding to the real Beidou data is found in the wiring diagram to determine the main line and branch line where the railway train is located.

[0090] At this point, the Beidou-based railway train mainline and branch line positioning results are obtained.

[0091] Based on the same inventive concept as the above method, an embodiment of the present invention also provides a Beidou-based railway train positioning main line and branch line system, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above-mentioned Beidou-based railway train positioning main line and branch line methods.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for main line and branch line positioning of railway trains based on Beidou, characterized in that: The method comprises the following steps: Divide the track segment according to the direction of the train's traveling track, collect the running speed, running direction and reference coordinates of a preset number of collection moments from the front Beidou data collection moment to the rear Beidou data collection moment, collect Beidou data at the front Beidou data collection moment and the rear Beidou data collection moment, the reference coordinates are the position of the train on the track segment, and record the rear Beidou data collection moment as the current collection moment; Determine the deviation degree of the current collection moment according to the difference in running direction and reference coordinates between the current collection moment and the previous Beidou data collection moment, and select one method from the first method and the second method to obtain preliminary corrected Beidou data at the current collection moment according to the value of the deviation degree at the current collection moment, wherein the first method obtains preliminary corrected Beidou data at the current collection moment according to the Beidou data at the current collection moment, the deviation degree and the Beidou data at the previous Beidou data collection moment, and the second method determines the train running data change degree at the current collection moment according to the change in running speed and running direction of all collection moments between the previous Beidou data collection moment and the current collection moment relative to the previous adjacent collection moment, and obtains preliminary corrected Beidou data at the current collection moment according to the train running data change degree; Determine the track conformity of the train at the current collection moment according to the running speed at the current collection moment, the collection time interval of the running speed, and the difference between the running directions at the current collection moment and the collection moment before the current collection moment, and determine the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment in combination with the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection moment; According to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection moment, as well as the Beidou data and the preliminary revised Beidou data at the current collection moment, the main line and branch line of the railway train are determined in the train wiring diagram.

2. A Beidou-based railway train positioning main line and branch line method according to claim 1, characterized in that: The method for obtaining the deviation degree at the current acquisition moment specifically includes: The absolute value of the difference between the running direction at the current collection time and the previous Beidou data collection time is recorded as the running direction difference at the current collection time; the absolute value of the difference between the reference coordinates at the current collection time and the previous Beidou data collection time is recorded as the reference coordinate difference at the current collection time; the product of the running direction difference at the current collection time and the reference coordinate difference is recorded as the first difference at the current collection time; The opposite number of the first difference at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the deviation degree at the current collection moment.

3. A Beidou-based railway train positioning main line and branch line method according to claim 1, characterized in that: According to the value of the deviation degree at the current collection time, a method is selected from the first method and the second method to obtain the preliminary corrected Beidou data at the current collection time, including the specific method of: When the deviation degree at the current collection time is greater than or equal to the preset deviation degree judgment threshold, the first method is used to obtain the preliminary corrected Beidou data at the current collection time; When the deviation degree at the current collection moment is less than the preset deviation degree judgment threshold, the second method is used to obtain the preliminary corrected Beidou data at the current collection moment.

4. A Beidou-based railway train positioning main line and branch line method according to claim 1, characterized in that: The method of obtaining the preliminary corrected Beidou data at the current collection time according to the Beidou data at the current collection time, the deviation and the Beidou data at the previous Beidou data collection time includes: Multiply the longitude and latitude of the Beidou data at the previous Beidou data collection time by the deviation at the current collection time, respectively, to obtain the first longitude and the first latitude at the current collection time, add the longitude of the Beidou data at the current collection time to the first longitude, and obtain the second longitude at the current collection time, add the latitude of the Beidou data at the later Beidou data collection time to the first latitude, and obtain the second latitude at the current collection time, use the second longitude and the second latitude at the current collection time as the longitude and latitude values ​​of the Beidou data, respectively, to obtain the preliminary corrected Beidou data at the current collection time.

5. The method for main line and branch line positioning of railway train based on Beidou according to claim 1, characterized in that: The method for obtaining the train operation data change degree at the current collection time specifically includes: Any collection time after the previous Beidou data collection time and before the current collection time is recorded as the target collection time; The absolute value of the difference between the running speed at the target collection time and the previous adjacent collection time of the target collection time is recorded as the running speed difference at the target collection time; the absolute value of the difference between the running direction at the target collection time and the previous adjacent collection time of the target collection time is recorded as the running direction absolute difference at the target collection time; the product of the running speed difference at the target collection time and the running direction absolute difference is recorded as the running data difference at the target collection time; The normalized value of the accumulated sum of the running data differences at all collection times after the previous Beidou data collection time and before the current collection time is recorded as the train running data change degree at the current collection time.

6. The method for main line and branch line positioning of railway train based on Beidou according to claim 1, characterized in that: The specific method of obtaining the preliminary corrected Beidou data at the current collection time according to the train operation data change degree is as follows: When the train operation data change degree at the current collection time is less than or equal to the preset change degree judgment threshold, the Beidou data at the current collection time is recorded as the preliminary revised Beidou data at the current collection time; When the degree of change of the train operation data at the current collection moment is greater than the preset degree of change judgment threshold, the reference coordinates of the previous adjacent collection moment of the current collection moment are recorded as the preliminary corrected Beidou data of the current collection moment.

7. The method for main line and branch line positioning of railway train based on Beidou according to claim 1, characterized in that: The method for obtaining the track conformity of the train at the current collection time specifically includes: The product of the running speed of the train at the current collection time and the collection time interval of the running speed is recorded as the running distance of the train at the current collection time; the position of the running distance of the reference coordinates of the train at the current collection time along the travel direction of the track where the train is located is recorded as the first future position of the train at the current collection time; the position of the running distance of the reference coordinates of the train at the current collection time along the opposite direction of the travel direction of the track where the train is located is recorded as the first past position of the train at the current collection time; the absolute value of the difference between the running directions of the first future position and the first past position of the train at the current collection time is recorded as the calculated travel angle of the train at the current collection time; The absolute value of the difference between the running direction of the train at the current collection time and the previous collection time is recorded as the actual running angle of the train at the current collection time; The absolute value of the difference between the calculated travel angle and the actual travel angle of the train at the current collection moment is recorded as the first absolute value of the train at the current collection moment; the opposite of the first absolute value at the current collection moment is used as the exponent of an exponential function with a natural constant as the base, and the value of the exponential function is recorded as the track conformity of the train at the current collection moment.

8. The method for main line and branch line positioning of railway train based on Beidou according to claim 1, characterized in that: The method of determining the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time by combining the number of different track segments contained in the reference coordinate neighborhood of the train at the current collection time includes the following specific methods: Taking the reference coordinates of the train at the current collection time as the center and the preset radius parameter as the radius, establish the local area of ​​the train at the current collection time, and record the number of different track segments contained in the local area of ​​the train at the current collection time as the number of local track segments of the train at the current collection time; The normalized value of the ratio of the number of local track segments to the track conformity at the current collection time is recorded as the first adjustment coefficient of the train at the current collection time; The difference between the number 1 and the first adjustment coefficient of the train at the current collection time is recorded as the second adjustment coefficient of the train at the current collection time.

9. The method for main line and branch line positioning of railway train based on Beidou according to claim 1, characterized in that: The method of determining the main line and branch line of the railway train in the wiring diagram of the train according to the first adjustment coefficient and the second adjustment coefficient of the train at the current collection time, as well as the Beidou data and the preliminary revised Beidou data at the current collection time, includes the following specific methods: The first adjustment coefficient of the train at the current collection time is used as the weight of the preliminary correction Beidou data at the current collection time, and the second adjustment coefficient of the train at the current collection time is used as the weight of the Beidou data at the current collection time, and the Beidou data at the current collection time and the preliminary correction Beidou data are weighted summed to obtain the final correction Beidou data at the current collection time; The final corrected Beidou data at the current collection time is used as the real Beidou data at the current collection time, and the main line and branch line corresponding to the position of the real Beidou data are determined in the wiring diagram.

10. A Beidou-based railway train positioning main line and branch line system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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