Real-time positioning method, device and equipment for rail train and medium

Abstract

The invention provides a real-time positioning method, device and equipment for a rail train and a medium, which can be applied to the technical field of rail transit. The method comprises the following steps: in response to a train positioning request, acquiring a bus voltage parameter and a feeder current parameter of a traction station; under the condition that a first target power supply interval only comprising a single train exists in a line, the power measurement value of the train is determined according to the bus voltage parameter, the feeder current parameter and the attribute information of the line, and the line comprises at least one first target power supply interval and a plurality of second target power supply intervals; according to the power measurement values of the trains, the power measurement value of each train of the line is determined; determining respective first position information of each train according to the bus voltage parameter, the feeder current parameter and the respective power measurement value of each train of the line; according to the first position information and the second position information, the real-time position information of each train is determined, and the second position information is determined according to the kinematics equation of the train.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a real-time positioning method, device, equipment and medium for a rail train. Background Art

[0002] With the development of science and technology and economy, rail transit is also constantly undergoing technological innovation and upgrading. Urban rail transit trains are high-power sliding loads, and the position of the train is uncertain. In addition, there are three processes during the travel of the train, namely traction, inertia and braking, which also increases the difficulty of positioning the train.

[0003] In the process of realizing the concept of the present invention, the inventors found that the positioning of trains in related technologies is mainly through the transponders on the tracks, which has large errors and is difficult to obtain the accurate position of the train in real time, thereby increasing the operation risk of the train. Summary of the invention

[0004] In view of the above problems, the present invention provides a real-time positioning method, device, equipment and medium for a rail train.

[0005] According to a first aspect of the present invention, a real-time positioning method for a rail train is provided, comprising: in response to a train positioning request, obtaining bus voltage parameters and feeder current parameters of a traction station; in the case where there is a first target power supply section including only a single train in the line, determining the power measurement value of the train according to the bus voltage parameters, the feeder current parameters and attribute information of the line, wherein the line includes at least one first target power supply section and multiple second target power supply sections, and each of the second target power supply sections includes at least one train; determining the power measurement value of each train on the line according to the power measurement value of the train; determining the first position information of each train according to the bus voltage parameters, the feeder current parameters and the power measurement value of each train on the line; determining the real-time position information of each train according to the first position information and the second position information, wherein the second position information is determined according to the kinematic equation of the train.

[0006] According to an embodiment of the present invention, the attribute information of the above-mentioned line includes the length of the above-mentioned line and the unit impedance of the above-mentioned line. In the case that there is a first target power supply section including only a single train in the above-mentioned line, the power measurement value of the above-mentioned train is determined according to the above-mentioned bus voltage parameters, the above-mentioned feeder current parameters and the attribute information of the above-mentioned line, including: for the single above-mentioned train: according to the above-mentioned bus voltage parameters, the above-mentioned feeder current parameters, the unit impedance of the above-mentioned line and the length of the above-mentioned line, the above-mentioned first position information is determined; according to the above-mentioned first position information, the unit impedance of the above-mentioned line and the above-mentioned feeder current parameters, the line loss of the above-mentioned first target power supply section is determined; according to the above-mentioned bus voltage parameters and the above-mentioned feeder current parameters, the output power of the above-mentioned traction depot is determined; according to the above-mentioned power measurement value, the output power of the above-mentioned traction depot and the line loss of the above-mentioned first target power supply section is determined.

[0007] According to an embodiment of the present invention, the above-mentioned determining the power measurement value of each train on the above-mentioned line based on the power measurement value of the above-mentioned train includes: determining the state of the above-mentioned train based on the power measurement value of the above-mentioned train; determining the relationship between the power measurement value of the above-mentioned train, the speed of the above-mentioned train and the traction force of the above-mentioned train based on the state of the above-mentioned train; determining the power measurement value of each train on the above-mentioned line based on the relationship between the power measurement value of the above-mentioned train, the speed of the above-mentioned train and the traction force of the above-mentioned train.

[0008] According to an embodiment of the present invention, the state of the above-mentioned train includes a constant torque state, a constant power state and a natural characteristic state, and the relationship between the power measurement value of the above-mentioned train, the speed of the above-mentioned train and the traction force of the above-mentioned train is determined according to the state of the above-mentioned train, including: when the above-mentioned train is in the above-mentioned constant torque state, the traction force of the above-mentioned train is a fixed value, and the power measurement value of the above-mentioned train is proportional to the speed of the above-mentioned train; when the above-mentioned train is in the above-mentioned constant power state, the power measurement value of the above-mentioned train is a fixed value, and the traction force of the above-mentioned train is proportional to the speed of the above-mentioned train; when the above-mentioned train is in the above-mentioned natural characteristic state, the power measurement value of the above-mentioned train is inversely proportional to the speed of the above-mentioned train, and the traction force of the above-mentioned train is inversely proportional to the square of the speed of the above-mentioned train.

[0009] According to an embodiment of the present invention, the power measurement value of each train on the line is determined based on the relationship between the power measurement value of the train, the speed of the train and the traction of the train, including: when the relationship between the power measurement value of the train, the speed of the train and the traction of the train is determined, the power measurement value of each train on the line is determined based on the traction of the train and the speed of the train.

[0010] According to an embodiment of the present invention, the above-mentioned determining the respective first position information of each of the above-mentioned trains according to the above-mentioned bus voltage parameters, the above-mentioned feeder current parameters and the respective power measurement values ​​of each train of the above-mentioned line includes: determining the respective voltage parameters of each node and the current parameters of each node of the above-mentioned line according to the above-mentioned bus voltage parameters, the above-mentioned feeder current parameters, the respective power measurement values ​​of each train of the above-mentioned line and the association matrix, wherein the above-mentioned node is the above-mentioned traction depot, or each train of the above-mentioned line, and the above-mentioned association matrix is ​​determined according to the nodes of the above-mentioned line; determining the branch admittance of the above-mentioned line according to the respective voltage parameters of each node of the above-mentioned line, the respective current parameters of each node of the above-mentioned line and the above-mentioned association matrix; determining the respective first position information of each of the above-mentioned trains according to the branch admittance of the above-mentioned line and the unit admittance of the above-mentioned line.

[0011] According to an embodiment of the present invention, the above-mentioned determining the real-time position information of each train based on the above-mentioned first position information and the second position information includes: determining the above-mentioned second position information based on the first position information of the above-mentioned train, the speed of the above-mentioned train and the time interval, wherein the above-mentioned time interval represents the calculation step in the kinematic equation of the above-mentioned train; determining the Kalman gain based on the covariance matrix corresponding to the above-mentioned first position information and the target covariance matrix determined based on the above-mentioned second position information; and according to the above-mentioned Kalman gain, fusing the above-mentioned first position information and the above-mentioned second position information to obtain the real-time position information of each train.

[0012] A second aspect of the present invention provides a real-time positioning device for a rail train, comprising: an acquisition module, a first determination module, a second determination module, a third determination module and a fourth determination module.

[0013] The acquisition module is used to obtain the bus voltage parameters and feeder current parameters of the traction station in response to the train positioning request.

[0014] The first determination module is used to determine the power measurement value of the above-mentioned train according to the above-mentioned bus voltage parameters, the above-mentioned feeder current parameters and the attribute information of the above-mentioned line when there is a first target power supply section including only a single train in the line, wherein the above-mentioned line includes at least one first target power supply section and multiple second target power supply sections, and each of the above-mentioned second target power supply sections includes at least one train.

[0015] The second determination module is used to determine the power measurement value of each train on the above line according to the power measurement value of the above train.

[0016] The third determination module is used to determine the first position information of each of the above trains according to the above bus voltage parameters, the above feeder current parameters and the power measurement value of each train on the above line.

[0017] The fourth determination module is used to determine the real-time position information of each train according to the first position information and the second position information, wherein the second position information is determined according to the kinematic equation of the train.

[0018] A third aspect of the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0019] The fourth aspect of the present invention further provides a computer-readable storage medium having a computer program or instructions stored thereon, which implements the steps of the above method when the computer program or instructions are executed by a processor.

[0020] The fifth aspect of the present invention also provides a computer program product, including a computer program or instructions, which implement the steps of the above method when executed by a processor.

[0021] According to the real-time positioning method, device, electronic device and medium of rail trains provided by the present invention, when there is a first target power supply section including only a single train in the line, the power measurement value of a single train in the first target power supply section can be determined according to the bus voltage parameter, feeder current parameter and line attribute information, and the operation characteristics of trains on the same line are approximately the same, and the power measurement value of each train on the line can be calculated, and the first position information of each train can be determined according to the power measurement value, bus voltage parameter and feeder current parameter of each train. The second position information of each train can be obtained according to the kinematic equation of the train, and the first position information and the second position information are merged to obtain the real-time position information of each train, thereby improving the accuracy of the real-time positioning of the train and the safety of the train operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0023] Figure 1 An application scenario diagram of a real-time positioning method for a rail train according to an embodiment of the present invention is shown.

[0024] Figure 2 A flow chart of a real-time positioning method for a rail train according to an embodiment of the present invention is shown.

[0025] Figure 3 A power supply topology diagram of a line according to an embodiment of the present invention is shown.

[0026] Figure 4 A flow chart of a real-time positioning method for a rail train according to yet another embodiment of the present invention is shown.

[0027] Figure 5 A schematic diagram showing a first target power supply section including a single train according to an embodiment of the present invention is shown.

[0028] Figure 6 A schematic diagram showing the relationship between voltage parameters, current parameters and traction force of a train according to an embodiment of the present invention is shown.

[0029] Figure 7 A structural block diagram of a real-time positioning device for a rail train according to an embodiment of the present invention is shown.

[0030] Figure 8 A block diagram of an electronic device suitable for implementing a real-time positioning method for a rail train according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0031] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0032] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0033] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0034] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0035] In the technical solution of the present invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0036] In the process of implementing the present invention, it is found that in the related art, positioning is mainly completed by the transponder on the track. For example, a positioning device is installed on the track, but the positioning device has an error of 100~300m, and it is difficult to obtain the accurate position of the train in real time, which increases the operational risk. At the same time, the topological analysis, state estimation, real-time energy flow monitoring, etc. of the traction power supply system are also inseparable from accurate train positioning.

[0037] In view of this, an embodiment of the present invention provides a real-time positioning method for a rail train, comprising: in response to a train positioning request, obtaining bus voltage parameters and feeder current parameters of a traction station; in the case where there is a first target power supply section including only a single train in the line, determining the power measurement value of the train according to the bus voltage parameters, feeder current parameters and attribute information of the line, wherein the line includes at least one first target power supply section and multiple second target power supply sections, and each second target power supply section includes at least one train; according to the power measurement value of the train, determining the power measurement value of each train on the line; according to the bus voltage parameters, feeder current parameters and the power measurement value of each train on the line, determining the first position information of each train; according to the first position information and the second position information, determining the real-time position information of each train, wherein the second position information is determined according to the kinematic equation of the train.

[0038] Figure 1 An application scenario diagram of a real-time positioning method for a rail train according to an embodiment of the present invention is shown.

[0039] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a traction station 101, a train 102, a network 103, and a server 104. The network 103 is used to provide a medium for a communication link between the traction station 101, the train 102, and the server 104. The network 103 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0040] The traction station 101 and the train 102 may interact with the server 104 via the network 103 to receive or send messages, etc. Various client applications may be installed on the traction station 101 and the train 102.

[0041] It should be noted that the real-time positioning method of the rail train provided in the embodiment of the present invention can generally be executed by the server 104. Accordingly, the real-time positioning device of the rail train provided in the embodiment of the present invention can generally be set in the server 104. The real-time positioning method of the rail train provided in the embodiment of the present invention can also be executed by a server or server cluster that is different from the server 104 and can communicate with the traction station 101, the train 102 and / or the server 104. Correspondingly, the real-time positioning device of the rail train provided in the embodiment of the present invention can also be set in a server or server cluster that is different from the server 104 and can communicate with the traction station 101, the train 102 and / or the server 104.

[0042] It should be understood that Figure 1 The numbers of traction depots, trains, networks and servers in the embodiment are only for illustration purposes. Any number of traction depots, trains, networks and servers may be provided as required.

[0043] The following will be based on Figure 1 The scene described by Figure 2~Figure 6 The real-time positioning method of a rail train according to an embodiment of the present invention is described in detail.

[0044] Figure 2 A flow chart of a real-time positioning method for a rail train according to an embodiment of the present invention is shown.

[0045] like Figure 2 As shown, the real-time positioning method 200 of a rail train in this embodiment includes operations S210 to S250.

[0046] In operation S210, in response to a train positioning request, bus voltage parameters and feeder current parameters of a traction station are acquired.

[0047] In operation S220, when there is a first target power supply section including only a single train in the line, a power measurement value of the train is determined according to bus voltage parameters, feeder current parameters, and attribute information of the line.

[0048] In operation S230, the power measurement value of each train on the line is determined according to the power measurement value of the train.

[0049] In operation S240, first position information of each train is determined according to bus voltage parameters, feeder current parameters, and power measurement values ​​of each train of the line.

[0050] In operation S250, the real-time position information of each train is determined according to the first position information and the second position information.

[0051] According to an embodiment of the present invention, a DC traction power supply system may include a traction station, a contact network, a pantograph, a train load, a track, a signal and control system, an auxiliary power supply system and other components.

[0052] According to an embodiment of the present invention, the traction station may also be referred to as a traction substation, which mainly converts the high-voltage electric energy provided by the power system into a voltage and frequency suitable for electric locomotives through operations such as voltage reduction and rectification, and provides continuous and stable power supply for electric locomotives. For example, electric locomotives may be rail transit trains such as EMUs and subways.

[0053] According to an embodiment of the present invention, the bus voltage can determine the voltage level of the overhead contact network. The feeder current can characterize the current in the feeder line that transmits direct current from the traction station to the overhead contact network. The traction station is provided with two-side devices that can obtain the bus voltage parameters and feeder current parameters of the traction station.

[0054] According to an embodiment of the present invention, a line may represent an operating line of a rail transit train. A power supply section may represent an overhead contact network between two adjacent traction substations. A line may include at least one first target power supply section and multiple second target power supply sections, and each second target power supply section may include at least one train. For example, each second target power supply section may also include a single train. For example, a line may include 1 first target power supply section and 15 second target power supply sections, and the first target power supply section and each second target power supply section may include a train.

[0055] According to an embodiment of the present invention, since there is only a single train in the first target power supply section, there is only one current collection point in the first target power supply section. Therefore, according to the bus voltage parameters, feeder current parameters and line attribute information of the traction station, the first position information of the single train can be determined through a two-terminal current ratio positioning algorithm, and then the power measurement value of the train can be determined. The first position information can represent the position pseudo-measurement value of the train.

[0056] According to an embodiment of the present invention, the operating characteristics of rail transit trains in the same line are approximately the same, and the power measurement value of each train in the line can be determined based on the power measurement value of a single train in the first target power supply section.

[0057] According to an embodiment of the present invention, the first position information of each train can be determined based on the bus voltage parameters, feeder current parameters and the power measurement value of each train on the line through a positioning algorithm of a double-terminal current ratio.

[0058] According to an embodiment of the present invention, each train can satisfy the kinematic equation, and the second position information can be determined according to the kinematic equation of the train. The first position information and the second position information are merged to determine the real-time position information of each train.

[0059] Figure 3 A power supply topology diagram of a line according to an embodiment of the present invention is shown.

[0060] like Figure 3 As shown, it includes two traction stations, namely the first traction station 310 and the second traction station 320. The measuring device in the first traction station 310 can measure the feeder current parameters of the first ends of the four feeders and the bus voltage parameters of the bus, and the measuring device in the second traction station 320 can measure the feeder current parameters of the second ends of the four feeders and the bus voltage parameters of the bus. The overhead line between the electrical phases of the first traction station 310 and the second traction station 320 is a second target power supply section 330. There are trains 1 and 2 in the second target power supply section 330. The travel directions of trains 1 and 2 are opposite, and the speed of train 1 is V1, and the speed of train 2 is V2.

[0061] According to an embodiment of the present invention, when there is a first target power supply section including only a single train in the line, the power measurement value of a single train in the first target power supply section can be determined according to the bus voltage parameter, feeder current parameter and line attribute information, and the running characteristics of trains on the same line are approximately the same, and the power measurement value of each train on the line can be calculated, and the first position information of each train can be determined according to the power measurement value, bus voltage parameter and feeder current parameter of each train. The second position information of each train can be obtained according to the kinematic equation of the train, and the first position information and the second position information are merged to obtain the real-time position information of each train, thereby improving the accuracy of the real-time positioning of the train and the safety of the train operation.

[0062] According to an embodiment of the present invention, in the case that there is a first target power supply section including only a single train in the line, the power measurement value of the train is determined according to the bus voltage parameters, the feeder current parameters and the attribute information of the line, including: for a single train: determining the first position information according to the bus voltage parameters, the feeder current parameters, the unit impedance of the line and the length of the line; determining the line loss of the first target power supply section according to the first position information, the unit impedance of the line and the feeder current parameters; determining the output power of the traction depot according to the bus voltage parameters and the feeder current parameters; determining the power measurement value according to the output power of the traction depot and the line loss of the first target power supply section.

[0063] According to an embodiment of the present invention, a set of equations may be written according to Kirchhoff's voltage law equation, as shown in the following formula (1).

[0064] (1)

[0065] Among them, L represents the length of the first target power supply section, x represents the distance to the next traction depot in the direction of train operation, z represents the unit impedance of the line, I1 represents the feeder current parameter of the first end of the line, I2 represents the feeder current parameter of the second end of the line, U1 represents the bus voltage parameter of the first traction depot, U2 represents the bus voltage parameter of the second traction depot, and U represents the voltage parameter of the train.

[0066] According to an embodiment of the present invention, the attribute information of the line may include the length of the line and the unit impedance of the line. The length of the line may represent the length of the first target power supply interval. By solving the above formula (1), the first position information may be determined according to the bus voltage parameter, the feeder current parameter, the unit impedance of the line and the length of the line, as shown in the following formula (2).

[0067] (2)

[0068] The definitions of the parameters in formula (2) are the same as those in the above formula (1), and the same parameters in the following different formulas have the same definitions and will not be repeated here.

[0069] According to an embodiment of the present invention, the first position information of the train may be determined when the distance to the next traction depot in the running direction of the train is determined.

[0070] According to an embodiment of the present invention, the line loss of the first target power supply section can be determined according to the first position information, the unit impedance of the line and the feeder current parameter. , as shown in formula (3).

[0071] (3)

[0072] According to an embodiment of the present invention, the output power of the traction station can be determined according to the bus voltage parameters and the feeder current parameters, so that the power measurement value of the train can be determined by subtracting the line loss of the first target power supply section from the output power of the traction station. , as shown in formula (4).

[0073] (4)

[0074] Figure 4 A flow chart of a real-time positioning method for a rail train according to yet another embodiment of the present invention is shown.

[0075] like Figure 4As shown, the real-time positioning method 400 of a rail train in this embodiment includes operations S410 to S480.

[0076] In operation S410, in response to a train positioning request, bus voltage parameters and feeder current parameters of a traction station are acquired.

[0077] In operation S420, for a single train: first position information is determined according to bus voltage parameters, feeder current parameters, unit impedance of the line, and length of the line.

[0078] In operation S430, a line loss of a first target power supply section is determined according to the first position information, a unit impedance of the line, and a feeder current parameter.

[0079] In operation S440, the output power of the traction substation is determined according to the bus voltage parameter and the feeder current parameter.

[0080] In operation S450, a power measurement value is determined according to the output power of the traction station and the line loss of the first target power supply section.

[0081] In operation S460, the power measurement value of each train on the line is determined according to the power measurement value.

[0082] In operation S470, first position information of each train on the line is determined according to bus voltage parameters, feeder current parameters, and power measurement values ​​of each train on the line.

[0083] In operation S480, the real-time position information of each train on the line is determined according to the first position information and the second position information.

[0084] According to an embodiment of the present invention, the above operations S420 to S450 are for calculating the power measurement value of a single train within the first target power supply interval, and the above operations S460 to S480 are the process of determining the real-time position information of all trains in all power supply intervals in the line when the power measurement value of a single train in the first target power supply interval is determined.

[0085] According to an embodiment of the present invention, for a single train in the first target power supply section, the first position information of the single train in the first target power supply section can be determined based on the bus voltage parameters, feeder current parameters, unit impedance of the line and length of the line, and then the line loss of the first target power supply section can be determined, and the output power of the traction station minus the line loss of the first target power supply section can be subtracted to determine the power measurement value of the train, thereby improving the accuracy of the power measurement value of the train in the first target power supply section.

[0086] Figure 5A schematic diagram showing a first target power supply section including a single train according to an embodiment of the present invention is shown.

[0087] like Figure 5 As shown, the traction network between the electric phases of the first traction station 310 and the second traction station 320 is the first target power supply section, and the length of the first target power supply section is L. The bus voltage parameter U5 of the second traction station 320, the bus voltage parameter U1 of the first traction station 310, and the feeder current parameter I s5 , the feeder current parameter I of the first traction substation 310 s1 , the unit impedance of the line and the length L of the first target power supply section, and determine the first position information of the train 3.

[0088] According to an embodiment of the present invention, the power measurement value of each train on the line is determined based on the power measurement value of the train, including: determining the state of the train based on the power measurement value of the train; determining the relationship between the power measurement value of the train, the speed of the train and the traction of the train based on the state of the train; determining the power measurement value of each train on the line based on the relationship between the power measurement value of the train, the speed of the train and the traction of the train.

[0089] According to an embodiment of the present invention, it is possible to determine that the train is in any one of the control processes of the starting process, the inertia process and the braking process based on the power measurement value of the train. For example, it is possible to determine that the train is currently in the braking process based on the power measurement value of the train being in the range of the power measurement value corresponding to the braking process. When the control process of the train is determined, the state of the train can be further determined.

[0090] According to an embodiment of the present invention, the speed of the train can be obtained by an automatic train monitoring system (ATS). The relationship between the power measurement value of the train, the speed of the train and the traction of the train can be determined according to the state of the train. The relationship between the power measurement value of the train, the speed of the train and the traction of the train can be expressed as , where P represents the power measurement value of the train, F represents the traction force of the train, and v represents the speed of the train.

[0091] According to an embodiment of the present invention, when there is a first target power supply section including only a single train in the line, the power measurement value of the train can be determined according to the bus voltage parameters, feeder current parameters and attribute information of the line, so as to determine whether the train is in any one of the control processes of starting, inertia and braking. When the control process of the train is determined, the state of the train can be further determined, and according to the state of the train, the relationship between the power measurement value of the train, the speed of the train and the traction of the train can be determined.

[0092] According to an embodiment of the present invention, in the case of determining the relationship between the power measurement value of the train, the speed of the train and the traction force of the train, the power measurement value of each train of the line can be determined.

[0093] According to an embodiment of the present invention, when determining the state of a train, the power measurement value of each train on the line can be determined based on the relationship between the power measurement value of the train corresponding to the state, the speed of the train and the traction force of the train, thereby improving the accuracy of the power measurement value of each train on the line.

[0094] According to an embodiment of the present invention, the relationship between the power measurement value of the train, the speed of the train and the traction force of the train is determined according to the state of the train, including: when the train is in a constant torque state, the traction force of the train is a fixed value, and the power measurement value of the train is proportional to the speed of the train; when the train is in a constant power state, the power measurement value of the train is a fixed value, and the traction force of the train is proportional to the speed of the train; when the train is in a natural characteristic state, the power measurement value of the train is inversely proportional to the speed of the train, and the traction force of the train is inversely proportional to the square of the speed of the train.

[0095] According to an embodiment of the present invention, the state of the train may include a constant torque state, a constant power state and a natural characteristic state. The starting process of the train may include a constant torque state, a constant power state and a natural characteristic state, the braking process of the train may include a constant power state and a constant torque state, and the inertia process of the train may include a natural characteristic state.

[0096] According to an embodiment of the present invention, when the train is in a constant torque state, the traction force of the train is a fixed value, and the power measurement value of the train is proportional to the speed of the train, as shown in the following formula (5).

[0097] (5)

[0098] in, Indicates the power measurement value when the train is in a constant torque state. It represents the traction force of the train under constant torque state, and v represents the speed of the train.

[0099] According to the embodiment of the present invention, the traction force of the train, that is, the constant torque of the train, can be obtained according to the power measurement value of the train and the speed of the train.

[0100] According to an embodiment of the present invention, when the train is in a constant power state, the power measurement value of the train is a fixed value, the traction force of the train is proportional to the speed of the train, and can satisfy a hyperbolic function, so that the traction force of the train can be obtained according to the speed of the train and the power measurement value of the train.

[0101] According to an embodiment of the present invention, the natural characteristic state is obtained from the change of the constant power state. Therefore, when the train just enters the natural characteristic state, the power measurement value of the train is still the power measurement value in the constant power state. When the train is in the natural characteristic state, the power measurement value of the train is inversely proportional to the speed of the train, as shown in the following formula (6), and the traction force of the train is inversely proportional to the square of the speed of the train, as shown in the following formula (7).

[0102] (6)

[0103] (7)

[0104] in, represents the power measurement value of the train in a constant power state, k represents the proportional coefficient between the power measurement value of the train and the speed of the train, F represents the traction force in a natural characteristic state, Indicates the power measurement value when the train is in its natural characteristic state.

[0105] According to an embodiment of the present invention, a proportionality coefficient between the power measurement value of the train and the speed of the train may be obtained based on the power measurement value of the train in a constant power state and the speed of the train.

[0106] Figure 6 A schematic diagram showing the relationship between voltage parameters, current parameters and traction force of a train according to an embodiment of the present invention is shown.

[0107] According to an embodiment of the present invention, the power measurement value of the train can be determined based on the voltage parameters and current parameters of the train. Figure 6 As shown, the traction force of the train remains unchanged before time t1, decreases between time t1 and time t2, and continues to decrease after time t2. The voltage parameters of the train tend to gradually increase before time t1 and remain stable after time t1. The current parameters of the train remain stable before time t2 and gradually decrease after time t2.

[0108] According to an embodiment of the present invention, the power measurement value of each train on the line is determined according to the relationship between the power measurement value of the train, the speed of the train and the traction of the train, including: when the relationship between the power measurement value of the train, the speed of the train and the traction of the train is determined, the power measurement value of each train on the line is determined according to the traction of the train and the speed of the train.

[0109] According to an embodiment of the present invention, when the relationship between the power measurement value of a train, the speed of the train and the traction force of the train is determined, the power measurement value of each train on the line can be determined according to the traction force of the train and the speed of the train by using the above formulas (5) to (7) or the hyperbolic function.

[0110] According to an embodiment of the present invention, the relationship between the power measurement value of the train, the speed of the train and the traction force of the train can be determined according to the state of the train, and then the power measurement value of each train on the line can be determined, thereby improving the efficiency and accuracy of obtaining the power measurement value of each train.

[0111] According to an embodiment of the present invention, the first position information of each train is determined according to the bus voltage parameters, the feeder current parameters and the power measurement values ​​of each train of the line, including: determining the voltage parameters of each node and the current parameters of each node of the line according to the bus voltage parameters, the feeder current parameters, the power measurement values ​​of each train of the line and the association matrix; determining the branch admittance of the line according to the voltage parameters of each node of the line, the current parameters of each node of the line and the association matrix; determining the first position information of each train according to the branch admittance of the line and the unit admittance of the line.

[0112] According to an embodiment of the present invention, each train of the traction station and the line can be regarded as a node, the line between two nodes can be called a branch, the number of branches can be determined according to the number of nodes, and the association matrix can be determined according to the nodes of the line, that is, the association matrix can be determined according to the number of nodes of the line and the number of branches. For example, the number of nodes can be n, and the number of branches between each node is m.

[0113] According to an embodiment of the present invention, bus voltage parameters, feeder current parameters, power measurement values ​​of each train on the line, and correlation matrix simultaneous circuit equations can be used as shown in the following formula (8) to determine the first position information of each train.

[0114] (8)

[0115] Among them, represents the power measurement value of each node, Represents the voltage parameters of each node, represents the current parameters of the branch between nodes, represents the incidence matrix, represents the transpose of the incidence matrix, is the admittance matrix of the branch, and diag represents the operation used to extract the diagonal elements of the matrix or construct a diagonal matrix.

[0116] According to an embodiment of the present invention, a case where there are three trains in a single power supply section can be taken as an example, the first node is the first traction station, the fifth node is the second traction station, and the second node, the third node and the fourth node are three trains. The voltage parameters of each node and the current parameters of each node of the line can be determined according to the bus voltage parameters, the feeder current parameters, the power measurement values ​​of each train of the line and the association matrix, as shown in the following formula (9).

[0117] (9)

[0118] in, represents the power measurement value of the first node, represents the power measurement value of the second node, represents the power measurement value of the third node, represents the power measurement value of the fourth node, represents the power measurement value of the fifth node, Indicates the bus voltage parameter of the first traction substation, Indicates the bus voltage parameters of the second traction substation, represents the voltage parameter of the second node, represents the voltage parameter of the third node, represents the voltage parameter of the fourth node, represents the feeder current parameter at the first end of the line, represents the feeder current parameter at the second end of the line, represents the current parameter of the branch between the second node and the third node, represents the current parameter of the branch between the third node and the fourth node, It means that the number of rows in the incidence matrix is ​​5 and the number of columns is 4.

[0119] According to an embodiment of the present invention, according to the above formula (9), the voltage parameters of the second node, the voltage parameters of the third node, the voltage parameters of the fourth node, the current parameters of the branch between the second node and the third node, and the current parameters of the branch between the third node and the fourth node can be obtained, and combined with the bus voltage parameters of the first traction substation, the bus voltage parameters of the second traction substation, the feeder current parameters of the first end of the line, and the feeder current parameters of the second end of the line, so as to obtain the voltage parameters of each node and the current parameters of each node of the line.

[0120] According to an embodiment of the present invention, the branch admittance of the line can be determined according to the voltage parameters of each node of the line, the current parameters of each node of the line and the correlation matrix, as shown in the following formula (10).

[0121] (10)

[0122] in, represents the branch admittance of the branch between the first node and the second node, represents the branch admittance of the branch between the second and third nodes, represents the branch admittance of the branch between the third and fourth nodes, Represents the branch admittance of the branch between the fourth node and the fifth node.

[0123] According to an embodiment of the present invention, the branch admittance of the line can be determined according to the above formula (10), and then the first position information of each train can be determined by dividing the branch admittance of the line by the unit admittance of the line, wherein the unit admittance of the line is equal to the inverse of the unit impedance of the line.

[0124] According to an embodiment of the present invention, when the voltage parameters of each node and the current parameters of each node of the line are determined, the branch admittance of the line can be determined in combination with the correlation matrix, and the branch admittance of the line can be divided by the unit admittance of the line to determine the first position information of each train, thereby improving the accuracy of obtaining the first position information of each train.

[0125] According to an embodiment of the present invention, the real-time position information of each train is determined based on the first position information and the second position information, including: determining the second position information based on the first position information of the train, the speed of the train and the time interval; determining the Kalman gain based on the covariance matrix corresponding to the first position information and the target covariance matrix determined based on the second position information; and according to the Kalman gain, fusing the first position information and the second position information to obtain the real-time position information of each train.

[0126] According to an embodiment of the present invention, the time interval can represent the calculation step length in the kinematic equation of the train, and the second position information can be determined according to the first position information of the train, the speed of the train and the time interval, as shown in the following formula (11).

[0127] (11)

[0128] in, represents the second position information of train i at time t, represents the first position information of train i at time t-1, represents the speed of train i at time t-1, Indicates a time interval.

[0129] According to an embodiment of the present invention, based on the first position information of train i at time t-1, the speed and time interval of train i at time t-1, the second position information of train i can be obtained by using the above formula (11). In addition, in real-time operation of the train, the second position information of train i at time t can also be determined based on the second position information of train i at time t-1, the speed and time interval of train i at time t-1.

[0130] According to an embodiment of the present invention, a positioning device is installed on the track, and the spacing of the positioning devices can be 200m~300m. In actual operation, when the train passes the positioning device, the first position information of the train at time t+1 can be obtained from the positioning device. When the train does not pass the positioning device, the first position information of each train at time t+1 can be determined according to the bus voltage parameters, feeder current parameters and the power measurement value of each train on the line by using the above formula (8).

[0131] According to an embodiment of the present invention, a process of predicting the position information of a train using Kalman filtering to obtain the second position information is as follows: Formula (12).

[0132] (12)

[0133] Where Q represents the covariance matrix of the prediction equation, represents the covariance matrix of the estimated equation at time t+1, represents the covariance matrix of the estimated equation at time t, represents the matrix composed of the second position information of the train at time t+1, represents the matrix of the real-time position information of train i at time t, Represents the matrix consisting of the estimated speed values ​​of train i at time t.

[0134] According to an embodiment of the present invention, the covariance matrix of the prediction equation corresponds to the second position information of the train, and the covariance matrix of the estimation equation corresponds to the real-time position information of the train.

[0135] According to an embodiment of the present invention, the Kalman gain may be determined according to a covariance matrix corresponding to the first position information and a target covariance matrix determined based on the second position information.

[0136] According to an embodiment of the present invention, when the Kalman gain is determined, the first position information and the second position information can be fused to obtain the real-time position information of each train. The state update process of the Kalman filter is as follows: Formula (13), so that the real-time position information of the train at time t+1 can be obtained.

[0137] (13)

[0138] Among them, K g represents the Kalman gain, R represents the covariance matrix corresponding to the first position information, I represents the identity matrix, represents the covariance matrix of the estimated equation at time t+2, represents the matrix composed of the first position information of train i at time t+1, represents the matrix composed of the second position information of train i at time t+1, A matrix representing the real-time position information of train i at time t+1.

[0139] According to an embodiment of the present invention, the first position information and the second position information are fused by utilizing Kalman filtering so that the variance of the fused data is minimized, thereby obtaining the real-time position information of each train, thereby improving the accuracy of the real-time position information of each train.

[0140] Based on the above-mentioned real-time positioning method for rail trains, the present invention also provides a real-time positioning device for rail trains. Figure 7 The device is described in detail.

[0141] Figure 7 A structural block diagram of a real-time positioning device for a rail train according to an embodiment of the present invention is shown.

[0142] like Figure 7 As shown, the real-time positioning device 700 for a rail train in this embodiment includes an acquisition module 710 , a first determination module 720 , a second determination module 730 , a third determination module 740 and a fourth determination module 750 .

[0143] The acquisition module 710 is used to obtain the bus voltage parameters and feeder current parameters of the traction station in response to the train positioning request. In one embodiment, the acquisition module 710 can be used to perform the operation S210 described above, which will not be described in detail here.

[0144] The first determination module 720 is used to determine the power measurement value of the train according to the bus voltage parameter, the feeder current parameter and the attribute information of the line when there is a first target power supply section including only a single train in the line, wherein the line includes at least one first target power supply section and multiple second target power supply sections, and each second target power supply section includes at least one train. In one embodiment, the first determination module 720 can be used to perform the operation S220 described above, which will not be repeated here.

[0145] The second determination module 730 is used to determine the power measurement value of each train on the line according to the power measurement value of the train. In one embodiment, the second determination module 730 can be used to perform the operation S230 described above, which will not be repeated here.

[0146] The third determination module 740 is used to determine the first position information of each train according to the bus voltage parameter, the feeder current parameter and the power measurement value of each train of the line. In one embodiment, the third determination module 740 can be used to perform the operation S240 described above, which will not be repeated here.

[0147] The fourth determination module 750 is used to determine the real-time position information of each train according to the first position information and the second position information, wherein the second position information is determined according to the kinematic equation of the train. In one embodiment, the fourth determination module 730 can be used to perform the operation S250 described above, which will not be repeated here.

[0148] According to an embodiment of the present invention, the attribute information of the line includes the length of the line and the unit impedance of the line. The first determination module 720 includes: a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule.

[0149] The first determination submodule is used to determine the first position information for a single train according to bus voltage parameters, feeder current parameters, unit impedance of the line and length of the line.

[0150] The second determination submodule is used to determine the line loss of the first target power supply section according to the first position information, the unit impedance of the line and the feeder current parameter.

[0151] The third determination submodule is used to determine the output power of the traction station according to the bus voltage parameters and the feeder current parameters.

[0152] The fourth determination submodule is used to determine the power measurement value according to the output power of the traction station and the line loss of the first target power supply section.

[0153] According to an embodiment of the present invention, the second determination module 730 includes: a fifth determination submodule, a sixth determination submodule, and a seventh determination submodule.

[0154] The fifth determination submodule is used to determine the state of the train according to the power measurement value of the train.

[0155] The sixth determination submodule is used to determine the relationship between the power measurement value of the train, the speed of the train and the traction force of the train according to the state of the train.

[0156] The seventh determination submodule is used to determine the power measurement value of each train on the line according to the relationship between the power measurement value of the train, the speed of the train and the traction force of the train.

[0157] According to an embodiment of the present invention, the state of the train includes a constant torque state, a constant power state and a natural characteristic state, and the sixth determination submodule includes: a first determination unit, a second determination unit, and a third determination unit.

[0158] The first determination unit is used for, when the train is in a constant torque state, the traction force of the train is a fixed value, and the power measurement value of the train is proportional to the speed of the train.

[0159] The second determining unit is used for, when the train is in a constant power state, the power measurement value of the train is a fixed value, and the traction force of the train is proportional to the speed of the train.

[0160] The third determining unit is used to determine that, when the train is in a natural characteristic state, the power measurement value of the train is inversely proportional to the speed of the train, and the traction force of the train is inversely proportional to the square of the speed of the train.

[0161] According to an embodiment of the present invention, the seventh determining submodule includes: a fourth determining unit.

[0162] The fourth determination unit is used to determine the power measurement value of each train on the line according to the traction force of the train and the speed of the train when the relationship among the power measurement value of the train, the speed of the train and the traction force of the train is determined.

[0163] According to an embodiment of the present invention, the third determination module 740 includes: an eighth determination submodule, a ninth determination submodule, and a tenth determination submodule.

[0164] The eighth determination submodule is used to determine the voltage parameters of each node and the current parameters of each node of the line according to the bus voltage parameters, feeder current parameters, the power measurement values ​​of each train on the line and the association matrix, wherein the node is a traction station or each train on the line, and the association matrix is ​​determined based on the nodes of the line.

[0165] The ninth determination submodule is used to determine the branch admittance of the line according to the voltage parameter of each node of the line, the current parameter of each node of the line and the correlation matrix.

[0166] The tenth determination submodule is used to determine the first position information of each train according to the branch admittance of the line and the unit admittance of the line.

[0167] According to an embodiment of the present invention, the fourth determining module 750 includes: an eleventh determining submodule, a twelfth determining submodule, and a thirteenth determining submodule.

[0168] The eleventh determination submodule is used to determine the second position information according to the first position information of the train, the speed of the train and the time interval, wherein the time interval represents the calculation step length in the kinematic equation of the train.

[0169] The twelfth determination submodule is used to determine the Kalman gain according to the covariance matrix corresponding to the first position information and the target covariance matrix determined based on the second position information.

[0170] The thirteenth determination submodule is used to fuse the first position information and the second position information according to the Kalman gain to obtain the real-time position information of each train.

[0171] According to an embodiment of the present invention, any multiple modules among the acquisition module 710, the first determination module 720, the second determination module 730, the third determination module 740 and the fourth determination module 750 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the acquisition module 710, the first determination module 720, the second determination module 730, the third determination module 740 and the fourth determination module 750 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in a proper combination of any of them. Alternatively, at least one of the acquisition module 710, the first determination module 720, the second determination module 730, the third determination module 740 and the fourth determination module 750 may be at least partially implemented as a computer program module, which may perform a corresponding function when executed.

[0172] Figure 8 A block diagram of an electronic device suitable for implementing a real-time positioning method for a rail train according to an embodiment of the present invention is shown.

[0173] like Figure 8As shown, the electronic device 800 according to an embodiment of the present invention includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part 808 to a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include an onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0174] In RAM 803, various programs and data required for the operation of electronic device 800 are stored. Processor 801, ROM 802 and RAM 803 are connected to each other via bus 804. Processor 801 performs various operations of the method flow according to the embodiment of the present invention by executing the programs in ROM 802 and / or RAM 803. It should be noted that the program can also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 can also perform various operations of the method flow according to the embodiment of the present invention by executing the programs stored in the one or more memories.

[0175] According to an embodiment of the present invention, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to the bus 804. The electronic device 800 may further include one or more of the following components connected to the I / O interface 805: an input portion 806 including a keyboard, a mouse, etc.; an output portion 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 808 including a hard disk, etc.; and a communication portion 809 including a network interface card such as a LAN card, a modem, etc. The communication portion 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that the computer program read therefrom is installed into the storage portion 808 as needed.

[0176] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0177] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: 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), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 802 and / or RAM 803 described above and / or one or more memories other than ROM 802 and RAM 803.

[0178] The embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program includes a program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the real-time positioning method of a rail vehicle provided by the embodiment of the present invention.

[0179] The computer program executes the above functions defined in the system / device of the embodiment of the present invention when the processor 801 executes the computer program. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0180] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 809, and / or installed from a removable medium 811. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0181] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the processor 801, the above functions defined in the system of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0182] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0183] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0184] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0185] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination advantageously. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A real-time positioning method for a rail train, characterized in that: The method comprises: In response to a train positioning request, obtaining bus voltage parameters and feeder current parameters of the traction station; In the case where there is a first target power supply section including only a single train in the line, determining the power measurement value of the train according to the bus voltage parameter, the feeder current parameter and the attribute information of the line, wherein the line includes at least one first target power supply section and multiple second target power supply sections, and each second target power supply section includes at least one train; Determining the power measurement value of each train on the line according to the power measurement value of the train; Determining first position information of each train according to the bus voltage parameter, the feeder current parameter and the power measurement value of each train on the line; The real-time position information of each train is determined according to the first position information and the second position information, wherein the second position information is determined according to the kinematic equation of the train.

2. The method according to claim 1, characterized in that The attribute information of the line includes the length of the line and the unit impedance of the line. When there is a first target power supply section including only a single train in the line, determining the power measurement value of the train according to the bus voltage parameter, the feeder current parameter and the attribute information of the line includes: For a single train: Determining the first position information according to the bus voltage parameter, the feeder current parameter, the unit impedance of the line and the length of the line; Determining a line loss in the first target power supply section according to the first location information, the unit impedance of the line, and the feeder current parameter; Determining the output power of the traction station according to the bus voltage parameter and the feeder current parameter; The power measurement value is determined according to the output power of the traction station and the line loss of the first target power supply section.

3. The method according to claim 2, characterized in that Determining the power measurement value of each train on the line according to the power measurement value of the train includes: Determining the state of the train according to the power measurement value of the train; Determining, according to the state of the train, a relationship between a power measurement value of the train, a speed of the train, and a traction force of the train; The power measurement value of each train on the line is determined according to the relationship between the power measurement value of the train, the speed of the train and the traction force of the train.

4. The method according to claim 3, characterized in that The state of the train includes a constant torque state, a constant power state and a natural characteristic state, and determining the relationship between the power measurement value of the train, the speed of the train and the traction force of the train according to the state of the train includes: When the train is in the constant torque state, the traction force of the train is a fixed value, and the power measurement value of the train is proportional to the speed of the train; When the train is in the constant power state, the power measurement value of the train is a fixed value, and the traction force of the train is proportional to the speed of the train; When the train is in the natural characteristic state, the power measurement value of the train is inversely proportional to the speed of the train, and the traction force of the train is inversely proportional to the square of the speed of the train.

5. The method according to claim 4, characterized in that Determining the power measurement value of each train on the line according to the relationship between the power measurement value of the train, the speed of the train and the traction force of the train includes: When the relationship between the power measurement value of the train, the speed of the train and the traction force of the train is determined, the power measurement value of each train on the line is determined according to the traction force of the train and the speed of the train.

6. The method according to claim 1, characterized in that The determining of the first position information of each train according to the bus voltage parameter, the feeder current parameter and the power measurement value of each train of the line comprises: Determine the voltage parameter of each node and the current parameter of each node of the line according to the bus voltage parameter, the feeder current parameter, the power measurement value of each train of the line and the association matrix, wherein the node is the traction station or each train of the line, and the association matrix is ​​determined according to the nodes of the line; Determining the branch admittance of the line according to the voltage parameter of each node of the line, the current parameter of each node of the line and the correlation matrix; The first position information of each of the trains is determined according to the branch admittance of the line and the unit admittance of the line.

7. The method according to claim 6, characterized in that Determining the real-time position information of each train according to the first position information and the second position information includes: Determine the second position information according to the first position information of the train, the speed of the train and the time interval, wherein the time interval represents a calculation step length in the kinematic equation of the train; determining a Kalman gain according to a covariance matrix corresponding to the first position information and a target covariance matrix determined based on the second position information; According to the Kalman gain, the first position information and the second position information are fused to obtain the real-time position information of each train.

8. A real-time positioning device for a rail train, characterized in that: The device comprises: An acquisition module, used to obtain bus voltage parameters and feeder current parameters of the traction station in response to a train positioning request; a first determination module, configured to determine the power measurement value of the train according to the bus voltage parameter, the feeder current parameter and the attribute information of the line when there is a first target power supply section including only a single train in the line, wherein the line includes at least one first target power supply section and a plurality of second target power supply sections, and each of the second target power supply sections includes at least one train; A second determination module is used to determine the power measurement value of each train on the line according to the power measurement value of the train; A third determination module is used to determine the first position information of each train according to the bus voltage parameter, the feeder current parameter and the power measurement value of each train of the line; The fourth determination module is used to determine the real-time position information of each train according to the first position information and the second position information, wherein the second position information is determined according to the kinematic equation of the train.

9. An electronic device, comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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