Railway operator positioning method, device and equipment and readable storage medium

Abstract

The invention relates to the technical field of multi-sensor positioning, and relates to a railway operator positioning method, device and equipment and a readable storage medium, the method comprises the steps of obtaining first information and second information, the first information comprises satellite signal information collected by a positioning device worn by a railway operator, and the second information comprises satellite signal information collected by the positioning device worn by the railway operator; the second information comprises inertial navigation signal information collected by a positioning device worn by the railway operator; pre-processing the first information and the second information to obtain the pre-processed first information and the pre-processed second information; the preprocessed first information and the preprocessed second information are evaluated, an evaluation result is obtained, and the evaluation result comprises the interference degree of electromagnetic interference on a sensor included in the positioning device; according to the invention, under the condition that strong electromagnetic signal interference exists in a railway environment, the positioning precision of the railway operation personnel is improved.

Description

Technical Field

[0001] The present invention relates to the field of multi-sensor positioning technology, and in particular to a railway operator positioning method, device, equipment and readable storage medium. Background Art

[0002] It is crucial to ensure the safety of on-site workers in railway operations. Existing technologies usually use satellite positioning technology to locate the positions of on-site workers in order to determine whether they are in dangerous positions. However, in railway operations, there are complex and large equipment and strong electromagnetic signal interference, which leads to large errors in satellite positioning technology. Summary of the invention

[0003] The object of the present invention is to provide a method, device, equipment and readable storage medium for railway operators to improve the above-mentioned problems.

[0004] In order to achieve the above objectives, the present application provides the following technical solutions:

[0005] On the one hand, an embodiment of the present application provides a method for locating railway workers, the method comprising:

[0006] Acquire first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by the positioning device worn by the railway operator;

[0007] Preprocessing the first information and the second information respectively to obtain preprocessed first information and preprocessed second information;

[0008] Evaluate the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes the interference degree of the electromagnetic interference to the sensor included in the positioning device;

[0009] The location of the railway operating personnel is determined based on the evaluation results.

[0010] In a second aspect, an embodiment of the present application provides a railway operator positioning device, the device comprising:

[0011] An acquisition module, used to acquire first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by a positioning device worn by a railway operator;

[0012] A first processing module, used to preprocess the first information and the second information respectively to obtain preprocessed first information and preprocessed second information;

[0013] a second processing module, configured to evaluate the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes a degree of interference of the electromagnetic interference to the sensor included in the positioning device;

[0014] The positioning module is used to determine the location of the railway operating personnel according to the evaluation result.

[0015] In a third aspect, an embodiment of the present application provides a railway operator positioning device, the device comprising a memory and a processor. The memory is used to store a computer program; the processor is used to implement the steps of the above method when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0017] The beneficial effects of the present invention are:

[0018] The present invention obtains satellite signal information and inertial navigation signal information and preprocesses them respectively to obtain preprocessed first information and preprocessed second information, then evaluates the preprocessed first information and the preprocessed second information to determine the interference degree of electromagnetic interference on the sensor, and adjusts the weight of the sensor according to the interference degree of the sensor to effectively reduce the impact of electromagnetic interference on the signal, thereby improving the positioning accuracy of railway operators in a high-noise environment.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 The figure is a schematic diagram of the flow of the method for locating railway workers described in an embodiment of the present invention.

[0022] Figure 2 Schematic diagram of the topological structure of the railway operating personnel positioning device described in an embodiment of the present invention.

[0023] Figure 3 It is a schematic diagram of the structure of the railway operating personnel positioning device described in an embodiment of the present invention.

[0024] Labels in the figure: 901, acquisition module; 902, first processing module; 903, second processing module; 904, positioning module; 800, railway operator positioning equipment; 801, processor; 802, memory; 803, multimedia component; 804, I / O interface; 805, communication component. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] Embodiment 1:

[0028] This embodiment provides a method for locating railway workers. It can be understood that a scenario can be laid out in this embodiment, for example: when a dangerous situation occurs on the railway, it is necessary to use the positioning device worn on the head of the railway worker to locate him or her and determine whether he or she is in a dangerous area, so as to provide a safety warning to the railway worker.

[0029] See also Figure 1 , the figure shows that the method includes step S1, step S2, step S3 and step S4.

[0030] Step S1, obtaining first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by a positioning device worn by a railway operator;

[0031] In this step, when railway workers are inspecting the railway in the section they are responsible for, they need to wear a positioning device on their heads to collect satellite signal information and inertial navigation signal information to determine the position of the railway workers in real time. The positioning device includes at least two sensors, one for collecting satellite signal information and the other for collecting inertial navigation signal information.

[0032] Step S2, preprocessing the first information and the second information respectively to obtain preprocessed first information and preprocessed second information;

[0033] In this step, preprocessing includes removing outliers, noise, and synchronizing the time of the data collected by the two sensors.

[0034] Step S3, evaluating the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes the interference degree of the electromagnetic interference on the sensor included in the positioning device;

[0035] In this step, since the preprocessing has removed the abnormal values ​​in the first information and the second information, when the sensor is evaluated by the preprocessed first information and the preprocessed second information, the degree of interference of the electromagnetic signal on the sensor can be more accurately judged, thereby improving the accuracy and reliability of the evaluation results.

[0036] The step S3 also includes step S31, step S32, step S33 and step S34, which specifically include:

[0037] Step S31, obtaining third information, wherein the third information includes the three pre-processed first information collected in chronological order;

[0038] Step S32, respectively calculating first characteristic information of each of the preprocessed first information in the third information, wherein the first characteristic information includes a signal amplitude;

[0039] Step S33, calculating second characteristic information according to the first characteristic information, wherein the second characteristic information includes average signal amplitudes corresponding to the three preprocessed first information;

[0040] Step S34: perform evaluation based on the second characteristic information and the preset third characteristic information to obtain an evaluation result.

[0041] In this embodiment, the satellite signal information collected at three consecutive moments is preprocessed to obtain the third information, and then the signal amplitude corresponding to each satellite signal information is extracted to calculate the average signal amplitude corresponding to the satellite signal information at three moments. The average signal amplitude is compared with the signal amplitude of the satellite signal information collected by the sensor when there is no electromagnetic interference, so as to obtain the offset of the signal amplitude and obtain the evaluation result. The offset of the signal amplitude can characterize the degree of interference of the electromagnetic signal to the sensor included in the positioning device.

[0042] Step S4: Determine the location of the railway operator according to the evaluation result.

[0043] The step S4 also includes step S41, step S42, step S43 and step S44, which specifically include:

[0044] Step S41, sending the evaluation result corresponding to the preprocessed first information and the evaluation result corresponding to the preprocessed second information to the attention mechanism respectively, and calculating the weight of each sensor;

[0045] The step S41 also includes step S411, step S412, step S413 and step S414, which specifically include:

[0046] Step S411, obtaining a historical sample set, wherein the historical sample set includes satellite signal information and inertial system signal information recorded in the historical information;

[0047] Step S412, calculating the evaluation results corresponding to each satellite signal information and inertial system signal information in the historical sample set to obtain sixth information and seventh information;

[0048] Step S413: assigning an electromagnetic interference weight factor to each satellite signal information included in the historical sample set according to the sixth information, and assigning an electromagnetic interference weight factor to each inertial navigation signal information included in the historical sample set according to the seventh information to adjust the loss function to obtain an optimized loss function;

[0049] In this step, the optimized loss function is:

[0050]

[0051] In the above formula, L represents the optimized loss function; n represents the number of samples in the historical sample set; w i represents the electromagnetic interference weight factor; y i represents the model output corresponding to the i-th satellite signal information or inertial system signal information, y i ′It represents the target output corresponding to the i-th satellite signal information or inertial system signal information. The target output is the sensor output in an environment without electromagnetic interference or in an ideal electromagnetic interference environment.

[0052] Step S414: Use the optimized loss function to train the attention mechanism.

[0053] In this embodiment, when the samples are greatly affected by electromagnetic interference, the weight factor increases accordingly, so that the model pays more attention to these samples during the optimization process, thereby adjusting the weight of the sensor to adapt to the electromagnetic interference environment, thereby achieving the purpose of reducing the impact of electromagnetic interference on satellite signals and inertial navigation signals. It should be noted that an update frequency can be set to regularly update the weight of the sensor to ensure the accuracy of positioning.

[0054] Step S42: weighting the sensors according to the calculated weight of each of the sensors to obtain weighted first information and weighted second information;

[0055] In this step, a specific implementation method is: when the sensor that collects satellite signal information is subject to strong electromagnetic interference, the weight of the sensor is reduced; when the sensor that collects inertial navigation signal information is subject to weak electromagnetic interference, the weight of the sensor is increased, thereby obtaining the weighted first information and the weighted second information, so as to effectively improve the positioning accuracy of railway workers in an electromagnetic interference environment.

[0056] Step S43, using complementary filtering to fuse the weighted first information and the weighted second information to obtain fused information;

[0057] The step S43 also includes step S431, step S432, step S433, step S434 and step S435, which specifically include:

[0058] Step S431, determining the cutoff frequency of the low-pass filter according to the weight corresponding to the weighted first information to obtain a first cutoff frequency;

[0059] In this step, the degree of interference of the electromagnetic signal on the satellite signal information can be determined according to the weight corresponding to the weighted first information. When the degree of interference of the electromagnetic signal on the satellite signal information is serious, it is necessary to set a lower cutoff frequency as the first cutoff frequency; when the degree of interference of the electromagnetic signal on the satellite signal information is weak, it is necessary to set a higher cutoff frequency as the first cutoff frequency to allow more satellite signal information to participate in the fusion.

[0060] Step S432, determining the cutoff frequency of the high-pass filter according to the weight corresponding to the weighted second information to obtain a second cutoff frequency;

[0061] In this step, similarly, the interference degree of the electromagnetic signal on the inertial navigation signal information can be determined according to the weight corresponding to the weighted second information, and whether to allow more inertial navigation signal information to participate in the fusion is determined according to the interference degree of the inertial navigation signal information.

[0062] Step S433: filtering the weighted first information according to the first cutoff frequency to obtain fourth information;

[0063] Step S434: filtering the weighted second information according to the second cutoff frequency to obtain fifth information;

[0064] Step S435: merge the fourth information and the fifth information to obtain merged information.

[0065] In this embodiment, complementary filtering is used to combine the characteristics of a high-pass filter and a low-pass filter, and the high-frequency signal and the low-frequency signal are processed separately and then fused to achieve the complementary advantages of signals of different frequencies. The first cutoff frequency of the low-pass filter and the second cutoff frequency of the high-pass filter are determined according to the degree of interference of the electromagnetic signal on the satellite signal and the inertial navigation signal, so as to reduce the impact of electromagnetic interference on the fused information, thereby improving the positioning accuracy of railway operators.

[0066] Step S44: Determine the location of the railway operator based on the fused information.

[0067] After step S4, steps S5, S6, S7, S8 and S9 are also included, which specifically include:

[0068] Step S5, obtaining railway design information;

[0069] Step S6, determining tunnel location information and tunnel length information according to the railway design information;

[0070] Step S7, determining the installation position of the laser radar according to the tunnel position information;

[0071] Step S8, determining the number of laser radars to be installed according to the tunnel length information;

[0072] Step S9, setting the laser radars at intervals in the tunnel according to the installation positions of the laser radars and the number of laser radars installed.

[0073] In this embodiment, since the railway environment is a complex environment, there are not only complex large-scale equipment and strong electromagnetic signal interference, but also some obstruction environments, such as tunnels. In the tunnel, there is not only electromagnetic interference but also obstruction, which causes the satellite signal to be unable to accurately detect the position of the workers in the railway tunnel. Therefore, this embodiment sets up multiple laser radars at intervals in the tunnel based on the length information of the tunnel, which can not only ignore the electromagnetic interference, but also accurately locate the position of the railway workers in the tunnel. When the railway workers are outside the tunnel, the first information and the second information can be collected to accurately locate the railway workers in real time; when the railway workers enter the tunnel, their position is located in real time by the laser radar, which realizes the accurate positioning of the workers in the entire complex railway environment.

[0074] The step S9 also includes step S91, step S92, step S93, step S94 and step S95, which specifically include:

[0075] Step S91, obtaining point cloud data;

[0076] In this step, the point cloud data is collected by the laser radar installed in the tunnel.

[0077] Step S92, sending the point cloud data to a denoising model to obtain denoised point cloud data;

[0078] In this step, the point cloud data is denoised using a denoising model, which is a technical solution well known to those skilled in the art and will not be described in detail here.

[0079] Step S93, extracting feature information from the denoised point cloud data to obtain fourth feature information;

[0080] The step S93 also includes step S931, step S932, step S933 and step S934, which specifically include:

[0081] Step S931, voxelizing the denoised point cloud data to obtain eighth information;

[0082] Step S932: extracting feature information from the eighth information to obtain voxel feature information, wherein the voxel feature information includes voxel features of different scales;

[0083] Step S933, performing a two-value interpolation process on the denoised point cloud data to obtain fifth feature information;

[0084] In this step, the fifth feature information is the bird's-eye view feature information, which can reflect the relationship between the target object and the space, so as to quickly detect and locate the target in the plane.

[0085] Step S934: merge the voxel feature information and the fifth feature information to obtain the fourth feature information.

[0086] In this step, by fusing voxel features of different scales with bird's-eye view feature information, the expressiveness of point cloud data on the bird's-eye view can be effectively improved, thereby further improving the understanding of the scene and the accuracy of railway operator detection.

[0087] Step S94: sending the fourth feature information to a target detection model to obtain target object information, where the target object information includes the operating personnel in the tunnel;

[0088] In this step, the target detection model includes a two-dimensional convolutional network and a multi-task detection head network, wherein the two-dimensional convolutional network includes three convolutional blocks, wherein one convolutional block is composed of four convolutional layers, and two convolutional blocks are composed of six convolutional layers. The first layer of each convolutional block is a convolutional layer with a step size of 2, which samples the feature map to half of the original, followed by several convolutional layers with a step size of 1. The fourth feature information is sent to the two-dimensional convolutional network for three downsampling operations to obtain feature information at different levels, which are then fused so that the fused features include both deep abstract features and shallow shape and contour features, giving it a stronger feature expression capability, thereby improving the accuracy of railway operator detection.

[0089] Step S95: determine the location of the target object according to the target object information.

[0090] Since obstacles in the tunnel include but are not limited to fallen rocks, collapsed objects, faulty vehicles, etc., in this embodiment, the voxel features and bird's-eye view features of the point cloud data are extracted and fused, and then sent to the target detection model, thereby achieving accurate detection of railway workers, and then accurately positioning the railway workers based on their corresponding point cloud data.

[0091] Embodiment 2:

[0092] like Figure 2 As shown, this embodiment provides a railway operator positioning device, the device includes an acquisition module 901, a first processing module 902, a second processing module 903 and a positioning module 904, which specifically includes:

[0093] An acquisition module 901 is used to acquire first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by a positioning device worn by a railway operator;

[0094] A first processing module 902, configured to preprocess the first information and the second information respectively to obtain preprocessed first information and preprocessed second information;

[0095] The second processing module 903 is used to evaluate the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes the interference degree of the electromagnetic interference to the sensor included in the positioning device;

[0096] The positioning module 904 is used to determine the location of the railway operator according to the evaluation result.

[0097] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0098] Embodiment 3:

[0099] Corresponding to the above method embodiment, this embodiment further provides a railway worker positioning device. The railway worker positioning device described below and the railway worker positioning method described above can refer to each other.

[0100] Figure 3 FIG. 8 is a block diagram of a railway operator positioning device 800 according to an exemplary embodiment. Figure 3 As shown, the railway operator positioning device 800 may include: a processor 801 and a memory 802. The railway operator positioning device 800 may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0101] The processor 801 is used to control the overall operation of the railway worker positioning device 800 to complete all or part of the steps in the above-mentioned railway worker positioning method. The memory 802 is used to store various types of data to support the operation of the railway worker positioning device 800, and these data may include, for example, instructions for any application or method operated on the railway worker positioning device 800, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 802 or sent via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the railway operator positioning device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 805 can include: Wi-Fi module, Bluetooth module, NFC module.

[0102] In an exemplary embodiment, the railway worker positioning device 800 can be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC), digital signal processors (Digital Signal Processor, referred to as DSP), digital signal processing devices (Digital Signal Processing Device, referred to as DSPD), programmable logic devices (Programmable Logic Device, referred to as PLD), field programmable gate arrays (Field Programmable Gate Array, referred to as FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned railway worker positioning method.

[0103] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned railway operator positioning method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions can be executed by the processor 801 of the railway operator positioning device 800 to complete the above-mentioned railway operator positioning method.

[0104] Embodiment 4:

[0105] Corresponding to the above method embodiment, a readable storage medium is also provided in this embodiment. The readable storage medium described below and the railway operator positioning method described above can refer to each other.

[0106] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the railway operator positioning method of the above method embodiment.

[0107] The readable storage medium may specifically be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other readable storage medium that can store program codes.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0109] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for locating railway workers, characterized in that: include: Acquire first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by the positioning device worn by the railway operator; Preprocessing the first information and the second information respectively to obtain preprocessed first information and preprocessed second information; Evaluate the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes the interference degree of the electromagnetic interference to the sensor included in the positioning device; The location of the railway operating personnel is determined based on the evaluation results.

2. The method for locating railway workers according to claim 1, characterized in that: The preprocessed first information and the preprocessed second information are evaluated to obtain an evaluation result, including: Acquire third information, where the third information includes three pre-processed first information collected in chronological order; Respectively calculating first feature information of each of the preprocessed first information in the third information, wherein the first feature information includes a signal amplitude; Calculate second feature information according to the first feature information, where the second feature information includes average signal amplitudes corresponding to three preprocessed first information; An evaluation is performed based on the second characteristic information and the preset third characteristic information to obtain an evaluation result.

3. The method for locating railway workers according to claim 1, characterized in that: Determine the location of railway operating personnel based on the assessment results, including: Sending the evaluation result corresponding to the preprocessed first information and the evaluation result corresponding to the preprocessed second information to the attention mechanism respectively, and calculating the weight of each sensor; Weighting the sensors according to the calculated weight of each of the sensors to obtain weighted first information and weighted second information; fusing the weighted first information and the weighted second information using complementary filtering to obtain fused information; The location of the railway operating personnel is determined based on the fused information.

4. The method for locating railway workers according to claim 3, characterized in that: The method of fusing the weighted first information and the weighted second information by using complementary filtering includes: Determine a cutoff frequency of a low-pass filter according to a weight corresponding to the weighted first information to obtain a first cutoff frequency; Determine the cutoff frequency of the high-pass filter according to the weight corresponding to the weighted second information to obtain a second cutoff frequency; Filtering the weighted first information according to the first cutoff frequency to obtain fourth information; filtering the weighted second information according to the second cutoff frequency to obtain fifth information; The fourth information and the fifth information are fused to obtain fused information.

5. The method for locating railway workers according to claim 3, characterized in that: Sending the evaluation result corresponding to the preprocessed first information and the evaluation result corresponding to the preprocessed second information to the attention mechanism respectively, including: Acquire a historical sample set, wherein the historical sample set includes satellite signal information and inertial system signal information recorded in the historical information; Calculate the evaluation results corresponding to each satellite signal information and inertial system signal information in the historical sample set to obtain sixth information and seventh information; According to the sixth information, an electromagnetic interference weight factor is assigned to each satellite signal information included in the historical sample set, and according to the seventh information, an electromagnetic interference weight factor is assigned to each inertial navigation signal information included in the historical sample set to adjust the loss function to obtain an optimized loss function; The attention mechanism is trained using the optimized loss function.

6. The method for locating railway workers according to claim 1, characterized in that: After the location of the railway operating personnel is determined according to the evaluation results, the following is also included: Obtain railway design information; Determine tunnel location information and tunnel length information according to the railway design information; Determining the installation position of the laser radar according to the tunnel position information; Determining the number of laser radars to be installed according to the tunnel length information; The laser radars are arranged at intervals in the tunnel according to the installation positions of the laser radars and the number of laser radars installed.

7. The method for locating railway workers according to claim 6, characterized in that: The laser radars are arranged at intervals in the tunnel according to the installation positions of the laser radars and the number of the laser radars installed, including: Get point cloud data; Sending the point cloud data to a denoising model to obtain denoised point cloud data; Extracting feature information from the denoised point cloud data to obtain fourth feature information; Sending the fourth feature information to a target detection model to obtain target object information, wherein the target object information includes a worker in the tunnel; The position of the target object is determined according to the target object information.

8. A railway operator positioning device, characterized in that: include: An acquisition module, used to acquire first information and second information, wherein the first information includes satellite signal information collected by a positioning device worn by a railway operator, and the second information includes inertial navigation signal information collected by a positioning device worn by a railway operator; A first processing module, used to preprocess the first information and the second information respectively to obtain preprocessed first information and preprocessed second information; a second processing module, configured to evaluate the preprocessed first information and the preprocessed second information to obtain an evaluation result, wherein the evaluation result includes a degree of interference of the electromagnetic interference to the sensor included in the positioning device; The positioning module is used to determine the location of the railway operating personnel according to the evaluation result.

9. A railway operator positioning device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the railway operating personnel positioning method as claimed in any one of claims 1 to 4 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the railway operator positioning method according to any one of claims 1 to 4 are implemented.

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