Rail transit communication system and method

Abstract

According to the rail transit communication system and method, distance measurement between a vehicle-mounted direct-connection UWB base station and each ground UWB base station is achieved through at least one vehicle-mounted direct-connection UWB base station, a ground direct-connection UWB base station and at least one ground wireless UWB base station, and a vehicle-mounted computer system and a ground computer system carry out wireless communication according to the distances. Determining position information of the train; a communication message carrying the position information of the train is sent to a direct connection UWB base station in wired connection; and the communication message is sent to a computer system at an opposite end through the directly connected UWB base station in wired connection. The problem that the operation efficiency is reduced when a train-ground communication system in the prior art fails is solved, the wiring difficulty of a ground computer system and a ground UWB base station is simplified, the system construction cost is reduced, and the UWB base station selection precision and the message transmission efficiency are improved, so that train-ground two-way communication is guaranteed.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a rail transit communication system and method. Background Art

[0002] Currently, in domestic urban rail transit, the communication-based train control system CBTC (Communication Based Train Control System) is mostly adopted to achieve the automatic control of trains. Meanwhile, with the assistance of an on-track positioning system and a vehicle-ground two-way communication system, the safe and efficient operation of trains is ensured.

[0003] In the prior art, a rail transit communication system includes an on-vehicle computer system and a ground computer system. The on-vehicle computer system obtains the position information of the train and sends the position information of the train to the ground computer system; the control information sent by the ground computer system to the on-vehicle computer system carries the position information of the train.

[0004] The problem existing in the prior art is that when the vehicle-ground communication system fails, that is, when the communication between the on-vehicle computer system and the ground computer system is abnormal, the position information of the train cannot be timely feedback and the train cannot be timely controlled. On the one hand, the train will operate in a degraded mode or even stop, endangering the operation order of the whole line of trains and reducing the operation efficiency; on the other hand, it will endanger the train operation safety and cause casualties. Summary of the Invention

[0005] This application provides a rail transit communication system and method to solve the problems that when the vehicle-ground communication system fails in the prior art, the train operates in a degraded mode or even stops, endangering the operation order of the whole line of trains, reducing the operation efficiency, endangering the train operation safety, and causing casualties.

[0006] In a first aspect, this application provides a rail transit communication system, and the system includes: an on-vehicle computer system and at least one on-vehicle direct-connected UWB base station deployed on the train, a ground computer system, a ground direct-connected UWB base station, and at least one ground wireless UWB base station deployed on the ground; wherein, the on-vehicle computer system is wired-connected to the at least one on-vehicle direct-connected UWB base station; the ground computer system is wired-connected to the ground direct-connected UWB base station;

[0007] The at least one on-vehicle direct-connected UWB base station, the at least one ground wireless UWB base station, and the ground direct-connected UWB base station are respectively used for broadcasting ranging messages carrying their own identification information and the first timestamp information of the broadcast.

[0008] The at least one vehicle-mounted direct-connection UWB base station is configured to determine the distance between itself and another ground UWB base station according to the second timestamp information carried in another ranging message broadcast by the other ground UWB base station, the identification information of the other ground UWB base station, and the first time when the other ranging message is received; and send the distance to the vehicle-mounted computer system;

[0009] At least one ground UWB base station is configured to determine the distance between itself and another vehicle-mounted direct-connection UWB base station according to the third timestamp information carried in another ranging message broadcast by the other vehicle-mounted direct-connection UWB base station, the identification information of the other vehicle-mounted direct-connection UWB base station, and the second time when the other ranging message is received; and send the distance to the ground computer system through the ground direct-connection UWB base station;

[0010] The vehicle-mounted computer system and the ground computer system are respectively configured to, for the at least one vehicle-mounted direct-connection UWB base station, determine the position information of the vehicle-mounted direct-connection UWB base station according to the distance between the vehicle-mounted direct-connection UWB base station and each ground UWB base station, and determine the position information of the train according to the relative position relationship between the vehicle-mounted direct-connection UWB base station and the train pre-stored;

[0011] The vehicle-mounted computer system is configured to send a first communication message carrying the position information of the train to the at least one vehicle-mounted direct-connection UWB base station; and forward the first communication message to the ground computer system through the at least one vehicle-mounted direct-connection UWB base station;

[0012] The ground computer system is configured to send a second communication message carrying the position information of the train to the ground direct-connection UWB base station; and forward the second communication message to the vehicle-mounted computer system through the ground direct-connection UWB base station.

[0013] The above technical solution has the following advantages or beneficial effects:

[0014] The rail transit communication system provided by this application includes: an on-vehicle computer system and at least one on-vehicle direct-connect UWB base station deployed on the train, a ground computer system deployed on the ground, a ground direct-connect UWB base station, and at least one ground wireless UWB base station; the distance measurement between the on-vehicle direct-connect UWB base station and each ground UWB base station is realized through at least one on-vehicle direct-connect UWB base station, the ground direct-connect UWB base station, and at least one ground wireless UWB base station. Then, at least one on-vehicle direct-connect UWB base station sends the measured distances to the on-vehicle computer system, and the ground direct-connect UWB base station sends the measured distances to the ground computer system; furthermore, the on-vehicle computer system and the ground computer system respectively determine the position information of the train according to the respective distances; send a communication message carrying the position information of the train to the directly connected UWB base station with a wired connection; and send the communication message to the computer system at the opposite end through the directly connected UWB base station with a wired connection. On the one hand, by deploying at least one on-vehicle direct-connect UWB base station, a ground direct-connect UWB base station, and at least one ground wireless UWB base station in the rail transit communication system, this application realizes train positioning and communication between the on-vehicle computer system and the ground computer system, solving the problems in the prior art that when the vehicle-ground communication system fails, the train degrades or even stops running, endangering the operation order of trains on the entire line, reducing the operation efficiency, endangering the driving safety, and causing casualties. On the other hand, the on-vehicle computer system in this application is wired-connected to at least one on-vehicle direct-connect UWB base station; the ground computer system is wired-connected to the ground direct-connect UWB base station; this application simplifies the wiring difficulty between the ground computer system and the ground UWB base station, reduces the system construction cost, improves the accuracy of UWB base station selection and the message transmission efficiency, and realizes communication between UWB base stations by using message forwarding between UWB base stations, thereby ensuring vehicle-ground two-way communication.

[0015] In an alternative embodiment, the on-vehicle computer system and the ground computer system are respectively used to determine multiple groups of ground UWB base stations, and each group of ground UWB base stations includes at least three ground UWB base stations; for the multiple groups of ground UWB base stations, according to the position information of at least three ground UWB base stations included in the group of ground UWB base stations and the distances between at least three ground UWB base stations and at least one on-vehicle direct-connect UWB base station respectively, determine the candidate position information of the at least one on-vehicle direct-connect UWB base station corresponding to the group of ground UWB base stations; and use the candidate position information with the largest corresponding envelope area as the position information of the at least one on-vehicle direct-connect UWB base station.

[0016] The above technical solution has the following advantages or beneficial effects:

[0017] In this application, based on at least three ground UWB base stations, the candidate location information of at least one vehicle-to-vehicle direct connection UWB base station is determined, which improves the accuracy of determining the location information of the vehicle-to-vehicle direct connection UWB base station. The candidate location information with the largest corresponding envelope area is used as the location information of the at least one vehicle-to-vehicle direct connection UWB base station, which improves the security of determining the location information of the vehicle-to-vehicle direct connection UWB base station.

[0018] In an alternative embodiment, the system includes a first vehicle-to-vehicle direct connection UWB base station located at the first end of the train and a second vehicle-to-vehicle direct connection UWB base station located at the second end of the train.

[0019] The vehicle-mounted computer system is configured to determine, according to the running direction of the train, the vehicle-to-vehicle direct connection UWB base station at the end pointed by the running direction as the target vehicle-to-vehicle direct connection UWB base station, and send a first communication message carrying the location information of the train to the target vehicle-to-vehicle direct connection UWB base station; and forward the first communication message to the ground computer system through the target vehicle-to-vehicle direct connection UWB base station.

[0020] The above technical solution has the following advantages or beneficial effects:

[0021] In this application, the system includes a first vehicle-to-vehicle direct connection UWB base station located at the first end of the train and a second vehicle-to-vehicle direct connection UWB base station located at the second end of the train. The first end and the second end of the train are the two ends of the train. For example, the first end is the left end of the train and the second end is the right end of the train. According to the running direction of the train, the vehicle-to-vehicle direct connection UWB base station at the end pointed by the running direction is determined as the target vehicle-to-vehicle direct connection UWB base station. For example, if the running direction is to the right, the second vehicle-to-vehicle direct connection UWB base station at the right end is the target vehicle-to-vehicle direct connection UWB base station; if the running direction is to the left, the first vehicle-to-vehicle direct connection UWB base station at the left end is the target vehicle-to-vehicle direct connection UWB base station. This can improve the reliability of communication between the vehicle-mounted computer system and the ground computer system during the running of the train.

[0022] In an alternative embodiment, the system includes ground direct connection UWB base stations respectively deployed in each running section of the train on the ground; the ground computer system is wired to each ground direct connection UWB base station.

[0023] The above technical solution has the following advantages or beneficial effects:

[0024] In this application, the running line of the train is divided into multiple running sections, and a ground direct-connection UWB base station is set in each running section, that is, one running section corresponds to one ground direct-connection UWB base station, and the others are ground wireless UWB base stations. This can ensure that there is a ground direct-connection UWB base station communicating with the ground computer system in each running section, reduce the length of the communication line between the ground computer system and the ground direct-connection UWB base station, improve the reliability of the communication between the ground computer system and the ground direct-connection UWB base station, and further improve the reliability of the communication between the on-vehicle computer system and the ground computer system.

[0025] In an alternative embodiment, the ground computer system is configured to determine, according to the position information of the train, at least one ground direct-connection UWB base station within a preset range including the position information of the train as the target ground direct-connection UWB base station; send a second communication message carrying the position information of the train to at least one target ground direct-connection UWB base station; and forward the second communication message to the on-vehicle computer system through the at least one target ground direct-connection UWB base station.

[0026] The above technical solution has the following advantages or beneficial effects:

[0027] In this application, in order to reduce communication resource consumption, when the ground computer system sends a second communication message to the on-vehicle computer system, it first determines the position information of the train, then determines the area within a preset range including the position information of the train according to the position information of the train, and then sets at least one ground direct-connection UWB base station within this area as the target ground direct-connection UWB base station. Optionally, all the ground direct-connection UWB base stations within this area can be set as the target ground direct-connection UWB base stations. Then, a second communication message carrying the position information of the train is sent to at least one target ground direct-connection UWB base station; and the second communication message is forwarded to the on-vehicle computer system through at least one target ground direct-connection UWB base station. In this way, on the one hand, the communication efficiency between the on-vehicle computer system and the ground computer system can be improved, and on the other hand, only a second communication message is sent to at least one ground direct-connection UWB base station within a preset range including the position information of the train, which reduces communication resource consumption compared with sending a second communication message to all ground direct-connection UWB base stations.

[0028] In an alternative embodiment, the on-vehicle computer system is configured to send a first communication message carrying the position information of the train and the first identification information of the ground computer system to the at least one on-vehicle direct-connection UWB base station;

[0029] The at least one vehicle-mounted direct-connection UWB base station is configured to broadcast the first communication message according to a preset first period, and stop broadcasting the first communication message when receiving the first response message broadcast by the ground direct-connection UWB base station;

[0030] Wherein, the ground direct-connection UWB base station is configured to broadcast the first response message when receiving the first communication message carrying the first identification information of the ground computer system.

[0031] The above technical solution has the following advantages or beneficial effects:

[0032] The vehicle-mounted computer system carries the position information of the train and the first identification information of the ground computer system in the first communication message sent to the at least one vehicle-mounted direct-connection UWB base station; if the ground wireless UWB base station receives the first communication message, it forwards and broadcasts the first communication message until a certain ground direct-connection UWB base station receives the first communication message, and when the ground direct-connection UWB base station analyzes that the first identification information carried in the first communication message is the identification information of the ground computer system, it sends the first communication message to the ground computer system and broadcasts the first response message. The first response message is forwarded and broadcast by the ground wireless UWB base station. When a certain vehicle-mounted direct-connection UWB base station receives the first response message, it stops broadcasting the first communication message. Thereby reducing the communication cost between the vehicle-mounted computer system and the ground computer system and ensuring the accuracy of communication.

[0033] In an alternative embodiment, the ground computer system is configured to send a second communication message carrying the position information of the train and the second identification information of the vehicle-mounted computer system to the ground direct-connection UWB base station;

[0034] The ground direct-connection UWB base station is configured to broadcast the second communication message according to a preset second period, and stop broadcasting the second communication message when receiving the second response message broadcast by the at least one vehicle-mounted direct-connection UWB base station;

[0035] Wherein, the at least one vehicle-mounted direct-connection UWB base station is configured to broadcast the second response message when receiving the second communication message carrying the second identification information of the vehicle-mounted computer system.

[0036] The above technical solution has the following advantages or beneficial effects:

[0037] The ground computer system carries the position information of the train and the second identification information of the on-vehicle computer system in the second communication message sent to at least one ground direct-connect UWB base station; after receiving the second communication message, both the ground direct-connect UWB base station and the ground wireless UWB base station forward and broadcast the second communication message until a certain on-vehicle direct-connect UWB base station receives the second communication message, and when the on-vehicle direct-connect UWB base station analyzes that the second identification information carried in the second communication message is the identification information of the on-vehicle computer system, it sends the second communication message to the on-vehicle computer system and broadcasts the second response message. The second response message is forwarded and broadcast through the ground wireless UWB base station. When a certain ground direct-connect UWB base station receives the second response message, it stops broadcasting the second communication message. Thus, the communication cost between the on-vehicle computer system and the ground computer system is reduced, and the communication accuracy can be ensured.

[0038] In an alternative embodiment, the on-vehicle computer system is configured to determine, according to the received first configuration instruction, a first frequency for interacting with the at least one on-vehicle direct-connect UWB base station for ranging messages and a second frequency for interacting with the at least one on-vehicle direct-connect UWB base station for communication messages;

[0039] The ground computer system is configured to determine, according to the received second configuration instruction, a third frequency for interacting with the ground direct-connect UWB base station for ranging messages and a fourth frequency for interacting with the ground direct-connect UWB base station for communication messages.

[0040] The above technical solution has the following advantages or beneficial effects:

[0041] In this application, the sending and receiving frequencies of ranging messages and communication messages are configured according to functional requirements. For example, in order to ensure the timeliness and reliability of ranging information, the sending interval of communication messages is increased, and the channel occupancy and signal interference of communication messages on ranging messages are reduced, etc. Thus, a flexible and reliable vehicle-ground communication solution is provided.

[0042] In a second aspect, this application provides a first rail transit communication method, and the method includes:

[0043] Receive the distance between the at least one vehicle - mounted direct - connection UWB base station and another ground UWB base station sent by the at least one vehicle - mounted direct - connection UWB base station; for the at least one vehicle - mounted direct - connection UWB base station, determine the location information of the vehicle - mounted direct - connection UWB base station according to the distance between the vehicle - mounted direct - connection UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between the vehicle - mounted direct - connection UWB base station and the train pre - stored; wherein, the at least one vehicle - mounted direct - connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct - connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle - mounted computer system is wired - connected to the at least one vehicle - mounted direct - connection UWB base station; the ground computer system is wired - connected to the ground direct - connection UWB base station;

[0044] Send a first communication message carrying the location information of the train to the at least one vehicle - mounted direct - connection UWB base station; forward the first communication message to the ground computer system through the at least one vehicle - mounted direct - connection UWB base station.

[0045] In a third aspect, the present application provides a second rail transit communication method, and the method includes:

[0046] Receive the distance between the at least one vehicle - mounted direct - connection UWB base station and another ground UWB base station sent by the ground direct - connection UWB base station; for the at least one vehicle - mounted direct - connection UWB base station, determine the location information of the vehicle - mounted direct - connection UWB base station according to the distance between the vehicle - mounted direct - connection UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between the vehicle - mounted direct - connection UWB base station and the train pre - stored; wherein, the at least one vehicle - mounted direct - connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct - connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle - mounted computer system is wired - connected to the at least one vehicle - mounted direct - connection UWB base station; the ground computer system is wired - connected to the ground direct - connection UWB base station;

[0047] Send a second communication message carrying the location information of the train to the ground direct - connection UWB base station; forward the second communication message to the vehicle - mounted computer system through the ground direct - connection UWB base station.

[0048] In a fourth aspect, the present application provides a first rail transit communication device, and the device includes:

[0049] A first determination module, configured to receive the distances between the at least one vehicle-mounted direct-connection UWB base station and another ground UWB base station sent by the at least one vehicle-mounted direct-connection UWB base station; for the at least one vehicle-mounted direct-connection UWB base station, determine the location information of the vehicle-mounted direct-connection UWB base station according to the distances between the vehicle-mounted direct-connection UWB base station and each ground UWB base station, and determine the location information of the train according to the pre-saved relative position relationship between the vehicle-mounted direct-connection UWB base station and the train; wherein, the at least one vehicle-mounted direct-connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connection UWB base station; the ground computer system is wired-connected to the ground direct-connection UWB base station;

[0050] A first sending module, configured to send a first communication message carrying the location information of the train to the at least one vehicle-mounted direct-connection UWB base station; and forward the first communication message to the ground computer system through the at least one vehicle-mounted direct-connection UWB base station.

[0051] In a fifth aspect, the present application provides a second rail transit communication device, and the device includes:

[0052] A second determination module, configured to receive the distances between the at least one vehicle-mounted direct-connection UWB base station and another ground UWB base station sent by the ground direct-connection UWB base station; for the at least one vehicle-mounted direct-connection UWB base station, determine the location information of the vehicle-mounted direct-connection UWB base station according to the distances between the vehicle-mounted direct-connection UWB base station and each ground UWB base station, and determine the location information of the train according to the pre-saved relative position relationship between the vehicle-mounted direct-connection UWB base station and the train; wherein, the at least one vehicle-mounted direct-connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connection UWB base station; the ground computer system is wired-connected to the ground direct-connection UWB base station;

[0053] A second sending module, configured to send a second communication message carrying the location information of the train to the ground direct-connection UWB base station; and forward the second communication message to the vehicle-mounted computer system through the ground direct-connection UWB base station.

[0054] In a sixth aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0055] The memory is used for storing a computer program;

[0056] A processor, which is configured to implement the method when executing a program stored in a memory.

[0057] In a seventh aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program implements the method when executed by a processor.

[0058] In an eighth aspect, the present application provides a computer program product, which includes an executable program, and the executable program implements the method when executed by a processor. Description of the Drawings

[0059] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following-described drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0060] Figure 1 It is a schematic diagram of the structure of the first rail transit communication system provided by the present application;

[0061] Figure 2 It is a schematic diagram for determining the candidate position information of the vehicle-mounted direct-connected UWB base station provided by the present application;

[0062] Figure 3 It is a schematic diagram for determining the position information of the vehicle-mounted direct-connected UWB base station provided by the present application;

[0063] Figure 4 It is a schematic diagram of the structure of the second rail transit communication system provided by the present application;

[0064] Figure 5 It is a schematic diagram of the structure of the third rail transit communication system provided by the present application;

[0065] Figure 6 It is a schematic diagram of the first rail transit communication process provided by the present application;

[0066] Figure 7 It is a schematic diagram of the second rail transit communication process provided by the present application;

[0067] Figure 8 It is a framework diagram of the rail transit communication system provided by the present application;

[0068] Figure 9 It is a communication relationship diagram of the positioning communication system provided by the present application;

[0069] Figure 10The collaborative diagram of the ranging and communication functions of the UWB base station provided by this application;

[0070] Figure 11 The schematic structural diagram of the first rail transit communication device provided by this application;

[0071] Figure 12 The schematic structural diagram of the second rail transit communication device provided by this application;

[0072] Figure 13 The schematic structural diagram of the electronic device provided by this application. Detailed implementation manners

[0073] To make the objectives and implementation manners of this application clearer, the following will clearly and completely describe the exemplary implementation manners of this application with reference to the accompanying drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only a part rather than all of the embodiments of this application.

[0074] It should be noted that the brief description of the terms in this application is only for facilitating the understanding of the subsequent described implementation manners, rather than intending to limit the implementation manners of this application. Unless otherwise specified, these terms should be understood in their ordinary and general meanings.

[0075] The terms "first", "second", "third", etc. in the specification, claims and the above-mentioned accompanying drawings of this application are used to distinguish similar or homogeneous objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that such terms can be interchanged under appropriate circumstances.

[0076] The terms "comprising" and "having" and any variations thereof are intended to cover but not be exclusive of inclusion. For example, a product or device comprising a series of components does not necessarily have to be limited to all the components clearly listed, but may include other components not clearly listed or inherent to these products or devices.

[0077] The term "module" refers to any known or later-developed hardware, software, firmware, artificial intelligence, fuzzy logic, or a combination of hardware or / and software code that can perform the functions related to that element.

[0078] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of this application.

[0079] For the sake of convenience in explanation, the above description has been made in combination with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. According to the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, so that those skilled in the art can better use the embodiments and various different modified embodiments suitable for specific use considerations.

[0080] In traditional technologies, the widely adopted train positioning methods mainly include the following: train positioning method based on query transponders; train positioning method based on Doppler speed measurement; train positioning method based on track circuits; train positioning method based on wireless beacons; train positioning method based on satellites, etc. For urban rail transit, the train positioning technology based on Doppler speed measurement has a large error when the train runs at a low speed; the train positioning technology based on track circuits has poor accuracy and does not meet the requirements of line operation; train positioning cannot be achieved through the Global Navigation Satellite System (GNSS) in underground spaces; the train positioning technology based on wireless beacons requires a large number of electronic tags to be laid on the line, resulting in too high costs. Therefore, currently, query transponders are mainly used in urban rail transit as a means to achieve train positioning. Query transponder positioning mainly realizes point-positioning of trains through technologies such as transponders and on-vehicle electronic maps. The transponder establishes train positioning by sending messages to the train, and the on-vehicle electronic map divides track sections based on the principle of track topology and describes the link relationships between track sections. This positioning method itself has limitations. The transponder is a point-positioning device and is difficult to provide continuous positioning for trains alone. It needs to cooperate with a speed sensor to calculate the real-time position of the train, and errors are likely to accumulate. At the same time, wireless communication technologies such as WLAN, LTE, and 4G are mostly adopted for the vehicle-ground two-way communication system of domestic urban rail transit. LTE, with the full name of "Long-Term Evolution", is a 4G (fourth-generation) wireless mobile communication technology standard. WLAN refers to wireless local area network. 4G refers to the fourth-generation mobile phone mobile communication standard. Since no backup positioning communication subsystem is set up, in case of positioning or vehicle-ground communication system failures, on the one hand, the train will operate in a degraded mode or even stop, endangering the operation order of trains on the entire line and reducing the operation efficiency; on the other hand, it will endanger the train operation safety and cause casualties. Thus, it can be seen that there are certain potential safety hazards. Therefore, it is imperative to propose a continuous positioning technology that can provide reliable and accurate positioning services for trains, as well as a reliable communication positioning backup system.

[0081] Figure 1The first structural schematic diagram of the rail transit communication system provided by this application. The system includes: an on-vehicle computer system 11 and at least one on-vehicle direct-connection UWB base station 12 deployed on the train, a ground computer system 21, a ground direct-connection UWB base station 22, and at least one ground wireless UWB base station 23 deployed on the ground; wherein, the on-vehicle computer system 11 and the at least one on-vehicle direct-connection UWB base station 12 are connected by wire; the ground computer system 21 and the ground direct-connection UWB base station 22 are connected by wire;

[0082] The at least one on-vehicle direct-connection UWB base station 12, the at least one ground wireless UWB base station 23, and the ground direct-connection UWB base station 22 are respectively used to broadcast ranging messages carrying their own identification information and the first timestamp information of the broadcast;

[0083] The at least one on-vehicle direct-connection UWB base station 12 is used to determine the distance between itself and another ground UWB base station according to the second timestamp information carried in another ranging message broadcast by another ground UWB base station, the identification information of the another ground UWB base station, and the first time when the another ranging message is received; and send the distance to the on-vehicle computer system 11;

[0084] At least one ground UWB base station is used to determine the distance between itself and another on-vehicle direct-connection UWB base station according to the third timestamp information carried in another ranging message broadcast by another on-vehicle direct-connection UWB base station, the identification information of the another on-vehicle direct-connection UWB base station, and the second time when the another ranging message is received; and send the distance to the ground computer system 21 through the ground direct-connection UWB base station 22;

[0085] The on-vehicle computer system 11 and the ground computer system 21 are respectively used to determine the position information of the at least one on-vehicle direct-connection UWB base station 12 according to the distance between the on-vehicle direct-connection UWB base station 12 and each ground UWB base station, and determine the position information of the train according to the relative position relationship between the on-vehicle direct-connection UWB base station 12 and the train pre-stored;

[0086] The on-vehicle computer system 11 is used to send a first communication message carrying the position information of the train to the at least one on-vehicle direct-connection UWB base station 12; and forward the first communication message to the ground computer system 21 through the at least one on-vehicle direct-connection UWB base station 12;

[0087] The ground computer system 21 is configured to send a second communication message carrying the position information of the train to the ground direct-connect UWB base station 22, and forward the second communication message to the on-vehicle computer system 11 through the ground direct-connect UWB base station 22.

[0088] A UWB base station is a base station designed and developed based on the Ultra-WideBand (UWB) wireless carrier communication technology. In this application, the positioning of the train is achieved based on the UWB base station, and the communication messages between the on-vehicle computer system and the ground computer system are forwarded.

[0089] The rail transit communication system provided in this application includes an on-vehicle computer system, at least one on-vehicle direct-connect UWB base station, a ground computer system, a ground direct-connect UWB base station, and at least one ground wireless UWB base station. Among them, the on-vehicle computer system and at least one on-vehicle direct-connect UWB base station are deployed on the train. The on-vehicle computer system is wired to each on-vehicle direct-connect UWB base station, and the on-vehicle computer system and each on-vehicle direct-connect UWB base station can perform message interaction. The ground computer system, the ground direct-connect UWB base station, and at least one ground wireless UWB base station are deployed on the ground. The ground computer system is wired to the ground direct-connect UWB base station, and the ground computer system and the ground direct-connect UWB base station can perform message interaction. Among at least one on-vehicle direct-connect UWB base station, at least one ground wireless UWB base station, and the ground direct-connect UWB base station, wireless communication is performed by broadcasting messages.

[0090] At least one vehicle - to - vehicle direct - connection UWB base station, at least one ground wireless UWB base station, and a ground direct - connection UWB base station respectively broadcast ranging messages carrying their own identification information and the first timestamp information of the broadcast. At least one vehicle - to - vehicle direct - connection UWB base station determines the distance between itself and another ground UWB base station according to the second timestamp information carried in another ranging message broadcast by another ground UWB base station, the identification information of the other ground UWB base station, and the first time when the other ranging message is received; and sends the said distance to the vehicle - mounted computer system. The ground UWB base stations include ground direct - connection UWB base stations and ground wireless UWB base stations. Among them, at least one vehicle - to - vehicle direct - connection UWB base station determines the time difference between the first time and the second timestamp information as the propagation time of the other ranging message according to the second timestamp information carried in another ranging message broadcast by another ground UWB base station and the first time when the other ranging message is received. According to the known message propagation speed and the above - mentioned propagation time, the distance of the message propagation can be determined. According to the identification information of the other ground UWB base station carried in another ranging message broadcast by another ground UWB base station, the distance between at least one vehicle - to - vehicle direct - connection UWB base station and the other ground UWB base station can be determined; and the distance is sent to the vehicle - mounted computer system. It should be noted that the distances sent by the vehicle - to - vehicle direct - connection UWB base stations to the ground computer system are all sent with the identification information of the vehicle - mounted direct UWB base station corresponding to the distance and the identification information of the ground UWB base station.

[0091] At least one ground UWB base station determines the distance between itself and another vehicle-to-vehicle direct UWB base station based on the third timestamp information carried in another ranging message broadcast by the other vehicle-to-vehicle direct UWB base station, the identification information of the other vehicle-to-vehicle direct UWB base station, and the second time when the other ranging message is received. It should be noted that the process for at least one ground UWB base station to determine the distance between itself and the other vehicle-to-vehicle direct UWB base station is the same as the above-mentioned distance determination process, and will not be elaborated here. It should be noted that if the ground UWB base station is a ground direct UWB base station, after determining the distance between itself and the other vehicle-to-vehicle direct UWB base station, it directly sends the distance between itself and the other vehicle-to-vehicle direct UWB base station to the ground computer system. If the ground UWB base station is a ground wireless UWB base station, after determining the distance between itself and the other vehicle-to-vehicle direct UWB base station, it needs to broadcast a message carrying the distance, as well as the identification information of the ground wireless UWB base station and the identification information of the other vehicle-to-vehicle direct UWB base station. When the distance between the ground wireless UWB base station and the ground direct UWB base station is relatively far, after the message passes through the forwarding of other ground wireless UWB base stations and reaches the ground direct UWB base station, the ground direct UWB base station sends the distance to the ground computer system. When the distance between the ground wireless UWB base station and the ground direct UWB base station is relatively close, the message broadcast by the ground wireless UWB base station can be directly received by the ground direct UWB base station, and at this time, there is no need for the forwarding of other ground wireless UWB base stations, and then the ground direct UWB base station sends the distance to the ground computer system. It should be noted that the distances sent by the ground direct UWB base station to the ground computer system are all sent with the identification information of the vehicle-mounted direct UWB base station corresponding to the distance and the identification information of the ground UWB base station.

[0092] The vehicle-mounted computer system determines the position information of at least one vehicle-to-vehicle direct UWB base station based on the distance between the vehicle-to-vehicle direct UWB base station and each ground UWB base station, and determines the position information of the train based on the relative position relationship between the vehicle-to-vehicle direct UWB base station and the train pre-stored. In an optional implementation manner, first, a plurality of ground UWB base station groups are determined, and each ground UWB base station group includes at least three ground UWB base stations; for the plurality of ground UWB base station groups, based on the position information of the at least three ground UWB base stations included in the ground UWB base station group and the distances between the at least three ground UWB base stations and at least one vehicle-to-vehicle direct UWB base station respectively, the candidate position information of the at least one vehicle-to-vehicle direct UWB base station corresponding to the ground UWB base station group is determined; the candidate position information with the largest corresponding envelope area is used as the position information of the at least one vehicle-to-vehicle direct UWB base station.

[0093] Figure 2Schematic diagram for determining candidate location information of vehicle-mounted direct-connected UWB base stations provided by this application. As Figure 2 shown, for multiple groups of ground UWB base stations, taking the location information of at least three ground UWB base stations included in the group of ground UWB base stations as the center of a circle, and using the distance from the vehicle-mounted direct-connected UWB base station as the radius, at least three circles can be drawn, and the overlapping area of these at least three circles can be determined. The location information of any point in this overlapping area is determined as the candidate location information of the vehicle-mounted direct-connected UWB base station. Preferably, the location information of the point corresponding to the largest envelope area in this overlapping area is determined as the candidate location information of the vehicle-mounted direct-connected UWB base station. Generally speaking, one vehicle-mounted direct-connected UWB base station is deployed at each of the left end and the right end of the train. By respectively positioning these two vehicle-mounted direct-connected UWB base stations through at least three ground UWB base stations, it can be determined which vehicle-mounted direct-connected UWB base station is at the left end of the train and which vehicle-mounted direct-connected UWB base station is at the right end of the train. For the vehicle-mounted direct-connected UWB base station at the right end, the rightmost location information in the overlapping area determined by these at least three circles can be determined as the candidate location information of the vehicle-mounted direct-connected UWB base station. For the vehicle-mounted direct-connected UWB base station at the left end, the leftmost location information in the overlapping area determined by these at least three circles can be determined as the candidate location information of the vehicle-mounted direct-connected UWB base station. It should be noted that if there is no overlapping area among the at least three circles corresponding to the at least three ground UWB base stations included in the group of ground UWB base stations, then this group of ground UWB base stations is an invalid base station group.

[0094] After determining each candidate location information, the candidate location information corresponding to the largest envelope area is used as the location information of at least one vehicle-mounted direct-connected UWB base station. Figure 3 Schematic diagram for determining the location information of vehicle-mounted direct-connected UWB base stations provided by this application. As Figure 3 shown, the leftmost candidate location information is determined as the location information of the vehicle-mounted direct-connected UWB base station at the left end deployed on the train; the rightmost candidate location information is determined as the location information of the vehicle-mounted direct-connected UWB base station at the right end deployed on the train.

[0095] In this application, based on at least three ground UWB base stations, the candidate location information of at least one vehicle-mounted direct-connected UWB base station is determined, which improves the accuracy of determining the location information of the vehicle-mounted direct-connected UWB base station. The candidate location information corresponding to the largest envelope area is used as the location information of the at least one vehicle-mounted direct-connected UWB base station, which improves the security of determining the location information of the vehicle-mounted direct-connected UWB base station.

[0096] The deployment position of the vehicle-mounted direct-connected UWB base station on the train is fixed, and the relative position relationship between the vehicle-mounted direct-connected UWB base station and the train can be pre-saved. After determining the position information of at least two vehicle-mounted direct-connected UWB base stations, based on the position information of the at least two vehicle-mounted direct-connected UWB base stations and the pre-saved relative position relationships between the at least two vehicle-mounted direct-connected UWB base stations and the train respectively, the position information of the train can be determined.

[0097] The process of the ground computer system determining the position information of the train is the same as that of the vehicle-mounted computer system determining the position information of the train, and will not be elaborated here.

[0098] The vehicle-mounted computer system sends a first communication message carrying the position information of the train to at least one vehicle-mounted direct-connected UWB base station; after receiving the first communication message, the at least one vehicle-mounted direct-connected UWB base station broadcasts the first communication message. If the ground direct-connected UWB base station receives the first communication message, the ground direct-connected UWB base station sends the first communication message to the ground computer system. If the ground wireless UWB base station receives the first communication message, the ground wireless UWB base station broadcasts the first communication message again until the ground direct-connected UWB base station receives the first communication message, and then the ground direct-connected UWB base station sends the first communication message to the ground computer system.

[0099] The ground computer system sends a second communication message carrying the position information of the train to the ground direct-connected UWB base station; after receiving the second communication message, the ground direct-connected UWB base station broadcasts the second communication message. If any vehicle-mounted direct-connected UWB base station receives the second communication message, the vehicle-mounted direct-connected UWB base station sends the second communication message to the vehicle-mounted computer system. If the ground wireless UWB base station receives the second communication message, the ground wireless UWB base station broadcasts the second communication message again until any vehicle-mounted direct-connected UWB base station receives the second communication message, and then the vehicle-mounted direct-connected UWB base station sends the second communication message to the vehicle-mounted computer system.

[0100] The rail transit communication system provided by this application includes: an on-vehicle computer system and at least one on-vehicle direct-connect UWB base station deployed on the train, a ground computer system deployed on the ground, a ground direct-connect UWB base station, and at least one ground wireless UWB base station; the distance measurement between the on-vehicle direct-connect UWB base station and each ground UWB base station is realized through at least one on-vehicle direct-connect UWB base station, the ground direct-connect UWB base station, and at least one ground wireless UWB base station. Then, at least one on-vehicle direct-connect UWB base station sends the measured distances to the on-vehicle computer system, and the ground direct-connect UWB base station sends the measured distances to the ground computer system; furthermore, the on-vehicle computer system and the ground computer system respectively determine the position information of the train according to the respective distances; send a communication message carrying the position information of the train to the direct-connect UWB base station connected by wire; and send the communication message to the computer system at the opposite end through the direct-connect UWB base station connected by wire. On the one hand, by deploying at least one on-vehicle direct-connect UWB base station, a ground direct-connect UWB base station, and at least one ground wireless UWB base station in the rail transit communication system, this application realizes train positioning and communication between the on-vehicle computer system and the ground computer system, and solves the problems in the prior art that when the vehicle-ground communication system fails, the train degrades or even stops running, endangering the operation order of trains on the entire line, reducing the operation efficiency, endangering the train operation safety, and causing casualties. On the other hand, the on-vehicle computer system in this application is wired to at least one on-vehicle direct-connect UWB base station; the ground computer system is wired to the ground direct-connect UWB base station; this application simplifies the wiring difficulty between the ground computer system and the ground UWB base station, reduces the system construction cost, improves the accuracy of UWB base station selection and the message transmission efficiency, and realizes communication between UWB base stations by using message forwarding between UWB base stations, thereby ensuring vehicle-ground two-way communication.

[0101] Figure 4 FIG. 4 is a schematic structural diagram of a second rail transit communication system provided by this application. The system includes a first on-vehicle direct-connect UWB base station 121 located at the first end of the train and a second on-vehicle direct-connect UWB base station 122 located at the second end of the train;

[0102] The on-vehicle computer system 11 is configured to determine, according to the running direction of the train, that the on-vehicle direct-connect UWB base station at the end pointed by the running direction is the target on-vehicle direct-connect UWB base station, and send a first communication message carrying the position information of the train to the target on-vehicle direct-connect UWB base station; forward the first communication message to the ground computer system through the target on-vehicle direct-connect UWB base station.

[0103] In this application, the system includes a first vehicle-mounted direct-connect UWB base station located at the first end of the train and a second vehicle-mounted direct-connect UWB base station located at the second end of the train. The first end and the second end of the train are the two ends of the train. For example, the first end is the left end of the train, and the second end is the right end of the train. According to the running direction of the train, the vehicle-mounted direct-connect UWB base station at the end pointed to by the running direction is determined as the target vehicle-mounted direct-connect UWB base station. For example, if the running direction is to the right, the second vehicle-mounted direct-connect UWB base station at the right end is the target vehicle-mounted direct-connect UWB base station; if the running direction is to the left, the first vehicle-mounted direct-connect UWB base station at the left end is the target vehicle-mounted direct-connect UWB base station. This can improve the reliability of communication between the vehicle-mounted computer system and the ground computer system during the train operation.

[0104] Figure 5 FIG. 4 is a schematic structural diagram of a third rail transit communication system provided by this application. The system includes ground direct-connect UWB base stations 22 respectively deployed in each running section of the train on the ground; the ground computer system 21 is wired to each ground direct-connect UWB base station 22.

[0105] In this application, the running line of the train is divided into multiple running sections. Optionally, the multiple running sections can be evenly divided according to the running distance, or the running line can be unevenly divided to obtain multiple running sections. A ground direct-connect UWB base station is set in each running section, that is, one running section corresponds to one ground direct-connect UWB base station, and the others are ground wireless UWB base stations. This can ensure that there is a ground direct-connect UWB base station communicating with the ground computer system in each running section, reduce the length of the communication line between the ground computer system and the ground direct-connect UWB base station, improve the reliability of communication between the ground computer system and the ground direct-connect UWB base station, and further improve the reliability of communication between the vehicle-mounted computer system and the ground computer system.

[0106] In this application, the ground computer system is configured to determine at least one ground direct-connect UWB base station within a preset range including the position information of the train as the target ground direct-connect UWB base station according to the position information of the train; send a second communication message carrying the position information of the train to at least one target ground direct-connect UWB base station; and forward the second communication message to the vehicle-mounted computer system through the at least one target ground direct-connect UWB base station.

[0107] In this application, in order to reduce communication resource consumption, when the ground computer system sends a second communication message to the vehicle-mounted computer system, it first determines the position information of the train, then determines the area within a preset range including the position information of the train based on the position information of the train, and then sets at least one ground direct connection UWB base station within this area as the target ground direct connection UWB base station. Optionally, all ground direct connection UWB base stations within this area can be set as the target ground direct connection UWB base stations. Furthermore, it sends the second communication message carrying the position information of the train to at least one target ground direct connection UWB base station; and forwards the second communication message to the vehicle-mounted computer system through at least one target ground direct connection UWB base station. In this way, on the one hand, the communication efficiency between the vehicle-mounted computer system and the ground computer system can be improved. On the other hand, only sending the second communication message to at least one ground direct connection UWB base station within the preset range including the position information of the train reduces communication resource consumption compared with sending the second communication message to all ground direct connection UWB base stations.

[0108] In this application, the vehicle-mounted computer system is used to send a first communication message carrying the position information of the train and the first identification information of the ground computer system to the at least one vehicle-mounted direct connection UWB base station;

[0109] The at least one vehicle-mounted direct connection UWB base station is used to broadcast the first communication message according to a preset first period, and stop broadcasting the first communication message when receiving the first response message broadcast by the ground direct connection UWB base station;

[0110] Among them, the ground direct connection UWB base station is used to broadcast the first response message when receiving the first communication message carrying the first identification information of the ground computer system.

[0111] The vehicle-mounted computer system carries the position information of the train and the first identification information of the ground computer system in the first communication message sent to the at least one vehicle-mounted direct connection UWB base station; if the ground wireless UWB base station receives the first communication message, it will forward and broadcast the first communication message until a certain ground direct connection UWB base station receives the first communication message, and when the ground direct connection UWB base station analyzes that the first identification information carried in the first communication message is the identification information of the ground computer system, it sends the first communication message to the ground computer system and broadcasts the first response message. The first response message is forwarded and broadcast through the ground wireless UWB base station. When a certain vehicle-mounted direct connection UWB base station receives the first response message, it stops broadcasting the first communication message. Thereby reducing the communication cost between the vehicle-mounted computer system and the ground computer system and ensuring the accuracy of communication.

[0112] In this application, the ground computer system is used to send a second communication message carrying the position information of the train and the second identification information of the on-vehicle computer system to the ground direct-connect UWB base station;

[0113] The ground direct-connect UWB base station is used to broadcast the second communication message according to a preset second period, and stop broadcasting the second communication message when receiving the second response message broadcast by the at least one on-vehicle direct-connect UWB base station;

[0114] Wherein, the at least one on-vehicle direct-connect UWB base station is used to broadcast the second response message when receiving the second communication message carrying the second identification information of the on-vehicle computer system.

[0115] The ground computer system carries the position information of the train and the second identification information of the on-vehicle computer system in the second communication message sent to at least one ground direct-connect UWB base station; after receiving the second communication message, both the ground direct-connect UWB base station and the ground wireless UWB base station forward and broadcast the second communication message until a certain on-vehicle direct-connect UWB base station receives the second communication message, and when the on-vehicle direct-connect UWB base station analyzes that the second identification information carried in the second communication message is the identification information of the on-vehicle computer system, it sends the second communication message to the on-vehicle computer system and broadcasts the second response message. The second response message is forwarded and broadcast by the ground wireless UWB base station. When a certain ground direct-connect UWB base station receives the second response message, it stops broadcasting the second communication message. Thereby reducing the communication cost between the on-vehicle computer system and the ground computer system and ensuring the accuracy of communication.

[0116] In this application, the on-vehicle computer system is used to determine the first frequency for ranging message interaction with the at least one on-vehicle direct-connect UWB base station and the second frequency for communication message interaction with the at least one on-vehicle direct-connect UWB base station according to the received first configuration instruction;

[0117] The ground computer system is used to determine the third frequency for ranging message interaction with the ground direct-connect UWB base station and the fourth frequency for communication message interaction with the ground direct-connect UWB base station according to the received second configuration instruction.

[0118] In this application, the sending and receiving frequencies of the ranging message and the communication message are configured according to functional requirements. For example, in order to ensure the timeliness and reliability of the ranging information, the sending interval of the communication message is increased, and the channel occupancy and signal interference of the communication message on the ranging message are reduced, etc. Thereby providing a flexible and reliable communication solution between the vehicle and the ground.

[0119] Figure 6The first schematic diagram of the rail transit communication process provided for this application, and this process includes the following steps:

[0120] S101: Receive the distance between at least one vehicle-mounted direct-connect UWB base station and another ground UWB base station sent by the at least one vehicle-mounted direct-connect UWB base station; for the at least one vehicle-mounted direct-connect UWB base station, determine the location information of this vehicle-mounted direct-connect UWB base station according to the distance between this vehicle-mounted direct-connect UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between this vehicle-mounted direct-connect UWB base station and the train pre-stored; wherein, the at least one vehicle-mounted direct-connect UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connect UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connect UWB base station; the ground computer system is wired-connected to the ground direct-connect UWB base station;

[0121] S102: Send a first communication message carrying the location information of the train to the at least one vehicle-mounted direct-connect UWB base station; forward the first communication message to the ground computer system through the at least one vehicle-mounted direct-connect UWB base station.

[0122] The first rail transit communication method provided for this application is applied to the vehicle-mounted computer system.

[0123] Figure 7 The second schematic diagram of the rail transit communication process provided for this application, and this process includes the following steps:

[0124] S201: Receive the distance between at least one vehicle-mounted direct-connect UWB base station and another ground UWB base station sent by the ground direct-connect UWB base station; for the at least one vehicle-mounted direct-connect UWB base station, determine the location information of this vehicle-mounted direct-connect UWB base station according to the distance between this vehicle-mounted direct-connect UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between this vehicle-mounted direct-connect UWB base station and the train pre-stored; wherein, the at least one vehicle-mounted direct-connect UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connect UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connect UWB base station; the ground computer system is wired-connected to the ground direct-connect UWB base station;

[0125] S202: Send a second communication message carrying the location information of the train to the ground direct-connect UWB base station; forward the second communication message to the vehicle-mounted computer system through the ground direct-connect UWB base station.

[0126] The second rail transit communication method provided by this application is applied to the ground computer system.

[0127] This application provides a rail transit communication and positioning integrated system solution based on UWB self-organizing network technology. While realizing continuous train positioning, it provides a set of communication and positioning integrated backup system for urban rail transit, and the backup system can be used to achieve continuous vehicle-ground communication and train positioning in case of vehicle-ground communication failure; the 1 set of equipment provided by this application realizes 2 functions of positioning and communication, without adding additional communication equipment, and the communication and positioning integration can be realized by using UWB base stations; by using the multi-hop forwarding function of UWB self-organizing network, the bandwidth pressure of the limited network and wireless network can be effectively reduced, and channel contention can be reduced; according to the communication connection method of the ground UWB base stations, the ground UWB base stations are classified into ground direct-connected UWB base stations and ground wireless UWB base stations, and the ground direct-connected UWB base stations and the ground wireless UWB base stations communicate through UWB signal forwarding, which can effectively reduce the deployment of the wired network of the ground UWB base stations and reduce the construction cost; in special cases, the vehicle-mounted direct-connected UWB base station can also be used as an adjacent node to forward ground communication information, improving the data transmission success rate and the system communication reliability.

[0128] In a feasible solution, the ground UWB base station and the vehicle-mounted UWB base station communicate with the ground computer system and the vehicle-mounted computer system through the serial port or network port using the wired network, and the vehicle-mounted base station and the ground base station exchange information through UWB signals, and there is no communication between vehicle-mounted base stations and between ground base stations. This application is different from the above feasible solution. This application uses UWB self-organizing network technology to realize the forwarding communication between UWB base stations, reducing the layout of the wired network lines of the ground UWB base stations, and can effectively reduce the construction cost. At the same time, because the ground UWB base stations can forward communication through UWB self-organizing network, when sending a communication information frame from the ground to the train, some ground UWB base stations are selectively used as the first communication base stations for information forwarding transmission according to the train position information, which makes the information transmission more targeted, improves the transmission efficiency, and reduces the communication pressure of the ground computer system.

[0129] The communication and positioning integrated system based on UWB ad hoc network technology provided by this application mainly includes: vehicle-mounted UWB base stations, ground UWB base stations, vehicle-mounted computer systems, and ground computer systems. Among them, the vehicle-mounted UWB base stations are placed at the head and tail ends of the train, responsible for the sending and receiving of ranging messages and communication messages; sufficient ground UWB base stations with data sending and receiving functions are arranged on the ground, and one or several UWB base stations are selected as ground direct-connection UWB base stations at a certain distance, and the rest of the base stations are used as ground wireless UWB base stations. The ground direct-connection UWB base stations and the vehicle-mounted direct-connection UWB base stations are respectively connected to the vehicle-mounted computer system and the ground computer system using a wired network. The ranging message transmission and other communication message transmissions between the vehicle-mounted direct-connection UWB base stations and the ground UWB base stations, and between the ground direct-connection UWB base stations and the ground wireless UWB base stations are carried out through UWB signals. In this way, the layout of the wired network is reduced, and the system construction cost is saved. Figure 8 It is the framework diagram of the rail transit communication system provided by this application. The classification rule of the ground direct-connection UWB base stations can select one ground UWB base station as the ground direct-connection UWB base station according to the track running distance, and each running section LTrackDis is connected to the ground computer system through a wired network. The rest of the base stations in the control area of the ground computer system carry out forwarding communication through UWB signals.

[0130] The transmission information of the entire system is divided into two categories: ranging information (ranging messages) and communication information (communication messages). The ranging information refers to the periodic sending and receiving interaction of ranging information between the vehicle and ground UWB base stations, so as to obtain the distance information of the other party. After this part of the information is sorted and calculated by the vehicle-mounted computer system and the ground computer system, the position information of the train can be obtained. The communication information refers to the periodic communication information and non-periodic communication information of vehicle-ground two-way communication, including train control information, parking guarantee request information, special control messages, etc. sent from the ground to the train, as well as train position information, application layer registration / deregistration request information, parking guarantee information, etc. sent from the train to the ground.

[0131] The vehicle-mounted computer system is responsible for sorting and analyzing the ranging information received by the vehicle-mounted direct-connection UWB base station to obtain the position information of the train, as well as receiving, unpacking, and packet-sending the UWB communication information. The ground computer system is responsible for sorting and analyzing the base station ranging information sent by the ground direct-connection UWB base station to obtain the position information of the train, as well as receiving, unpacking, and packet-sending the UWB communication information.

[0132] When the main vehicle-ground two-way communication system in the rail transit is functioning properly, the communication and positioning integrated system described in this application only enables the positioning function, that is, only the ranging information is transmitted between UWB base stations. The on-vehicle computer system and the ground computer system only passively receive the ranging information sent by the lower-layer UWB base stations, organize and analyze it, and calculate the position information of the train, without performing UWB-related function processing on communication information. When the main vehicle-ground two-way communication system fails, the standby communication and positioning integrated system described in this application can be used as an effective means to achieve vehicle-ground two-way communication based on UWB base stations and ensure that the safe operation of the train does not degrade. Figure 9 This is the communication relationship diagram of the positioning and communication system provided by this application.

[0133] Figure 10 This is the collaborative diagram of the ranging and communication functions of the UWB base station provided by this application. The UWB base station includes a ranging module, a serial port module, ranging module preprocessing, communication module preprocessing, a communication module, and a UWB processing chip. To achieve the above functional scenarios, the ranging function and the communication function of the UWB base station in the system are completely separated during the operation cycle, and the information frames are sent separately to ensure the configurability and low coupling of the ranging function and the vehicle-ground two-way communication function. At the same time, the sending and receiving frequencies of the ranging information frame and the communication information frame can be configured according to functional requirements. For example, to ensure the real-time and reliability of the ranging information, the sending interval of the communication information frame is increased, and the channel occupancy and signal interference of the communication information frame on the ranging information frame are reduced.

[0134] The sending and receiving mechanism of the ranging information frame is as follows:

[0135] The initiating party (on-vehicle UWB base station / ground UWB base station) periodically broadcasts and sends a polling packet;

[0136] The responding party (ground UWB base station / on-vehicle UWB base station) sends a response packet with a timestamp after receiving the polling packet;

[0137] After receiving the response packet, the initiating party calculates the distance between the two based on the corresponding timestamp and sends it to the corresponding computer system (upper computer) through a wired network or UWB signal;

[0138] After the on-vehicle computer system / ground computer system receives a sufficient number of ranging information, it can calculate the position of the on-vehicle UWB base station (i.e., the train).

[0139] Specifically, at the sending and receiving mechanism of the communication information frame for vehicle-ground two-way communication, it is different from the two-way broadcast method of the ranging information frame.

[0140] (1) When the ground sends a communication information frame to the train:

[0141] According to the latest train location and running direction information obtained by the UWB positioning module, the ground base station search range D is determined, and all ground directly connected UWB base stations within the range within the ground computer control area are searched. These base stations are used as the initiator base stations (Initiator) to send ground communication information, and the data forwarding flag in the data packet is set to 1, indicating that the UWB self-organizing network is used for forwarding;

[0142] The data is forwarded to all neighboring base stations of the initial base station. In special cases, if the vehicle-mounted base station A that the data packet first arrives at is not the base station equipped with the target train, then the base station A also forwards the data packet as a neighboring node, thereby improving the data transmission success rate and system communication reliability;

[0143] Repeat the above steps until the target vehicle-mounted base station receives the message, sends an ACK packet after information confirmation processing, and broadcasts or forwards it to the ground base station, indicating that the communication information has been received;

[0144] After receiving the ACK packet, the ground base station no longer sends or forwards the packet data.

[0145] The purpose of selecting the first base station based on the train location information is to consider the running status of the train and select a ground base station closer to the train as much as possible to transmit the communication information frame to improve the communication efficiency and success rate.

[0146] (2) When the train sends a communication information frame to the ground:

[0147] The on-board computer packages the communication information frame and sends it to the on-board UWB base station via the wired network;

[0148] The vehicle-mounted base station sends communication information to the ground base station in the form of broadcast. At this time, the data forwarding flag is set to 0, indicating that forwarding between ground base stations is not required;

[0149] After receiving the information, the ground base station immediately sends an ACK packet and sends the data packet to the ground computer;

[0150] The vehicle-mounted base station receives the ACK packet and ends the current round of communication. Otherwise, it determines that the communication has failed and will re-enter the above steps in the next cycle until the communication is successful.

[0151] When the data forwarding flag is 1, if the responder (or data receiver) in the information transmission process is not the target base station (the onboard base station of the designated train or the ground direct base station), this base station will act as the forwarding base station for the data and forward the frame data in the next transmission cycle. When the data forwarding flag is 0, except for the ground wireless base station, the other base stations will not forward the data when receiving the packet data. If this base station is not the target base station for the data, it will not process it. If it is the target base station for the data, it will upload the packet data to the host computer.

[0152] Figure 11 The first structural schematic diagram of the rail transit communication device provided for this application. The device includes:

[0153] A first determination module 31, configured to receive the distance between at least one vehicle-mounted direct-connected UWB base station and another ground UWB base station sent by the at least one vehicle-mounted direct-connected UWB base station; for the at least one vehicle-mounted direct-connected UWB base station, determine the location information of the vehicle-mounted direct-connected UWB base station according to the distance between the vehicle-mounted direct-connected UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between the vehicle-mounted direct-connected UWB base station and the train pre-stored; wherein, the at least one vehicle-mounted direct-connected UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connected UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connected UWB base station; the ground computer system is wired-connected to the ground direct-connected UWB base station;

[0154] A first sending module 32, configured to send a first communication message carrying the location information of the train to the at least one vehicle-mounted direct-connected UWB base station; forward the first communication message to the ground computer system through the at least one vehicle-mounted direct-connected UWB base station.

[0155] Figure 12 The second structural schematic diagram of the rail transit communication device provided for this application. The device includes:

[0156] A second determination module 41, configured to receive the distance between at least one vehicle-mounted direct-connected UWB base station and another ground UWB base station sent by the ground direct-connected UWB base station; for the at least one vehicle-mounted direct-connected UWB base station, determine the location information of the vehicle-mounted direct-connected UWB base station according to the distance between the vehicle-mounted direct-connected UWB base station and each ground UWB base station, and determine the location information of the train according to the relative position relationship between the vehicle-mounted direct-connected UWB base station and the train pre-stored; wherein, the at least one vehicle-mounted direct-connected UWB base station is deployed on the train, and the ground UWB base stations include ground direct-connected UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle-mounted computer system is wired-connected to the at least one vehicle-mounted direct-connected UWB base station; the ground computer system is wired-connected to the ground direct-connected UWB base station;

[0157] A second sending module 42, configured to send a second communication message carrying the location information of the train to the ground direct-connected UWB base station; forward the second communication message to the vehicle-mounted computer system through the ground direct-connected UWB base station.

[0158] The present application also provides an electronic device, such as Figure 13 shown, including: a processor 301, a communication interface 302, a memory 303, and a communication bus 304. Among them, the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304;

[0159] The memory 303 stores a computer program. When the program is executed by the processor 301, the processor 301 is caused to execute any of the above method steps.

[0160] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0161] The communication interface 302 is used for communication between the above electronic device and other devices.

[0162] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0163] The above processor may be a general-purpose processor, including a central processor, a Network Processor (NP), etc.; it may also be a Digital Signal Processing (DSP), an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0164] The present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program executable by an electronic device. When the program runs on the electronic device, the electronic device is caused to execute any of the above method steps.

[0165] The present application provides a computer program product. The computer program product includes an executable program. When the executable program is executed by a processor, the above method is implemented.

[0166] Although the preferred embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0167] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A rail transit communication system, characterized in that, The system includes: an on-vehicle computer system and at least one on-vehicle direct-connect UWB base station deployed on the train, a ground computer system deployed on the ground, a ground direct-connect UWB base station, and at least one ground wireless UWB base station; wherein, the on-vehicle computer system is wired-connected to the at least one on-vehicle direct-connect UWB base station; the ground computer system is wired-connected to the ground direct-connect UWB base station; The at least one on-vehicle direct-connect UWB base station, the at least one ground wireless UWB base station, and the ground direct-connect UWB base station are respectively used for broadcasting ranging messages carrying their own identification information and the first timestamp information of the broadcast; The at least one on-vehicle direct-connect UWB base station is used for determining the distance between itself and another ground UWB base station according to the second timestamp information carried in another ranging message broadcast by another ground UWB base station, the identification information of the another ground UWB base station, and the first time when the another ranging message is received; and sending the distance to the on-vehicle computer system; At least one ground UWB base station is used for determining the distance between itself and another on-vehicle direct-connect UWB base station according to the third timestamp information carried in another ranging message broadcast by another on-vehicle direct-connect UWB base station, the identification information of the another on-vehicle direct-connect UWB base station, and the second time when the another ranging message is received; and sending the distance to the ground computer system through the ground direct-connect UWB base station; The on-vehicle computer system and the ground computer system are respectively used for, for the at least one on-vehicle direct-connect UWB base station, determining the position information of the on-vehicle direct-connect UWB base station according to the distance between the on-vehicle direct-connect UWB base station and each ground UWB base station, and determining the position information of the train according to the relative position relationship between the on-vehicle direct-connect UWB base station and the train pre-stored; The on-vehicle computer system is used for sending a first communication message carrying the position information of the train to the at least one on-vehicle direct-connect UWB base station; and forwarding the first communication message to the ground computer system through the at least one on-vehicle direct-connect UWB base station; The ground computer system is used for sending a second communication message carrying the position information of the train to the ground direct-connect UWB base station; and forwarding the second communication message to the on-vehicle computer system through the ground direct-connect UWB base station.

2. The system according to claim 1, wherein The on-vehicle computer system and the ground computer system are respectively used for determining multiple groups of ground UWB base stations, and each group of ground UWB base stations includes at least three ground UWB base stations; for the multiple groups of ground UWB base stations, determining the candidate position information of the at least one on-vehicle direct-connect UWB base station corresponding to the group of ground UWB base stations according to the position information of the at least three ground UWB base stations included in the group of ground UWB base stations and the distances between the at least three ground UWB base stations and the at least one on-vehicle direct-connect UWB base station respectively; Taking the candidate position information with the largest corresponding envelope area as the position information of the at least one on-vehicle direct-connect UWB base station.

3. The system according to claim 1, wherein The system includes a first on-vehicle direct-connect UWB base station located at the first end of the train and a second on-vehicle direct-connect UWB base station located at the second end of the train; The on-vehicle computer system is configured to determine, according to the running direction of the train, the on-vehicle direct-connect UWB base station at the end pointed by the running direction as the target on-vehicle direct-connect UWB base station, and send a first communication message carrying the position information of the train to the target on-vehicle direct-connect UWB base station; The first communication message is forwarded to the ground computer system through the target on-vehicle direct-connect UWB base station.

4. The system according to claim 1, wherein The system includes ground direct-connect UWB base stations respectively deployed in each running section of the train on the ground; the ground computer system is wired-connected to each ground direct-connect UWB base station.

5. The system according to claim 4, wherein The ground computer system is configured to determine, according to the position information of the train, at least one ground direct-connect UWB base station within a preset range including the position information of the train as the target ground direct-connect UWB base station; Send a second communication message carrying the position information of the train to at least one target ground direct-connect UWB base station; The second communication message is forwarded to the on-vehicle computer system through the at least one target ground direct-connect UWB base station.

6. The system according to claim 1, wherein The on-vehicle computer system is configured to send a first communication message carrying the position information of the train and the first identification information of the ground computer system to the at least one on-vehicle direct-connect UWB base station; The at least one on-vehicle direct-connect UWB base station is configured to broadcast the first communication message according to a preset first period, and stop broadcasting the first communication message when receiving a first response message broadcast by the ground direct-connect UWB base station; Wherein, the ground direct-connect UWB base station is configured to broadcast the first response message when receiving the first communication message carrying the first identification information of the ground computer system.

7. The system according to claim 1, wherein The ground computer system is configured to send a second communication message carrying the position information of the train and the second identification information of the on-vehicle computer system to the ground direct-connect UWB base station; The ground direct-connect UWB base station is configured to broadcast the second communication message according to a preset second period, and stop broadcasting the second communication message when receiving a second response message broadcast by the at least one on-vehicle direct-connect UWB base station; Wherein, the at least one on-vehicle direct-connect UWB base station is configured to broadcast the second response message when receiving the second communication message carrying the second identification information of the on-vehicle computer system.

8. The system according to claim 1, wherein The on-vehicle computer system is configured to determine a first frequency for ranging message interaction with the at least one on-vehicle direct-connect UWB base station and a second frequency for communication message interaction with the at least one on-vehicle direct-connect UWB base station according to a received first configuration instruction; The ground computer system is configured to determine a third frequency for ranging message interaction with the ground direct-connect UWB base station and a fourth frequency for communication message interaction with the ground direct-connect UWB base station according to a received second configuration instruction.

9. A rail transit communication method, characterized in that Applied to an on-vehicle computer system, the method includes: Receive the distance between the at least one vehicle - to - vehicle direct - connection UWB base station and another ground UWB base station sent by the at least one vehicle - to - vehicle direct - connection UWB base station; for the at least one vehicle - to - vehicle direct - connection UWB base station, determine the position information of the vehicle - to - vehicle direct - connection UWB base station according to the distance between the vehicle - to - vehicle direct - connection UWB base station and each ground UWB base station, and determine the position information of the train according to the pre - stored relative position relationship between the vehicle - to - vehicle direct - connection UWB base station and the train; wherein, the at least one vehicle - to - vehicle direct - connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct - connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle - mounted computer system is wired - connected to the at least one vehicle - to - vehicle direct - connection UWB base station; the ground computer system is wired - connected to the ground direct - connection UWB base station; Send a first communication message carrying the position information of the train to the at least one vehicle - to - vehicle direct - connection UWB base station; forward the first communication message to the ground computer system through the at least one vehicle - to - vehicle direct - connection UWB base station.

10. A rail transit communication method, characterized in that, Applied to the ground computer system, the method includes: Receive the distance between the at least one vehicle - to - vehicle direct - connection UWB base station and another ground UWB base station sent by the ground direct - connection UWB base station; for the at least one vehicle - to - vehicle direct - connection UWB base station, determine the position information of the vehicle - to - vehicle direct - connection UWB base station according to the distance between the vehicle - to - vehicle direct - connection UWB base station and each ground UWB base station, and determine the position information of the train according to the pre - stored relative position relationship between the vehicle - to - vehicle direct - connection UWB base station and the train; wherein, the at least one vehicle - to - vehicle direct - connection UWB base station is deployed on the train, and the ground UWB base stations include ground direct - connection UWB base stations deployed on the ground and at least one ground wireless UWB base station; wherein, the vehicle - mounted computer system is wired - connected to the at least one vehicle - to - vehicle direct - connection UWB base station; the ground computer system is wired - connected to the ground direct - connection UWB base station; Send a second communication message carrying the position information of the train to the ground direct - connection UWB base station; forward the second communication message to the vehicle - mounted computer system through the ground direct - connection UWB base station.

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