Railway business line operation random boundary identification system and method based on Beidou positioning

Abstract

The invention discloses a Beidou positioning railway business line operation random boundary identification system and method. The system is composed of a positioning terminal, a core terminal and an identification terminal. The identification terminal is a bearing platform of a human-computer interface and has the functions of human-computer operation, alarm definition, alarm triggering and identification recording; the positioning terminal has a function of receiving positioning data of Beidou B1L1 and other satellite systems, and also has an audible and visual alarm function; and the core terminal is terminal equipment with high-precision satellite positioning data calculation. According to the railway business line operation random boundary identification system and method based on Beidou positioning, an electronic map does not need to be drawn in a large range under the condition that a target area is not clear, and implementation economic benefits are obvious; on the premise that the positioning precision is guaranteed, positioning difference calibration calculation is achieved through a data analysis algorithm under the condition of not depending on remote data, positioning residual errors caused by errors are effectively reduced, and the positioning precision of the system is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of boundary recognition technology, and in particular to a Beidou-based railway line operation random boundary recognition system and method. Background Art

[0002] Existing high-precision positioning improves accuracy through differential algorithms based on positioning information. In addition to the basic positioning algorithm of the satellite system, the accuracy of the data from the calibration base station and the accuracy of the electronic map jointly determine the positioning accuracy achievable by the application system. The current technical solution consists of a positioning terminal, a calibration base station (typically using calibration data provided by the mobile network operator), and an algorithm platform (electronic map GIS system). The positioning terminal receives multiple sets of positioning data from satellites and calculates spatial position using its own algorithm chip. This resulting positioning data is then subjected to a secondary differential operation with the calibration data provided by the calibration base station to further reduce errors and obtain even more accurate positioning data. This data is then sent to the GIS system, where the positioning information is displayed on the human-machine interface within the display accuracy range. This information can be used to generate a wide range of applications. The data chain from satellite to positioning terminal to GIS system to application, so each application scenario relies on the data presented by the GIS system to achieve its functional objectives.

[0003] However, these high-precision positioning technologies present several technical challenges: a high reliance on mobile networks, resulting in lower positioning accuracy in areas with poor signal quality; and a high reliance on the accuracy of electronic maps, leading to significant variations in the implementation costs of GIS systems of varying accuracy. To overcome these technical challenges, the present invention proposes a Beidou-based system and method for identifying random boundaries on railway operating lines. Summary of the Invention

[0004] The purpose of the present invention is to provide a Beidou-based railway operating line operation random boundary identification system and method, which is particularly suitable for application scenarios with large randomness in target identification areas. When the target area is unclear, there is no need for large-scale electronic map drawing, and the implementation has obvious economic benefits. Under the premise of ensuring positioning accuracy, positioning differential calibration calculation is realized through data analysis algorithm without relying on remote data, effectively reducing the positioning residual caused by errors and effectively improving the positioning accuracy of the system. It does not rely on mobile networks to provide calibration data, and all data conditions are obtained by devices within the system. The system has strong robustness and is more suitable for special application scenarios where there is no mobile network and the system needs to work independently. The implementation process is quick and convenient, and it is easy to use on site.

[0005] To achieve the above-mentioned purpose, the present invention provides a Beidou-based railway line operation random boundary recognition system, which is composed of a positioning terminal, a core terminal, and an identification terminal; wherein the system positioning data comes from the Beidou B1L1 system; The identification terminal is the carrier platform of the human-machine interface, and has the functions of human-machine operation, alarm definition, alarm triggering, and identification recording. The positioning terminal has the function of receiving positioning data from Beidou B1L1 and other satellite systems, and also has the function of sound and light alarm. The core terminal is a terminal device capable of high-precision satellite positioning data calculation. The railway operating line random boundary recognition system performs centimeter-level position judgment on any random scene without an electronic map, including scene boundary judgment and positioning terminal position judgment, realizing centimeter-level boundary recognition of the positioning terminal in any random scene.

[0006] Preferably, the core terminal consists of four parts: a positioning board module, a communication module, a data processing module, and a power supply module. It is a multi-frequency positioning information receiving device based on Beidou positioning and supplemented by other satellite systems. It is a terminal device capable of calculating satellite positioning data. The core terminal supports the reception and processing of global signals of the Beidou system. The positioning board module achieves centimeter-level or even millimeter-level positioning accuracy by simultaneously receiving and resolving satellite signals of multiple frequency bands and multiple systems. The core terminal supports not only single-system positioning but also multi-system joint positioning. The core terminal compares the accuracy levels of positioning data provided by multiple positioning systems such as BDS+GPS+GLONASS, selects high-precision positioning data as basic differential data, and then performs differential operations with the Beidou positioning data obtained in real time. This effectively increases the number of satellite tracking, reduces errors, and improves positioning accuracy.

[0007] Preferably, the positioning board module adopts a multi-mode multi-frequency GNSS board, which is used as a receiving module for satellite positioning data. It receives satellite signals through a receiving antenna and transmits the received positioning data to a data processing module for processing. The data processing module compares and analyzes the received satellite positioning data, selects the satellite positioning data for calculation and generates basic differential data, and provides the system with centimeter-level basic differential data; The power module provides power guarantee for each local module; the communication module has the data communication function between the core terminal, the positioning terminal and the background system, realizes the centimeter-level positioning function of the system, and serves as a channel for data sharing.

[0008] Preferably, the positioning terminal is composed of a positioning board unit, an antenna unit, a communication unit and a power supply unit.

[0009] Preferably, the positioning board unit used by the positioning terminal is a positioning board based on an ASIC baseband chip, which supports GPS, BDS-2, GLONASS, Galileo, SBAS, QZSS and L-band, and supports the reception of BDS-3 Beidou global signals B1C and B2a signals; The positioning board unit performs secondary differential calculations based on the acquired satellite positioning data and the basic differential data provided by the core terminal, achieving centimeter-level positioning accuracy. This allows the use of locally acquired satellite positioning data to meet the need for identifying random boundaries of railway operating lines without relying on network data. The power supply unit provides power for each board in the positioning terminal, and the communication unit provides a data communication channel between the positioning terminal and the core terminal.

[0010] Preferably, the antenna unit adopts a four-arm helical passive antenna, which cooperates with the positioning board unit to realize the function of receiving positioning data; the antenna unit is specially designed according to the actual use scenario of the railway operating line, and the current amplitudes at the feeding ends of the helical arm units are equal, and the phases differ by 90 degrees, and have the characteristics of a cardioid radiation pattern, a front-to-back ratio and a wide beam circular polarization; The bandwidth of the helical antenna array is greater than 50M, which fully covers the signal bandwidth of the multi-satellite system, and its beam width is greater than 130°, providing excellent signal capture and tracking capabilities in actual use.

[0011] Preferably, the identification terminal is composed of a data analysis module, a communication module, and a power supply module. The device is the core device for data analysis in the system and is also an interface device for the human-machine interface. It has application-oriented analysis software and data communication functions. The identification terminal is a human-machine operation and functional application terminal for random boundary identification of railway operating lines. According to the application requirements of actual operations, the identification terminal not only performs identity calibration on the data provided by the core terminal according to the user's settings, but also calibrates the boundaries of the site through the identification terminal, thereby realizing the application functions of random boundary identification, personnel crossing boundary event identification, and operational standardization data statistics.

[0012] Preferably, the application function of the system is completed on the identification terminal and does not require other data support from the mobile network. It is suitable for application scenarios where railway operating lines are sensitive to data and the mobile network is imperfect.

[0013] Preferably, the process of one positioning and identification is satellite-positioning terminal-identification terminal from the perspective of the data link; From the perspective of the data link, the process of boundary identification is satellite-positioning terminal and core terminal-identification terminal; From the perspective of the data link, the alarm process is satellite-positioning terminal-identification terminal-positioning terminal.

[0014] A method for identifying random boundaries of railway operating lines based on Beidou positioning, comprising the following steps: Step S1: After arriving at the work site, i.e., the target identification area, the core terminal device is placed at any location in the area; Step S2: Turn on the positioning terminal and identify the terminal device, and ensure that all devices enter the normal communication state. At this time, the positioning terminal and the core terminal also maintain the communication state; Step S3: On the identification terminal device, manually select the positioning data of no less than three positioning terminals according to the operation content for boundary calibration, and then monitor the positioning data of each positioning terminal according to the calibrated boundary to confirm that all devices that need to be connected are effectively connected; Step S4: The identification terminal displays the marked boundary and the location information of the positioning terminal in the monitoring state to the operator through the display screen. By comparing these two pieces of information, the operator can judge whether the positioning terminal has crossed out of or invaded, thereby realizing the application function of the random boundary of the railway operating line.

[0015] Therefore, the present invention adopts the above-mentioned Beidou positioning railway line operation random boundary recognition system and method, and the beneficial effects are as follows: (1) The present invention is particularly suitable for application scenarios where the target identification area is relatively random. When the target area is unclear, there is no need to draw electronic maps on a large scale, and the economic benefits of implementation are obvious; (2) The present invention performs differential calculations between the basic differential data pre-calibrated by the system and the positioning data obtained in real time by the core terminal, with the aim of effectively reducing the positioning residual caused by positioning errors, thereby improving positioning accuracy without relying on remote data and meeting the system's availability. (3) The present invention does not rely on the mobile network to provide calibration data. All data conditions are obtained by the devices within the system. The system is more robust and is more suitable for special application scenarios where there is no mobile network and the system needs to work independently. (4) The implementation process of the present invention is quick and convenient, and it is easy to use on site.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of a random boundary recognition system for railway operating lines based on Beidou positioning. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0019] Example The present invention provides a Beidou positioning railway line operation random boundary recognition system, which consists of a positioning terminal, a core terminal, and an identification terminal. Figure 1 The system's positioning data comes from the Beidou B1L1 system. In this system, the identification terminal serves as the human-machine interface platform, providing functions such as human-machine operation, alarm definition, alarm triggering, and identification recording. The positioning terminal receives positioning data from the Beidou B1L1 and other satellite systems, and also provides audio and visual alarm functions. The core terminal is a terminal device capable of calculating high-precision satellite positioning data.

[0020] The goal of the random boundary recognition system for railway operating lines is to perform high-precision (centimeter-level) position judgment for any random scene without an electronic map. This includes scene boundary judgment and position judgment of the positioning terminal, thereby achieving high-precision boundary recognition of the positioning terminal in any random scene.

[0021] 1. Core terminal.

[0022] The ground core terminal consists of four parts: positioning board module, communication module, data processing module and power module. It is a multi-frequency positioning information receiving device based on Beidou positioning and supplemented by other satellite systems. It is a terminal device capable of high-precision satellite positioning data calculation.

[0023] The positioning board module is a receiving module for satellite positioning data. It receives satellite signals through the receiving antenna and transmits the received positioning data to the data processing module for processing. The data processing module compares and analyzes the received satellite positioning data, selects the available data and calculates to generate basic differential data, providing the system with basic differential data with a higher level of accuracy.

[0024] The power module provides power for local modules, and the communication module provides data communication functions between the core terminal, positioning terminal and background (system), realizing the system's high-precision positioning function and serving as a channel for data sharing.

[0025] The core terminal supports the reception and processing of global signals of the Beidou system. The positioning board module can simultaneously receive and resolve satellite signals of multiple frequency bands and multiple systems, achieving centimeter-level or even millimeter-level positioning accuracy. The positioning board module adopts a purely domestically produced multi-mode and multi-frequency GNSS board.

[0026] The core terminal not only supports single-system positioning, but also supports multi-system joint positioning. As the reliability and practicality of my country's Beidou satellite system continue to increase, especially in support of applications in harsh environments, the core terminal compares the accuracy levels of positioning data provided by multiple positioning systems such as BDS+GPS+GLONASS, selects positioning data with higher accuracy as basic differential data, and then performs differential operations with the Beidou positioning data obtained in real time. While effectively increasing the number of satellite tracking, it reduces errors and improves positioning accuracy.

[0027] 2. Positioning terminal.

[0028] The high-precision positioning terminal consists of a positioning card unit, antenna unit, communication unit, and power supply unit. The positioning card unit used in the positioning terminal is a full-system, full-frequency, compact, high-precision positioning card based on an ASIC baseband chip. It supports GPS, BDS-2, GLONASS, Galileo, SBAS, QZSS, and L-band, and supports reception of BDS-3 Beidou global signals B1C and B2a.

[0029] The antenna unit utilizes a four-arm helical passive antenna, which, in conjunction with the positioning board unit, enables the reception of positioning data. The antenna unit is specifically designed based on the actual usage scenarios of railway lines. The current amplitudes at the feed ends of the helical arm units are all equal, with phases differing by 90°. It exhibits a cardioid radiation pattern, a good front-to-back ratio, and excellent wide-beam circular polarization characteristics. The helical antenna array boasts a bandwidth exceeding 50 Mbps, fully covering the signal bandwidth of multi-satellite systems. Its beamwidth is significantly greater than that of microstrip antennas, reaching over 130°, providing excellent signal capture and tracking capabilities in actual use.

[0030] The positioning board performs a secondary differential calculation based on acquired satellite positioning data and the basic differential data provided by the core terminal, thereby improving the accuracy of real-time satellite positioning data. This allows the use of locally acquired satellite positioning data to meet the needs of identifying random boundaries of railway operating lines without relying on network data. This board is small in size and lightweight, and is integrated into the positioning terminal device along with a specially designed miniature four-arm spiral antenna. It possesses superior motion capture performance and reliable differential computing capabilities, enabling the positioning terminal to maintain excellent positioning performance even when operating independently. The power supply unit provides power to the various boards in the positioning terminal, and the communication unit provides a data communication channel between the positioning terminal and the core terminal.

[0031] 3. Identify the terminal.

[0032] The identification terminal consists of a data analysis module, a communication module, and a power supply module. This device is the core device for data analysis in the system and is also the interface device of the human-machine interface. It has application-oriented analysis software and data communication functions.

[0033] The identification terminal is a human-machine operation and functional application terminal for random boundary identification on railway operating lines. Based on actual operational requirements, the identification terminal can perform identity verification based on the data provided by the core terminal according to user settings. It can also be used to perform on-site boundary calibration, thus enabling application functions such as random boundary identification, identification of personnel crossing boundary events, and data collection for operational standardization.

[0034] Based on the above content, the present invention proposes a Beidou positioning-based random boundary recognition method for railway operating line operations, taking the boundary recognition of a certain identification area as an example, including the following steps: Step S1: After arriving at the work site, that is, the target identification area, first place the core terminal device at any location in the area.

[0035] Step S2: Turn on the positioning terminal and identify the terminal device, and ensure that all devices enter the normal communication state. At this time, the positioning terminal and the core terminal also maintain the communication state.

[0036] Step S3: On the identification terminal device, manually select the positioning data of multiple (no less than 3) positioning terminals for boundary calibration according to the work content, and then monitor the positioning data of each positioning terminal according to the calibrated boundary to confirm that all devices that need to be connected are effectively connected.

[0037] Step S4: The identification terminal can display the calibrated boundary and the location information of the positioning terminal in the monitoring state to the operator through the display screen. By comparing these two pieces of information, the operator can determine whether the positioning terminal has crossed out of or invaded, thereby realizing the application function of the random boundary of the railway operating line.

[0038] Through the above process, the positioning data that can be identified by the identification terminal can reach the centimeter level of accuracy.

[0039] From the perspective of the data link, the process of a positioning and identification is satellite-positioning terminal-identification terminal; the process of boundary identification is satellite-positioning terminal and core terminal-identification terminal; and the alarm process is satellite-positioning terminal-identification terminal-positioning terminal.

[0040] Compared with other systems, the boundary recognition process requires the drawing of an electronic map in advance. During the boundary recognition process, the positioning device calibrates the positioning data it obtains in the electronic map database through the mobile network. In addition, the calibration data of the positioning terminal is obtained from the background server through the mobile network.

[0041] Therefore, in the absence of a mobile network, the system's positioning accuracy cannot be guaranteed to always be at a high-precision level. At the same time, the accuracy of the electronic map is also a condition that determines the positioning accuracy.

[0042] This system has excellent data algorithms and its system architecture is designed for independent operation of small systems. Therefore, the ability of on-site equipment to process data information is particularly enhanced. The entire process does not require comparison with electronic map data and does not rely on mobile networks. This allows for better boundary recognition and out-of-bounds alarm functions in random working areas in complex environments.

[0043] Therefore, the present invention adopts the above-mentioned Beidou-based random boundary identification system and method for railway operating lines, which is particularly suitable for application scenarios where the target identification area is relatively random. When the target area is unclear, there is no need to carry out large-scale electronic map drawing, and the implementation has obvious economic benefits. Under the premise of ensuring positioning accuracy, positioning differential calibration calculation is realized through data analysis algorithm without relying on remote data, which effectively reduces the positioning residual caused by errors and effectively improves the positioning accuracy of the system. It does not rely on the mobile network to provide calibration data, and all data conditions are obtained by the equipment within this system. The system has strong robustness and is more suitable for special application scenarios where there is no mobile network and the system needs to work independently. The implementation process is quick and convenient, and it is easy to use on site.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A Beidou-based railway line operation random boundary recognition system, characterized by: It consists of a positioning terminal, a core terminal, and an identification terminal. The system positioning data comes from the Beidou B1L1 system. The identification terminal is the carrier platform of the human-machine interface, and has the functions of human-machine operation, alarm definition, alarm triggering, and identification recording. The positioning terminal has the function of receiving positioning data from Beidou B1L1 and other satellite systems, and also has the function of sound and light alarm. The core terminal is a terminal device capable of high-precision satellite positioning data calculation. The railway operating line random boundary recognition system performs centimeter-level position judgment on any random scene without an electronic map, including scene boundary judgment and positioning terminal position judgment, realizing centimeter-level boundary recognition of the positioning terminal in any random scene.

2. The Beidou-based railway line operation random boundary recognition system according to claim 1 is characterized by: The core terminal consists of four parts: positioning board module, communication module, data processing module and power module. It is a multi-frequency positioning information receiving device based on Beidou positioning and is a terminal device capable of satellite positioning data calculation. The core terminal supports the reception and processing of the Beidou system's global signals. The positioning board module achieves centimeter-level or even millimeter-level positioning accuracy by simultaneously receiving and resolving satellite signals from multiple frequency bands and multiple systems. The core terminal supports not only single-system positioning but also multi-system joint positioning. The core terminal compares the accuracy levels of the positioning data provided by the BDS+GPS+GLONASS positioning systems, selects high-precision positioning data as the basic differential data, and then performs differential operations with the Beidou positioning data obtained in real time, thereby improving positioning accuracy while increasing the number of satellite tracking.

3. The Beidou-based railway line operation random boundary recognition system according to claim 2, characterized in that: The positioning board module uses a multi-mode and multi-frequency GNSS board as a receiving module for satellite positioning data. It receives satellite signals through the receiving antenna and transmits the received positioning data to the data processing module for processing. The data processing module compares and analyzes the received satellite positioning data, selects the satellite positioning data for calculation and generates basic differential data, providing the system with centimeter-level basic differential data. The power module provides power guarantee for local modules; The communication module has the data communication function between the core terminal, the positioning terminal and the background system, realizes the centimeter-level positioning function of the system, and serves as a channel for data sharing.

4. The Beidou-based railway line operation random boundary recognition system according to claim 1, characterized in that: The positioning terminal consists of a positioning board unit, an antenna unit, a communication unit and a power supply unit.

5. The Beidou-based railway line operation random boundary recognition system according to claim 4, characterized in that: The positioning board unit used in the positioning terminal is based on an ASIC baseband chip and supports GPS, BDS-2, GLONASS, Galileo, SBAS, QZSS, and L-band, and supports the reception of BDS-3 Beidou global signals B1C and B2a. The positioning board unit performs secondary differential calculations based on the acquired satellite positioning data and the basic differential data provided by the core terminal, achieving centimeter-level positioning accuracy. This allows the use of locally acquired satellite positioning data to meet the need for identifying random boundaries of railway operating lines without relying on network data. The power supply unit provides power for each board in the positioning terminal, and the communication unit provides a data communication channel between the positioning terminal and the core terminal.

6. The Beidou-based railway line operation random boundary recognition system according to claim 4, characterized in that: The antenna unit uses a four-arm helical passive antenna, which works with the positioning board unit to receive positioning data. The antenna unit is specially designed based on the actual usage scenarios of the railway operating line. The current amplitudes at the feeding ends of the helical arm units are equal, and the phases differ by 90 degrees. It has a cardioid radiation pattern, a front-to-back ratio, and wide-beam circular polarization. The bandwidth of the helical antenna array is greater than 50M, which fully covers the signal bandwidth of the multi-satellite system, and its beam width is greater than 130°, providing excellent signal capture and tracking capabilities in actual use.

7. The Beidou-based railway line operation random boundary recognition system according to claim 1, characterized in that: The identification terminal consists of a data analysis module, a communication module, and a power supply module. This device is the core device for data analysis in the system and also the interface device for the human-machine interface. It has application-oriented analysis software and data communication functions. The identification terminal is a human-machine operation and functional application terminal for random boundary identification of railway operating lines. According to the application requirements of actual operations, the identification terminal not only performs identity calibration on the data provided by the core terminal according to the user's settings, but also calibrates the boundaries of the site through the identification terminal, thereby realizing the application functions of random boundary identification, personnel crossing boundary event identification, and operational standardization data statistics.

8. The Beidou-based railway line operation random boundary recognition system according to claim 7, characterized in that: The system's application functions are completed on the identification terminal and do not require other data support from the mobile network. It is suitable for application scenarios where railway operating lines are sensitive to data and have imperfect mobile networks.

9. The Beidou-based railway line operation random boundary recognition system according to claim 1, characterized in that: From the perspective of data link, the process of one positioning and identification is satellite-positioning terminal-identification terminal; From the perspective of the data link, the process of boundary identification is satellite-positioning terminal and core terminal-identification terminal; From the perspective of the data link, the alarm process is satellite-positioning terminal-identification terminal-positioning terminal.

10. A method for identifying random boundaries of railway operating lines using Beidou positioning according to a Beidou positioning railway operating line operation random boundary identification system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: After arriving at the work site, i.e., the target identification area, the core terminal device is placed at any location in the area; Step S2: Turn on the positioning terminal and identify the terminal device, and ensure that all devices enter the normal communication state. At this time, the positioning terminal and the core terminal also maintain the communication state; Step S3: On the identification terminal device, manually select the positioning data of no less than three positioning terminals according to the operation content for boundary calibration, and then monitor the positioning data of each positioning terminal according to the calibrated boundary to confirm that all devices that need to be connected are effectively connected; Step S4: The identification terminal displays the marked boundary and the location information of the positioning terminal in the monitoring state to the operator through the display screen. By comparing these two pieces of information, the operator can judge whether the positioning terminal has crossed out of or invaded, thereby realizing the application function of the random boundary of the railway operating line.

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