Positioning antenna based on high-speed rail communication perception

Abstract

The invention discloses a positioning antenna based on high-speed rail communication perception. The positioning antenna comprises a high-strength anti-vibration shell, an electromagnetic shielding layer, a heat dissipation substrate and an internal integrated cavity. An inertial measurement unit and an edge computing node are mounted in the internal integrated cavity; the positioning antennas are respectively mounted along a railway and on a high-speed train; the positioning antennas installed along the railway are called base station antennas, and the positioning antennas installed on the high-speed rail train become compartment antennas. Orthogonal frequency division multiplexing signals are used as carrier signals between the base station antennas and the carriage antennas, and the carrier signals are sequenced by combining phase coding. The positioning antenna prepared by the invention can measure the position of a high-speed rail train, and selects a machine to send communication data; and predicting the track direction of the high-speed train, and adjusting the optimal direction of the antenna.

Description

Technical Field

[0001] The present invention relates to the technical field of antenna design, and in particular to a positioning antenna based on high-speed rail communication perception. Background Art

[0002] In the high-speed rail sector, LTE or GSM-R antennas are primarily used for communication, while GPS or BeiDou satellite navigation system antennas are used for positioning. For example, LTE antennas are used to connect high-speed rail to terrestrial mobile 4G and 5G networks, providing stable wireless communication services for passengers on the trains and communicating with ground control centers to enable train operation status reporting, real-time scheduling, and efficient operation. GSM-R antennas are used to enable communication between trains and base stations along the railway line to facilitate train dispatching, train control information transmission, and railway staff communications. GPS antennas are used to receive global positioning system satellite signals to achieve precise positioning of high-speed trains, which is the basis for real-time monitoring and dispatch management of trains. The latest technology uses BeiDou satellite navigation system antennas to receive BeiDou satellite navigation system signals, providing high-precision positioning and navigation services for trains.

[0003] However, communication antennas like LTE and GSM-R are primarily designed for data and voice communications and cannot directly provide high-precision positioning services. For example, high-speed rail dispatching systems require real-time train location information to optimize operations, but communication antennas cannot independently perform this task and must rely on additional GPS or Beidou satellite navigation system antennas. GPS or Beidou satellite navigation system antennas can only receive satellite signals and cannot transmit data or voice. For example, when a train is traveling in a tunnel, satellite signals are blocked, rendering the positioning antenna ineffective. In these situations, the communication antenna must be used to obtain location information through train-to-ground wireless communication. Summary of the Invention

[0004] To address the limitations of single-function antennas, this invention provides a dedicated positioning antenna for the high-speed rail industry that simultaneously performs both communication and positioning functions, effectively improving the efficiency and reliability of both. This integrated communication and sensing antenna not only enables traditional wireless data transmission but also uses wireless signals to sense the surrounding environment and achieve positioning. Furthermore, it adaptively adjusts the antenna's direction by analyzing the received signal.

[0005] The technical solution proposed in the present invention is a positioning antenna based on high-speed rail communication perception, comprising a high-strength vibration-resistant shell, an electromagnetic shielding layer, a heat dissipation substrate, and an internal integrated cavity; the electromagnetic shielding layer is arranged on the inner side of the high-strength vibration-resistant shell, a heat dissipation substrate is arranged on the inner side of the electromagnetic shielding layer, and an internal integrated cavity is arranged above the heat dissipation substrate; a potting material is filled between the internal integrated cavity and the electromagnetic shielding layer; An inertial measurement unit and an edge computing node are installed in the internal integrated cavity; The positioning antennas are installed along the railway and on high-speed trains respectively; the positioning antennas installed along the railway are called base station antennas, and the positioning antennas installed on high-speed trains are called carriage antennas; orthogonal frequency division multiplexing signals are used as carrier signals between the base station antennas and the carriage antennas, and the carrier signals are sorted in combination with phase coding.

[0006] Furthermore, the base station antennas are sparsely deployed, with one base station antenna deployed every 2-3 kilometers along the railway; the base station antennas are installed on the top of the sound barrier in a pole-type manner, which can achieve Horizontal beam coverage.

[0007] Furthermore, the carriage antenna is installed on the upper part of the first high-speed rail carriage.

[0008] Furthermore, the carrier signal is expressed as: ; in, Indicates the A carrier signal, represents the carrier signal amplitude, Indicates the The carrier signal frequency, Indicates the The carrier signal phase, Indicates the total number of carrier signals; ; in, represents the initial frequency of the carrier signal, represents the frequency interval of the carrier signal, Represents the symbol for pi; Converting the serial data to be transmitted into multiple parallel data, modulating the parallel data onto a carrier signal to obtain a modulated carrier signal; A dynamic cyclic prefix is ​​added to the front end of each modulated carrier signal. The length of the dynamic cyclic prefix is ​​related to the train speed: ; in, Indicates the length of the dynamic cyclic prefix, Indicates the time of data transmission The faster the high-speed train, the stronger the time-varying channel is, the larger the multipath delay spread is, and the longer the required dynamic cyclic prefix is. represents the period of the carrier signal, represents the speed of light, Represents the safety factor, which ensures that the length of the dynamic cyclic prefix can fully cover the multipath delay spread. Indicates rounding up to ensure that is an integer; Superimpose the modulated carrier signal and send it; After the base station antenna and the car antenna receive the signal, they remove the dynamic cyclic prefix from the received signal and Point FFT transform, converted into frequency domain signal; The frequency domain signal of each frequency point corresponds to the demodulation result of the carrier signal. Channel estimation is performed on the frequency domain signal of each frequency point to obtain the frequency domain transmission signal, and then an inverse Fourier transform is performed to obtain the modulated carrier signal; Determine the phase offset for each modulated carrier signal , according to the phase shift Sorting the modulated carrier signal to obtain a modulated carrier signal sequence; The modulated carrier signal sequence is demodulated to obtain the transmission data, and the communication content is read from the transmission data.

[0009] Furthermore, the heat dissipation substrate is an aluminum-based PCB board, and a microstrip antenna array is integrated on the surface; the microstrip antenna array adopts a layered design and is divided into three layers: upper, middle and lower, and each layer is an independent array element; The microstrip antenna array is externally provided with an antenna cover which is made of a wave-transparent composite material and supports operation in a wide temperature range of -40° to 60°.

[0010] Furthermore, the inertial measurement unit is a high-precision six-axis inertial measurement unit, with a gyroscope bias stability of less than 5° / h and an accelerometer noise of less than 100μg; The inertial measurement unit is connected to the edge computing node via CAN bus, Ethernet or RS485, with a sampling rate of 100Hz-1kHz.

[0011] The edge computing nodes all use heterogeneous multi-core processors and integrate AI acceleration engines, which can perform real-time calculations.

[0012] Furthermore, the carriage antenna is responsible for measuring the acceleration and heading angle of the high-speed train and calculating the position of the high-speed train based on the initial position of the high-speed train, including: Establish a geographic coordinate system, with the east direction as the GX axis and the north direction as the GY axis; Establish a motion coordinate system that matches the high-speed train, with the forward direction of the high-speed train as the x-axis and the right direction as the y-axis; The parameters of the high-speed train measured by the inertial measurement unit are parameters in the motion coordinate system; In the At each sampling moment, the heading angle of the high-speed train in the motion coordinate system is expressed as: ; in, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The angular velocity of the high-speed train around the vertical axis measured by the inertial measurement unit at the sampling moment, Indicates the sampling period; No. At each sampling moment, the speed and position of the high-speed train are expressed as: ; in, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The acceleration of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at each sampling moment; The acceleration of the high-speed train in the geographic coordinate system is converted from the high-speed train acceleration measured by the inertial measurement unit: ; in, Indicates the The acceleration of the high-speed train in the motion coordinate system at the sampling moment, Through the The inertial measurement unit measures the

[0013] Furthermore, when the high-speed train is within the coverage of any base station antenna, the carriage antenna sends communication data. When the base station module receives the communication data, it sends response data containing the base station module number, including: S01: Based on the position of the high-speed train and the distribution of base station antennas, the base station antenna closest to the high-speed train in the direction of the high-speed train is obtained. The edge computing node calculates the distance between the high-speed train and the nearest base station antenna. ; S02: If If the distance is less than or equal to the coverage distance of the base station antenna, the high-speed train is considered to be within the coverage range of the nearest base station antenna, and the carriage antenna sends communication data; like If the distance is greater than the coverage distance of the base station antenna, the aforementioned step (the aforementioned step of calculating the position of the high-speed train) is called to calculate the position of the high-speed train at the next sampling moment, and then step S01 is called; S03: When the base station antenna receives the communication data, it sends response data including the base station antenna number. The response data carries the base station antenna number on a carrier signal for transmission.

[0014] Furthermore, the base station antenna number data is converted into multiple parallel data, modulated onto a carrier signal, and the modulated carrier signal is obtained, which is superimposed and then sent; When the car antenna receives the communication data echo, it determines whether it is the base station antenna response data; if it is confirmed to be the base station antenna response data, the car antenna establishes a communication link with the base station antenna; The edge computing node calculates the distance between the car antenna and the base station antenna based on the communication delay ; Based on the distance between the car antenna and the base station antenna and the base station antenna number, calculate the actual position of the high-speed train, and calibrate the inertial measurement unit in the carriage antenna.

[0015] Furthermore, when the car antenna receives the communication data echo, the car antenna determines whether it is the base station antenna response data based on the communication delay: ; in, Indicates the time difference between the carriage antenna sending communication data and receiving the communication data echo. Indicates the base station antenna processing cycle. If , then it is considered that there is base station antenna response data; if it does not meet , it is considered that there is no base station antenna response data.

[0016] Furthermore, the distance between the car antenna and the base station antenna ,in, represents the speed of light; The car antenna determines the base station antenna position based on the base station antenna number in the response data; Based on the base station antenna position and Determine the actual location of the high-speed rail train; The inertial measurement unit in the carriage antenna is calibrated using the actual position of the high-speed train.

[0017] Furthermore, based on the actual position of the high-speed train, the track direction of the high-speed train is predicted; and according to the track direction, the optimal direction of the carriage antenna is adjusted.

[0018] Furthermore, after the car antenna establishes a communication link with the base station antenna, when the car antenna is in the time period When no response data is received from the base station module antenna, the corrected position of the high-speed train is calculated based on the inertial measurement unit calibrated in the car antenna; According to the corrected position of the high-speed train, determine whether the high-speed train is within the coverage range of the base station antenna; If the high-speed train is within the coverage of the base station antenna, the train car antenna will continue to send communication data to the base station antenna until it receives the response data from the base station antenna; If the high-speed train is not within the coverage of the base station antenna, the car antenna will no longer send communication data to the base station antenna; the car antenna will continue to calculate the corrected position of the high-speed train until the high-speed train is within the coverage of any base station antenna, at which time the car antenna will send communication data.

[0019] Beneficial effects: The antenna designed in this invention can simultaneously perform communication and positioning functions. It achieves communication perception by modulating communication data onto an orthogonal frequency division multiplexing signal. It also embeds location-related information into the communication data, combining it with communication delay to accurately achieve positioning. The antenna system designed in this invention can predict trajectory direction based on analysis of received signals and automatically adjust the antenna's direction, improving positioning accuracy and system performance. The present invention determines that a connection is established between a carriage antenna and a base station antenna when two conditions are simultaneously met: the high-speed train is located within the coverage range of the nearest base station antenna and the communication delay is greater than the base station antenna processing period; upon establishment of the connection, the carriage antenna corrects the inertial measurement unit in real time based on the actual position of the high-speed train, thereby improving the accuracy of subsequent high-speed train positioning; at the same time, by processing abnormal situations, the corrected position of the high-speed train is calculated based on the corrected inertial measurement unit, and the abnormal situation is accurately processed in combination with the corrected position; the communication connection is restored by continuously sending communication data to the base station antenna via the carriage antenna; and communication with the next base station antenna is achieved by real-time monitoring of the corrected position of the high-speed train. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a positioning antenna structure based on high-speed rail communication perception provided by one embodiment of the present invention, in which the reference numerals represent: 1-High-strength vibration-resistant casing, 2-Electromagnetic shielding layer, 3-Heat dissipation substrate, 4-Internal integrated cavity, 5-Inertial measurement unit, 6-Edge computing node. DETAILED DESCRIPTION

[0021] Unless otherwise specified, the following examples and comparative examples were conducted in parallel, using the same processing steps and parameters.

[0022] The high-strength vibration-resistant shell 1 of the present invention adopts Guangdong Guofeng GF-6061-T6-2.5mm aluminum alloy profile, the thickness of which is strictly controlled within the range of 2-3mm. After T6 heat treatment, the yield strength is ≥240MPa, which meets the structural strength requirements under the maximum vibration acceleration of 20g during high-speed rail operation; the subsequent surface conductive oxidation treatment adopts Shenzhen Chuangyitong CY-3000 treatment liquid, and the oxide film thickness formed is 12μm.

[0023] The inner layer of the electromagnetic shielding layer 2 is covered with Changzhou Debo DB-CuAg-0.1-ET silver-plated copper foil with a thickness of 0.1mm and a silver plating layer thickness of 5μm (to improve the shielding effectiveness in the high-frequency band). Combined with the Dongguan Yunwei YW-DG-03 sealing ring, the shielding effectiveness is ≥90dB at a frequency of 1GHz, meeting the isolation requirements of the complex electromagnetic environment of high-speed rail (such as traction motor harmonics and communication interference from neighboring trains).

[0024] Heat dissipation substrate 3 uses Guangzhou Mingen MN-AL-1.6-3W aluminum-based PCB board with a thickness of 1.6mm and a thermal resistance of ≤0.5℃ / W, ensuring that the temperature rise of the microstrip antenna array (Huaxin HX-MPA-3500-16U) is ≤15℃ during continuous operation. The patch unit is fixed using a reflow soldering process, and the solder joint tensile strength is ≥5N, which can adapt to the high-frequency vibration (20-2000Hz, acceleration ≤15g) during high-speed rail operation.

[0025] Matching the installation of the inertial measurement unit: The size of the internal integrated cavity 4 (200mm×150mm×80mm) reserves installation space for the inertial measurement unit 5 IMU and the edge computing node 6 (size 60mm×40mm×30mm). The potting material is filled between the internal integrated cavity 4 and the electromagnetic shielding layer 2 to prevent stress cracking under high and low temperature cycles (-40℃~85℃).

[0026] Example 1: A positioning antenna based on high-speed rail communication perception, such as Figure 1 As shown, it includes a high-strength vibration-resistant shell 1, an electromagnetic shielding layer 2, a heat dissipation substrate 3 and an internal integrated cavity 4; the electromagnetic shielding layer 2 is provided on the inner side of the high-strength vibration-resistant shell 1, the heat dissipation substrate 3 is provided on the inner side of the electromagnetic shielding layer 2, and the internal integrated cavity 4 is provided above the heat dissipation substrate 3; the space between the internal integrated cavity 4 and the electromagnetic shielding layer 2 is filled with potting material; The internal integrated cavity 4 is equipped with an inertial measurement unit 5 and an edge computing node 6; The positioning antennas are installed along the railway and on high-speed trains respectively; the positioning antennas installed along the railway are called base station antennas, and the positioning antennas installed on high-speed trains are called carriage antennas; orthogonal frequency division multiplexing signals are used as carrier signals between the base station antennas and the carriage antennas, and the carrier signals are sorted in combination with phase coding.

[0027] Furthermore, the base station antennas are sparsely deployed, with one base station antenna deployed every 2-3 kilometers along the railway; the base station antennas are installed on the top of the sound barrier in a pole-type manner, which can achieve Horizontal beam coverage.

[0028] Furthermore, the carriage antenna is installed on the upper part of the first high-speed rail carriage.

[0029] Furthermore, the carrier signal is expressed as: ; in, Indicates the A carrier signal, represents the carrier signal amplitude, Indicates the The carrier signal frequency, Indicates the The carrier signal phase, Indicates the total number of carrier signals; ; in, represents the initial frequency of the carrier signal, represents the frequency interval of the carrier signal, Represents the symbol for pi; Converting the serial data to be transmitted into multiple parallel data, modulating the parallel data onto a carrier signal to obtain a modulated carrier signal; A dynamic cyclic prefix is ​​added to the front end of each modulated carrier signal. The length of the dynamic cyclic prefix is ​​related to the train speed: ; in, Indicates the length of the dynamic cyclic prefix, Indicates the time of data transmission The faster the high-speed train, the stronger the time-varying channel is, the larger the multipath delay spread is, and the longer the required dynamic cyclic prefix is. represents the period of the carrier signal, represents the speed of light, Represents the safety factor, which ensures that the length of the dynamic cyclic prefix can fully cover the multipath delay spread. Indicates rounding up to ensure that is an integer; Superimpose the modulated carrier signal and send it; After the base station antenna and the car antenna receive the signal, they remove the dynamic cyclic prefix from the received signal and Point FFT transform, converted into frequency domain signal; The frequency domain signal of each frequency point corresponds to the demodulation result of the carrier signal. Channel estimation is performed on the frequency domain signal of each frequency point to obtain the frequency domain transmission signal, and then an inverse Fourier transform is performed to obtain the modulated carrier signal; Determine the phase offset for each modulated carrier signal , according to the phase shift Sorting the modulated carrier signal to obtain a modulated carrier signal sequence; The modulated carrier signal sequence is demodulated to obtain the transmission data, and the communication content is read from the transmission data.

[0030] Furthermore, the heat dissipation substrate 3 is an aluminum-based PCB board, and a microstrip antenna array is integrated on the surface; the microstrip antenna array adopts a layered design and is divided into three layers: upper, middle and lower, and each layer is an independent array element; The microstrip antenna array is externally provided with an antenna cover which is made of a wave-transparent composite material and supports operation in a wide temperature range of -40° to 60°.

[0031] Furthermore, the inertial measurement unit 5 is a high-precision six-axis inertial measurement unit, with a gyroscope bias stability of less than 5° / h and an accelerometer noise of less than 100 μg; The inertial measurement unit 5 is connected to the edge computing node 6 via CAN bus, Ethernet or RS485, with a sampling rate of 100 Hz-1 kHz.

[0032] The edge computing nodes all use heterogeneous multi-core processors and integrate AI acceleration engines, which can perform real-time calculations.

[0033] Furthermore, the carriage antenna is responsible for measuring the acceleration and heading angle of the high-speed train and calculating the position of the high-speed train based on the initial position of the high-speed train; Establish a geographic coordinate system, with the east direction as the GX axis and the north direction as the GY axis; Establish a motion coordinate system that matches the high-speed train, with the forward direction of the high-speed train as the x-axis and the right direction as the y-axis; The parameters of the high-speed train measured by the inertial measurement unit 5 are parameters in the motion coordinate system; In the At each sampling moment, the heading angle of the high-speed train in the motion coordinate system is expressed as: ; in, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The angular velocity of the high-speed train around the vertical axis measured by the inertial measurement unit 5 at the sampling moment is: Indicates the sampling period; No. At each sampling moment, the speed and position of the high-speed train are expressed as: ; in, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The acceleration of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at each sampling moment; The acceleration of the high-speed train in the geographic coordinate system is converted from the high-speed train acceleration measured by the inertial measurement unit 5: ; in, Indicates the The acceleration of the high-speed train in the motion coordinate system at the sampling moment, Through the The inertial measurement unit measures the

[0034] Furthermore, when the high-speed train is within the coverage of any base station antenna, the carriage antenna sends communication data, and when the base station module receives the communication data, it sends response data containing the base station module number; S01: Based on the position of the high-speed train and the distribution of base station antennas, the base station antenna closest to the high-speed train in the direction of the high-speed train is obtained. The edge computing node calculates the distance between the high-speed train and the nearest base station antenna. ; S02: If If the distance is less than or equal to the coverage distance of the base station antenna, the high-speed train is considered to be within the coverage range of the nearest base station antenna, and the carriage antenna sends communication data; like If the distance is greater than the coverage distance of the base station antenna, the aforementioned step (the aforementioned step of calculating the position of the high-speed train) is called to calculate the position of the high-speed train at the next sampling moment, and then step S01 is called; S03: When the base station antenna receives the communication data, it sends response data including the base station antenna number. The response data carries the base station antenna number on a carrier signal for transmission.

[0035] Furthermore, the base station antenna number data is converted into a plurality of parallel data, modulated onto a carrier signal, and a modulated carrier signal is obtained, which is superimposed and then sent; When the car antenna receives the communication data echo, it determines whether it is the base station antenna response data; if it is confirmed to be the base station antenna response data, the car antenna establishes a communication link with the base station antenna; Edge computing node 6 calculates the distance between the car antenna and the base station antenna based on the communication delay ; Based on the distance between the car antenna and the base station antenna and the base station antenna number, calculate the actual position of the high-speed train, and calibrate the inertial measurement unit 5 in the carriage antenna.

[0036] Furthermore, when the car antenna receives the communication data echo, the car antenna determines whether it is the base station antenna response data based on the communication delay: ; in, Indicates the time difference between the carriage antenna sending communication data and receiving the communication data echo. Indicates the base station antenna processing cycle. If , then it is considered that there is base station antenna response data; if it does not meet , it is considered that there is no base station antenna response data.

[0037] Furthermore, the distance between the car antenna and the base station antenna ,in, represents the speed of light; The car antenna determines the base station antenna position based on the base station antenna number in the response data; Based on the base station antenna position and Determine the actual location of the high-speed rail train; The inertial measurement unit 5 in the carriage antenna is calibrated with the actual position of the high-speed train.

[0038] Furthermore, based on the actual position of the high-speed train, the track direction of the high-speed train is predicted; and according to the track direction, the optimal direction of the carriage antenna is adjusted.

[0039] Furthermore, after the car antenna establishes a communication link with the base station antenna, when the car antenna is in the time period When no response data from the base station module antenna is received, the corrected position of the high-speed train is calculated based on the inertial measurement unit 5 calibrated in the carriage antenna; According to the corrected position of the high-speed train, determine whether the high-speed train is within the coverage range of the base station antenna; If the high-speed train is within the coverage of the base station antenna, the train car antenna will continue to send communication data to the base station antenna until it receives the response data from the base station antenna; If the high-speed train is not within the coverage of the base station antenna, the car antenna will no longer send communication data to the base station antenna; the car antenna will continue to calculate the corrected position of the high-speed train until the high-speed train is within the coverage of any base station antenna, at which time the car antenna will send communication data.

[0040] It should be noted that the serial numbers of the above-mentioned embodiments of the present invention are for descriptive purposes only and do not represent the advantages or disadvantages of the embodiments. In addition, the terms "including", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "including a ..." does not exclude the presence of other identical elements in the process, device, article or method comprising the element.

[0041] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A positioning antenna based on high-speed rail communication perception, comprising a high-strength vibration-resistant shell, an electromagnetic shielding layer, a heat dissipation substrate, and an internal integrated cavity; the electromagnetic shielding layer is arranged on the inner side of the high-strength vibration-resistant shell, a heat dissipation substrate is arranged on the inner side of the electromagnetic shielding layer, and an internal integrated cavity is arranged above the heat dissipation substrate; a potting material is filled between the internal integrated cavity and the electromagnetic shielding layer; characterized in that An inertial measurement unit and an edge computing node are installed in the internal integrated cavity; The positioning antennas are installed along the railway and on high-speed trains respectively; the positioning antennas installed along the railway are called base station antennas, and the positioning antennas installed on high-speed trains are called carriage antennas; orthogonal frequency division multiplexing signals are used as carrier signals between the base station antennas and the carriage antennas, and the carrier signals are sorted in combination with phase coding.

2. The positioning antenna based on high-speed rail communication perception according to claim 1, characterized in that: The heat dissipation substrate is an aluminum-based PCB board with a microstrip antenna array integrated on the surface; the microstrip antenna array adopts a layered design and is divided into three layers: upper, middle and lower, with each layer being an independent array element; A radome is installed outside the microstrip antenna array, and the radome is made of a wave-transparent composite material.

3. The positioning antenna based on high-speed rail communication perception according to claim 1, characterized in that: The inertial measurement unit is a high-precision six-axis inertial measurement unit with a gyroscope bias stability of less than 5° / h and an accelerometer noise of less than 100μg; The inertial measurement unit is connected to the edge computing node via CAN bus, Ethernet or RS485, with a sampling rate of 100Hz-1kHz; The edge computing nodes all use heterogeneous multi-core processors and integrate AI acceleration engines, which can perform real-time calculations.

4. The positioning antenna based on high-speed rail communication perception according to claim 1, characterized in that: The carriage antenna is responsible for measuring the acceleration and heading angle of the high-speed train and calculating the position of the high-speed train based on its initial position, including: Establish a geographic coordinate system, with the east direction as the GX axis and the north direction as the GY axis; Establish a motion coordinate system that matches the high-speed train, with the forward direction of the high-speed train as the x-axis and the right direction as the y-axis; The parameters of the high-speed train measured by the inertial measurement unit are parameters in the motion coordinate system; In the At each sampling moment, the heading angle of the high-speed train in the motion coordinate system is expressed as: ； in, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The heading angle of the high-speed train in the motion coordinate system at the sampling moment, Indicates the The angular velocity of the high-speed train around the vertical axis measured by the inertial measurement unit at the sampling moment, Indicates the sampling period; No. At each sampling moment, the speed and position of the high-speed train are expressed as: ； in, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The speed of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The acceleration of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at the sampling moment, Indicates the The position of the high-speed train in the geographic coordinate system at each sampling moment; The acceleration of the high-speed train in the geographic coordinate system is converted from the high-speed train acceleration measured by the inertial measurement unit: ； in, Indicates the The acceleration of the high-speed train in the motion coordinate system at the sampling moment, Through the The sampling time is measured by the inertial measurement unit.

5. The positioning antenna based on high-speed rail communication perception according to claim 4, characterized in that: When the high-speed train is within the coverage of any base station antenna, the carriage antenna sends communication data. When the base station module receives the communication data, it sends response data containing the base station module number, including: S01: Based on the position of the high-speed train and the distribution of base station antennas, the base station antenna closest to the high-speed train in the direction of the high-speed train is obtained. The edge computing node calculates the distance between the high-speed train and the nearest base station antenna. ; S02: If If the distance is less than or equal to the coverage distance of the base station antenna, the high-speed train is considered to be within the coverage range of the nearest base station antenna, and the carriage antenna sends communication data; like If the distance is greater than the coverage distance of the base station antenna, the step in claim 4 is called to calculate the position of the high-speed train at the next sampling moment, and then step S01 is called; S03: When the base station antenna receives the communication data, it sends response data including the base station antenna number. The response data carries the base station antenna number on a carrier signal for transmission.

6. The positioning antenna based on high-speed rail communication perception according to claim 5, characterized in that: When the car antenna receives the communication data echo, it determines whether it is the base station antenna response data; When it is confirmed that the data is answered by the base station antenna, the car antenna establishes a communication link with the base station antenna; The edge computing node calculates the distance between the car antenna and the base station antenna based on the communication delay ; Based on the distance between the car antenna and the base station antenna and the base station antenna number, calculate the actual position of the high-speed train, and calibrate the inertial measurement unit in the carriage antenna.

7. The positioning antenna based on high-speed rail communication perception according to claim 6, characterized in that: When the car antenna receives the communication data echo, the car antenna determines whether it is the base station antenna response data based on the communication delay: ； in, Indicates the time difference between the carriage antenna sending communication data and receiving the communication data echo. Indicates the base station antenna processing cycle. If , then it is considered that there is base station antenna response data; if it does not meet , it is considered that there is no base station antenna response data.

8. The positioning antenna based on high-speed rail communication perception according to claim 6, characterized in that: The distance between the car antenna and the base station antenna ,in, represents the speed of light; The car antenna determines the base station antenna position based on the base station antenna number in the response data; Based on the base station antenna position and Determine the actual location of the high-speed rail train; The inertial measurement unit in the carriage antenna is calibrated using the actual position of the high-speed train.

9. The positioning antenna based on high-speed rail communication perception according to claim 6, characterized in that: Based on the actual position of the high-speed train, the trajectory direction of the high-speed train is predicted; according to the trajectory direction, the optimal direction of the carriage antenna is adjusted.

10. The positioning antenna based on high-speed rail communication perception according to claim 6, characterized in that: After the car antenna establishes a communication link with the base station antenna, when the car antenna is in the time period When no response data is received from the base station module antenna, the corrected position of the high-speed train is calculated based on the inertial measurement unit calibrated in the car antenna; According to the corrected position of the high-speed train, determine whether the high-speed train is within the coverage range of the base station antenna; If the high-speed train is within the coverage of the base station antenna, the train car antenna will continue to send communication data to the base station antenna until it receives the response data from the base station antenna; If the high-speed train is not within the coverage of the base station antenna, the car antenna will no longer send communication data to the base station antenna; the car antenna will continue to calculate the corrected position of the high-speed train until the high-speed train is within the coverage of any base station antenna, at which time the car antenna will send communication data.

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