Wireless reconnection multi-network integration system and method for multi-marshalling cooperative operation of heavy haul train

Abstract

The invention discloses a heavy-load train multi-marshalling cooperative operation wireless reconnection multi-network fusion system and method, and aims to solve the problems that different wireless communication systems of a multi-marshalling train, especially a heavy-load combined train and a virtual reconnection train are difficult to rapidly and seamlessly switch and protocols are not uniform. A wireless communication multi-network integration unit is used for dividing a digital layer and an information layer, a wireless data digital platform and an information platform are reconstructed, autonomous seamless switching of a data bottom layer transmission air interface is achieved, a normalized digital platform and a frame format are formed, meanwhile, a cross-platform unified RTP real-time protocol is established, and the real-time performance of the system is improved. And a decentralized multi-network integration information platform is formed. Wireless communication networks of different systems, multiple sets of wireless communication redundant networks of the same system and a train control system are connected through the wireless communication multi-network fusion unit, and the problems that data sources of different wireless communication systems are inconsistent, data forwarding time is delayed, and multi-stage platform processing is tedious are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a fusion method of heavy-load combined train and wireless reconnection multi-source communication system of virtual coupling locomotive, which is suitable for multi-network combination of different physical characteristics and can perform seamless switching to realize real-time communication. In particular, it is a wireless reconnection multi-network fusion system and method for cooperative operation of heavy-load train multi-formation. BACKGROUND

[0002] In heavy-load railway transportation, long and large formation heavy-load combined trains and virtual coupling locomotive traction trains are the main heavy-load transportation modes currently and in the future. The load of the train reaches 20,000 tons or more, and the length of the combined train reaches several kilometers. In the above heavy-load transportation process, the train is not easy to operate, the quality control of cooperative operation of reconnection locomotives is difficult, the train is prone to longitudinal impact, and even serious accidents that pose a risk to train safety may occur. This is an important challenge for the world's heavy-load railway transportation. Among them, the reliability, consistency, integrity, real-time performance, and safety of communication between the master and slave control locomotives of the combined train have a key impact on the quality of train operation and cannot be ignored. Under the technical framework of real-time control based on micro-power wireless reconnection networking, dynamic networking, real-time data synchronization, and accurate cooperative control between master and slave control locomotives relying on low-power wireless networks can be solved, thereby improving the real-time performance, safety, and consistency of master and slave control locomotive control of heavy-load combined trains. However, under the condition of long-distance wireless networking of heavy-load combined trains, communication interruption caused by a single wireless communication system still exists, and multiple communication systems with different physical properties need to be used, which accordingly raises the problem of multi-network communication application. The Daqin Railway uses a fault-switching method. With the network communication challenges such as communication delay caused by the complication of data processing procedures, there is an urgent need for new methods to overcome this problem.

[0003] To this end, based on the foundation and extension of the invention patent "Real-time control method and system for heavy-load coupled locomotive based on micro-power wireless reconnection networking" (ZL202411023873.4), the current wireless reconnection control of locomotives relies on a single physical property communication system, which usually uses a dual-system redundancy method to solve the problem, and the conversion of different communication systems is also complex. For example, 400MHz space wave train-to-train communication, 400KHz catenary directional induction train-to-train communication, and LTE-R train-to-ground-to-train communication. However, each communication system cannot avoid interference and weak field influence, especially the same attribute, so even redundant systems cannot be avoided. In this regard, the fusion and seamless switching of communication systems with different physical property characteristics is a development approach, but it also faces the problem of how to switch communication systems, such as the inconsistency of data frame transmission caused by differences in the communication physical layer, link layer, and network layer, and the real-time guarantee of control continuity during switching. Therefore, a better multi-network fusion processing method is needed, which is also a technical difficulty in solving this technical problem. SUMMARY

[0004] The technical problem solved by the present application is to provide a heavy-haul train multi-formation cooperative operation wireless reconnection multi-network fusion system and method, which can smoothly and real-time switch the communication system with data, and the seamless switching time is close to 0.5s, so as to improve the safety of train operation.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a heavy-haul train multi-formation cooperative operation wireless reconnection multi-network fusion system, comprising:

[0006] An independent communication characteristic ad hoc network layer is used to build independent local communication networks for master and slave locomotives through different physical wireless communication channels; the ad hoc network data of different physical wireless communication channels form standardized data frames through a page mechanism, and each data frame contains a specific characteristic attribute identifier;

[0007] A multi-network communication data fusion layer is used to fuse the data frames to form unified communication data;

[0008] A multi-network communication data seamless switching layer is used to periodically identify the validity of data according to the characteristic attribute identifier in the data frame.

[0009] The multi-network communication data fusion layer comprises:

[0010] A multi-standard transceiver unit is used to receive and process signals from different wireless communication standards;

[0011] A wireless communication multi-network fusion unit is used to normalize, frame format, link connection control, virtual local area network management and real-time data transmission of signals from different wireless communication standards.

[0012] The multi-standard transceiver unit comprises a plurality of communication radio modules, which are used to receive signals from different wireless communication standards.

[0013] The wireless communication multi-network fusion unit comprises:

[0014] A link layer network real-time communication processing module is used to normalize signals from different wireless communication standards, and fuse the normalized data;

[0015] A receiving data unpacking unit is used to receive the fused data packet.

[0016] The communication mode of the multi-standard transceiver unit includes 400MHz space wave communication, 400KHz catenary communication mode and LTE-R communication mode.

[0017] A heavy-haul train multi-formation cooperative operation wireless reconnection multi-network fusion method comprises the following steps:

[0018] An independent local communication network is constructed for the master and slave locomotives through different physical wireless communication channels; self-organizing network data of different physical wireless communication channels form standardized data frames through a page mechanism, each data frame contains specific characteristic attribute identification, that is, a frame header and a check code are added in the data frame obtained in the independent channel, and an independent specific attribute is defined at a specific position of the data frame header, for example, the 23rd byte position of the frame header is 0xEF, and the 24th byte position is a heartbeat signal of the specific attribute identification, if the 23rd byte of the data frame is EF, and the 24th byte heartbeat signal periodically changes, it is a 400MHz channel data frame and effective;

[0019] The data frames are fused to form unified communication data, that is, a unified fusion data frame format is established, effective data obtained from each channel is placed in a specific byte segment, and whole packet data identification, data checking, and data comprehensive preliminary judgment are performed to achieve the purposes of multi-network data fusion and unification;

[0020] The effectiveness of the data is periodically identified according to the characteristic attribute identification in the data frame.

[0021] In the present application, the implementation process of fusing the data frames comprises the following steps: a unified fusion data frame format is established, effective data obtained from each channel is placed in a specific byte segment, and whole packet data identification, data checking, and data comprehensive preliminary judgment are performed.

[0022] In the present application, the data comprehensive preliminary judgment refers to locating the front and rear trains and the distance by using the train number, kilometer marker, speed, and other working condition information of the data of each channel, and then placing the independent channel data of the front and rear trains in specific positions of the unified format data frame, so as to fuse the data frames of the independent channels into the unified format.

[0023] In the application, the specific implementation process of periodically identifying the validity of data according to the characteristic attribute identifier in the data frame comprises: identifying the characteristic attribute identifier in the unified data format frame, periodically identifying the heartbeat signal, and determining that the data is invalid if the heartbeat signal of the data frame in N continuous periods does not change. The application proposes a three-level fusion communication and seamless switching mode of the locomotive wireless reconnection communication system, i.e., a self-organizing network level of independent communication characteristics, a multi-network communication data fusion level, and a multi-network communication data seamless switching level. First, different physical wireless communication channels are used to construct local communication networks of respective channels according to the host locomotive and the slave locomotive. Second, the self-organizing network data from different communication channels is used to form the latest standard packaged data frame by using the page mechanism and to perform data fusion. Finally, the seamless switching of the communication system is selected according to the update period of the characteristic attribute identifier in the data frame, so as to guarantee the free selection of data and achieve the multi-source fusion of the application level communication system. In this way, the "communication data effective-trustworthy direct use" mode can effectively reduce the time consumption of the original "communication data abnormal-judgment communication failure-communication system reselection" mode, has high cost performance, overcomes the shortcomings of the current mode, and has innovative significance.

[0024] Compared with the prior art, the application has the beneficial effects that: the application can quickly and effectively and stably establish a communication bridge between locomotives in a heavy-load combined train and a virtual coupled train in a wireless reconnection mode, so that effective communication system data can be selected in real time, and switching and data updating are parallel, which plays a good helping role in the cooperative control of the heavy-load combined train and the virtual coupled train. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A multi-formation train remote wireless reconnection multi-network fusion architecture system general diagram;

[0026] Figure 2 A multi-network fusion system function block diagram;

[0027] Figure 3 A train remote wireless reconnection multi-network fusion marshalling scene example;

[0028] Figure 4 A multi-formation train remote wireless reconnection data three-level fusion communication architecture diagram;

[0029] Figure 5 A structure block diagram for the embodiment of the application. DETAILED DESCRIPTION

[0030] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0031] The embodiments of the present application provide a multi-formation train remote wireless reconnection multi-network fusion framework method and system. Under the background of real-time control technology of heavy-duty coupled locomotives based on micro-power wireless reconnection networking, it is still difficult to avoid the communication network problems such as inconsistent data sources caused by different wireless communication systems and data time delay caused by complicated data processing procedures. The method and system divide the digital layer and the information layer through the wireless communication multi-network fusion unit, reconstruct the wireless data digital platform and the information platform, realize the autonomous seamless switching of the data bottom layer transmission air interface, form the normalized digital platform and frame format, establish the unified RTP real-time protocol across platforms, form the decentralized multi-network fusion information platform, effectively solve the technical problems caused by the inability to fuse different system data sources, the complicated multi-level platform processing procedures and the significant data forwarding delay in the process of coupling heavy-duty locomotives, realize the fast and seamless switching of heavy-duty combined trains and virtual reconnection trains between different wireless communication systems, and unify the communication protocol. The system and method mainly consist of the following parts:

[0032] (1) A multi-formation wireless data multi-network fusion system is constructed, mainly including a multi-system transceiver unit and a wireless communication multi-network fusion unit. The multi-system transceiver unit can receive and process signals from different wireless communication systems, ensuring effective reception of multi-system wireless signals. The wireless communication multi-network fusion unit realizes the functions of data normalization processing, frame format processing, link connection control, virtual local area network management and real-time data transmission through the cooperative work of the wireless data digital platform of the digital layer and the wireless data information platform of the information layer, ensuring the unity and real-time of the data.

[0033] The radio module and interface are established for each independent communication channel with different communication characteristics through the multi-mode transceiver unit to obtain various mode wireless signals, and then the data is transmitted to the wireless communication multi-network fusion unit. As the core, the unit is responsible for the further integration and conversion of data. The wireless communication multi-network fusion unit first normalizes the received data through the digital layer wireless data digital platform to ensure the consistency of the data format. After data normalization, the communication module transmits the data standard and the normalization processing module identifies the frame format of the data, and periodically judges the characteristic identification to ensure the validity of the data. At the same time, the link connection and control module is responsible for establishing and maintaining the link connection of wireless data, ensuring the stable transmission of data. The virtual local area network management module constructs and maintains the communication network topology graph, realizes the effective management and optimization of the network. On this basis, the wireless data information platform of the information layer further processes and manages the data provided by the digital platform. The RTP real-time protocol module converts the data into RTP data packets to facilitate real-time data transmission and processing. The locomotive wireless reconnection master-slave locomotive networking module determines the master and slave locomotive networking identification number of the networking, and performs networking to ensure effective communication between each part of the train. The locomotive wireless reconnection master-slave locomotive data communication management module determines the data interaction between the master and slave locomotives according to the time limit, realizing efficient, stable and reliable communication of multi-formation train remote wireless reconnection multi-network fusion.

[0034] The constructed multi-network fusion system realizes seamless switching between different mode wireless communication remote marshalling, same mode multi-set wireless communication redundant network and train control system, and is suitable for the complex situation of multi-network marshalling mode of heavy load combined train remote wireless reconnection. The wireless communication multi-network fusion unit is used to include different mode wireless communication network, same mode multi-set wireless communication redundant network and train control system, form a decentralized multi-network fusion information platform, realize the autonomous construction, autonomous organization and autonomous management of each node mobile communication network, and have strong invulnerability. When part of the network fails, it can quickly switch to other available network to ensure the continuity of communication. At the same time, the system can also lay the foundation for future multi-formation group operation train dynamic wireless ad hoc network, and provide strong support for the intelligent and automatic operation of trains.

[0035] (2) Through the construction of a multi-mode train remote wireless reconnection data three-level fusion communication architecture, it is divided into three levels: independent communication characteristic ad hoc network layer, multi-network communication data fusion layer and multi-network communication data seamless switching layer. In the independent communication characteristic ad hoc network layer, independent local communication networks are constructed for the master and slave vehicles through different physical wireless communication channels. In this layer, the ad hoc network data of different communication channels form standardized data frames through the page mechanism, each data frame contains a specific characteristic attribute identifier (i.e. adding frame header and check code in the data frame obtained in the independent channel, and defining independent specific attributes in the specific position of the data frame header, such as the 23rd byte position of the header is 0xEF, and the 24th byte position is the heartbeat signal of the specific attribute identifier, if the 23rd byte of the data frame is EF, and the 24th byte heartbeat signal changes periodically, it is a 400MHz channel data frame and valid), to realize data fusion. In the multi-network communication data fusion layer, a unified communication data is formed by fusing the above data frames. Finally, in the multi-network communication data seamless switching layer, the validity of the data is periodically identified according to the characteristic attribute identifier in the data frame, so as to ensure the free selection and multi-source data fusion of the data in the application layer. This process is directly applied to the wireless reconnection control system to ensure the cooperative operation of the train remote wireless reconnection.

[0036] Through experimental simulation, the signal strength change, communication delay and data packet loss in different communication environments are taken into account as key elements to verify the effectiveness and reliability of the multi-mode train remote wireless reconnection data three-level fusion communication architecture. First, the communication process of the master and slave vehicles in different physical wireless communication channels is simulated, and the key indicators such as data transmission rate and bit error rate in different channels are compared to verify the feasibility and stability of the independent communication characteristic ad hoc network layer. Subsequently, in the multi-directional communication data fusion layer, the quality of the fused data is evaluated, and the influence of the data frame characteristic attribute identifier on the fusion effect is analyzed. The experimental results show that the use of standardized data frame format and characteristic attribute identifier can significantly improve the accuracy and efficiency of data fusion. In the multi-directional communication data seamless switching layer, the periodic identification based on the characteristic attribute identifier is set to judge the validity of the communication data in real time. Through the "communication data valid - trusted direct use" mode, the accuracy and real-time performance of data fusion are improved to meet the higher requirements of actual train operation on wireless communication system, and the time consumption and cost-effective defects of the original "communication data abnormal - judge communication failure - communication system reselection" mode are overcome. In the complex and changeable communication environment, seamless switching and efficient fusion of data are realized, thereby ensuring the cooperative operation of the heavy-load combined train remote wireless reconnection.

[0037] In the embodiment of the present application, the monitoring (or accompanying measurement) system corresponding to the system of the embodiment of the present application is utilized. When the monitoring system monitors no change in the heartbeat signal in 5 cycles (100 ms cycle) in the communication process with the system of the embodiment of the present application, it is considered abnormal. The seamless switching time of 0.5 s is achieved, that is, under the monitoring condition of the monitoring system, no heartbeat abnormality of the system of the embodiment of the present application is monitored, and the system switching process of the embodiment of the present application is completed.

[0038] Embodiment 1

[0039] As shown in Figure 1 and Figure 5 , a multi-formation train remote wireless reconnection multi-network fusion framework method and system is constructed. Through receiving multi-standard radio signal and data grading and multi-standard seamless switching processing and data fusion of the multi-network fusion system, the control of multi-formation train remote unlimited reconnection is completed. The processing of the multi-standard radio signal includes signal receiving and transmitting and data fusion processing, as shown in Figure 1 , the 400 KHz signal is received by the communication radio module A 17, the data is transferred through the communication interface 18 and the radio module A communication interface 2, and the characteristic identification of the data is identified through the data frame receiving and transmitting and interface module A 5 identification verification; the 400 MHz signal is received by the communication radio module B 19, the data is transferred through the communication interface 20 and the radio module B communication interface 3, and the characteristic identification of the data is identified through the data frame receiving and transmitting and interface module B 6 identification verification; the LTE-R signal is received by the communication radio module C 21, the data is transferred through the communication interface 22 and the radio module C communication interface 4, and the characteristic identification of the data is identified through the data frame receiving and transmitting and interface module C 7 identification verification; after the identification verification of various types of standard data, the data is transmitted through the communication module 8, the data standard and normalization processing module is normalized, and the data receiving and protocol unification of multi-standard signal is completed.

[0040] The driver configures the master-slave locomotive formation attribute through the driver console man-machine dialogue system 24, and the wireless data link and its initialization process are completed through the formation master locomotive slave locomotive attribute and storage module 10 and the link layer ad hoc network processing module 9. The configuration data after initialization and the received data after normalization are sequentially processed through the link layer network real-time communication processing module 11 and the double-page data receiving processing module 12 to complete the train data fusion and processing, so as to provide the data source to the received data unpacking unit 15 for receiving data unpacking, and then the page refresh rate identification discriminates the trusted data processing module 16 to refresh the train wireless reconnection instruction data, and the master-slave locomotive 13 and the wireless data encapsulation processing module send and receive the standard data encapsulation, and then the data is transmitted to the locomotive wireless reconnection control system 23 for wireless reconnection instruction data control, and the cooperative control of multi-formation train wireless reconnection is completed.

[0041] The host locomotive provides a wireless reconnection control instruction data source to the host locomotive and the slave locomotive through the wireless reconnection control system 23, the wireless data encapsulation processing module 13 packages the data, and the packaged data is sent to the link layer network real-time communication processing module 11 through the data packaging sending unit 14 for processing. In combination with the locomotive related attributes and configurations of the host locomotive, the data is transmitted through the communication module transmission data standard and normalization processing module 8 for protocol splitting and identification verification, and is transmitted to the corresponding radio module communication interface through the communication interface, and is transmitted in the corresponding mode to complete the command transmission process of the host locomotive and realize the cooperative control of the multi-formation train wireless reconnection.

[0042] Embodiment 2

[0043] As shown in Figure 2 The multi-network fusion system is constructed based on the real-time control technology of the heavy load coupled locomotive based on the micro-power wireless reconnection networking to establish a complex communication network condition of the long-range communication network and the short-range communication network, including a multi-mode transceiver unit and a multi-network fusion processing unit. The multi-mode transceiver unit is used to realize multi-mode such as 400MHz space wave communication, 400KHz catenary communication mode, LTE-R communication mode, and wireless reconnection data transceiving of multi-formation in the long-range communication network, that is, it includes Figure 1 Each mode radio module and processing unit in the example is used to complete the transceiving function of various mode channel signals; the multi-network fusion processing unit is used to complete the fusion and processing of the train wireless reconnection data through the wireless data digital platform and the wireless data information platform to realize the wireless reconnection cooperative control of the heavy load combined train.

[0044] The wireless data digital platform includes a data storage module to realize data storage function, a mapping communication module to realize communication mapping function, a virtual local area network management module to realize virtual local area network management, a link connection and control module to establish the link of wireless data and initialize it, a frame format processing module to realize normalization processing of the received data, and a data transceiving buffer module to realize putting the received data into the buffer.

[0045] The wireless data information platform includes a wireless data transceiving application interface to realize transceiving control function, security transmission protocol function, data fusion processing module function, communication parameter configuration function, system network registration management function, wireless network management master-slave switching function, an RTP real-time protocol module to realize conversion of data into RTP data packet, a locomotive wireless reconnection master-slave locomotive networking module to determine the master and slave locomotive networking identification number and perform networking, and a locomotive wireless reconnection master-slave locomotive data communication management module to determine the data interaction between the master and slave locomotives in a time limit.

[0046] Embodiment 3

[0047] As Figure 3 shown, under the real-time control technical framework of heavy-haul locomotive micro-power consumption wireless reconnection networking, the application proposes a multi-network fusion architecture method and system for remote wireless reconnection of multi-formation train, in specific implementation, the multi-standard transceiving unit serves as the front-end equipment of the system, responsible for receiving and analyzing the wireless communication channel signal source, ensuring complete collection of wireless information data; then, the data is transmitted to the wireless communication multi-network fusion unit, which relies on the wireless data digital platform and the wireless data information platform to realize data fusion and processing, suitable for diversified complex scenarios.

[0048] In Figure 3 the scenario shown, after different standard locomotives complete 2+0 mode formation, they can further integrate with existing 2+2 mode combination trains different from the existing standard. Through the multi-network fusion architecture method and system, multi-standard dynamic formation, multi-standard seamless switching, RTP real-time protocol unification and efficient data transmission can be realized. The method and system support dynamic multi-mode formation process (not limited to this mode), and provide technical support for remote wireless reconnection of multi-standard, multi-network fusion heavy-load combination trains in complex scenarios.

[0049] Embodiment 4

[0050] As Figure 4 shown, the multi-standard train remote wireless reconnection data three-level fusion communication architecture is divided into independent communication characteristic ad hoc network level, multi-communication data fusion level, and multi-communication data seamless switching level. The independent communication characteristic ad hoc network level is constructed by different physical wireless communication channels, and the master and slave locomotives construct their own local communication network according to the channels; the different communication channel ad hoc network data adopts page mechanism to form standard packaged data frames, each data frame contains its own characteristic attribute identifier, and the data fusion forms the multi-network communication data fusion level; finally, according to the characteristic attribute identifier of each data frame, the effectiveness of the communication data is periodically identified and judged, so as to ensure the free selection of data and achieve multi-source data fusion of the application layer communication system, which is directly adopted to the wireless reconnection control system, ensuring the cooperative operation of the train remote wireless reconnection.

[0051] Although the preferred embodiments of the application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all changes and modifications falling within the scope of the application.

[0052] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A wireless multiplexing and multi-network fusion system for multi-train cooperative operation of heavy-haul trains, characterized in that, include: The independent communication feature self-organizing network layer is used to build independent local communication networks for the master and slave locomotives through different physical wireless communication channels; Self-organizing network data from different physical wireless communication channels are formed into standardized data frames through a page mechanism, and each data frame contains specific characteristic attribute identifiers; A multi-network communication data fusion layer is used to fuse the data frames to form unified communication data; The multi-network communication data seamless switching layer is used to periodically identify the validity of data based on the characteristic attributes in the data frame.

2. The multi-train cooperative operation wireless multiplexing multi-network fusion system for heavy-haul trains according to claim 1, characterized in that, The multi-network communication data fusion layer includes: A multi-mode transceiver unit is used to receive and process signals from different wireless communication standards. The wireless communication multi-network fusion unit is used to perform normalization processing, frame format processing, link connection control, virtual local area network management, and real-time data transmission of signals from different wireless communication standards.

3. The wireless multiple-connection multi-network fusion system for multi-train cooperative operation of heavy-haul trains according to claim 2, characterized in that, The multi-mode transceiver unit includes multiple communication radio modules, which are used to receive signals from different wireless communication standards.

4. The wireless multiple-connection multi-network fusion system for multi-train cooperative operation of heavy-haul trains according to claim 2, characterized in that, The wireless communication multi-network fusion unit includes: The link layer network real-time communication processing module is used to normalize signals from different wireless communication standards and fuse the normalized data. The receiving and unpacking unit is used to receive the merged data packets.

5. The wireless multiple-connection multi-network fusion system for multi-train cooperative operation of heavy-haul trains according to claim 2, characterized in that, The communication modes of the multi-mode transceiver unit include 400MHz space wave communication, 400KHz contact network communication, and LTE-R communication.

6. A method for wireless multiplexing and multi-network fusion of multi-train cooperative operation of heavy-haul trains, characterized in that, include: Independent local communication networks are built for the master and slave locomotives through different physical wireless communication channels; Self-organizing network data from different physical wireless communication channels form standardized data frames through a page mechanism. Each data frame contains a specific characteristic attribute identifier, that is, a frame header and check code are added to the data frame acquired from an independent channel, and a specific attribute is defined at a specific position in the frame header. For example, the 23rd byte of the frame header is 0xEF, and the 24th byte is the heartbeat signal of the specific attribute identifier. If the 23rd byte of the data frame is EF, and the 24th byte heartbeat signal changes periodically, it is a 400MHz channel data frame and is valid. The data frames are merged to form unified communication data, that is, a unified fused data frame format is established, and the valid data obtained from each channel is placed into a specific byte segment. The whole packet data is identified, the data is verified, and the data comprehensiveness is initially judged, so as to achieve the purpose of multi-network data fusion and unification. The validity of data is periodically identified based on the characteristic attributes in the data frame.

7. The method for wireless multiplexing and multi-network fusion of multi-train cooperative operation of heavy-haul trains according to claim 6, characterized in that, The process of fusing the data frames includes: establishing a unified fused data frame format, placing the valid data obtained from each channel into a specific byte segment, and performing whole packet data identification, data verification, and preliminary judgment of data comprehensiveness.

8. The method for wireless multiplexing and multi-network fusion of multi-train cooperative operation of heavy-haul trains according to claim 6, characterized in that, The specific implementation process of periodically identifying the validity of data based on the characteristic attribute identifiers in the data frame includes: identifying the characteristic attribute identifiers in the unified data format frame, and periodically identifying the heartbeat signal. If the heartbeat signal does not change for N consecutive data frames, the data is determined to be invalid.

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