A method, device, equipment, medium, and product for positioning railway vehicles.
By integrating railway maps and inertial measurement data, and combining inertial navigation displacement and velocity displacement calculations, the problem of inaccurate railway vehicle positioning caused by satellite signal blockage was solved, achieving accurate positioning across all scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 西北铁道电子股份有限公司
- Filing Date
- 2026-01-20
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, satellite signals are blocked when railway vehicles are in tunnels, forests, or other terrains, resulting in GPS/BDS being unable to locate accurately, accumulating large errors, and causing frequent false alarms, which affects normal operation.
By acquiring a railway fusion map, combining inertial measurement data and wheel sensor speed data, and using inertial navigation displacement and velocity displacement calculation methods, consistency checks are performed, and dead reckoning is used for positioning.
It achieves high-precision positioning of railway vehicles when satellite signals are unavailable, reduces accumulated errors, and ensures accurate positioning in all scenarios.
Smart Images
Figure CN121878757B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of rail transit safety, and in particular to a method, device, equipment, medium and product for positioning railway vehicles. Background Technology
[0002] When railway vehicles enter tunnels, forests, canyons, or other terrains, satellite signals are partially or completely blocked, and GPS / BDS receivers cannot output positioning results, making it impossible to accurately calculate the precise location of the railway vehicles.
[0003] In existing technologies, train control systems can only rely on speed sensors installed on the wheel axles to accumulate pulses and calculate the travel distance based on the calibrated wheel diameter. Simply using speed sensors cannot obtain the train's accurate position, and due to wheel wear, slippage / slippage, and changes in creep rate, the cumulative error per kilometer can reach 0.3% to 0.5%; in tunnels longer than 20km, the error rapidly amplifies to 100m or even higher. When the position uncertainty exceeds 100 meters, the system cannot distinguish whether the track section ahead is actually occupied, leading to frequent false alarms and severely disrupting normal operations.
[0004] Therefore, there is an urgent need to propose a method for locating railway vehicles in order to suppress the large positioning error caused by accumulated errors and achieve accurate positioning of railway vehicles in all operating scenarios. Summary of the Invention
[0005] The purpose of this application is to provide a railway vehicle positioning method, device, equipment, medium and product that can achieve accurate positioning of railway vehicles in all scenarios.
[0006] To achieve the above objectives, this application provides the following solution.
[0007] In a first aspect, this application provides a railway vehicle positioning method, comprising: acquiring a railway fusion map; the railway fusion map including the geographic coordinates of all reference points along the railway line and the line mileage corresponding to each geographic coordinate; if the satellite positioning signal of the railway vehicle is available, then positioning the railway vehicle according to the satellite positioning signal; if the satellite positioning signal is unavailable, then acquiring the disappearance duration of the satellite positioning signal, the coordinates of the railway vehicle before the disappearance of the satellite positioning signal, the inertial measurement data of the railway vehicle, and the wheel sensor speed data; obtaining the inertial navigation displacement and the velocity displacement respectively using a displacement calculation method based on the inertial navigation displacement, the velocity displacement, and the disappearance duration; performing a consistency check based on the inertial navigation displacement, the velocity displacement, and the disappearance duration to obtain the railway vehicle displacement; and positioning the railway vehicle using a dead reckoning method based on the railway vehicle displacement, the railway vehicle coordinates, and the railway fusion map.
[0008] Secondly, this application provides a railway vehicle positioning device, comprising: a map acquisition module for acquiring a railway fusion map; the railway fusion map including the geographic coordinates of all reference points along the railway line and the line mileage corresponding to each geographic coordinate; a satellite positioning module for positioning the railway vehicle based on the satellite positioning signal when the satellite positioning signal of the railway vehicle is available; a positioning data acquisition module for acquiring the disappearance duration of the satellite positioning signal, the coordinates of the railway vehicle before the disappearance of the satellite positioning signal, the inertial measurement data of the railway vehicle, and the wheel sensor speed data of the railway vehicle when the satellite positioning signal is unavailable; a displacement calculation module for obtaining the inertial navigation displacement and the velocity displacement respectively by using a displacement calculation method based on the inertial measurement data and the wheel sensor speed data; a consistency verification module for performing a consistency verification based on the inertial navigation displacement, the velocity displacement, and the disappearance duration to obtain the railway vehicle displacement; and a data positioning module for positioning the railway vehicle using a dead reckoning method based on the railway vehicle displacement, the railway vehicle coordinates, and the railway fusion map.
[0009] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described railway vehicle positioning method.
[0010] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described railway vehicle positioning method.
[0011] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described railway vehicle positioning method.
[0012] Based on the specific embodiments provided in this application, the following technical effects are disclosed.
[0013] This application provides a railway vehicle positioning method, device, equipment, medium, and product. By acquiring a railway fusion map, the geographical coordinates and mileage of all reference points along the railway line are determined, and a one-to-one mapping relationship is established between the geographical coordinates and the mileage. If one of the two data points is known, the other data can be obtained from the railway fusion map. When satellite positioning signals are stable and available, the railway vehicle is accurately positioned based on the satellite positioning signals. When satellite positioning signals are unavailable, inertial measurement data and wheel sensor speed data of the railway vehicle are acquired. Inertial navigation displacement and velocity displacement are obtained separately using displacement calculation methods, and the consistency of the inertial navigation displacement and velocity displacement is checked to ensure that the error in the railway vehicle displacement calculation results obtained from different positioning data is within an acceptable range, compensating for the impact of the cumulative error of the inertial measurement data on the railway vehicle positioning results. Based on the railway vehicle displacement, the railway vehicle coordinates before the satellite positioning signal disappeared, and the railway fusion map, dead reckoning is used to position the railway vehicle, achieving high-precision positioning of the railway vehicle when satellite positioning signals are unavailable. Attached Figure Description
[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0015] Figure 1 This is an application environment diagram of a railway vehicle positioning method according to an embodiment of this application.
[0016] Figure 2 This is a flowchart illustrating a railway vehicle positioning method provided in one embodiment of this application.
[0017] Figure 3 This is a schematic diagram of the functional modules of a railway vehicle positioning device provided in an embodiment of this application.
[0018] Figure 4 This is a schematic diagram of the overall architecture of a railway vehicle positioning device provided in an embodiment of this application.
[0019] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation
[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0022] The railway vehicle positioning method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 101 communicates with server 102 via a network. A data storage system can store the data that server 102 needs to process. The data storage system can be set up independently, integrated into server 102, or placed in the cloud or on another server. Terminal 101 can send the railway fusion map, the duration of satellite positioning signal loss, the coordinates of the railway vehicle before the satellite positioning signal loss, the inertial measurement data of the railway vehicle, and the wheel sensor speed data to server 102. Server 102 receives the above data and determines whether the satellite positioning signal is available. If it is available, it locates the railway vehicle based on the satellite positioning signal; if the satellite positioning signal is unavailable, it locates the railway vehicle based on the railway fusion map, the duration of satellite positioning signal loss, the coordinates of the railway vehicle before the satellite positioning signal loss, the inertial measurement data of the railway vehicle, and the wheel sensor speed data. Server 102 can feed back the obtained railway vehicle positioning results to terminal 101. In addition, in some embodiments, the railway vehicle positioning method can also be implemented by the server 102 or the terminal 101 alone. For example, the terminal 101 can directly determine whether the satellite positioning signal is available, and if it is unavailable, locate the railway vehicle based on the railway fusion map, the duration of the satellite positioning signal disappearance, the railway vehicle coordinates before the satellite positioning signal disappears, the railway vehicle's inertial measurement data, and the wheel sensor speed data. Alternatively, the server 102 can obtain the railway fusion map, the duration of the satellite positioning signal disappearance, the railway vehicle coordinates before the satellite positioning signal disappears, the railway vehicle's inertial measurement data, and the wheel sensor speed data from the data storage system, and locate the railway vehicle based on the above data when the satellite positioning signal is unavailable.
[0023] The terminal 101 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle devices. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 102 can be implemented using a standalone server or a server cluster composed of multiple servers, or it can be a cloud server.
[0024] In one exemplary embodiment, such as Figure 2 As shown, a railway vehicle positioning method is provided. This method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1 Taking server 102 as an example, the explanation includes the following steps 201 to 206.
[0025] Step 201: Obtain the railway fusion map. The railway fusion map includes the geographic coordinates of all reference points along the railway line and the corresponding line mileage for each geographic coordinate.
[0026] Step 202: If the satellite positioning signal of the railway vehicle is available, then the railway vehicle is located according to the satellite positioning signal.
[0027] Step 203: If the satellite positioning signal is unavailable, then obtain the duration of the satellite positioning signal disappearance, the coordinates of the railway vehicle before the satellite positioning signal disappeared, the inertial measurement data of the railway vehicle, and the wheel sensor speed data.
[0028] In one example, when a railway vehicle is traveling in an unobstructed environment, the satellite positioning signal is stable. The latitude and longitude coordinates calculated from the satellite positioning signal are then used to locate the railway vehicle, providing its precise position information.
[0029] When a railway vehicle enters an obstructed environment and satellite positioning signals are unavailable, the coordinates of the railway vehicle before the loss of satellite positioning signals are obtained as "initial coordinates." These "initial coordinates" are then used to retrieve the railway fusion map and determine the corresponding line mileage. Based on these "initial coordinates" and inertial measurement data (acceleration and angular velocity data), the real-time position of the railway vehicle is calculated using Kalman filtering to avoid positioning interruptions.
[0030] Step 204: Based on the inertial measurement data and the wheel sensor speed data, the inertial navigation displacement and velocity displacement are obtained respectively using the displacement calculation method.
[0031] Step 205: Perform a consistency check based on the inertial navigation displacement, the velocity displacement, and the disappearance time to obtain the railway vehicle displacement.
[0032] Step 206: Based on the displacement of the railway vehicle, the coordinates of the railway vehicle, and the railway fusion map, the dead reckoning method is used to locate the railway vehicle.
[0033] In one example, step 204 above can be replaced by steps 2041 and 2042.
[0034] Step 2041: The inertial measurement data is calculated using a strapdown inertial navigation mechanical arrangement algorithm to obtain the inertial navigation displacement.
[0035] Step 2042: The speed data from the wheel sensor is integrated using a numerical integration method to obtain the speed displacement.
[0036] In this example, when satellite positioning signals are unavailable, the positioning data calculated from inertial measurement data is used as the precise position information of the railway vehicle. A strapdown inertial navigation mechanical orchestration algorithm is employed to calculate the inertial navigation displacement from the inertial measurement data. Simultaneously, a numerical integration method is used to integrate the wheel sensor velocity data to obtain the velocity displacement. A consistency check is performed on the inertial navigation displacement and velocity displacement, and the cumulative displacement error between the two is calculated.
[0037] In this example, when a railway vehicle passes a reference point with known coordinates along the railway line (such as a tunnel entrance, signal, or bridge marker), the railway mileage corresponding to the current geographical coordinates in the railway fusion map data is retrieved based on the reference geographical coordinates, and the speed displacement calculated based on the speed data of the railway vehicle's wheel sensors is corrected.
[0038] In one example, step 205 above can be replaced by the following steps.
[0039] If the disappearance time is less than a first threshold, and the difference between the inertial navigation displacement and the velocity displacement is less than a second threshold, then the inertial navigation displacement is used as the railway vehicle displacement. Otherwise, the velocity displacement is used as the railway vehicle displacement. In this example, the first threshold is 1000 seconds. The second threshold is 5 meters.
[0040] In this example, when the satellite positioning signal disappears for more than 1000 seconds or the difference between the inertial navigation displacement and the velocity displacement (cumulative displacement error) exceeds 5m, the velocity displacement is used as the displacement of the railway vehicle, and the precise location information of the railway vehicle is output by retrieving the corresponding geographical coordinates in the railway fusion map.
[0041] In one example, step 206 above can be replaced by steps 2061 and 2062.
[0042] Step 2061: If the inertial navigation displacement is used as the railway vehicle displacement, then the railway vehicle is positioned using the inertial navigation recursive method based on the railway vehicle coordinates and the railway vehicle displacement.
[0043] In one example, the inertial navigation position of the railway vehicle is obtained using an inertial navigation recursive method. When satellite positioning signals are available, the inertial navigation position is corrected using a filtering and fusion method based on the satellite positioning signals.
[0044] Step 2062: If the velocity displacement is taken as the railway vehicle displacement, then the railway vehicle is located using a dead reckoning method based on the railway vehicle coordinates, the railway vehicle displacement, and the railway fusion map.
[0045] In one example, step 2062 above can be replaced by steps 1 to 3.
[0046] Step 1: Determine the railway vehicle line mileage corresponding to the railway vehicle coordinates based on the railway fusion map.
[0047] Step 2: Add the displacement of the railway vehicle to the mileage of the railway line to obtain the current mileage of the railway vehicle.
[0048] Step 3: Based on the railway fusion map, determine the geographical coordinates of the railway vehicle corresponding to its current mileage, in order to locate the railway vehicle.
[0049] Based on the same inventive concept, this application also provides a railway vehicle positioning device for implementing the railway vehicle positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the railway vehicle positioning device provided below can be found in the limitations of the railway vehicle positioning method described above, and will not be repeated here.
[0050] In one exemplary embodiment, such as Figure 3 As shown, a railway vehicle positioning device is provided. It includes a map acquisition module 301, a satellite positioning module 302, a positioning data acquisition module 303, a displacement calculation module 304, a consistency verification module 305, and a data positioning module 306.
[0051] The system includes several modules: a map acquisition module 301 for acquiring a railway fusion map, which includes the geographic coordinates of all reference points along the railway line and the corresponding line mileage for each geographic coordinate; a satellite positioning module 302 for locating the railway vehicle using satellite positioning signals when available; a positioning data acquisition module 303 for acquiring the duration of the satellite positioning signal's disappearance, the railway vehicle's coordinates before the signal disappeared, inertial measurement data, and wheel sensor speed data when the satellite positioning signal is unavailable; a displacement calculation module 304 for obtaining inertial navigation displacement and velocity displacement using displacement calculation methods based on the inertial measurement data and wheel sensor speed data; a consistency verification module 305 for performing a consistency verification based on the inertial navigation displacement, velocity displacement, and disappearance duration to obtain the railway vehicle's displacement; and a data positioning module 306 for locating the railway vehicle using dead reckoning methods based on the railway vehicle's displacement, coordinates, and the railway fusion map.
[0052] In one example, satellite positioning module 302 is a BeiDou-based differential positioning unit. When satellite positioning signals are available, BeiDou-based differential positioning data is used as the train positioning data output. Simultaneously, satellite positioning signals can be used to correct inertial measurement data in real time. The BeiDou-based differential positioning unit receives BeiDou satellite positioning signals and BeiDou differential station correction data to calculate the initial latitude and longitude coordinates of the railway vehicle and outputs high-frequency (≥50Hz) continuous positioning results.
[0053] The positioning data acquisition module 303 uses a Micro-Electro-Mechanical Systems (MEMS) inertial navigation unit to acquire inertial measurement data from railway vehicles. The MEMS inertial navigation unit is an onboard component made using MEMS microelectromechanical technology, with gyroscopes and accelerometers at its core. Combined with algorithms, it can achieve autonomous positioning and attitude measurement. Using fusion algorithms such as Kalman filtering, the raw inertial measurement data acquired by the MEMS inertial navigation unit is converted into navigation parameters (position, velocity, attitude) and latitude and longitude data, and can output high-frequency (≥100Hz) continuous positioning results.
[0054] When satellite positioning signals are unavailable, railway vehicles are positioned using inertial measurement data. The fusion of satellite positioning signals and inertial measurement data enables real-time positioning of railway vehicles, outputting latitude and longitude coordinates with an accuracy of less than 1 meter.
[0055] The positioning data acquisition module 303 uses a speed sensor to acquire the speed data from the wheel sensors of the railway vehicle. The speed sensor is installed at the axle position of the railway vehicle to monitor the pulse signals output when the wheels rotate in real time, and calculates the real-time speed and mileage data of the railway vehicle by combining this data with the wheel diameter. The speed sensor has a dynamic calibration function.
[0056] When satellite positioning signals are unavailable, the real-time speed of the railway vehicle is measured using speed sensors on the wheel diameters, and the displacement change (speed × time) is calculated by integration. The integrated velocity-displacement serves as the base displacement data source, and its consistency is checked with the inertial navigation displacement obtained by the MEMS inertial navigation unit. When the MEMS inertial navigation unit's operating time exceeds 1000 seconds or the displacement difference exceeds a threshold (5m), the absolute position of the railway vehicle is estimated based on the vehicle's coordinates before the satellite positioning signal disappeared.
[0057] In another exemplary embodiment, such as Figure 4 As shown, the railway vehicle positioning device includes a high-precision positioning module, a vehicle speed sensing module, railway fusion map data, a fusion processing module, and a precise positioning output module.
[0058] In this example, the high-precision positioning module includes a BeiDou satellite-based differential positioning unit and a MEMS inertial navigation unit. A vehicle speed sensing module is installed at the axle position of the railway vehicle to monitor the pulse signals output when the wheels rotate in real time, and calculates the real-time speed and mileage data of the railway vehicle by combining the wheel diameter. The railway fusion map data includes the geographic coordinates of all reference points along the railway line and the corresponding line mileage for each geographic coordinate. A one-to-one mapping relationship is established between geographic coordinates and line mileage. Reference points include existing facilities along the railway line. The fusion processing module prioritizes BeiDou satellite-based differential positioning information based on the reliability and accuracy of the BeiDou satellite-based differential positioning unit, inertial navigation unit, and vehicle speed sensing module at different locations along the railway line. When satellite positioning signals are unavailable, the positioning information from the inertial navigation unit is prioritized. When the accumulated error is too large, the positioning information given by combining vehicle speed sensing information with the railway fusion map data is used.
[0059] In this example, each module supports real-time clock synchronization to ensure consistency between the geographical coordinates of the railway train and the timestamp of the line mileage. When the railway train enters a covered area, satellite positioning signals are lost, and continuous monitoring is performed using inertial measurement data and railway fusion map data to achieve accurate positioning across all scenarios.
[0060] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 5As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores railway vehicle positioning data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a railway vehicle positioning method.
[0061] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0062] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.
[0063] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.
[0064] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.
[0065] The beneficial effects of this application are as follows.
[0066] In this application, when railway vehicles enter long tunnels or forest areas and other sheltered environments, satellite positioning signals are lost. At this time, displacement is calculated synchronously using inertial measurement data and wheel sensor speed data obtained from speed sensors on the vehicle's wheel diameter. After long-term operation, when the deviation between inertial navigation displacement and velocity displacement is large (>100m), the velocity displacement is used, combined with the mapping relationship between geographical coordinates and line mileage in the railway fusion map, to calculate the current position information of the railway vehicle.
[0067] This application introduces inertial measurement data to solve the problem of inaccurate railway vehicle positioning caused by the disappearance of satellite positioning signals. Based on the railway vehicle coordinates before the satellite positioning signal disappeared, and combined with a railway fusion map, the railway vehicle's line mileage before the satellite positioning signal disappeared is obtained for positioning. This compensates for the large positioning error (more than 100 meters) caused by the cumulative error of inertial measurement data, achieving accurate positioning of railway vehicles in all scenarios.
[0068] Taking into account the special operating environment of railway vehicles, this application adopts dedicated sensors and special equipment to improve environmental adaptability; it uses an inertial navigation fusion calculation method to achieve accurate positioning of railway vehicles, meeting the requirements for real-time and accuracy of railway vehicle positioning; it uses inertial measurement data to compensate for positioning interruption problems in scenarios where satellite positioning signals are blocked (such as tunnels and mountainous areas), and combines the offline matching function of high-precision railway fusion maps to ensure continuous monitoring of railway train positions in the entire line scenario, improving the robustness of the system and the accuracy of vehicle positioning, and can adapt to complex route environments.
[0069] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.
[0070] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).
[0071] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.
[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0073] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A railway vehicle positioning method, characterized in that, The railway vehicle positioning method includes: Obtain a railway fusion map; the railway fusion map includes the geographic coordinates of all reference points along the railway line and the corresponding line mileage for each geographic coordinate. If the satellite positioning signal of the railway vehicle is available, the railway vehicle is located based on the satellite positioning signal; If the satellite positioning signal is unavailable, then obtain the duration of the satellite positioning signal disappearance, the coordinates of the railway vehicle before the satellite positioning signal disappeared, the inertial measurement data of the railway vehicle, and the wheel sensor speed data. Based on the inertial measurement data and the wheel sensor speed data, the inertial navigation displacement and velocity displacement are obtained respectively using the displacement calculation method; The railway vehicle displacement is obtained by performing a consistency check based on the inertial navigation displacement, the velocity displacement, and the disappearance time. The railway vehicles are located using dead reckoning based on their displacement, coordinates, and the fused railway map.
2. The railway vehicle positioning method according to claim 1, characterized in that, Based on the inertial measurement data and the wheel sensor speed data, the inertial navigation displacement and velocity displacement are obtained respectively using a displacement calculation method, specifically including: The inertial measurement data is processed using a strapdown inertial navigation mechanical orchestration algorithm to obtain the inertial navigation displacement; The velocity-displacement is obtained by integrating the velocity data from the wheel sensor using a numerical integration method.
3. The railway vehicle positioning method according to claim 1, characterized in that, The railway vehicle displacement is obtained by performing a consistency check on the inertial navigation displacement, the velocity displacement, and the disappearance time, specifically including: If the disappearance time is less than a first threshold and the difference between the inertial navigation displacement and the velocity displacement is less than a second threshold, then the inertial navigation displacement is used as the railway vehicle displacement; otherwise, the velocity displacement is used as the railway vehicle displacement.
4. The railway vehicle positioning method according to claim 3, characterized in that, The first threshold is 1000 seconds, and the second threshold is 5 meters.
5. The railway vehicle positioning method according to claim 3, characterized in that, Based on the displacement of the railway vehicle, the coordinates of the railway vehicle, and the fused railway map, the dead reckoning method is used to locate the railway vehicle, specifically including: If the inertial navigation displacement is taken as the railway vehicle displacement, then the railway vehicle is located using the inertial navigation recursion method based on the railway vehicle coordinates and the railway vehicle displacement. If the velocity displacement is taken as the railway vehicle displacement, then the railway vehicle is located using a dead reckoning method based on the railway vehicle coordinates, the railway vehicle displacement, and the railway fusion map.
6. The railway vehicle positioning method according to claim 5, characterized in that, Based on the railway vehicle coordinates, the railway vehicle displacement, and the fused railway map, the dead reckoning method is used to locate the railway vehicle, specifically including: Based on the railway fusion map, determine the railway vehicle line mileage corresponding to the railway vehicle coordinates; The current mileage of the railway vehicle is obtained by adding the displacement of the railway vehicle to the mileage of the railway line. Based on the railway fusion map, the geographical coordinates of the railway vehicle corresponding to its current mileage are determined in order to locate the railway vehicle.
7. A railway vehicle positioning device, characterized in that, The railway vehicle positioning device includes: The map acquisition module is used to acquire a railway fusion map; the railway fusion map includes the geographic coordinates of all reference points along the railway line and the line mileage corresponding to each geographic coordinate; A satellite positioning module is used to locate the railway vehicle based on the satellite positioning signal when the satellite positioning signal is available. The positioning data acquisition module is used to acquire, when the satellite positioning signal is unavailable, the duration of the satellite positioning signal disappearance, the coordinates of the railway vehicle before the satellite positioning signal disappeared, the inertial measurement data of the railway vehicle, and the wheel sensor speed data of the railway vehicle. The displacement calculation module is used to obtain the inertial navigation displacement and velocity displacement respectively based on the inertial measurement data and the wheel sensor speed data using a displacement calculation method. The consistency verification module is used to perform consistency verification based on the inertial navigation displacement, the velocity displacement, and the disappearance time to obtain the railway vehicle displacement. The data positioning module is used to locate the railway vehicle using dead reckoning based on the railway vehicle's displacement, coordinates, and the fused railway map.
8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the railway vehicle positioning method according to any one of claims 1-6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the railway vehicle positioning method according to any one of claims 1-6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the railway vehicle positioning method according to any one of claims 1-6.