A positioning method based on RFID electronic tag system

Abstract

This invention provides a positioning method based on an RFID electronic tag system, relating to the field of rail transit technology. The RFID electronic tag system includes an on-board query device, an on-board antenna, and a beacon. The method includes: when a train is determined to be out of location, acquiring first positioning information from the beacon via the on-board antenna; restarting the on-board query device when the on-board antenna is directly above the beacon; and sending a message based on the second positioning information to locate the train when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device. This invention addresses the systemic failure problem of existing electronic tag systems due to early, late, or incorrect message transmission.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a positioning method based on an RFID electronic tag system. Background Technology

[0002] In the rail transit sector, positioning and calibration are primarily achieved using Balise Transmission Modules (BTMs). BTMs are certified to Safety Integrity Level 4 (SIL4) and are classified as safety equipment. With the development of Radio Frequency Identification (RFID) technology, electronic tag systems (or beacon systems) are increasingly being applied in rail transit. A beacon system consists of an onboard decoy, an onboard antenna, and the beacon itself. The onboard decoy communicates with the beacon via the antenna, reading data from it. The decoy then transmits the decoded beacon identification (ID) information to the Automatic Train Protection (ATP) system according to a defined protocol for positioning. The beacon provides an absolute position reference. By reading pre-laid, precisely positioned beacons, the train can correct its cumulative ranging errors, achieving accurate stopping and positioning.

[0003] However, beacon systems are non-safety devices and lack SIL4 certification. If a systemic failure occurs in the beacon system, positioning will be invalid. Current technology deploys two onboard query devices at each end of the train to perform binary verification on the beacons, in order to avoid positioning errors caused by single-point failures of the onboard query devices. However, no matter how many onboard query devices are deployed, it cannot solve the problem of systemic failures such as the onboard query devices sending messages too early or too late simultaneously. If the onboard query device stores historical beacon data, there is still the problem of random failures such as sending incorrect messages. Summary of the Invention

[0004] This invention provides a positioning method based on an RFID electronic tag system to solve the systemic failure problem of existing electronic tag systems caused by early, late, and incorrect message transmission.

[0005] This invention provides a positioning method based on an RFID electronic tag system, wherein the RFID electronic tag system includes: a vehicle-mounted query device, a vehicle-mounted antenna, and a beacon; the method includes: When it is determined that the train has lost its location, the first location information of the beacon is obtained through the on-board antenna; When the vehicle-mounted antenna is directly above the beacon, the vehicle-mounted query device is restarted; If the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device, a message is sent according to the second positioning information to locate the train.

[0006] In some embodiments, when it is determined that the train has lost its location while stationary, the beacon is deployed as two sleep / wake-up beacons. The number of onboard interrogators and onboard antennas are both two, with the onboard interrogators deployed at both ends of the train. The method further includes: When the train starts, the two onboard query devices are restarted, and the third positioning information received by the onboard antenna from the two dormant wake-up beacons is obtained respectively. The installation distance between the two sleep / wake-up beacons is determined based on the third positioning information. When the installation distance satisfies the following formula, a message is sent based on the third positioning information to locate the train: Wherein, Y represents the installation distance between the two vehicle-mounted query devices, and T represents the maximum information receiving distance of the vehicle-mounted query device. This indicates the installation spacing.

[0007] In some embodiments, when the train is in automatic driving mode and loses its location during operation, the beacon includes a predetermined beacon and multiple trusted beacons, and restarting the onboard query device includes: The train is controlled to enter a remote speed-limited mode to continue driving. When the train passes the predetermined beacon, a route search is performed, and line data is sent to the train automatic operation system. The train automatic operation system is controlled to stop at a preset, reliable stopping point based on the route data. When the automatic train protection system cuts off traction after the train stops and the onboard query device is directly above the location of the trusted beacon, a restart command is sent to the onboard query device to restart the onboard query device.

[0008] In some embodiments, the method further includes: The train will be controlled to move to the platform area by the automatic train operation system when any of the following conditions are met: The train did not stop at the location where it was located; No second location information was received again after the vehicle query device was restarted; The signal identifier of the second location information received after restarting the vehicle query device is inconsistent with the signal identifier of the first location information.

[0009] In some embodiments, when the train is in manual driving mode and loses its location during operation, the beacon includes a stop beacon and multiple newly added beacons, and restarting the onboard query device includes: When the Automatic Train Protection System determines that the train has been manually stopped at the stop marker location and the onboard query device is directly above the newly added beacon location, it sends a restart command to the onboard query device to restart the onboard query device.

[0010] In some embodiments, the method further includes: Manual location tracking is triggered when any of the following conditions are met: The train failed to stop at the designated stop sign location manually. No second location information was received again after the vehicle query device was restarted; The signal identifier of the second location information received after restarting the vehicle query device is inconsistent with the signal identifier of the first location information.

[0011] The present invention also provides a positioning device based on an RFID electronic tag system, the RFID electronic tag system comprising: a vehicle-mounted query device, a vehicle-mounted antenna, and a beacon, the device comprising: The acquisition module is used to acquire the first positioning information of the beacon through the vehicle-mounted antenna when it is determined that the train has lost its location. A restart module is used to restart the vehicle-mounted query device when the vehicle-mounted antenna is directly above the beacon. The positioning module is used to send a message based on the second positioning information to locate the train when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device.

[0012] The present invention also provides an electronic 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 positioning method based on the RFID electronic tag system as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the positioning method based on the RFID electronic tag system as described above.

[0014] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the positioning method based on the RFID electronic tag system as described above.

[0015] The positioning method based on an RFID electronic tag system provided by this invention achieves stable and accurate stopping by relying on beacon identifiers reported by the vehicle-mounted query device. Based on this, it verifies the initial response and expected reception, and verifies the consistency of the beacon identifier through two positioning information transmissions, thus solving systemic failure problems such as early, late, and incorrect message transmissions by the vehicle-mounted query device. This invention achieves positioning based on the RFID electronic tag system, improving the utilization rate of system equipment, reducing the cost of positioning equipment, and completing the positioning process by verifying the beacon identifier information, meeting SIL4 level and making the positioning more reliable. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the positioning method based on an RFID electronic tag system provided by the present invention.

[0018] Figure 2 This is a schematic diagram of a systemic failure of an in-vehicle query device in the prior art provided by this invention.

[0019] Figure 3 This is a schematic diagram of the wake-up positioning provided by the present invention.

[0020] Figure 4 This is a schematic diagram showing the positional relationship between the beacon and the vehicle-mounted query device provided by the present invention.

[0021] Figure 5 This is a schematic diagram of train positioning in automatic driving mode provided by the present invention.

[0022] Figure 6 This is a flowchart illustrating the positioning device based on an RFID electronic tag system provided by the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] The positioning method based on the RFID electronic tag system of the present invention will be described below with reference to the accompanying drawings.

[0026] like Figure 2 As shown, Figure 2 This is a schematic diagram of a systemic failure of the on-board query system in the prior art provided by this invention. As shown in the figure above, if the train receives a message from beacon 1 at beacon 2, receives a message from beacon 2 at beacon 3, and receives a message from beacon 3 at beacon 4, then the positioning established by the ATP is inconsistent with the train's actual position, the positioning is invalid, and it seriously affects driving safety.

[0027] Based on this, this invention proposes a positioning method based on an RFID electronic tag system. Figure 1 This is a flowchart illustrating the positioning method based on an RFID electronic tag system provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps 101 to 104.

[0028] Step 101: When it is determined that the train has lost its location, the first location information of the beacon is obtained through the on-board antenna.

[0029] Step 102: When the vehicle antenna is directly above the beacon, restart the vehicle query device.

[0030] Step 103: When the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device, a message is sent according to the second positioning information to locate the train.

[0031] The RFID electronic tag system includes: vehicle-mounted query devices, vehicle-mounted antennas, and beacons. The vehicle-mounted antennas are installed on the vehicle-mounted query devices, which are deployed on the train, while the beacons are deployed on the ground along the tracks or in the platform area.

[0032] When it is determined that the train has lost its location, the first location information of the beacon is obtained through the on-board antenna. The first location information is transmitted in the form of a message, which includes the corresponding beacon's identifier (ID) and the train's location information.

[0033] The beacon also serves as a reference point to determine whether the train has come to a complete stop in a fixed position. When the onboard antenna is directly above the beacon, it indicates that the train has come to a complete stop in the fixed position. At this point, a restart command can be sent to the onboard query device to restart it. After the onboard query device restarts, it will trigger the onboard antenna to collect the beacon's positioning information again, which will be represented as the second positioning information. The first positioning information is still transmitted via messages, and the messages also include the corresponding beacon's identifier (ID) and the train's position information.

[0034] Finally, the two sets of location information are compared to determine if the beacon identifier of the first location information matches the signal identifier of the second location information received after restarting the onboard query device. If they match, a formal location can be established, and a message can be sent based on the second location information, i.e., a location report is sent to the ground or workstation to inform the train of its current position.

[0035] The core of an RFID electronic tag system lies in positioning. After positioning is completed, the location and connection relationship of each beacon are pre-stored in the Vehicle On-Board Controller (VOBC). By establishing the next expected transponder and the expected receiving location after positioning, the VOBC protects the subsequent vehicle query device from sending wrong, late, early, or erroneous messages.

[0036] This invention, in its embodiments, achieves accurate and stable stopping by relying on beacon identifiers reported by the vehicle-mounted query device. Based on this, it verifies the initial response and expected reception, and ensures consistency of the beacon identifier through two sets of positioning information. This solves systemic failure problems such as early, late, and incorrect message transmission by the vehicle-mounted query device. This invention achieves positioning based on the RFID electronic tag system, improving system equipment utilization, reducing positioning equipment costs, and completing positioning by verifying the transmitted beacon identifier information, meeting SIL4 level requirements and making positioning more reliable.

[0037] In some embodiments, since train driving scenarios are divided into driverless and manual driving scenarios, with driverless scenarios being fully automatic operation (FAO) scenarios, and the train may need to be located both during movement and when stationary, the beacons in the RFID electronic tag system will be configured accordingly based on different scenarios.

[0038] When it is determined that the train has lost its location while stationary, the beacon deployment will include two sleep / wake-up beacons and two onboard antennas, which will be deployed at both ends of the train.

[0039] Here, when the train loses its location while stationary, a wake-up procedure is typically required to trigger the ATP (Active Train Protection) principle and re-establish location. In this case, two beacons are deployed in the RFID electronic tag system as sleep-wake beacons, such as... Figure 3 As shown, these are designated as Sleep / Wake-up Beacon 1 and Sleep / Wake-up Beacon 2. Furthermore, there are two vehicle-mounted query devices and two vehicle-mounted antennas, with the two devices deployed at both ends of the train, designated as Vehicle-mounted Query Device 1 and Vehicle-mounted Query Device 2.

[0040] When the train starts, the two onboard query devices are restarted, and the third positioning information received by the onboard antennas from the two dormant wake-up beacons is obtained.

[0041] When the train starts, the ATP (Automatic Train Protection) system is powered on, which restarts the two onboard query devices. After restarting, the two onboard antennas re-acquire location information from the beacons. A cross-acquisition method is used: although onboard antenna 1 is located at the same end of the train as sleep / wake-up beacon 1, it collects location information from sleep / wake-up beacon 2; similarly, onboard antenna 2, located at the same end of the train as sleep / wake-up beacon 2, collects location information from sleep / wake-up beacon 1. Therefore, after the ATP is powered on, two location information sets are received simultaneously from both ends of the train.

[0042] Next, the installation spacing between the two sleep / wake-up beacons is determined based on the third positioning information, such as... Figure 4 As shown, based on the positioning information obtained from both ends, the distance X between the two sleep / wake beacons can be calculated, which is the difference between the two position coordinates.

[0043] When the installation spacing X satisfies the following formula, a message is sent based on the third positioning information to locate the train: Where Y represents the installation distance between the two vehicle-mounted query devices, and T represents the maximum information receiving distance of the vehicle-mounted query device. Indicates the installation spacing.

[0044] like Figure 4 As shown, the distance between the two vehicle-mounted query devices is Y, and the maximum signal reception distance between the two query devices is T. Here, it is necessary to verify that X and the distance Y between the first and last vehicle-mounted query devices are within a certain range. The threshold of this range is determined using the worst-case reception range of the sleep / wake-up beacon, i.e., ensuring that X satisfies [Y-2T, Y+2T]. If satisfied, a message is sent based on the two collected positioning information to achieve train positioning.

[0045] In this embodiment of the invention, during the wake-up phase when the train is stationary, the on-board query device is restarted. After restarting, the on-board query device immediately identifies the beacon and re-collects the message. During this process, bidirectional cross-collection and positioning are used. Since it is the latest collected message, the systemic failure problem of mistransmitting other beacon messages can be eliminated.

[0046] In some embodiments, when the train is in automatic driving mode and loses its location during operation, the beacon includes a predetermined beacon and a plurality of trusted beacons.

[0047] Here, if the train is operated at automation level GoA4 using the FAO system, there are no staff on board. During normal operation, there is a possibility that the train may lose its location, leading to an emergency stop. The train can only wait for rescue on the spot, causing greater delays for the train itself and subsequent trains, which greatly affects operational efficiency. At the same time, manual rescue on board increases the workload of subway staff.

[0048] Therefore, in order for the train to regain its location, the beacons of the RFID electronic tag system are set up as a predetermined beacon and multiple trusted beacons. The predetermined beacon is used to determine whether the train has entered the route search, while the trusted beacons are used to determine whether the train has stopped steadily and accurately when it stops.

[0049] When the train is in automatic driving mode and loses its location during operation, restarting the onboard query device can be achieved in the following ways, as explained in detail below.

[0050] First, the train is controlled to enter a remote speed-limited mode to continue running. When the train passes a predetermined beacon, a route search is performed, and line data is sent to the automatic train operation system.

[0051] The automatic train operation system is controlled to stop at a preset, reliable stopping point based on the track data.

[0052] When the automatic protection system cuts off traction after the train stops and the onboard query device is directly above the trusted beacon, a restart command is sent to the onboard query device to restart it.

[0053] Here, if a train loses its location and needs to stop urgently during automatic operation, the first step is to control the train to enter remote speed-limited mode to continue running. The specific process is as follows: The VOBC outputs emergency braking. When the VOBC determines that the conditions for entering Remote Restricted Mode (RRM) are met, it requests permission from the Automatic Train Supervision (ATS). The central dispatcher can approve the request if the conditions for entering RRM mode are met. After receiving permission from the ATS, the VOBC requests permission from the Interlocking Controller (ZC). When the ZC determines that the conditions for RRM mode operation are met, it calculates RRM mode authorization for the VOBC, allowing the train to enter RRM mode operation. The ATP sends the RRM mode information to the Automatic Train Operation (ATO), and the ATO uses this information to enter the RRM train control logic. After the ATP sends a position report to the ATO, the ATO generates a train control curve based on the route information. In addition, in RRM mode, if there is a turnout ahead, a reliable stopping point and a reliable beacon should be placed on the track before the turnout, and the ZC screening conditions should be met. After the ATP establishes the location at the reliable stopping point, it sends a location report to the ZC. The ZC issues a Movement Authority (MA) to complete the mode upgrade.

[0054] After receiving permission from ZC, VOBC controls the train to continue running under speed-limited conditions. Once positioning is established, it upgrades to Fully Automatic Train Operating Mode (FAM). If positioning is not established, ZC sends a tight brake signal after the train reaches the platform, and VOBC outputs an emergency brake to await rescue.

[0055] like Figure 5 As shown, when the train passes a predetermined beacon, it performs a route search and generates line data, including a position report and route information, which is then sent to the ATO (Automatic Train Operation). Upon receiving the position report and route information, the ATO controls the train to stop at a pre-defined, fixed stop point. At this point, the onboard antenna is directly above the beacon. After the ATP (Automatic Train Protection) determines that the train has come to a complete stop, it cuts off traction and sends a restart command to the onboard query unit, thus restarting the onboard query unit.

[0056] After the vehicle-mounted query device restarts, it reacquires the second location information of the beacon through the vehicle-mounted antenna. Then, it checks whether the beacon ID in the second location information is consistent with the first location information acquired before the restart. If so, it establishes a formal location and sends a location report to the ground. After ZC sends MA, it upgrades FAM to run.

[0057] It should be noted here that after the train comes to a complete stop at the designated reliable stopping point, the output traction cut will automatically release after a certain period of time (configurable). Traction cut refers to the removal of the train's traction force, the purpose of which is to prevent the ATO from controlling the train's movement after it stops. After the traction cut is output, the onboard query device can be restarted to complete the re-collection of messages. For platforms with long sections, multiple reliable stopping points and multiple reliable beacons can be deployed, such as... Figure 3 As shown, this enables rapid positioning of platforms across large areas. Furthermore, ZC prohibits platform areas from entering RRM mode, because if a platform loses its location, the typical response is emergency braking, awaiting rescue, or manual keying for rescue.

[0058] In this embodiment of the invention, when the train is in automatic driving mode and loses its location during operation, the train is controlled to enter a remote speed-limited mode and a reliable stopping point is set to stop. Then, a reliable beacon is used as the basis for restarting the onboard query device. This can achieve accurate positioning and improve the train's operating efficiency while ensuring train operation safety.

[0059] Furthermore, when restarting the onboard query device in autonomous driving mode, there may be a failure to locate the vehicle. Specifically, if any one of the following three conditions is met, the train will be controlled by the automatic train operation system to move to the platform area and wait for rescue.

[0060] Firstly, the train did not stop at the reliable location. Secondly, the second location information was not received again after restarting the onboard query device. Thirdly, the signal identifier of the second location information received again after restarting the onboard query device was inconsistent with the signal identifier of the first location information. These will be explained one by one below.

[0061] If the train fails to stop at the trusted stopping point, it indicates that the train did not come to a complete stop or establish a location. In this case, the ATP (Automatic Train Protection) will not issue a traction cutoff, and the ATO (Automatic Train Operation) will automatically control the train to the platform to await rescue. If, after restarting the onboard query device, no second location information is received, it means the train has come to a complete stop at the trusted stopping point, but the onboard query device has not re-collected the message and cannot establish a location. Therefore, after traction is cut off, the train will automatically control the train to the platform to await rescue. If, after restarting the onboard query device, the signal identifier of the second location information received is inconsistent with the signal identifier of the first location information, it indicates that after the train came to a complete stop at the trusted stopping point, the location information from the trusted beacons received before and after the onboard query device restarted was inconsistent, resulting in a message being sent too early or too late. In this case, after traction is cut off, the train will automatically control the train to the platform to await rescue.

[0062] In this embodiment of the invention, if a train fails to establish a location during the positioning process in automatic driving mode, the train is controlled by the automatic train operation system to move to the platform area to await rescue, thereby effectively improving driving safety when positioning fails.

[0063] In some embodiments, when the train is in manual driving mode and loses its location during operation, the beacon includes a stop beacon and several additional beacons.

[0064] Here, if the train is operated manually by staff, it's possible for the train to lose its location during normal operation. In this case, the RFID electronic tag system's beacons are set up as stop markers and several additional beacons. The stop markers are used to determine whether the train has come to a complete and accurate stop. The stop markers and additional beacons are generally placed on the ground on both sides of the platform area.

[0065] When the train is in manual driving mode and loses its location during operation, restarting the onboard query device can be achieved in the following ways, as explained in detail below.

[0066] When the automatic train protection system determines that the train has been manually stopped at the stop marker and the onboard query device is directly above the newly added beacon, it sends a restart command to the onboard query device to restart it.

[0067] After the train enters the platform under the control of staff, it is then manually aligned with the markers to stop at the designated stop positions. If the onboard query device is directly above the newly added beacon at this point, it can be confirmed that the train has come to a complete stop at the stop marker. Once the ATP (Automatic Train Protection) system determines that the train has come to a complete stop, it can send a restart command to the onboard query device to restart it.

[0068] After the vehicle-mounted query device restarts, it still re-acquires the second location information of the beacon through the vehicle-mounted antenna. Then it determines whether the beacon ID in the second location information is consistent with the first location information obtained before the restart. If so, it establishes a formal location and sends a location report to the ground.

[0069] In this embodiment of the invention, when the train is in manual driving mode and its location is lost during operation, the train is manually controlled to stop at a stop marker. The trusted beacon is then used as the basis for restarting the onboard query device. This allows for accurate positioning while ensuring train safety and improving train operating efficiency.

[0070] Furthermore, when restarting the onboard query device in manual driving mode, there may be a failure to locate the vehicle. Specifically, manual location will be triggered when any one of the following three conditions is met, that is, the current location information of the train will be determined manually.

[0071] First, the train failed to stop at the designated stop sign manually. Second, the second location information was not received again after restarting the onboard query device. Third, the signal identifier of the second location information received again after restarting the onboard query device was inconsistent with the signal identifier of the first location information.

[0072] If the train fails to stop at a trusted stopping point, it indicates that the train did not come to a complete stop or establish a location. In this case, location cannot be established, and manual processing is required to determine the train's position. If the second location information is not received again after restarting the onboard query device, it means the train has come to a complete stop at the stopping point, but the onboard query device has not collected the message again, making location establishment impossible. Manual processing is still required to determine the train's position. If the signal identifier of the second location information received after restarting the onboard query device is inconsistent with the signal identifier of the first location information, it indicates that after the train came to a complete stop at the stopping point, the location information received by the trusted beacon before and after the restart of the onboard query device was inconsistent, resulting in messages being sent too early or too late. In this case, location cannot be established, and manual processing is still required to determine the train's position.

[0073] In some embodiments, if the conditions for setting up a parking marker are met in a certain interval, a parking marker and a new beacon can be set up in that interval, so that the train control personnel can locate the train by stopping it within that interval.

[0074] In this embodiment of the invention, if a positioning is not established during the positioning process of a train in manual driving mode, a manual processing method is triggered to perform positioning, thereby improving driving safety and ensuring the effectiveness of positioning when positioning fails.

[0075] The positioning device based on the RFID electronic tag system provided by the present invention is described below. The positioning device based on the RFID electronic tag system described below and the positioning method based on the RFID electronic tag system described above can be referred to and corresponded to each other.

[0076] like Figure 6As shown, the positioning device based on the RFID electronic tag system includes an acquisition module 601, a restart module 602, and a positioning module 603. Specifically, the RFID electronic tag system includes: an on-board query device, an on-board antenna, and a beacon. The acquisition module 601 is used to acquire first positioning information of the beacon through the on-board antenna when it is determined that the train has lost its location. The restart module 602 is used to restart the on-board query device when the on-board antenna is directly above the beacon. The positioning module 603 is used to send a message based on the second positioning information to locate the train when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device.

[0077] In some embodiments, the positioning module 603 is further configured to deploy two sleep / wake-up beacons when it is determined that the train has lost its positioning while stationary. The number of onboard query devices and onboard antennas are both two, with the onboard query devices deployed at both ends of the train. The system also includes: When the train starts, the two onboard query devices are restarted, and the third positioning information received by the onboard antenna from the two dormant wake-up beacons is obtained respectively. The installation distance between the two sleep / wake-up beacons is determined based on the third positioning information. When the installation distance satisfies the following formula, a message is sent based on the third positioning information to locate the train: Wherein, Y represents the installation distance between the two vehicle-mounted query devices, and T represents the maximum information receiving distance of the vehicle-mounted query device. This indicates the installation spacing.

[0078] It should be noted that the beneficial effects of the positioning method and device based on the RFID electronic tag system mentioned above correspond to each other, so the beneficial effects of the positioning method and device based on the RFID electronic tag system will not be repeated here.

[0079] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As shown, the electronic device may include a processor 710, a communications interface 720, a memory 730, and a communication bus 740. The processor 710, communications interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute a positioning method based on an RFID electronic tag system. This method includes: when it is determined that the train has lost its location, acquiring first positioning information of the beacon through the vehicle-mounted antenna; when the vehicle-mounted antenna is directly above the beacon, restarting the vehicle-mounted query device; and when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the vehicle-mounted query device, sending a message based on the second positioning information to locate the train.

[0080] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the positioning method based on the RFID electronic tag system provided by the above methods. The method includes: when it is determined that the train has lost its location, obtaining first positioning information of the beacon through the vehicle-mounted antenna; when the vehicle-mounted antenna is directly above the position of the beacon, restarting the vehicle-mounted query device; when the beacon identifier of the first positioning information is consistent with the signal identifier of the second positioning information received after restarting the vehicle-mounted query device, sending a message according to the second positioning information to locate the train.

[0082] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a positioning method based on an RFID electronic tag system provided by the above methods. The method includes: when it is determined that a train has lost its location, acquiring first positioning information of the beacon through the vehicle-mounted antenna; restarting the vehicle-mounted query device when the vehicle-mounted antenna is directly above the position of the beacon; and sending a message according to the second positioning information to locate the train when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the vehicle-mounted query device.

[0083] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0084] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning method based on an RFID electronic tag system, characterized in that, The RFID electronic tag system includes: a vehicle-mounted query device, a vehicle-mounted antenna, and a beacon; the method includes: When it is determined that the train has lost its location, the first location information of the beacon is obtained through the on-board antenna; When the vehicle-mounted antenna is directly above the beacon, the vehicle-mounted query device is restarted; If the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device, a message is sent according to the second positioning information to locate the train.

2. The positioning method based on an RFID electronic tag system according to claim 1, characterized in that, When it is determined that the train has lost its location while stationary, the beacon is deployed as two dormant / wake-up beacons. There are two onboard query devices and two onboard antennas. The onboard query devices are deployed at both ends of the train. The method further includes: When the train starts, the two onboard query devices are restarted, and the third positioning information received by the onboard antenna from the two dormant wake-up beacons is obtained respectively. The installation distance between the two sleep / wake-up beacons is determined based on the third positioning information. When the installation distance satisfies the following formula, a message is sent based on the third positioning information to locate the train: Wherein, Y represents the installation distance between the two vehicle-mounted query devices, and T represents the maximum information receiving distance of the vehicle-mounted query device. This indicates the installation spacing.

3. The positioning method based on an RFID electronic tag system according to claim 1, characterized in that, When the train is in automatic driving mode and loses its location during operation, the beacon includes a predetermined beacon and multiple trusted beacons. Restarting the onboard query device includes: The train is controlled to enter a remote speed-limited mode to continue driving. When the train passes the predetermined beacon, a route search is performed, and line data is sent to the train automatic operation system. The train automatic operation system is controlled to stop at a preset, reliable stopping point based on the route data. When the automatic train protection system cuts off traction after the train stops and the onboard query device is directly above the location of the trusted beacon, a restart command is sent to the onboard query device to restart the onboard query device.

4. The positioning method based on an RFID electronic tag system according to claim 1, characterized in that, The method further includes: The train will be controlled to move to the platform area by the automatic train operation system when any of the following conditions are met: The train did not stop at the location where it was located; No second location information was received again after the vehicle query device was restarted; The signal identifier of the second location information received after restarting the vehicle query device is inconsistent with the signal identifier of the first location information.

5. The positioning method based on an RFID electronic tag system according to claim 1, characterized in that, When the train is in manual driving mode and loses its location during operation, the beacons include stop beacons and multiple newly added beacons. Restarting the onboard query device includes: When the Automatic Train Protection System determines that the train has been manually stopped at the stop marker location and the onboard query device is directly above the newly added beacon location, it sends a restart command to the onboard query device to restart the onboard query device.

6. The positioning method based on an RFID electronic tag system according to claim 5, characterized in that, The method further includes: Manual location tracking is triggered when any of the following conditions are met: The train failed to stop at the designated stop sign location manually. No second location information was received again after the vehicle query device was restarted; The signal identifier of the second location information received after restarting the vehicle query device is inconsistent with the signal identifier of the first location information.

7. A positioning device based on an RFID electronic tag system, characterized in that, The RFID electronic tag system includes: a vehicle-mounted query device, a vehicle-mounted antenna, and a beacon; the device includes: The acquisition module is used to acquire the first positioning information of the beacon through the vehicle-mounted antenna when it is determined that the train has lost its location. A restart module is used to restart the vehicle-mounted query device when the vehicle-mounted antenna is directly above the beacon. The positioning module is used to send a message based on the second positioning information to locate the train when the beacon identifier of the first positioning information matches the signal identifier of the second positioning information received after restarting the on-board query device.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the positioning method based on the RFID electronic tag system as described in any one of claims 1 to 6.

9. A non-transitory 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 positioning method based on the RFID electronic tag system as described in any one of claims 1 to 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 positioning method based on the RFID electronic tag system as described in any one of claims 1 to 6.

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