A train safety envelope determination method, device, equipment and medium

Abstract

The application discloses a train safety envelope determination method, device, equipment and medium, to provide a train safety envelope determination scheme more suitable for rail transit, reduce the calculation power consumption required for train safety envelope calculation, and increase the control area range capability of the rail transit signal core equipment. The method provided by the application comprises the following steps: determining the estimated position of the on-board UWB base station of the target train to be positioned; determining a target ground UWB base station from the ground ultra-wideband UWB base stations satisfying a preset condition; wherein the ground UWB base station satisfying the preset condition refers to that the ranging information between the ground UWB base station and the on-board UWB base station of the target train satisfies the preset condition; determining the position of the on-board UWB base station of the target train based on the estimated position of the on-board UWB base station of the target train and using the target ground UWB base station; and determining the safety envelope of the target train according to the position of the on-board UWB base station of the target train.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and in particular to a method, device, equipment and medium for determining the safety envelope of a train. Background Technology

[0002] Existing UWB positioning algorithms, which rely on fitting and calculating ranging information from multiple vehicle-to-ground UWB (Ultra Wide Band) base stations, mainly include trilateration methods based on TOA (Time of Arrival) and least squares, and algorithms based on TDOA (Time Delay of Arrival) and hyperbolic algorithms. From an engineering perspective, these algorithms have high requirements for base station synchronization, and their positioning effect in actual applications in rail transit signaling systems may not be ideal. The large amount of computation also consumes system performance, thus posing challenges to the performance of core rail transit signaling products. Summary of the Invention

[0003] This application provides a method, apparatus, device, and medium for determining the train safety envelope, which can provide a more suitable train safety envelope determination scheme for rail transit, reduce the computing power consumption required for train safety envelope calculation, and increase the control area range capability of rail transit signal core equipment.

[0004] This application provides a method for determining the safety envelope of a train, including: Determine the estimated location of the onboard UWB base station of the target train that needs to be located; A target ground UWB base station is determined from ground UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. Based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, the location of the onboard UWB base station of the target train is determined. The safety envelope of the target train is determined based on the location of the onboard UWB base station of the target train.

[0005] As can be seen, this application provides a train safety envelope determination method more suitable for rail transit. The method includes: determining the estimated location of the onboard UWB base station of the target train to be located; and determining a target ground UWB base station from ground ultra-wideband UWB base stations that meet preset conditions. The ground UWB base station meeting the preset conditions refers to a ground UWB base station whose ranging information with the onboard UWB base station of the target train meets the preset conditions. Furthermore, based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station (i.e., only one ground UWB base station is needed), the location of the onboard UWB base station of the target train can be determined. Finally, the safety envelope of the target train is determined based on the location of the onboard UWB base station of the target train. In other words, this application embodiment does not require the participation of multiple ground UWB base stations; only one ground UWB base station is needed to achieve real-time positioning and safety envelope calculation of the train. Therefore, it reduces the computing power consumption required for train safety envelope calculation and increases the control area range capability of the core rail transit signaling equipment.

[0006] In some implementations, determining the location of the onboard UWB base station of the target train based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, includes: Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the track scene information of the target train is determined. Based on the track scene information of the target train, and using the estimated position of the onboard UWB base station of the target train, as well as the ranging information between the target ground UWB base station and the onboard UWB base station of the target train, the initial solution of the onboard UWB base station of the target train is determined. Unreasonable solutions are filtered out from the initial solution, and the reasonable solutions obtained are used as the location of the onboard UWB base station of the target train.

[0007] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout direction is straight; or, if the track section where the target train is located is a non-turnout section, then: Determine the location of the target ground UWB base station as the center, with a radius of d xyThe intersection point of a circle with radius and the straight line of the track section where the target train is located is used as the initial solution for the coordinates of the on-board UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0008] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout is in the lateral direction, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight lines of the turnout section where the target train is located is used as the initial solution for the coordinates of the onboard UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0009] In some implementations, determining the estimated location of the onboard UWB base station of the target train includes: Obtain the location of the onboard UWB base station of the target train as determined in the previous positioning cycle; Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the travel speed of the target train, and the positioning cycle, the estimated location of the onboard UWB base station of the target train is determined.

[0010] In some implementations, the location of the onboard UWB base station of the target train in the previous positioning cycle is determined in the following manner: Determine the first and second ground-based UWB base stations that meet the preset conditions; Based on the ranging information between the first ground UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground UWB base station and the vehicle-mounted UWB base station, the initial position of the vehicle-mounted UWB base station of the target train is determined. The initial position of the vehicle-mounted UWB base station is calibrated to the track section where the target train is currently located, thus obtaining the calibration position of the vehicle-mounted UWB base station.

[0011] In some embodiments, the method further includes: A three-dimensional UWB positioning coordinate system required for train positioning is pre-established; wherein, in the three-dimensional UWB positioning coordinate system, the plane in which the x-axis is perpendicular to the y-axis is the track plane, and the direction of the x-axis is the upward or downward direction of the track on which the train travels; the z-axis is perpendicular to the track plane, and the track plane is used as the z-axis 0 point position; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, including: The current track section of the target train is determined by the x-coordinate value of the initial position of the vehicle-mounted UWB base station; The x-coordinate of the initial position of the vehicle-mounted UWB base station is taken as the x-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located; and, based on the starting point coordinate value of the track section where the target train is currently located, the y-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located is determined.

[0012] Accordingly, an embodiment of this application provides a train safety envelope determination device, comprising: The vehicle-mounted UWB base station location estimation unit is used to determine the estimated location of the vehicle-mounted UWB base station of the target train that needs to be located. The target ground UWB base station determination unit is used to determine a target ground UWB base station from ground ultra-wideband UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. The vehicle-mounted UWB base station one-dimensional positioning unit is used to determine the location of the vehicle-mounted UWB base station of the target train based on the estimated location of the vehicle-mounted UWB base station of the target train and using the target ground UWB base station. The safety envelope determination unit is used to determine the safety envelope of the target train based on the location of the onboard UWB base station of the target train.

[0013] Another embodiment of this application provides an electronic device including a memory and a processor, wherein the memory is used to store program instructions, and the processor is used to call the program instructions stored in the memory and execute any of the methods described above according to the obtained program.

[0014] Another embodiment of this application provides a computer-readable storage medium storing computer-executable instructions for causing the computer to perform any of the methods described above. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0016] Figure 1 A flowchart illustrating a method for determining a train safety envelope provided in an embodiment of this application; Figure 2 A schematic diagram of the initial positioning process of a vehicle-mounted UWB base station provided in an embodiment of this application; Figure 3 This application provides a schematic diagram of an initial positioning scenario for a vehicle-mounted UWB base station in a non-turnout section. Figure 4 This application provides a schematic diagram of an initial positioning scenario for a vehicle-mounted UWB base station in a turnout section, as illustrated in an embodiment of the present application. Figure 5 A schematic diagram of a one-dimensional positioning process for a vehicle-mounted UWB base station provided in an embodiment of this application; Figure 6 A schematic diagram of a one-dimensional positioning scenario provided by an embodiment of this application for a vehicle-mounted UWB base station; Figure 7 This is a schematic diagram of another one-dimensional positioning scenario provided by an embodiment of this application for a vehicle-mounted UWB base station; Figure 8 This is a flowchart illustrating two scenarios for positioning processing based on the track scene information of the target train, as provided in this embodiment of the application. Figure 9 A schematic diagram of a train safety envelope provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 11 This is a schematic diagram of a train safety envelope determination device provided in an embodiment of this application. Detailed Implementation

[0017] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] This application provides a method, apparatus, device, and medium for determining the train safety envelope, which can provide a more suitable train safety envelope determination scheme for rail transit, reduce the computing power consumption required for train safety envelope calculation, and increase the control area range capability of rail transit signal core equipment.

[0019] The methods, apparatus, equipment, and media are based on the same concept of the application. Since the methods, apparatus, equipment, and media solve problems in similar principles, the implementation of the apparatus, equipment, media, and methods can refer to each other, and repeated parts will not be described again.

[0020] The terms "first," "second," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] The following examples and embodiments are to be understood as illustrative only. While this specification may refer to "a," "an," or "some" examples or embodiments in several places, this does not mean that every such reference relates to the same example or embodiment, nor does it mean that the feature applies only to a single example or embodiment. Individual features of different embodiments may also be combined to provide other embodiments. Furthermore, terms such as "comprising" and "including" should be understood not to limit the described embodiments to consisting only of those features mentioned; such examples and embodiments may also include features, structures, units, modules, etc., not specifically mentioned.

[0022] The various embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that the order in which the embodiments are presented represents only a chronological order and does not indicate the superiority or inferiority of the technical solutions provided by the embodiments.

[0023] See Figure 1 This application provides a method for determining a train safety envelope, comprising: S101. Determine the estimated location of the onboard UWB base station of the target train that needs to be located. The estimated location of the onboard UWB base station of the target train (i.e., the train to be located) is, for example, represented as...

[0024] In some embodiments, the location of a target train can be achieved using an onboard UWB base station for locating the target train.

[0025] The estimated location of the onboard UWB base station of the target train can be obtained by estimating the onboard UWB base station of the target train in the current positioning period based on the location of the onboard UWB base station of the target train determined in the previous positioning period, or it can be obtained based on the initial positioning of the onboard UWB base station of the target train.

[0026] S102. Determine a target ground UWB base station from the ground UWB base stations that meet the preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. The preset conditions include, for example, one or a combination of the following conditions: The distance values ​​between the target ground UWB base station and the target train's onboard UWB base station, measured within a preset time period (e.g., 1 second), are all within a preset range (e.g., 10 meters to 300 meters). The difference between the maximum and minimum distance values ​​measured between the target ground UWB base station and the target train's onboard UWB base station within the preset time period is less than a preset difference (e.g., 50m); and the standard deviation of the maximum and minimum distance values ​​is less than a preset standard deviation (e.g., 30m).

[0027] S103. Based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, determine the location of the onboard UWB base station of the target train. In other words, in step S103, this embodiment of the application achieves one-dimensional positioning of the target train's onboard UWB base station, requiring only one target ground UWB base station and eliminating the need for two or more ground UWB base stations to assist in positioning. This reduces the computational power required for calculating the train's safety envelope and increases the control area capability of the core rail transit signaling equipment.

[0028] S104. Determine the safety envelope of the target train based on the location of the onboard UWB base station of the target train.

[0029] In some implementations, determining the estimated location of the onboard UWB base station of the target train includes: Obtain the location of the onboard UWB base station of the target train determined in the previous positioning cycle, for example, represented as... ; Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the speed of the target train, and the positioning cycle, the estimated location of the onboard UWB base station of the target train is determined.

[0030] In some implementations, the location of the onboard UWB base station of the target train in the previous positioning cycle is determined in the following manner in the initial case: Determine the first and second ground-based UWB base stations that meet the preset conditions; Based on the ranging information between the first ground-based UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground-based UWB base station and the vehicle-mounted UWB base station, the initial position of the vehicle-mounted UWB base station of the target train is determined, for example, denoted as... ; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, for example, represented as... .

[0031] In other words, under initial conditions, the embodiments of this application can perform two-dimensional positioning of the vehicle-mounted UWB base station, that is, determine the initial position of the vehicle-mounted UWB base station of the target train based on the ranging information between the first ground UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground UWB base station and the vehicle-mounted UWB base station.

[0032] In some embodiments, the method further includes: A three-dimensional UWB positioning coordinate system required for train positioning is pre-established; wherein, in the three-dimensional UWB positioning coordinate system, the plane in which the x-axis is perpendicular to the y-axis is the track plane, and the direction of the x-axis is the upward or downward direction of the track on which the train travels; the z-axis is perpendicular to the track plane, and the track plane is used as the z-axis 0 point position; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, including: The current track section of the target train is determined by the x-coordinate value of the initial position of the vehicle-mounted UWB base station; The x-coordinate of the initial position of the vehicle-mounted UWB base station is taken as the x-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located; and, based on the starting point coordinate value of the track section where the target train is currently located, the y-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located is determined.

[0033] In some implementations, determining the location of the onboard UWB base station of the target train based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, includes: Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the track scene information of the target train is determined. The track scene information of the target train includes, for example: information about the track section where the target train is located (the track section where the previous positioning cycle was located), the connection relationship between the track section where the target train is located and the track sections before and after it, the direction of the turnout, etc.

[0034] Based on the track scene information of the target train, and using the estimated position of the onboard UWB base station of the target train, as well as the ranging information between the target ground UWB base station and the onboard UWB base station of the target train, the initial solution of the onboard UWB base station of the target train is determined. Unreasonable solutions are filtered out from the initial solution, and the reasonable solutions obtained are used as the location of the onboard UWB base station of the target train.

[0035] There may be multiple initial solutions for the onboard UWB base station of the target train. Some of these solutions may not conform to the actual scenario. Therefore, for example, each initial solution can be compared with the estimated location of the onboard UWB base station of the target train. By comparing the results and filtering out incompatible solutions from the initial solution, an acceptable solution can be obtained, thus finally determining the location of the onboard UWB base station of the target train.

[0036] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: Scenario 1: If the track section where the target train is located is a turnout section, and the turnout direction is straight; or, if the track section where the target train is located is a non-turnout section, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight line of the track section where the target train is located is used as the initial solution for the coordinates of the on-board UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane (i.e., the plane where the x-axis and y-axis are located).

[0037] As can be seen, in scenario one, with the location of the target ground UWB base station as the center, and d xy A circle with radius has two intersection points with the straight line of the track section where the target train is located. Therefore, there will be two initial solutions. By filtering out one of the unreasonable solutions, a reasonable solution can be obtained.

[0038] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: Scenario 2: If the track section where the target train is located is a turnout section, and the turnout is opening laterally, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight lines of the turnout section where the target train is located is used as the initial solution for the coordinates of the onboard UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0039] As can be seen, in scenario two, with the location of the target ground UWB base station as the center, and d xy There are three points where a circle with radius intersects the straight lines of the turnout section where the target train is located. That is, there are three initial solutions. By filtering out two unreasonable solutions, a reasonable solution can be obtained.

[0040] The following provides further examples of the methods provided in the embodiments of this application, in conjunction with specific embodiments and accompanying drawings.

[0041] This application embodiment uses the ranging information between the ground UWB base station and the onboard UWB base station of the target train (hereinafter referred to as the onboard UWB base station), and preset station data information (such as the coordinates of the ground UWB base station, the status of the turnout, the section connection relationship, the starting point coordinates of the section and the kilometer marker, etc.) to realize the calculation of the train safety envelope. This includes the initial positioning process of the onboard UWB base station, the one-dimensional positioning process of the onboard UWB base station, and the final calculation of the train safety envelope.

[0042] Before conducting the initial positioning process of the vehicle-mounted UWB base station, this application establishes a three-dimensional UWB positioning coordinate system in advance based on the characteristics of the train signal system. For example, the z-axis is perpendicular to the track plane, the track plane is taken as the z-axis 0 point, the direction of the equipment number on the track is taken as the x-axis direction (i.e., the up and down direction of the straight rail), and the direction perpendicular to the track (the straight rail of the turnout at the turnout) on the track plane is taken as the y-axis.

[0043] Since the location of the ground UWB base station and the beginning and end locations of the track section are known, the train's location can be determined through a one-dimensional positioning process.

[0044] For the initial positioning process of vehicle-mounted UWB base stations, please refer to [link / reference]. Figure 2 ,include: S201. Determine whether there are two vehicle-to-ground UWB ranging values ​​that meet the preset condition one. If so, proceed to step S202; otherwise, end or restart the initial positioning process of the vehicle-mounted UWB base station.

[0045] S202. Determine whether the two ranging values ​​meet the second preset condition. If yes, proceed to step S203; otherwise, end or restart the initial positioning process of the vehicle-mounted UWB base station.

[0046] The distance measured by the vehicle-to-ground UWB base station is the distance between the ground UWB base station and the onboard UWB base station of the target train.

[0047] When the ground signaling equipment (the equipment performing the method described in the embodiments of this application) is powered on, restarted, or loses its onboard UWB base station positioning, the ground signaling equipment needs to re-establish the onboard UWB base station positioning. For the target train, the ground signaling equipment selects the vehicle-to-ground UWB base station ranging values ​​of two ground UWB base stations according to preset conditions (e.g., ...). Figure 3 , Figure 4 As shown, this includes: the distance between the first ground UWB base station and the onboard UWB base station of the target train, and the distance between the second ground UWB base station and the onboard UWB base station of the target train. The positioning calculation (two-dimensional positioning) of the onboard UWB base station of the target train is performed to determine the location of the onboard UWB base station on the track section.

[0048] Specifically, the preset conditions include, for example, the following two conditions: Condition 1: The vehicle-to-ground UWB base station ranging value must meet the maximum and minimum value restrictions. For example, the vehicle-to-ground UWB base station ranging value must be greater than the preset minimum ranging value DIS_MIN (e.g., 10 meters) and less than the preset maximum ranging value DIS_MAX (e.g., 300 meters) to ensure the quality of the ranging value.

[0049] It should be noted that the preset values, thresholds, etc., mentioned in the embodiments of this application can be set as needed in actual applications, and the specific values ​​are not limited in the embodiments of this application.

[0050] Condition 2: The vehicle-to-ground UWB base station ranging value that satisfies Condition 1 needs to be maintained for a certain period of time T. min (For example, 1s means that the vehicle-to-ground UWB base station ranging value is obtained when the target train is stationary for 1 second), and it is stable within a certain range (i.e., within T). min The difference between the maximum and minimum distance values ​​measured by the vehicle-to-ground UWB base station is less than the preset value D. max For example, 50cm, and the standard deviation σ ini Less than the preset value S min (e.g., 30cm) to ensure the train remains stationary.

[0051] S203. Determine whether P can be solved. xy If so, proceed to step S204; otherwise, end or restart the initial positioning process of the vehicle-mounted UWB base station.

[0052] In other words, this step requires determining whether the initial positioning position P of the vehicle-mounted UWB base station can be calculated. xy .

[0053] In some embodiments, step S203 includes: Let the initial positioning location of the vehicle-mounted UWB base station be The projection of the ranging value between the ground UWB base station and the vehicle-mounted UWB base station to be positioned onto the orbital plane (i.e., the xy plane) is... , but Satisfy the following Formula 1: Formula 1; Where d is the ranging value between the ground UWB base station and the vehicle-mounted UWB base station to be located; z b This refers to the altitude of the ground-based UWB base station above the ground. z t The height of the vehicle-mounted UWB base station above the track plane (z) b Value greater than z t value).

[0054] And d xy 2 The following formula two is satisfied: d xy 2 = (p x -p bx ) 2 + (py -p by ) 2 Formula 2; Where, p x The x-coordinate of the vehicle-mounted UWB base station to be located; p y The y-coordinate of the vehicle-mounted UWB base station to be located; p bx The x-coordinate of the ground UWB base station; p by The y-coordinate is the ground UWB base station.

[0055] It can be seen that if there are two sets of distance measurement values, for example Figure 3 and Figure 4 The distance measurement values ​​between the first ground-based UWB base station and the vehicle-mounted UWB base station to be located, and the distance measurement values ​​between the second ground-based UWB base station and the vehicle-mounted UWB base station to be located, shown in the figure, can be used to calculate the p value of the vehicle-mounted UWB base station to be located. x and p y The solution can be obtained. This yields either two sets of solutions or a unique solution.

[0056] Based on the initial positioning location of the vehicle-mounted UWB base station calculated above It may not be on the track, meaning there is some error, so further calibration to the position of the track segment is required.

[0057] In some embodiments, the initial positioning location of the vehicle-mounted UWB base station is... Calibrate to the position on the orbital segment This includes the following two steps, S204 to S206: S204. Determine whether one or more track segments are related to P. xy Distance less than D pmax If so, proceed to step S205; otherwise, end or restart the initial positioning process of the vehicle-mounted UWB base station.

[0058] S205. Determine whether the turnout direction is satisfied and there is a unique solution. If so, proceed to step S206; otherwise, end or restart the initial positioning process of the vehicle-mounted UWB base station.

[0059] For example: through Solution p x By querying the preset track segment sequence, the track segment where the target train is located can be determined.

[0060] Furthermore, it can be done through P xy The distance d from the track section where the target train is located is less than the preset value D. pmax This judgment condition (D) pmax(e.g., 50cm), filter out P xy From the invalid solutions, we obtain the valid solutions, i.e., the valid solution P. xy The distance d between the target train and the track section is less than the preset value D. pmax .

[0061] like Figure 3 As shown, the ground-based UWB base station is positioned on one side of the track, ensuring that there is only one P... xy Only if the above conditions are met, that is, only Figure 3 Position 2 shown is a valid solution.

[0062] If there are multiple track segments and P xy Distance less than configuration value D pmax Then it is necessary to combine the turnout direction to determine the connection relationship of the turnout section, thereby determining the track section where the target train is located, such as Figure 4 As shown, only Figure 4 Position 2 shown is a valid solution.

[0063] S206, Calculate P txy .

[0064] This step involves calculating the location of the vehicle-mounted UWB base station within the track section. .

[0065] Let p tx =p x (i.e., the x-coordinate remains unchanged), and then according to p tx Calculate p using the starting coordinates (preset values) of the track section where the target train is located in the station data. ty value.

[0066] Assume the starting positions of the track sections where the target train is located are as follows: and Then p can be determined using the following formula three. ty : Formula 3; After the initial positioning process of the vehicle-mounted UWB base station, the one-dimensional positioning process of the vehicle-mounted UWB base station provided in this application embodiment can be executed. Based on the location information of the current track section where the target train is located (e.g., determined in the previous positioning cycle), the connection relationship between the track section and other track sections, the turnout direction, train speed information, etc., the position of the vehicle-mounted UWB base station is further optimized. P was obtained sxy .

[0067] See Figure 5 The one-dimensional positioning process includes, for example: S501, Based on the positioning results P of the vehicle-mounted UWB base station in the previous positioning cyclelast Calculate the location P of the onboard UWB base station for the train during this cycle based on the train's speed v (including direction information; if the train has no direction, the speed is considered to be 0). est (That is, to determine the estimated location of the onboard UWB base station of the target train that needs to be located). In some embodiments, the impact of the turnout direction can be further considered. For example, if the turnout is open in four directions, the vehicle-mounted UWB base station positioning is lost, and the initial positioning process of the vehicle-mounted UWB base station is re-executed.

[0068] In some embodiments, P can be determined using the following formula four (the train acceleration has a negligible effect on it within a single cycle). est : Formula 4; Among them, v last T represents the train speed in the previous positioning cycle, and T represents the system cycle of the ground signaling equipment (i.e., the train's positioning cycle).

[0069] It should be noted that if the previous positioning cycle was the first positioning cycle, then this... The initial value determined by the initial positioning process of the aforementioned vehicle-mounted UWB base station. ; If the previous positioning cycle was not the first positioning cycle, then here... The location P of the vehicle-mounted UWB base station determined by the one-dimensional positioning process of the previous positioning cycle. sxy .

[0070] S502. Select a target terrestrial UWB base station from the terrestrial ultra-wideband UWB base stations that meet the preset conditions. If the terrestrial ultra-wideband UWB base station that meets the preset conditions includes multiple terrestrial UWB base stations, for example... Figure 6 , Figure 7 The first and second ground UWB base stations shown can be further randomly selected as the target ground UWB base station for one-dimensional positioning of the train's onboard UWB base station.

[0071] The ground UWB base station that meets the preset conditions refers to the ground UWB base station and the vehicle-mounted UWB base station of the target train whose ranging information meets the preset conditions (such as conditions one and two in the above embodiments).

[0072] S503. Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, determine the track scene information where the target train is located.

[0073] The track scene information of the target train includes, for example, information about the track section where the target train is located (from the previous positioning cycle), the connection relationship between the track section where the target train is located and the track sections before and after it, and the direction of the turnout.

[0074] S504. Based on the track scene information of the target train, and using the estimated location P of the onboard UWB base station of the target train. est The location P of the target train's onboard UWB base station is determined by measuring the distance between the target ground UWB base station and the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station. txy .

[0075] In some embodiments, step S504 includes: Step 1: Based on the track scene information of the target train, and using the estimated location P of the target train's onboard UWB base station. est The system uses the ranging information between the target ground UWB base station and the target train's onboard UWB base station to determine the initial solution P of the target train's onboard UWB base station. sxy ; Step 2: From the initial solution P sxy After filtering out unreasonable interpretations, the reasonable interpretations are used as the location P of the onboard UWB base station of the target train. txy .

[0076] For example, see Figure 8 As shown, based on the track scene information of the target train, the positioning process is performed in the following two cases: Scenario 1: If the location P of the onboard UWB base station of the target train determined in the previous positioning cycle... last Located in a turnout section, and the turnout is in a straight direction; or, the onboard UWB base station location P of the target train determined in the previous positioning cycle. last If the section is not a turnout section, then: Step 1: Calculate the target ground UWB base station (e.g., Figure 6 Centered on the location of the second ground UWB base station shown (which could also be the first ground UWB base station), d xy A circle with radius P, and the onboard UWB base station location P of the target train determined in the previous positioning cycle. last The coordinates P of the intersection point of the straight lines of the track section. sxy .

[0077] Step 2: By passing P sxy With P est The distance, and the preset value D max (For example, a value of 1m) are compared to filter out unreasonable values. For example, the intersection point coordinate value P is filtered out using the following conditions.sxy The misunderstanding in the text: ; For example Figure 6 As shown, with the location of the second ground UWB base station as the center, d xy A circle with radius P, and the onboard UWB base station location P of the target train determined in the previous positioning cycle. last The straight line containing the track section has two intersection points, and the coordinates of these two intersection points are respectively... and .in, With P est The distance is less than the preset value D max ,therefore For reasonable interpretation (i.e., the location P of the vehicle-mounted UWB base station as the current positioning period) txy ), The value is unreasonable and should be discarded.

[0078] Scenario 2: If the location P of the onboard UWB base station of the target train determined in the previous positioning cycle... last If the track is located in a turnout section and the turnout is opening laterally, then: Step 1: Calculate the target ground UWB base station (e.g., Figure 7 Centered on the location of the second ground UWB base station shown (which could also be the first ground UWB base station), d xy A circle with radius P, and the onboard UWB base station location P of the target train determined in the previous positioning cycle. last The coordinates P of the intersection point of the straight lines in the turnout section and the lateral lines therein. sxy .

[0079] Step 2: By passing P sxy With P est The distance, and the preset value D max (For example, a value of 1m) are compared to filter out unreasonable values. For example, the intersection point coordinate value P is filtered out using the following conditions. sxy The misunderstanding in the text: ; For example Figure 7 As shown, with the location of the second ground UWB base station as the center, d xy A circle with radius P, and the onboard UWB base station location P of the target train determined in the previous positioning cycle. last The straight lines of the turnout section have three intersection points, and the coordinates of these three intersection points are as follows: , and ,in, With P est The distance is greater than the preset value Dmax ,therefore If it is incomprehensible, it can be filtered out.

[0080] Step 3: Utilize the turnout direction to further filter out inconsistencies.

[0081] For example Figure 7 As shown, unreasonable explanations are filtered out through step two. After that, there are still The two intersection points provide a solution, therefore, based on the location P of the onboard UWB base station of the target train determined in the previous positioning cycle, the solution is further derived. last The direction of the turnout in the turnout section can be determined. It is a solution that conforms to the turnout direction, and Solutions that do not conform to the turnout direction need further filtering. Therefore, the final solution is determined as follows: For reasonable interpretation (i.e., the location P of the vehicle-mounted UWB base station as the current positioning period) txy ), and The value is unreasonable and should be discarded.

[0082] In some embodiments, see Figure 9 Generally, a train has one onboard UWB base station at both the front and rear. Therefore, the above embodiment is applicable to the positioning of either the front or rear onboard UWB base station. Once the onboard UWB base stations at the front and rear of any target train are located, the positions of the front and rear of the target train can be determined, and the train's safety envelope can then be further determined based on this.

[0083] In some embodiments, determining the train safety envelope includes, for example: Step 1: Determining the direction of train speed (up and down directions): The train's direction of travel is determined by changes in distance measurement and the location of the train on the track section, and this is maintained for a certain period of time T. min (For example, 1 second), the train position changes in one direction (upward or downward).

[0084] Step 2: Determine the train speed and acceleration for this positioning cycle by observing the positional changes of the onboard UWB base station at the front of the train.

[0085] For example: Train speed during this cycle Train acceleration during this cycle ; Where T is the system cycle (i.e., positioning cycle) of the ground signal equipment. This refers to the location of the vehicle-mounted UWB base station at the front of the vehicle during the previous positioning cycle. This indicates the location of the vehicle-mounted UWB base station at the front of the vehicle during this positioning cycle. The train speed in the previous positioning cycle; Step 3: Calculate the position of the front of the train based on the distance (preset value) from the location of the onboard UWB base station at the front of the train to the coupler at the front of the train; and calculate the position of the rear of the train based on the distance (preset value) from the location of the onboard UWB base station at the rear of the train to the coupler at the rear of the train.

[0086] The position of the vehicle front is: the position of the vehicle front onboard UWB base station + the distance vector from the vehicle front onboard UWB base station to the vehicle front coupler; The rear position is: the distance vector from the rear-mounted UWB base station position to the rear-mounted UWB base station to the rear-mounted coupler.

[0087] Step 4: Using a one-dimensional Kalman filter algorithm, calculate in real time the position of each end of the train (including the aforementioned front and rear positions), and the train position variance σ. 2 (In one-dimensional Kalman filtering, covariance is the same as variance).

[0088] Step 5: Based on the positions of each end of the train and the variance of the train position σ 2 To determine the train's safety envelope.

[0089] For example, to ensure that the actual position of the train's end falls completely within the train's safety envelope, let σ e =6σ+σ f , where σ f This is the preset minimum uncertainty error; the specific value can be set according to actual needs, for example, σ. f The determination of the value can take into account the effects of many factors such as UWB ranging information delay, UWB ranging information packet loss frequency, line gradient, and curve angle.

[0090] like Figure 9 As shown, the calculation results of the train safety envelope include: Maximum safe front end: front of the vehicle + σ e At this time σ e ,express Figure 9 The underread error in the front-end positioning error shown; Minimum safe front end: front position - σ e At this time σ e ,express Figure 9 The overread error in the front-end positioning error shown; Maximum safety rear end: rear of the vehicle + σ e At this time σ e ,express Figure 9 The underread error in the rear-end positioning error shown; Minimum safe rear end: Rear position - σ e At this time σ e ,express Figure 9The overread error in the rear-end positioning error shown is illustrated.

[0091] Step 6: Update the target ground UWB base station.

[0092] When ground signaling equipment detects that the vehicle-to-ground UWB ranging information used to locate a target train is no longer suitable for locating the target train (e.g., the ranging value is less than DIS_MIN or greater than DIS_MAX), the ground signaling equipment selects a more suitable ground UWB base station (i.e., re-determines the target ground UWB base station used for locating the target train) and replaces the current vehicle-to-ground UWB ranging information (e.g., the ranging value is greater than DIS_MIN and less than DIS_MAX) based on the pre-set route data and direction of travel of the target train.

[0093] The following describes the device or apparatus provided in the embodiments of this application, and the explanations or examples of the same or corresponding technical features as those described in the above methods will not be repeated hereafter.

[0094] An electronic device is provided in an embodiment of this application, see [link to example]. Figure 10 For example, including: Processor 600 is used to read the program from memory 620 and execute the following procedures: Determine the estimated location of the onboard UWB base station of the target train that needs to be located; A target ground UWB base station is determined from ground UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. Based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, the location of the onboard UWB base station of the target train is determined. The safety envelope of the target train is determined based on the location of the onboard UWB base station of the target train.

[0095] In some implementations, determining the location of the onboard UWB base station of the target train based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, includes: Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the track scene information of the target train is determined. Based on the track scene information of the target train, and using the estimated position of the onboard UWB base station of the target train, as well as the ranging information between the target ground UWB base station and the onboard UWB base station of the target train, the initial solution of the onboard UWB base station of the target train is determined. Unreasonable solutions are filtered out from the initial solution, and the reasonable solutions obtained are used as the location of the onboard UWB base station of the target train.

[0096] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout direction is straight; or, if the track section where the target train is located is a non-turnout section, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight line of the track section where the target train is located is used as the initial solution for the coordinates of the on-board UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0097] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout is in the lateral direction, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight lines of the turnout section where the target train is located, and the coordinates of the intersection point are used as the initial solution for the coordinates of the onboard UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0098] In some implementations, determining the estimated location of the onboard UWB base station of the target train includes: Obtain the location of the onboard UWB base station of the target train as determined in the previous positioning cycle; Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the speed of the target train, and the positioning cycle, the estimated location of the onboard UWB base station of the target train is determined.

[0099] In some implementations, the location of the onboard UWB base station of the target train in the previous positioning cycle is determined in the following manner: Determine the first and second ground-based UWB base stations that meet the preset conditions; Based on the ranging information between the first ground UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground UWB base station and the vehicle-mounted UWB base station, the initial position of the vehicle-mounted UWB base station of the target train is determined. The initial position of the vehicle-mounted UWB base station is calibrated to the track section where the target train is currently located, thus obtaining the calibration position of the vehicle-mounted UWB base station.

[0100] In some embodiments, the processor 600 is further configured to read a program from the memory 620 and execute the following processes: A three-dimensional UWB positioning coordinate system required for train positioning is pre-established; wherein, in the three-dimensional UWB positioning coordinate system, the plane in which the x-axis is perpendicular to the y-axis is the track plane, and the direction of the x-axis is the upward or downward direction of the track on which the train travels; the z-axis is perpendicular to the track plane, and the track plane is used as the z-axis 0 point position; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, including: The current track section of the target train is determined by the x-coordinate value of the initial position of the vehicle-mounted UWB base station; The x-coordinate of the initial position of the vehicle-mounted UWB base station is taken as the x-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located; and, based on the starting point coordinate value of the track section where the target train is currently located, the y-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located is determined.

[0101] Transceiver 610 is used to receive and send data under the control of processor 600.

[0102] Among them, Figure 10In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 600 and memory represented by memory 620 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 610 can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 630 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0103] The processor 600 is responsible for managing the bus architecture and general processing, while the memory 620 can store the data used by the processor 600 when performing operations.

[0104] In some implementations, the processor 600 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor may also employ a multi-core architecture.

[0105] The processor executes any of the methods described in the embodiments of this application according to the obtained executable instructions by calling a computer program stored in memory. The processor and memory may also be physically separated.

[0106] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0107] See Figure 11 This application provides a train safety envelope determination device, comprising: The vehicle-mounted UWB base station location estimation unit 11 is used to determine the estimated location of the vehicle-mounted UWB base station of the target train that needs to be located. The target ground UWB base station determination unit 12 is used to determine a target ground UWB base station from ground ultra-wideband UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. The vehicle-mounted UWB base station one-dimensional positioning unit 13 is used to determine the location of the vehicle-mounted UWB base station of the target train based on the estimated location of the vehicle-mounted UWB base station of the target train and using the target ground UWB base station. The safety envelope determination unit 14 is used to determine the safety envelope of the target train based on the location of the onboard UWB base station of the target train.

[0108] In some implementations, determining the location of the onboard UWB base station of the target train based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, includes: Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the track scene information of the target train is determined. Based on the track scene information of the target train, and using the estimated position of the onboard UWB base station of the target train, as well as the ranging information between the target ground UWB base station and the onboard UWB base station of the target train, the initial solution of the onboard UWB base station of the target train is determined. Unreasonable solutions are filtered out from the initial solution, and the reasonable solutions obtained are used as the location of the onboard UWB base station of the target train.

[0109] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout direction is straight; or, if the track section where the target train is located is a non-turnout section, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight line of the track section where the target train is located is used as the initial solution for the coordinates of the on-board UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0110] In some implementations, based on the track scene information of the target train, and utilizing the estimated location of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout is in the lateral direction, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight lines of the turnout section where the target train is located, and the coordinates of the intersection point are used as the initial solution for the coordinates of the onboard UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

[0111] In some implementations, determining the estimated location of the onboard UWB base station of the target train includes: Obtain the location of the onboard UWB base station of the target train as determined in the previous positioning cycle; Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the speed of the target train, and the positioning cycle, the estimated location of the onboard UWB base station of the target train is determined.

[0112] In some implementations, the location of the onboard UWB base station of the target train in the previous positioning cycle is determined in the following manner: Determine the first and second ground-based UWB base stations that meet the preset conditions; Based on the ranging information between the first ground UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground UWB base station and the vehicle-mounted UWB base station, the initial position of the vehicle-mounted UWB base station of the target train is determined. The initial position of the vehicle-mounted UWB base station is calibrated to the track section where the target train is currently located, thus obtaining the calibration position of the vehicle-mounted UWB base station.

[0113] In some embodiments, the vehicle-mounted UWB base station location estimation unit 11 is further configured to: A three-dimensional UWB positioning coordinate system required for train positioning is pre-established; wherein, in the three-dimensional UWB positioning coordinate system, the plane in which the x-axis is perpendicular to the y-axis is the track plane, and the direction of the x-axis is the upward or downward direction of the track on which the train travels; the z-axis is perpendicular to the track plane, and the track plane is used as the z-axis 0 point position; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, including: The current track section of the target train is determined by the x-coordinate value of the initial position of the vehicle-mounted UWB base station; The x-coordinate of the initial position of the vehicle-mounted UWB base station is taken as the x-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located; and, based on the starting point coordinate value of the track section where the target train is currently located, the y-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located is determined.

[0114] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or 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.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. 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.

[0116] Any of the devices or apparatuses provided in the embodiments of this application can specifically be desktop computers, portable computers, smartphones, tablet computers, personal digital assistants (PDAs), etc. They may include a central processing unit (CPU), memory, input / output devices, etc. Input devices may include keyboards, mice, touchscreens, etc., and output devices may include display devices such as liquid crystal displays (LCDs) and cathode ray tubes (CRTs).

[0117] The memory may include read-only memory (ROM) and random access memory (RAM), and provides the processor with program instructions and data stored in the memory. In the embodiments of this application, the memory may be used to store the program of any of the methods provided in the embodiments of this application.

[0118] The processor executes any of the methods described in the embodiments of this application according to the program instructions stored in the memory.

[0119] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the methods described in the above embodiments. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0120] This application provides a computer-readable storage medium for storing computer program instructions used in the apparatus provided in the above-described embodiments, including a program for performing any of the methods provided in the above-described embodiments. The computer-readable storage medium may be a non-transitory computer-readable medium.

[0121] The computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0122] It should be understood that: The access technology used by entities in a communication network to transmit traffic can be any suitable current or future technology, such as WLAN (Wireless Local Access Network), WiMAX (Microwave Access Global Interoperability), LTE, LTE-A, 5G, Bluetooth, infrared, etc.; in addition, embodiments may also apply wired technologies, such as IP-based access technologies, such as wired networks or fixed lines.

[0123] An embodiment suitable for implementation as software code or as part thereof and for operation using a processor or processing function is independent of the software code and can be specified using any known or future-developed programming language, such as high-level programming languages ​​such as Objective-C, C, C++, C#, Java, Python, Javascript, other scripting languages, etc., or low-level programming languages ​​such as machine language or assembler.

[0124] The implementation of the embodiments is hardware-independent and can be implemented using any known or future-developed hardware technology or any combination thereof, such as microprocessors or CPUs (central processing units), MOS (metal-oxide-semiconductor), CMOS (complementary MOS), BiMOS (bipolar MOS), BiCMOS (bipolar CMOS), ECL (emitter-coupled logic), and / or TTL (transistor-transistor logic).

[0125] The embodiments may be implemented as individual devices, apparatuses, units, components or functions, or in a distributed manner. For example, one or more processors or processing functions may be used or shared in the process, or one or more processing segments or processing portions may be used and shared in the process, wherein one or more physical processors may be used to implement one or more processing portions dedicated to a particular process as described.

[0126] The device can be implemented by a semiconductor chip, a chipset, or a (hardware) module that includes such a chip or chipset.

[0127] The implementation can also be implemented as any combination of hardware and software, such as ASIC (Application-Specific IC (Integrated Circuit)) components, FPGA (Field Programmable Gate Array) or CPLD (Complex Programmable Logic Device) components or DSP (Digital Signal Processor) components.

[0128] The embodiments can also be implemented as computer program products, including a computer-usable medium in which computer-readable program code is embodied, the computer-usable program code being adapted to perform the processes described in the embodiments, wherein the computer-usable medium may be a non-transitory medium.

[0129] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0130] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for determining the safety envelope of a train, characterized in that, The method includes: Determine the estimated location of the onboard UWB base station of the target train that needs to be located; A target ground UWB base station is determined from ground UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. Based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, the location of the onboard UWB base station of the target train is determined. The safety envelope of the target train is determined based on the location of the onboard UWB base station of the target train.

2. The method according to claim 1, characterized in that, Based on the estimated location of the onboard UWB base station of the target train, and using the target ground UWB base station, the location of the onboard UWB base station of the target train is determined, including: Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the track scene information of the target train is determined. Based on the track scene information of the target train, and using the estimated position of the onboard UWB base station of the target train, as well as the ranging information between the target ground UWB base station and the onboard UWB base station of the target train, the initial solution of the onboard UWB base station of the target train is determined. Unreasonable solutions are filtered out from the initial solution, and the reasonable solutions obtained are used as the location of the onboard UWB base station of the target train.

3. The method according to claim 2, characterized in that, Based on the track scene information of the target train, and using the estimated position of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout direction is straight; or, if the track section where the target train is located is a non-turnout section, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight line of the track section where the target train is located is used as the initial solution for the coordinates of the on-board UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

4. The method according to claim 2, characterized in that, Based on the track scene information of the target train, and using the estimated position of the target train's onboard UWB base station, as well as the ranging information between the target ground UWB base station and the target train's onboard UWB base station, an initial solution for the coordinate values ​​of the target train's onboard UWB base station is determined, including: If the track section where the target train is located is a turnout section, and the turnout is in the lateral direction, then: Determine the location of the target ground UWB base station as the center, with a radius of d xy The intersection point of a circle with radius and the straight lines of the turnout section where the target train is located, and the coordinates of the intersection point are used as the initial solution for the coordinates of the onboard UWB base station of the target train. Wherein, the d xy The distance measurement value between the target ground UWB base station and the vehicle-mounted UWB base station is projected onto the track plane.

5. The method according to claim 1, characterized in that, Determining the estimated location of the onboard UWB base station of the target train includes: Obtain the location of the onboard UWB base station of the target train as determined in the previous positioning cycle; Based on the location of the onboard UWB base station of the target train determined in the previous positioning cycle, the speed of the target train, and the positioning cycle, the estimated location of the onboard UWB base station of the target train is determined.

6. The method according to claim 5, characterized in that, The location of the onboard UWB base station of the target train in the previous positioning cycle was determined in the following manner: Determine the first and second ground-based UWB base stations that meet the preset conditions; Based on the ranging information between the first ground UWB base station and the vehicle-mounted UWB base station, and the ranging information between the second ground UWB base station and the vehicle-mounted UWB base station, the initial position of the vehicle-mounted UWB base station of the target train is determined. The initial position of the vehicle-mounted UWB base station is calibrated to the track section where the target train is currently located, thus obtaining the calibration position of the vehicle-mounted UWB base station.

7. The method according to claim 6, characterized in that, The method further includes: A three-dimensional UWB positioning coordinate system required for train positioning is pre-established; wherein, in the three-dimensional UWB positioning coordinate system, the plane in which the x-axis is perpendicular to the y-axis is the track plane, and the direction of the x-axis is the upward or downward direction of the track on which the train travels; the z-axis is perpendicular to the track plane, and the track plane is used as the z-axis 0 point position; The initial position of the vehicle-mounted UWB base station is calibrated to the track section currently occupied by the target train to obtain the calibration position of the vehicle-mounted UWB base station, including: The current track section of the target train is determined by the x-coordinate value of the initial position of the vehicle-mounted UWB base station; The x-coordinate of the initial position of the vehicle-mounted UWB base station is taken as the x-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located; and, based on the starting point coordinate value of the track section where the target train is currently located, the y-coordinate of the vehicle-mounted UWB base station on the track section where the target train is currently located is determined.

8. A train safety envelope determination device, characterized in that, The device includes: The vehicle-mounted UWB base station location estimation unit is used to determine the estimated location of the vehicle-mounted UWB base station of the target train that needs to be located. The target ground UWB base station determination unit is used to determine a target ground UWB base station from ground ultra-wideband UWB base stations that meet preset conditions; wherein, the ground UWB base station that meets the preset conditions means that the ranging information between the ground UWB base station and the on-board UWB base station of the target train meets the preset conditions. The vehicle-mounted UWB base station one-dimensional positioning unit is used to determine the location of the vehicle-mounted UWB base station of the target train based on the estimated location of the vehicle-mounted UWB base station of the target train and using the target ground UWB base station. The safety envelope determination unit is used to determine the safety envelope of the target train based on the location of the onboard UWB base station of the target train.

9. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing the computer to perform the method according to any one of claims 1 to 7.

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