CN107264573A - Train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication - Google Patents
Train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication Download PDFInfo
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- CN107264573A CN107264573A CN201710599068.XA CN201710599068A CN107264573A CN 107264573 A CN107264573 A CN 107264573A CN 201710599068 A CN201710599068 A CN 201710599068A CN 107264573 A CN107264573 A CN 107264573A
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- 238000004891 communication Methods 0.000 title abstract description 18
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 title abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
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- 230000002085 persistent effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication, including：Train head's positioning unit and train tailstock positioning unit；Train head's positioning unit includes：First short message device, the first CPU, the first Satellite Navigation Set, the first inertial navigation unit and the first radio device；First CPU is communicatively coupled with the first short message device, first Satellite Navigation Set, first inertial navigation unit, first radio device respectively；The train tailstock positioning unit includes：Second short message device, the 2nd CPU, the second Satellite Navigation Set, the second inertial navigation unit and the second radio device；2nd CPU is communicatively coupled with the second short message device, second Satellite Navigation Set, second inertial navigation unit, second radio device respectively；First radio device and second radio device are used for the radio signal characteristics for gathering train two ends current location.
Description
Technical field
It is more particularly to a kind of short based on satellite navigation, wireless fingerprint and the Big Dipper the invention belongs to railway signal technology field
The train positioning system of message communication.
Background technology
Railway signal system is responsible for controlling the operation of train on the line, generally separated using time-division or space etc.
Method ensures to keep fixed or variable interval between train, realizes the tracking operation of train.In above-mentioned control,
Need to obtain the current location of each column train and provide corresponding authorized order in real time, to ensure that train does not produce rear-end impact etc.
Situation.
At present, China railways train positioning mainly has following several ways：
1st, the track circuit or axis-counting device installed based on trackside are connected with ground control system, empty by orbit occupancy
Spare time checks to realize that train is positioned；
2nd, radar is added to constitute the vehicle-mounted range cells that test the speed, tie surface transponder school by vehicle-mounted tachometer or tachometer
Standard, is sent to ground control system by GSM-R/LTR-R/LTE-M/WiFi/ leakage cable/waveguides and realizes that train is positioned；
3rd, with reference to above-mentioned 1st kind and the 2nd kind of mode, while using the 2nd kind of mode, read using Rail Detection circuit
Device obtains the track circuit information (such as length, separation) laid on the 1st kind of mode ground, carries out data fusion amendment, enters
One step improves positioning precision.
For aforesaid way 1, it is necessary to install large number quipments in trackside, construction cost is higher, installs difficult in maintenance, and no matter
It is track circuit or meter shaft, all unavoidably there is the problem of being easily disturbed.The track that particularly country is largely used at present
Circuit mode, the problem of there is red band and press not dead.
For aforesaid way 2, on the one hand, radar is easily disturbed by rainwater, metal object etc., and tachometer can not be successfully managed
Idle running and skidding；Even if both combinations, the error that wheel footpath abrasion are brought can not be also avoided, it is necessary to periodically correct wheel footpath data；Separately
On the one hand, trackside needs to dispose substantial amounts of ground transponder, installs maintenance workload greatly, once circuit change, it is necessary to match somebody with somebody again
Put transponder, change trouble, and easily error；In addition, the transponder exposed to circuit center, also easily spills thing by train and covers
Lid is either smashed or stolen.Because transponder is one-way communication, when location information is delivered to trackside, otherwise deployment is substantial amounts of
Ground communication base station or WAP, or needing to dispose leaky cable or leaky wave conduit along track, cause system
Construction cost is higher, and is easily disturbed.
For aforesaid way 3, pass through combination 1 and mode 2, although improve positioning precision, but system complexity
Improve, the equipment and system of introducing are more more complicated, it is not one physically to be additionally, since track circuit marker space
Point, but obscurity boundary section, the lifting to absolute precision are limited, once orbit parameter changes, are also easy to introduce new
Interference.Meanwhile, the trackside equipment quantity of mode 3 is not reduced, while also not breaking away to the trackside communications infrastructure
Rely on.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of new based on satellite navigation, wireless fingerprint and defend
The train positioning system of star short message communication, is communicated by introducing satellite short message, monitored with reference to satellite navigation, wireless signal,
The technology such as inertial navigation and tachometer, while independent of the trackside communications infrastructure, reduces the dependence to transponder, together
When improve positioning precision.Meanwhile, as needed, can be with existing train positioning system and depositing and compatible.
The present invention is achieved through the following technical solutions.
On the one hand, the present invention provides a kind of train positioning communicated based on satellite navigation, wireless fingerprint and satellite short message
System, including：Train head's positioning unit and train tailstock positioning unit；Train head's positioning unit includes：First is short
Message device, the first CPU, the first Satellite Navigation Set, the first inertial navigation unit and the first radio device；Described first
CPU respectively with the first short message device, first Satellite Navigation Set, first inertial navigation unit, described
One radio device is communicatively coupled；The train tailstock positioning unit includes：Second short message device, the 2nd CPU, second
Satellite Navigation Set, the second inertial navigation unit and the second radio device；2nd CPU respectively with second short message
Device, second Satellite Navigation Set, second inertial navigation unit, second radio device carry out communication link
Connect；First radio device and second radio device are used for the radio signal for gathering train two ends current location
Feature.
Wherein, the radio signal characteristics can be frequency, field strength and/or identifier of base station etc..
Wherein, the first CPU and the 2nd CPU can include multiple CPU elements, accordingly, described first respectively
Satellite Navigation Set and second Satellite Navigation Set can include multiple satellite navigation units respectively, and first inertia is led
Boat device and second inertial navigation unit can include multiple inertial navigation units respectively.The Satellite Navigation Set can be with
With corresponding satellite antenna.The first short message device and the second short message device can have respectively to be defended accordingly
Star short message antenna, first radio device and second radio device can have respectively wirelessly intercepts accordingly
Antenna.
Wherein, train head's positioning unit and the train tailstock positioning unit can also have supply unit, prevent
Thunder device and shell.
Further, first Satellite Navigation Set and second Satellite Navigation Set are used to gather train two ends
Position data.
Further, first inertial navigation unit and second inertial navigation unit are used to gather train two ends
Inertial guidance data.
Further, the first CPU and the 2nd CPU are used to be solved in real time according to the position data at the train two ends
Calculate train position.
Wherein, the inertial guidance data (such as acceleration, acceleration, magnetic declination) is used for improving the positioning of train positioning system
Precision.
Further, the first CPU and the 2nd CPU are used for the radio for extracting train two ends current location
Signal characteristic, the radio signal fingerprint of forming region is stored in the Along Railway radio fingerprint number of train ground control system
According to storehouse.
Further, the radio signal fingerprint in region is being stored in the Along Railway radio of train ground control system
During fingerprint database, while being stored in the timestamp of the fingerprint.
Wherein, it repeatedly can repeatedly be run by train, constantly expand and update the radio fingerprint database.
Further, the first CPU sends control instruction to the first Satellite Navigation Set and/or the first inertial navigation unit,
Receive the first Satellite Navigation Set and/or the first inertial navigation unit data (longitude and latitude, speed, course and/or acceleration,
Angular speed etc.)；2nd CPU sends control instruction to the second Satellite Navigation Set and/or the second inertial navigation unit, receives second
Data (longitude and latitude, speed, course and/or acceleration, the angular speed of Satellite Navigation Set and/or the second inertial navigation unit
Deng)；First CPU and the 2nd CPU also control the first radio device and the second radio device, real-time collecting Along Railway respectively
The radio signal characteristics.First CPU and the 2nd CPU also control the first short message device and the second short message to fill respectively
Put, receive and send satellite short message.
On the other hand, the present invention also provides a kind of method that train positioning is carried out based on above-mentioned train positioning system, including
Following steps：
1) first Satellite Navigation Set and second Satellite Navigation Set gather the positional number at train two ends in real time
According to；First radio device and second radio device are used for the radio signal for gathering train two ends current location
Feature；
2) the first CPU and the 2nd CPU fall out parking stall according to the position data real-time resolving at the train two ends
Put；First CPU and the 2nd CPU extract the radio signal characteristics of train two ends current location, forming region
Radio signal fingerprint, be stored in train ground control system Along Railway radio fingerprint database；
3) train position is obtained according to satellite-signal；According to the radio signal characteristics collected in real time, to described wireless
Electric fingerprint database is indexed, and obtains corresponding train position.
It is further, further comprising the steps of,
4) communicated by satellite short message, by step 3) obtain train position information transmission to the train ground control
System；
If 5) the train position of the train position resolved according to satellite-signal and the radio signal index collected in real time
Difference is put, chooses whether to abandon after au-thentication.
Wherein, above-mentioned " first ", " second " are merely to mark, it is not intended to limit the structure of part.Above-mentioned " train "
Type may, for example, be the tracks such as ordinary train, motor-car, high ferro, city railway vehicle marshalling vehicle.Above-mentioned " satellite " can be with
It is the various satellite systems with positioning and short message communication function.
Beneficial effects of the present invention：
1st, while collecting satellite positioning signal and Along Railway radio signal, and by persistent collection and collection apparatus,
Set up the radio fingerprint property data base of Along Railway, and the continuous updating database；
2nd, first using satellite navigation as train positioning means, in satellite-signal unavailable (such as tunnel, mountain area, valley
Deng) in the case of, still more accurately train positioning can be obtained with Along Railway radio fingerprint property data base；
3rd, using satellite short message communication transmission train location information, it is to avoid along a large amount of build communication base stations or nothing
Line access point, lay dew the work such as cable or waveguide, can be with effectively save construction cost；
4th, train head and afterbody can be positioned simultaneously, because train has certain length, at one end during invalidating signal, if separately
One end signal effectively, still can be positioned effectively.
5th, using the Along Railway radio fingerprint property data base of system, the satellite-signal and signal to attack of vacation are being received
When, it can recognize to a certain extent.
Passive check of track clear detection device (track circuit, meter shaft etc.) that train is positioned by ground is changed to by the present invention
Train is actively checked, based on mobile unit, but can largely reduce the deployment of transponder, whilst not relying on trackside car
The communications infrastructure, can be greatly decreased trackside equipment, both reduce system complexity, while improving system reliability, subtract
Maintenance load is lacked.Meanwhile, because satellite fix precision is higher, and without accumulated error, it is relative by track clear detection
The positioning of section level and since wheel footpath data tachometer positioning, advantage is larger.
Brief description of the drawings
The train communicated based on satellite navigation, wireless fingerprint and satellite short message of the embodiment of Fig. 1 present invention
The structural representation of alignment system.
Train head's positioning unit of Fig. 2 another embodiment of the invention and the structure of train tailstock positioning unit are shown
It is intended to.
Embodiment
1-2 pairs of trains communicated based on satellite navigation, wireless fingerprint and satellite short message of the invention below in conjunction with the accompanying drawings
Alignment system and localization method elaborate.Satellite in the embodiment is by taking big-dipper satellite as an example.
As shown in figure 1, the train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication, including：Row
Car headstock positioning unit and train tailstock positioning unit；
Train head's positioning unit includes：First short message device 70, the first CPU 10, the first Satellite Navigation Set 30,
First inertial navigation unit 20 and the first radio device 50；First CPU 10 is defended with the first short message device 70, first respectively
Star guider 30, the first inertial navigation unit 20, the first radio device 50 are communicatively coupled；
Train tailstock positioning unit includes：Second short message device 70, the 2nd CPU 10, the second Satellite Navigation Set 30,
Second inertial navigation unit 20 and the second radio device 50；2nd CPU 10 is defended with the second short message device 70, second respectively
Star guider 30, the second inertial navigation unit 20, the second radio device 50 are communicatively coupled；
First radio device 50 and the second radio device 50 are used for the aerogram for gathering train two ends current location
Number feature.
First Satellite Navigation Set 30 and the second Satellite Navigation Set 30 are used for the position data for gathering train two ends.
First inertial navigation unit 20 and the second inertial navigation unit 20 are used for the inertial guidance data for gathering train two ends.
First CPU 10 and the 2nd CPU 10 is used to go out train position according to the position data real-time resolving at train two ends.
First CPU 10 and the 2nd CPU 10 is used for the radio signal characteristics for extracting train two ends current location, forms area
The radio signal fingerprint in domain, the Along Railway radio fingerprint database of deposit train ground control system 90.
The radio signal fingerprint in region is being stored in the Along Railway radio fingerprint of train ground control system (90)
During database, while being stored in the timestamp of the fingerprint.
Fig. 2 shows the train head's positioning unit and train tailstock positioning unit of another embodiment, the first CPU
10 and the 2nd CPU 10 include CPU element 11 and CPU element 12 respectively (the first CPU 10 and the 2nd CPU 10 can include respectively
Multigroup " CPU element 11 and CPU element 12 "), the first Satellite Navigation Set and the second Satellite Navigation Set are led including satellite respectively
(the first Satellite Navigation Set and the second Satellite Navigation Set can include multigroup respectively for boat unit 31 and satellite navigation unit 32
" satellite navigation unit 31 and satellite navigation unit 32 "), the first inertial navigation unit and the second inertial navigation unit include respectively
(the first inertial navigation unit and the second inertial navigation unit can include respectively for inertial navigation unit 21 and inertial navigation unit 22
Multigroup " inertial navigation unit 21 and inertial navigation unit 22 ").Each satellite navigation unit be respectively provided with corresponding satellite antenna 41,
42。
CPU element 11 and CPU element 12 are individually calculated, and result of calculation is compared by both meetings, and according to than
Relatively result come decide whether using above-mentioned result of calculation and/or be switched to another group " CPU element 11 and CPU element 12 " and/or
" train positioning system automatic or manual is resetted and restarted ".
" 100 " in Fig. 1 and Fig. 2 are exemplary big-dipper satellite, and " 90 " are exemplary train ground control system,
" 60 " wirelessly intercept antenna for exemplary, and " 40 " are exemplary satellite antenna, and " 80 " are exemplary Big Dipper short message day
Line；What " 1 ", " 2 ", " 3 ", " 4 ", " 5 ", " 6 ", " 7 ", " 8 ", " 9 " in Fig. 2 was represented is communication link.
When carrying out train positioning using the above-mentioned train positioning system of the present invention, comprise the following steps：
1) the first Satellite Navigation Set 30 and the second Satellite Navigation Set 30 gather the position data at train two ends in real time；The
One radio device 50 and the second radio device 50 are used for the radio signal characteristics for gathering train two ends current location；
2) the first CPU 10 and the 2nd CPU 10 go out train position according to the position data real-time resolving at train two ends；First
The CPU 10 of CPU 10 and the 2nd extract the radio signal characteristics of train two ends current location, and the radio signal of forming region refers to
Line, the Along Railway radio fingerprint database of deposit train ground control system 90；
3) train position is obtained according to satellite-signal；According to the radio signal characteristics collected in real time, refer to radio
Line database is indexed, and obtains corresponding train position.
It is further, further comprising the steps of,
4) by Big Dipper short message communication, by step 3) obtain train position information transmission to the train ground control
System 90；
If 5) the train position of the train position resolved according to satellite-signal and the radio signal index collected in real time
Difference is put, chooses whether to abandon after au-thentication.
More specifically, when satellite-signal is good, train position resolving preferentially can be carried out according to satellite-signal；In satellite
When signal is bad, corresponding train position can be obtained preferentially according to the radio fingerprint aspect indexing collected in real time.Pass through
Big Dipper short message communication, train ground control system is given by train position information transmission.
Obviously, above-mentioned embodiment is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, it can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this
Among the obvious changes or variations that the spirit of invention is extended out is still in protection scope of the present invention.
Claims (8)
1. the train positioning system communicated based on satellite navigation, wireless fingerprint and satellite short message, including：Train head's positioning is single
Member and train tailstock positioning unit；
Train head's positioning unit includes：First short message device (70), the first CPU (10), the first Satellite Navigation Set
(30), the first inertial navigation unit (20) and the first radio device (50)；First CPU (10) is short with described first respectively
Message device (70), first Satellite Navigation Set (30), first inertial navigation unit (20), first radio
Device (50) is communicatively coupled；
The train tailstock positioning unit includes：Second short message device (70), the 2nd CPU (10), the second Satellite Navigation Set
(30), the second inertial navigation unit (20) and the second radio device (50)；2nd CPU (10) is short with described second respectively
Message device (70), second Satellite Navigation Set (30), second inertial navigation unit (20), second radio
Device (50) is communicatively coupled；
First radio device (50) and second radio device (50) are used to gather train two ends current location
Radio signal characteristics.
2. train positioning system according to claim 1, it is characterised in that
First Satellite Navigation Set (30) and second Satellite Navigation Set (30) are used for the position for gathering train two ends
Data.
3. train positioning system according to claim 1 or 2, it is characterised in that
First inertial navigation unit (20) and second inertial navigation unit (20) are used for the inertial navigation for gathering train two ends
Data.
4. the train positioning system according to Claims 2 or 3, it is characterised in that
First CPU (10) and the 2nd CPU (10) are used to be gone out according to the position data real-time resolving at the train two ends
Train position.
5. train positioning system according to claim 1 or 2, it is characterised in that
First CPU (10) and the 2nd CPU (10) are used for the radio signal for extracting train two ends current location
Feature, the radio signal fingerprint of forming region, the Along Railway radio fingerprint number of deposit train ground control system (90)
According to storehouse.
6. train positioning system according to claim 5, it is characterised in that
The radio signal fingerprint in region is being stored in the Along Railway radio fingerprint data of train ground control system (90)
During storehouse, while being stored in the timestamp of the fingerprint.
7. the method for train positioning is carried out based on the train positioning system described in claim any one of 1-6, it is characterised in that bag
Include following steps：
1) first Satellite Navigation Set (30) and second Satellite Navigation Set (30) gather the position at train two ends in real time
Put data；First radio device (50) and second radio device (50) are used to gather train two ends current location
Radio signal characteristics；
2) the first CPU (10) and the 2nd CPU (10) are fallen out according to the position data real-time resolving at the train two ends
Truck position；The radio signal that first CPU (10) and the 2nd CPU (10) extract train two ends current location is special
Levy, the radio signal fingerprint of forming region, the Along Railway radio fingerprint data of deposit train ground control system (90)
Storehouse；
3) train position is obtained according to satellite-signal；According to the radio signal characteristics collected in real time, refer to the radio
Line database is indexed, and obtains corresponding train position.
8. method according to claim 7, it is characterised in that further comprising the steps of,
4) communicated by satellite short message, by step 3) obtain train position information transmission give the train ground control system
(90)；
If 5) train position of the train position resolved according to satellite-signal and the radio signal index collected in real time is not
Together, choose whether to abandon after au-thentication.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599068.XA CN107264573A (en) | 2017-07-20 | 2017-07-20 | Train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599068.XA CN107264573A (en) | 2017-07-20 | 2017-07-20 | Train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication |
Publications (1)
| Publication Number | Publication Date |
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| CN107264573A true CN107264573A (en) | 2017-10-20 |
Family
ID=60077985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710599068.XA Pending CN107264573A (en) | 2017-07-20 | 2017-07-20 | Train positioning system based on satellite navigation, wireless fingerprint and Big Dipper short message communication |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
| CN110077438A (en) * | 2019-05-31 | 2019-08-02 | 卡斯柯信号有限公司 | A kind of LTE localization method and positioning device suitable for rail traffic |
| CN111077558A (en) * | 2019-12-25 | 2020-04-28 | 交控科技股份有限公司 | Positioning system of rail vehicle and rail transit system |
| CN113259840A (en) * | 2021-05-15 | 2021-08-13 | 西南交通大学 | Train positioning system based on LTE performance parameters |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976697A (en) * | 2017-11-30 | 2018-05-01 | 中国铁路总公司 | Train safe positioning method and system of the one kind based on the Big Dipper/GPS combinations |
| CN107976697B (en) * | 2017-11-30 | 2021-05-28 | 中国铁路总公司 | Train safety positioning method and system based on Beidou/GPS combination |
| CN110077438A (en) * | 2019-05-31 | 2019-08-02 | 卡斯柯信号有限公司 | A kind of LTE localization method and positioning device suitable for rail traffic |
| CN111077558A (en) * | 2019-12-25 | 2020-04-28 | 交控科技股份有限公司 | Positioning system of rail vehicle and rail transit system |
| CN113259840A (en) * | 2021-05-15 | 2021-08-13 | 西南交通大学 | Train positioning system based on LTE performance parameters |
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