CN112519834A - Vehicle and train positioning method and device - Google Patents
Vehicle and train positioning method and device Download PDFInfo
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- CN112519834A CN112519834A CN201910811991.4A CN201910811991A CN112519834A CN 112519834 A CN112519834 A CN 112519834A CN 201910811991 A CN201910811991 A CN 201910811991A CN 112519834 A CN112519834 A CN 112519834A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a vehicle and train positioning method and device, wherein the method comprises the following steps: the method comprises the steps of obtaining passenger position information sent by a mobile terminal accessed to a passenger internet system and positioning equipment position information sent by vehicle-mounted positioning resolving equipment; and determining the position of the train according to the passenger position information and the positioning equipment position information. According to the train positioning method provided by the embodiment of the invention, when the positioning equipment position information fails, the position of the train can be determined according to the passenger position information, the accuracy and reliability of train position confirmation are effectively ensured, the cost is low, and the method is simple and easy to implement.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and train positioning method and device.
Background
Because rail transit has advantages such as operating density is high, carrying capacity is big, the operation is stable, efficient, and subway and light rail have been built in more and more cities in China, and the track trade is also towards safe, intelligence, lightweight direction development, and wherein the position information of train has important status in the automatic control technology of train, and the realization of nearly every subfunction of train all needs the position information of train as one of the parameter.
In the related art, when a train is positioned, the train is generally positioned through positioning device position information sent by a vehicle-mounted positioning resolving device on the train.
However, although the above method can better realize the positioning of the train, when the vehicle-mounted positioning resolving equipment fails, the train cannot be effectively positioned, so that the reliability and accuracy of train positioning are greatly reduced, and the problem needs to be solved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a train positioning method, which can determine the position of a train according to the passenger position information when the positioning device position information fails, so as to effectively ensure the accuracy and reliability of train position confirmation, and is not only low in cost, but also simple and easy to implement.
The second purpose of the invention is to provide a positioning device of a train.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the present invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for positioning a train, including: the method comprises the steps of obtaining passenger position information sent by a mobile terminal accessed to a passenger internet system and positioning equipment position information sent by vehicle-mounted positioning resolving equipment; and determining the position of the train according to the passenger position information and the positioning equipment position information.
In addition, the positioning method of the train according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, the determining the position of the train according to the passenger position information and the positioning device position information comprises: judging whether the passenger position information is target passenger position information or not; and determining the position of the train according to the position information of the target passenger and the position information of the positioning equipment.
According to an embodiment of the present invention, the determining whether the passenger position information is target passenger position information includes: acquiring the intensity of a wireless signal sent by the mobile terminal accessed to the passenger internet system; and determining the passenger position information sent by the mobile terminal with the wireless signal intensity greater than a preset intensity threshold value and/or the mobile terminal with the wireless signal intensity with the variation value smaller than a preset intensity variation threshold value as the target passenger position information.
According to an embodiment of the present invention, the determining the position of the train according to the target passenger position information and the positioning device position information includes: determining redundant device location information based on a plurality of the target passenger location information; and determining the position of the train according to the position information of the redundant equipment and the position information of the positioning equipment.
According to one embodiment of the present invention, the determining redundant device location information based on a plurality of the target passenger location information comprises: setting corresponding weight for each piece of target passenger position information according to the density of each piece of target passenger position information; and determining the redundant equipment position information according to the position information of each target passenger and the corresponding weight.
According to one embodiment of the present invention, the determining redundant device location information based on a plurality of the target passenger location information comprises: determining the transverse distance and the longitudinal distance of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger; removing the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum transverse distances and the mobile terminal with the maximum and minimum longitudinal distances; setting corresponding weight for each remaining target passenger position information according to the density of each remaining target passenger position information; and determining the redundant equipment position information according to the position information of each residual target passenger and the corresponding weight.
According to an embodiment of the present invention, the method for positioning a train further includes: and setting the frequency of sending the passenger position information by each mobile terminal according to the number change of the mobile terminals accessed to the passenger internet system.
According to an embodiment of the present invention, the method for positioning a train further includes: and respectively sending the received carrier phase differential signals to the mobile terminal accessed to the passenger internet system and the vehicle-mounted positioning resolving equipment.
According to the train positioning method provided by the embodiment of the invention, the passenger position information sent by the mobile terminal accessed to the passenger internet system and the positioning equipment position information sent by the vehicle-mounted positioning resolving equipment can be obtained, and the position of the train is determined according to the passenger position information and the positioning equipment position information. Therefore, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively guaranteed, the cost is low, and the method is simple and easy to realize.
In order to achieve the above object, a second embodiment of the present invention provides a positioning device for a train, including: the acquisition module is used for acquiring passenger position information sent by a mobile terminal accessed to a passenger internet system and positioning equipment position information sent by vehicle-mounted positioning resolving equipment; and the determining module is used for determining the position of the train according to the passenger position information and the positioning equipment position information.
According to an embodiment of the present invention, the determining module is specifically configured to: judging whether the passenger position information is target passenger position information or not; and determining the position of the train according to the position information of the target passenger and the position information of the positioning equipment.
According to an embodiment of the present invention, the determining module is further configured to: acquiring the intensity of a wireless signal sent by the mobile terminal accessed to the passenger internet system; and determining the passenger position information sent by the mobile terminal with the wireless signal intensity greater than a preset intensity threshold value and/or the mobile terminal with the wireless signal intensity with the variation value smaller than a preset intensity variation threshold value as the target passenger position information.
According to an embodiment of the present invention, the position information of the target passenger is a plurality of information, and the determining module is specifically configured to: determining redundant device location information based on a plurality of the target passenger location information; and determining the position of the train according to the position information of the redundant equipment and the position information of the positioning equipment.
According to an embodiment of the present invention, the determining module is further configured to: setting corresponding weight for each piece of target passenger position information according to the density of each piece of target passenger position information; and determining the redundant equipment position information according to the position information of each target passenger and the corresponding weight.
According to an embodiment of the present invention, the determining module is further configured to: determining the transverse distance and the longitudinal distance of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger; removing the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum transverse distances and the mobile terminal with the maximum and minimum longitudinal distances; setting corresponding weight for each remaining target passenger position information according to the density of each remaining target passenger position information; and determining the redundant equipment position information according to the position information of each residual target passenger and the corresponding weight.
According to an embodiment of the present invention, the positioning device for a train further includes: and the setting module is used for setting the frequency of sending the passenger position information by each mobile terminal according to the number change of the mobile terminals accessed to the passenger internet system.
According to an embodiment of the present invention, the positioning device for a train further includes: and the sending module is used for sending the received carrier phase differential signals to the mobile terminal accessed to the passenger internet system and the vehicle-mounted positioning resolving equipment respectively.
According to the train positioning device provided by the embodiment of the invention, the passenger position information sent by the mobile terminal accessed to the passenger internet system and the positioning equipment position information sent by the vehicle-mounted positioning resolving equipment can be obtained through the obtaining module, and the train position is determined through the determining module according to the passenger position information and the positioning equipment position information. Therefore, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively guaranteed, the cost is low, and the method is simple and easy to realize.
In order to achieve the above object, a third embodiment of the present invention provides a vehicle, which includes the positioning device for a train as described above.
According to the vehicle provided by the embodiment of the invention, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively ensured, the cost is low, and the method is simple and easy to implement.
To achieve the above object, a fourth aspect of the present invention provides an electronic device, including: the positioning method of the train comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the positioning method of the train is realized.
In order to achieve the above object, a fifth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above-mentioned method for positioning a train.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a method of locating a train according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of locating a train according to one embodiment of the present invention;
FIG. 3 is a block schematic diagram of train positioning according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of a structure for locating a train in accordance with one embodiment of the present invention;
FIG. 5 is a schematic diagram of determining redundant device location information according to one embodiment of the present invention;
FIG. 6 is a block schematic diagram of a positioning device of a train in accordance with an embodiment of the present invention;
FIG. 7 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a vehicle and train positioning method and device proposed according to an embodiment of the invention with reference to the accompanying drawings.
Before the train positioning method of the embodiment of the invention is introduced, the train positioning technology is simply introduced.
Currently, the following two main positioning techniques are used: (1) inquiring the transponder and the odometer; (2) GNSS (Global Navigation Satellite System) and odometers.
The positioning technology adopts the working principle of an inquiry transponder and a milemeter as follows: the method is characterized in that geographic position information is stored in a ground transponder, an interrogator on a train can obtain the accurate position of the train after coupling, the odometer obtains the relative position of the train through integral summation of train acceleration, position errors are accumulated along with mileage, and the positioning information of the transponder has discontinuity, so that the method of measuring the speed by using the odometer is supplemented. The positioning technology can provide the characteristics of accurate initial position and adjustable precision, but has the advantages of large maintenance amount, high cost and long debugging period.
The working principle of the positioning technology adopting the GNSS and the odometer is the same as that of the inquiry transponder and the odometer, the transponder is replaced by the satellite positioning technology, and the train odometer is regularly calibrated by the satellite positioning technology.
Therefore, high-precision positioning required by unmanned rail transit in the future can be better realized through a positioning technology, but when the vehicle-mounted positioning resolving equipment fails, the accurate positioning cannot be carried out, so that the positioning method for the train can be used for positioning under the condition that the vehicle-mounted positioning resolving equipment fails, and the positioning accuracy is effectively improved.
Fig. 1 is a flowchart of a train positioning method according to an embodiment of the present invention. As shown in fig. 1, the positioning method of the train includes the following steps:
and S1, obtaining passenger position information sent by the mobile terminal accessed to the passenger internet system and positioning equipment position information sent by the vehicle-mounted positioning resolving equipment.
Specifically, a mobile terminal (for example, a mobile phone) is generally provided with a satellite receiving antenna and a positioning calculation module, and position information of the mobile terminal, namely passenger position information, can be obtained through calculation of the satellite receiving antenna and the positioning calculation module, wherein a passenger internet system can be used as a wireless link channel in the embodiment of the invention, and a shared position information authorization protocol is achieved with a passenger before the passenger internet connection; the vehicle-mounted positioning resolving equipment can receive satellite signals through the vehicle-mounted satellite antenna, so that the position information of the positioning equipment can be obtained after resolving.
And S2, determining the position of the train according to the passenger position information and the positioning device position information.
According to an embodiment of the present invention, as shown in fig. 2, determining the position of the train according to the passenger position information and the positioning device position information includes the following steps:
s21, determining whether the passenger position information is the target passenger position information;
wherein, according to an embodiment of the present invention, determining whether the passenger position information is target passenger position information includes: acquiring the intensity of a wireless signal sent by a mobile terminal accessed to a passenger internet system; and determining the passenger position information sent by the mobile terminal with the wireless signal intensity greater than the preset intensity threshold value and/or the mobile terminal with the wireless signal intensity variation smaller than the preset intensity variation threshold value as the target passenger position information.
It can be understood that since the number of passengers in the train changes with each arrival of the train, if the position data of the passengers after getting off the train is used as the reference data of the train position, a certain error is brought; in addition, because the position of each passenger in the train is different, and the strength of the satellite signal received by each passenger is different, and the error of position deviation also occurs, the passenger position information can be confirmed first, and the passenger position information is confirmed to be the target passenger position information, wherein the target passenger position information can mean that the user is in the train, and the strength of the wireless signal sent by the mobile terminal of the user is within the preset range.
Specifically, the embodiment of the present invention may determine whether the passenger location information is the target passenger location information by the strength of the wireless signal of the mobile terminal accessing the passenger internet system, for example, when the passenger is in the train, the strength of the wireless signal of the mobile terminal may be significantly higher than the strength of the wireless signal of the passenger outside the train, after the passenger gets off the train, the change of the relative location between the passenger and the train inevitably causes the change of the strength of the wireless signal of the mobile terminal, and when the strength of the wireless signal of the mobile terminal is greater than a preset strength threshold, or a change value of the strength of the wireless signal of the mobile terminal (a change amount when the strength of the wireless signal decreases) is less than the preset strength change threshold, the passenger location information is determined as the target passenger location information.
It should be noted that, when the passenger moves in the train, if the intensity of the wireless signal of the mobile terminal is smaller than the preset intensity threshold, or the variation value of the intensity of the wireless signal of the mobile terminal (the variation value when the intensity of the wireless signal decreases) is larger than the preset intensity variation threshold, it is also determined that the passenger position information is not the target passenger position information.
And S22, determining the position of the train according to the position information of the target passenger and the position information of the positioning device.
It should be understood that, as shown in fig. 3, the embodiment of the present invention may determine the position of the train according to the position information of the target passenger, may also determine the position of the train according to the position information of the positioning device, and may also determine the position of the train according to the position information of the target passenger and the position information of the positioning device.
In one example, when the vehicle-mounted positioning calculation equipment fails, the positioning equipment position information sent by the vehicle-mounted positioning calculation equipment is failure information, or when the positioning equipment position information sent by the vehicle-mounted positioning calculation equipment does not exist, the position of the train can be determined according to the target passenger position information, so that the situation that the train cannot be positioned when the vehicle-mounted positioning calculation equipment fails can be avoided
In another example, when the vehicle-mounted positioning calculation equipment fails, the embodiment of the invention can directly determine the position of the train by using the position information of the positioning equipment.
In another example, when the vehicle-mounted positioning calculation device does not have a fault, the embodiment of the invention can determine the position of the train according to the target passenger position information and the positioning device position information, for example, the position of the train is obtained after weight calculation is performed on the target passenger position information and the positioning device position information, and the accuracy and precision of train positioning are further improved.
Further, according to an embodiment of the present invention, the determining the position of the train according to the target passenger position information and the positioning device position information includes: determining redundant device location information based on the plurality of target passenger location information; and determining the position of the train according to the redundant equipment position information and the positioning equipment position information.
It can be understood that when a plurality of target passengers exist, the position information of the plurality of target passengers corresponds to the position information of the plurality of target passengers, the embodiment of the present invention can process the position information of the plurality of target passengers to obtain the position information of the redundant device, and further determine the position of the train according to the position information of the redundant device and the position information of the positioning device, that is, when a plurality of target passengers exist and the position information of the positioning device fails, the embodiment of the present invention can also determine the position information of the train according to the position information of the redundant device; when the positioning device position information is not invalid, the position of the train can be determined according to the positioning device position information, or the position of the train can be determined according to the redundant device position information and the positioning device position information.
Further, when the plurality of pieces of target passenger location information are different, the determined redundant device location information is also different, and how to determine the redundant device location information based on the plurality of pieces of target passenger location information when the plurality of pieces of target passenger location information are different will be described in detail below.
According to one embodiment of the present invention, determining redundant device location information based on a plurality of target passenger location information comprises: setting corresponding weight for each target passenger position information according to the density of each target passenger position information; and determining redundant device position information according to the position information of each target passenger and the corresponding weight.
It should be understood that after acquiring each piece of target passenger position information, the embodiment of the present invention may set a corresponding weight for each piece of target passenger position information according to the density information of each piece of target passenger position information, for example, the density of the piece of target passenger position information is 30% for the piece of target passenger position information in the a region, the density of the piece of target passenger position information is 40% for the piece of target passenger position information in the b region, and the density of the piece of target passenger position information is 30% for the piece of target passenger position information in the c region, so as to determine the redundant device position information according to each piece of target passenger position information and the corresponding weight.
It should be noted that, in the embodiment of the present invention, when the vehicle-mounted positioning calculation device fails, the redundant device location information may be used as the train positioning information (location information).
According to one embodiment of the present invention, determining redundant device location information based on a plurality of target passenger location information comprises: determining the transverse distance and the longitudinal distance of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger; removing the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum transverse distances and the mobile terminal with the maximum and minimum longitudinal distances; setting corresponding weight for each piece of remaining target passenger position information according to the density of each piece of remaining target passenger position information; and determining redundant device position information according to the position information of each residual target passenger and the corresponding weight.
It should be understood that, immediately after the passenger gets off the vehicle, the mobile terminal still has a higher signal strength in a short time after the vehicle door is closed, which results in a certain error in determining the position information of the target passenger, and therefore, the embodiment of the present invention may remove the mobile terminals with the maximum and minimum lateral distances and the position information of the target passenger corresponding to the mobile terminals with the maximum and minimum longitudinal distances, thereby further improving the accuracy of positioning.
For example, the passenger mobile terminal uses a satellite positioning system for positioning, so that the longitude and latitude can be determined through satellite signals, as shown in fig. 4, an embodiment of the present invention can establish a coordinate system with the center point of a train, and determine the lateral distance (e.g., X direction) and the longitudinal distance (e.g., Y direction) of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger, assuming that there are 10 passengers in the train, an embodiment of the present invention can find out the mobile terminal with the maximum and minimum lateral distances and the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum longitudinal distances (e.g., the position of the target passenger marked as a in the figure), delete them, and set the corresponding weight again according to the density of the remaining 6 passenger position information, so as to set the corresponding weight according to the position information of each remaining target passenger (e.g., the position of the target, and then, the position information of the redundant equipment (such as the position of a target passenger marked as C in the figure) is determined, and the accuracy of the position information of the redundant equipment is further improved, so that when the vehicle-mounted positioning resolving equipment fails, the position information of the redundant equipment is used as the positioning information of the train, and the stability and the reliability of train positioning are effectively ensured.
According to an embodiment of the present invention, the method for positioning a train further includes: and setting the frequency of sending the passenger position information by each mobile terminal according to the number change of the mobile terminals accessing the passenger internet system.
For example, when 10 mobile terminals access to the passenger internet system, the frequency of transmitting the passenger location information by each mobile terminal is f1, and if 100 mobile terminals access to the passenger internet system, each mobile terminal similarly transmits the passenger location information at the frequency f1, then the receiving end receiving the passenger location information is very likely to fail, therefore, the frequency of transmitting the passenger location information by each mobile terminal can be set according to the number of the mobile terminals access to the passenger internet system, for example, the more the number of the mobile terminals access to the passenger internet system, the lower the frequency of transmitting the passenger location information by each mobile terminal is set.
It should be noted that the mobile terminal accessing the passenger internet system may send the passenger position information to the vehicle-mounted positioning platform after adjusting the frequency of sending the passenger position information, and similarly, the vehicle-mounted positioning calculating device may also send the positioning device position information to the vehicle-mounted positioning platform according to a certain frequency.
According to an embodiment of the present invention, the method for positioning a train further includes: and respectively sending the received carrier phase differential signals to a mobile terminal accessed to a passenger internet system and vehicle-mounted positioning resolving equipment.
It should be understood that when receiving satellite signals, the mobile terminal and the vehicle-mounted positioning solution device accessing the passenger internet system may generate certain errors due to the influence of the atmosphere and the ionosphere, so as shown in fig. 5, an embodiment of the present invention may send an RTK differential signal to the vehicle-mounted positioning platform after the RTK differential signal is received by a carrier-time-difference differential signal (RTK) antenna, so that the vehicle-mounted positioning platform sends the RTK differential signal to the passenger internet system and the vehicle-mounted positioning solution device respectively, the passenger internet system issues the RTK differential signal to all mobile terminals (e.g., a passenger a mobile phone, a passenger b mobile phone, a passenger c mobile phone, and a passenger d mobile phone) accessing the passenger internet system through an internet wireless router, and the mobile terminals and the vehicle-mounted positioning solution device eliminate the satellite signal errors received by themselves after receiving the RTK differential signal, the accuracy and the reliability of positioning are improved.
According to the train positioning method provided by the embodiment of the invention, the passenger position information sent by the mobile terminal accessed to the passenger internet system and the positioning equipment position information sent by the vehicle-mounted positioning resolving equipment can be obtained, and the position of the train is determined according to the passenger position information and the positioning equipment position information. Therefore, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively guaranteed, the cost is low, and the method is simple and easy to realize.
Fig. 6 is a block diagram schematically illustrating a positioning device for a train according to an embodiment of the present invention. As shown in fig. 6, the positioning device 10 for a train includes: an acquisition module 100 and a determination module 200.
The obtaining module 100 is configured to obtain passenger location information sent by a mobile terminal accessing a passenger internet access system and location device location information sent by a vehicle-mounted location resolving device. The determination module 200 is configured to determine a location of the train based on the passenger location information and the positioning device location information.
According to an embodiment of the present invention, the determining module 200 is specifically configured to: judging whether the passenger position information is target passenger position information or not; and determining the position of the train according to the position information of the target passenger and the position information of the positioning equipment.
According to an embodiment of the invention, the determining module 200 is further configured to: acquiring the intensity of a wireless signal sent by a mobile terminal accessed to a passenger internet system; and determining the passenger position information sent by the mobile terminal with the wireless signal intensity greater than the preset intensity threshold value and/or the mobile terminal with the wireless signal intensity variation smaller than the preset intensity variation threshold value as the target passenger position information.
According to an embodiment of the present invention, the target passenger position information is a plurality of information, and the determining module 200 is specifically configured to: determining redundant device location information based on the plurality of target passenger location information; and determining the position of the train according to the redundant equipment position information and the positioning equipment position information.
According to an embodiment of the invention, the determining module 200 is further configured to: setting corresponding weight for each target passenger position information according to the density of each target passenger position information; and determining redundant device position information according to the position information of each target passenger and the corresponding weight.
According to an embodiment of the invention, the determining module 200 is further configured to: determining the transverse distance and the longitudinal distance of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger; removing the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum transverse distances and the mobile terminal with the maximum and minimum longitudinal distances; setting corresponding weight for each piece of remaining target passenger position information according to the density of each piece of remaining target passenger position information; and determining redundant device position information according to the position information of each residual target passenger and the corresponding weight.
According to an embodiment of the present invention, the positioning device for a train further includes: a setup module (not shown in the figures). The setting module is used for setting the frequency of sending the passenger position information by each mobile terminal according to the number change of the mobile terminals accessing the passenger internet system.
According to an embodiment of the present invention, the positioning device for a train further includes: a sending module (not shown in the figure). The sending module is used for sending the received carrier phase differential signals to a mobile terminal and vehicle-mounted positioning resolving equipment which are accessed to a passenger internet system respectively.
It should be noted that the explanation of the embodiment of the train positioning method is also applicable to the train positioning device of this embodiment, and is not repeated here.
According to the positioning device for the train, provided by the embodiment of the invention, the passenger position information sent by the mobile terminal accessed to the passenger internet system and the positioning equipment position information sent by the vehicle-mounted positioning resolving equipment can be obtained through the obtaining module, and the position of the train is determined through the determining module according to the passenger position information and the positioning equipment position information. Therefore, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively guaranteed, the cost is low, and the method is simple and easy to realize.
As shown in fig. 7, the embodiment of the present invention provides a vehicle 20, and the vehicle 20 includes the positioning device 10 of the train.
According to the vehicle provided by the embodiment of the invention, the existing public resources are reasonably utilized, so that the position of the train can be determined according to the passenger position information when the position information of the positioning equipment fails, the accuracy and the reliability of train position confirmation are effectively ensured, the cost is low, and the method is simple and easy to implement.
An embodiment of the present invention provides an electronic device, including: the positioning method of the train is realized when the processor executes the program.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the above-mentioned method for positioning a train.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. A method of locating a train, comprising:
the method comprises the steps of obtaining passenger position information sent by a mobile terminal accessed to a passenger internet system and positioning equipment position information sent by vehicle-mounted positioning resolving equipment;
and determining the position of the train according to the passenger position information and the positioning equipment position information.
2. The method of claim 1, wherein determining the location of the train based on the passenger location information and the locating device location information comprises:
judging whether the passenger position information is target passenger position information or not;
and determining the position of the train according to the position information of the target passenger and the position information of the positioning equipment.
3. The method of claim 2, wherein the determining whether the passenger position information is target passenger position information comprises:
acquiring the intensity of a wireless signal sent by the mobile terminal accessed to the passenger internet system;
and determining the passenger position information sent by the mobile terminal with the wireless signal intensity greater than a preset intensity threshold value and/or the mobile terminal with the wireless signal intensity with the variation value smaller than a preset intensity variation threshold value as the target passenger position information.
4. The method according to claim 2, wherein the target passenger position information is plural, and the determining the position of the train according to the target passenger position information and the positioning device position information comprises:
determining redundant device location information based on a plurality of the target passenger location information;
and determining the position of the train according to the position information of the redundant equipment and the position information of the positioning equipment.
5. The method of claim 4, wherein said determining redundant device location information from a plurality of said target passenger location information comprises:
setting corresponding weight for each piece of target passenger position information according to the density of each piece of target passenger position information;
and determining the redundant equipment position information according to the position information of each target passenger and the corresponding weight.
6. The method of claim 4, wherein said determining redundant device location information from a plurality of said target passenger location information comprises:
determining the transverse distance and the longitudinal distance of the corresponding mobile terminal relative to the center point of the train according to the position information of the target passenger;
removing the position information of the target passenger corresponding to the mobile terminal with the maximum and minimum transverse distances and the mobile terminal with the maximum and minimum longitudinal distances;
setting corresponding weight for each remaining target passenger position information according to the density of each remaining target passenger position information;
and determining the redundant equipment position information according to the position information of each residual target passenger and the corresponding weight.
7. The positioning method according to claim 1, further comprising:
and setting the frequency of sending the passenger position information by each mobile terminal according to the number change of the mobile terminals accessed to the passenger internet system.
8. The positioning method according to claim 1, further comprising:
and respectively sending the received carrier phase differential signals to the mobile terminal accessed to the passenger internet system and the vehicle-mounted positioning resolving equipment.
9. A positioning device for a train, comprising:
the acquisition module is used for acquiring passenger position information sent by a mobile terminal accessed to a passenger internet system and positioning equipment position information sent by vehicle-mounted positioning resolving equipment;
and the determining module is used for determining the position of the train according to the passenger position information and the positioning equipment position information.
10. A vehicle, characterized by comprising: the train positioning apparatus of claim 9.
11. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing a method of locating a train according to any one of claims 1 to 8 when executing the program.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is characterized by carrying out a method of positioning a train according to any one of claims 1 to 8.
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| CN201910811991.4A CN112519834A (en) | 2019-08-30 | 2019-08-30 | Vehicle and train positioning method and device |
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| CN201910811991.4A CN112519834A (en) | 2019-08-30 | 2019-08-30 | Vehicle and train positioning method and device |
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