阅读说明：本技术 轨交列车实时位置转换方法、存储介质和系统 (Rail transit train real-time position conversion method, storage medium and system ) 是由 朱永辉 梁霄 袁魁 吴莹莹 李国龙 于 2021-06-25 设计创作，主要内容包括：本发明公开了一种轨交列车实时位置转换方法、存储介质和系统,包括：采集采样点GNSS位置信息建立轨道线路的GNSS数据库；根据GNSS数据库和轨交列车车载定位系统的轨道线路拓扑结构建立专有定位数据库；将列车实时GNSS位置与专有定位数据库中采样点进行匹配,获得匹配采样点,搜索所述专有定位数据库通过所述采样点获得轨交列车实时所在轨道区段编号,并根据轨交列车位置误差计算其所在轨道区段实际的偏移里程数。本发明不依赖从传统轨旁设备和车载定位设备进行定位,在车载设备发生故障时利用GNSS提供轨交列车的准确位置信息,定位精度不受轨交列车运行过程中的打滑或空转等问题影响,能提高轨交列车系统的鲁棒性和适应性,保证轨交列车定位系统的稳定运行。(The invention discloses a rail transit train real-time position conversion method, a storage medium and a system, which comprise the following steps: collecting sampling point GNSS position information to establish a GNSS database of a track circuit; establishing a special positioning database according to the GNSS database and a track circuit topological structure of a rail transit train vehicle-mounted positioning system; matching the real-time GNSS position of the train with the sampling points in the special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of the track section where the rail transit train is located in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is located according to the position error of the rail transit train. The invention does not rely on the positioning from the traditional trackside equipment and the vehicle-mounted positioning equipment, provides the accurate position information of the rail-to-train by utilizing the GNSS when the vehicle-mounted equipment fails, has positioning precision not influenced by the problems of slipping or idling and the like in the running process of the rail-to-train, can improve the robustness and the adaptability of the rail-to-train system, and ensures the stable running of the rail-to-train positioning system.)

1. A rail transit train real-time position conversion method is characterized by comprising the following steps:

s1, collecting sampling point GNSS position information on the track line, and establishing a GNSS database of the track line;

s2, establishing a special positioning database according to the GNSS database and the track circuit topological structure of the rail transit train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of a track section where the rail transit train is located in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is located according to the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

2. The rail transit train real-time position conversion method according to claim 1, characterized in that: the GNSS location information of the sampling points runs from the starting point of the track to the end point of the track at a specified speed through the rail transit train at a constant speed, and the GNSS location system performs uniform sampling along the track at a specified frequency to obtain the GNSS location information.

3. The rail transit train real-time position conversion method according to claim 2, characterized in that: and sampling specified key points, line starting points and/or line terminal points on the track line for multiple times, and taking the average value of the multiple sampling as the position information of sampling points.

4. The rail transit train real-time position conversion method according to claim 1, characterized in that: obtaining matched sampling points by adopting the following method;

starting iterative search from the track starting point in the special positioning database sampling point set in the running direction of the rail transit train, and ending the search to the track end point;

and calculating Euclidean distances between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.

5. A computer readable storage medium for performing the steps of the rail transit train real-time position conversion method of any one of claims 1 to 4.

6. A rail transit train real-time position conversion system, comprising:

the sampling module is used for collecting GNSS position information of sampling points on the track line;

a GNSS database for storing GNSS location information for the sampling points;

the special positioning database is established according to the GNSS database and the track line topological structure of the rail transit train vehicle-mounted positioning system, and the special positioning database stores the track line topological structure and comprises the following components: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

the matching module is used for matching the real-time GNSS position of the train with the sampling point in the special positioning database to obtain a matching sampling point;

the searching module is used for searching the special positioning database to obtain the track section number of the rail transit train in real time through the sampling point;

the calculation module is used for calculating the actual offset mileage of the track section where the rail transit train is located according to the number of the track section where the rail transit train is located in real time and the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

7. The rail transit train real-time position conversion system according to claim 6, characterized in that: the GNSS location information of the sampling points runs from the starting point of the track to the end point of the track at a specified speed through the rail transit train at a constant speed, and the GNSS location system performs uniform sampling along the track at a specified frequency to obtain the GNSS location information.

8. The rail transit train real-time position conversion system according to claim 6, characterized in that: and sampling specified key points, line starting points and/or line terminal points on the track line for multiple times, and taking the average value of the multiple sampling as the position information of sampling points.

9. The rail transit train real-time position conversion system according to claim 6, characterized in that: the matching module obtains matching sampling points in the following mode;

starting iterative search from the track starting point in the special positioning database sampling point set in the running direction of the rail transit train, and ending the search to the track end point;

and calculating Euclidean distances between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.

Technical Field

The invention relates to the field of rail transit, in particular to a rail transit train real-time position conversion method. A computer readable storage medium for performing the steps in the rail transit train real-time position conversion method; and a rail transit train real-time position conversion system.

Background

In a rail transit driving safety and command system, rail transit train positioning is a key technology. The rail transit train positioning is to accurately grasp key information such as the actual geographic position of the rail transit train on an operation line in real time through the existing technical equipment, and can transmit the position information of the rail transit train to a rail transit command and control terminal through a transmission medium in real time. The rail-to-train positioning technology can provide basic data of the rail-to-train position for the rail-to-train automatic control technology, is the basis of the rail-to-train automatic control technology, and the accurate positioning of the rail-to-train position directly determines the accurate realization of the rail-to-train automatic control function.

The existing rail transit train position representation method mainly adopts a positioning technology based on a rail circuit or a beacon and a traditional vehicle-mounted positioning technology. The rail-to-rail train positioning technology based on the track circuit mainly adopts steel rails and lead wires for connection operation, and then utilizes the circuit structure to send and receive signals to reflect the running condition and the vehicle position of the rail-to-rail train. In addition, the beacon positioning technology realizes effective information transmission and feedback for rail transit trains by means of active beacons and passive beacons, but the positioning technology has high requirements on the accuracy of beacon installation. The traditional vehicle-mounted positioning technology mainly generates corresponding pulses by means of corresponding photoelectric sensors, codes the pulses by combining the wheel movement of the rail-crossing train to obtain the speed and distance numerical values of the rail-crossing train, but the accumulated error caused by the technology is larger and larger along with the increase of the travel mileage, the interference on the final positioning effect and precision is also caused by the slipping or idling problem in the operation process of the rail-crossing train, and the positioning error is increased.

In the prior art, the chinese patent application with application number CN201410668045.6 uses a beacon database and a switch database containing track numbers and offset mileage to realize the position indication of a rail transit train, and this special rail transit positioning method can realize the efficient positioning of the rail transit train, but the technique relies on an accurate beacon device, and the installation and maintenance costs are high. Therefore, how to combine the general positioning technology with the special rail transit positioning method to solve the problem of position representation conversion of rail transit trains and improve the positioning efficiency and accuracy of the rail transit trains becomes an important subject in the field of rail transit at home and abroad.

Disclosure of Invention

In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The invention aims to provide a rail transit train real-time position conversion method which can realize position representation conversion of a general positioning method and a rail transit special positioning method.

Correspondingly, the invention also provides a computer readable storage medium for executing the steps in the rail transit train real-time position conversion method; and a rail transit train real-time position conversion system.

In order to solve the technical problem, the rail transit train real-time position conversion method provided by the invention comprises the following steps:

s1, collecting sampling point GNSS position information on the track line, and establishing a GNSS database of the track line;

s2, establishing a special positioning database according to the GNSS database and the track circuit topological structure of the rail transit train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of a track section where the rail transit train is located in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is located according to the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

Optionally, the method for converting the real-time position of the rail transit train is further improved, the GNSS position information of the sampling point is obtained by uniformly sampling the rail transit train carrying the GNSS system at a specified frequency along the track line from the start point of the track to the end point of the track at a specified speed.

Optionally, the method for converting the real-time position of the rail transit train is further improved, and multiple sampling is performed on a specified key point, a route starting point and/or a route ending point on a track route, and a multiple sampling mean value is used as sampling point position information, wherein the sampling point position information comprises longitude and latitude of a sampling point.

Optionally, the rail transit train real-time position conversion method is further improved, and the matching sampling points are obtained in the following mode;

starting iterative search from the track starting point in the special positioning database sampling point set in the running direction of the rail transit train, and ending the search to the track end point;

and calculating Euclidean distances between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.

To solve the above technical problem, the present invention provides a computer-readable storage medium for executing the steps of the rail transit train real-time position conversion method described in any one of the above.

In order to solve the above technical problem, the present invention provides a rail transit train real-time position conversion system, which includes:

the sampling module is used for collecting GNSS position information of sampling points on the track line;

a GNSS database for storing GNSS location information for the sampling points;

the special positioning database is established according to the GNSS database and the track line topological structure of the rail transit train vehicle-mounted positioning system, and the special positioning database stores the track line topological structure and comprises the following components: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

the matching module is used for matching the real-time GNSS position of the train with the sampling point in the special positioning database to obtain a matching sampling point;

the searching module is used for searching the special positioning database to obtain the track section number of the rail transit train in real time through the sampling point;

the calculation module is used for calculating the actual offset mileage of the track section where the rail transit train is located according to the number of the track section where the rail transit train is located in real time and the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

Optionally, the system for converting the real-time position of the rail transit train is further improved, the GNSS position information of the sampling point is obtained by uniformly sampling the GNSS position information of the sampling point along the track line at a designated frequency by the rail transit train from the start point of the track to the end point of the track at a designated speed.

Optionally, the rail transit train real-time position conversion system is further improved, multiple sampling is carried out on the specified key point, the line starting point and/or the line terminal point on the track line, and the average value of the multiple sampling is used as the position information of the sampling point.

Optionally, the rail transit train real-time position conversion system is further improved, and the matching module obtains matching sampling points in the following mode;

starting iterative search from the track starting point in the special positioning database sampling point set in the running direction of the rail transit train, and ending the search to the track end point;

and calculating Euclidean distances between the current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point.

The method and the device establish the GNSS database of the track line by collecting the GNSS position information of the sampling points on the track line, and establish the special positioning database of the rail transit train by combining the line topology format of the vehicle-mounted positioning system, thereby realizing the accurate positioning of the rail transit train. Compared with the prior art, the method has the following beneficial effects:

according to the invention, the position information provided by the GNSS positioning system is mapped into the special data adapting to the vehicle-mounted system line topology format, so that the problem of position representation conversion between the GNSS positioning technology and the special rail transit positioning system can be solved, the high-efficiency processing of the line information is realized, and the safety of the rail transit train system is improved; the invention is not restricted by the type of the track, and can adapt to the curve of the rail transit train or other road conditions; the invention does not rely on the positioning from the traditional trackside equipment and the vehicle-mounted positioning equipment, provides the accurate position information of the rail-to-train by utilizing the GNSS when the vehicle-mounted equipment fails, has positioning precision not influenced by the problems of slipping or idling and the like in the running process of the rail-to-train, can improve the robustness and the adaptability of the rail-to-train system, and ensures the stable running of the rail-to-train positioning system.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:

fig. 1 is a schematic flow chart of the rail transit train real-time position conversion method of the invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.

A first embodiment;

as shown in fig. 1, the present invention provides a rail transit train real-time position conversion method, which comprises the following steps:

s1, collecting sampling point GNSS position information on the track line, and establishing a GNSS database of the track line;

s2, establishing a special positioning database according to the GNSS database and the track circuit topological structure of the rail transit train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

s3, matching the real-time GNSS position of the train with sampling points in a special positioning database to obtain matched sampling points, searching the special positioning database to obtain the number of a track section where the rail transit train is located in real time through the sampling points, and calculating the actual offset mileage of the track section where the rail transit train is located according to the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

A second embodiment;

s1, enabling a rail transit train carrying a GNSS system on a rail line to run at a constant speed from a line starting point to a line terminal point at a low speed (for example, the speed per hour is lower than 20KM), enabling the GNSS positioning system to perform uniform sampling along the rail line at a certain frequency, performing multiple sampling on key nodes in the rail line, storing the average value of sampling points of all key nodes in the acquired rail line as key node sampling data into a database, and acquiring GNSS position information of sampling points, wherein the number of the sampling points of the key nodes stored in the database is assumed to be n1, and the total number of the sampling points of the line is n; storing GNSS position information of n sampling points into a field 1 of a database, wherein the position information of the field 1 comprises longitude and latitude of the sampling points to establish a GNSS database of an orbit line;

s2, establishing a special positioning database according to the GNSS database and the track circuit topological structure of the rail transit train vehicle-mounted positioning system, wherein the special positioning database comprises: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

exemplary, proprietary positioning database segment compositions are shown in table 1;

TABLE 1

Name of field	Field 1	Field 2	Field 3
				Field element	GNSS longitude and GNSS latitude	Number of track section	Deviation of section from mileage

The number of the section to which the sampling point belongs represents the address of the section where the sampling point is located, and the deviation mileage of the section is the track distance from the sampling point to the starting point of the line section;

further, the process of establishing the proprietary location database is as follows;

setting N line nodes in a sampling point set in a GNSS database, and dividing a line into N-1 sections according to key nodes in a collected line, a line starting point and a line ending point, wherein the nodes comprise the line starting point, the line ending point and N-2 key nodes;

calculating the offset mileage of the track section of the rail transit train along the running direction based on the sampling points

Assuming that a point k is any point on the link, the GNSS location information of the point k is (lngk, latk), where lngk represents the longitude of the point k, and latk represents the latitude of the point k. After converting the position information into the radian measure, the GNSS position information at the point k can be represented as (radlngk, radlatk), the GNSS position information at the start point of the line can be represented as (radlng1, radlat1), and the GNSS position information at the end point of the line can be represented as (radlngn, radlatn). When the scale of the sampling point is large enough, the track between adjacent sampling points can be regarded as a straight line, so the track distance calculation formula of the point k and the adjacent point k-1 is as follows:

where k ≧ 2, point k is located in the P-th segment of the line. Suppose that the P-th segment of the line is numbered k_edgeThe starting point of the located sector along the moving direction of the rail vehicle is point p, and the GNSS position information of point p is (radlngp, radlatp). Assuming that the track distance between the point k (radlngk, radlatk) and the starting point P (radlngp, radlatp) of the P-th section of the track along the running direction of the rail train is dkp mileage of the point k, d_kpCan be regarded as the accumulation of the track distance between two adjacent sampling points, so that the offset mileage d of the point k_kpThe calculation formula is as follows:

d_kp＝d_kk-1+d_k-1k-2+d_k-2k-3+…d_p+1p

numbering the sections of the sampling point set_edgeAnd storing the offset mileage D of the sampling point set into a field 2 of the database and storing the offset mileage D of the sampling point set into a field 3 of the database.

S3, matching the real-time GNSS position information in the rail transit train running process with field 1 of a sampling point set in a special positioning database, and calculating an expected matching point by utilizing the GNSS longitude and latitude; searching a special positioning database, indexing the track section number of the track cross train and the actual offset mileage number of the track section of the track cross train by the longitude and latitude information of the expected matching point, and realizing the position conversion of the track cross train by exemplarily realizing the following steps:

in the running direction of the rail transit train, iterative search is started from the track starting point in the special positioning database sampling point set, and the search is ended to find an expected matching point. Assuming that the position of the rail-crossing train is represented by a point j, the position information of the point j is converted into a radian system and then can be represented as (radlngj, radlatj). The sampling point set in the special positioning database is A ═ a₁,a₂,...,a_i,...,a_n}. The calculation formula of the Euclidean distance e between the current position point j of the rail transit train and the sampling point ai is as follows:

so that the desired matching point a^*The calculation formula is as follows:

e^*＝min{e_j1,e_j2,…,e_ji,…,e_jn}

wherein e is^*The corresponding sampling point of the proprietary locating database is an expected matching point a^*，e^*It represents a position error between the rail transit train real-time position and the desired match point.

The longitude and latitude information of the expected matching point obtained in the step of searching the special positioning database is obtained, and further the track section number a of the track train is obtained^* _edgeActual deviation mileage of track section where train for passing with track is locatedActual deviation mileage of track section where track-crossing train is locatedThe calculation formula is as follows:

wherein the content of the first and second substances,offset mileage of the track section where the desired matching point is located, e^*Is the position error between the rail transit train position and the desired match point.

A third embodiment;

the present invention provides a computer-readable storage medium for the steps of the rail transit train real-time position conversion method according to any one of the first embodiment and the second embodiment.

A fourth embodiment;

the invention provides a rail transit train real-time position conversion system, which comprises:

the sampling module is used for collecting GNSS position information of sampling points on the track line;

a GNSS database for storing GNSS location information for the sampling points;

the special positioning database is established according to the GNSS database and the track line topological structure of the rail transit train vehicle-mounted positioning system, and the special positioning database stores the track line topological structure and comprises the following components: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

the matching module is used for matching the real-time GNSS position of the train with the sampling point in the special positioning database to obtain a matching sampling point;

the searching module is used for searching the special positioning database to obtain the track section number of the rail transit train in real time through the sampling point;

the calculation module is used for calculating the actual offset mileage of the track section where the rail transit train is located according to the number of the track section where the rail transit train is located in real time and the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

A fifth embodiment;

the invention provides a rail transit train real-time position conversion system, which comprises:

the sampling module is used for collecting GNSS position information of sampling points on the track line; the GNSS location information of the sampling point runs from the starting point of the line to the end point of the line at a specified speed through the rail transit train at a specified speed, the GNSS location system performs uniform sampling along the track line at a specified frequency, performs multiple sampling on a specified key point, the starting point of the line and/or the end point of the line on the track line, and takes the average value of the multiple sampling as the location information of the sampling point.

A GNSS database for storing GNSS location information for the sampling points;

the special positioning database is established according to the GNSS database and the track line topological structure of the rail transit train vehicle-mounted positioning system, and the special positioning database stores the track line topological structure and comprises the following components: the GNSS position of the sampling point, the number of the track section where the sampling point is located and the offset mileage of the track section where the sampling point is located;

the matching module is used for matching the real-time GNSS position of the train with the sampling point in the special positioning database to obtain a matching sampling point; the matching module obtains matching sampling points in the following mode;

starting iterative search from the track starting point in the special positioning database sampling point set in the running direction of the rail transit train, and ending the search to the track end point;

calculating Euclidean distances between a current position point of the rail transit train and each sampling point, wherein the sampling point with the minimum Euclidean distance is used as a matching sampling point;

the searching module is used for searching the special positioning database to obtain the track section number of the rail transit train in real time through the sampling point;

the calculation module is used for calculating the actual offset mileage of the track section where the rail transit train is located according to the number of the track section where the rail transit train is located in real time and the position error of the rail transit train;

and the offset mileage is the track distance from the sampling point to the starting point of the line section.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.