一种列车定位监控系统、方法和存储介质

Train positioning monitoring system, method and storage medium

文档序号：1179 发布日期：2021-09-17 浏览：70次中文

1. A train positioning monitoring system, the system comprising: the positioning assembly is arranged on the train, and the monitoring assembly is arranged on the monitoring platform; wherein the content of the first and second substances,

the positioning component is used for obtaining satellite signals; judging whether the satellite signal meets a first preset condition or not; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train;

the monitoring component is used for acquiring the first positioning information or the second positioning information; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map.

2. The system of claim 1, wherein the positioning assembly comprises a positioning module, a sensor module, an inertial navigation module, and a processing module; the processing module is electrically connected with the positioning module, the sensor module and the inertial navigation module respectively; wherein the content of the first and second substances,

The positioning module is used for receiving the satellite signals;

the inertial navigation module is used for outputting second motion information of the train;

the sensor module is used for outputting third motion information of the train;

the processing module is used for determining the number of observation satellites to which the satellite signals belong based on the satellite signals; judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not; under the condition that the number of the observation satellites is larger than or equal to the preset threshold value, determining first motion information of the train based on the satellite signals, and determining first positioning information of the train according to the first motion information and the second motion information; and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second positioning information of the train according to the third motion information and the second motion information.

3. The system of claim 2,

the processing module is further configured to determine first motion information of the train based on the satellite signal under the condition that the number of the observation satellites is greater than or equal to the preset threshold, determine first motion error information according to the first motion information and the second motion information, correct the second motion information based on the first motion error information, and determine first positioning information of the train; and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, and determining second positioning information of the train.

4. The system of claim 2 or 3, wherein the positioning assembly further comprises: the communication module is respectively connected with the positioning module, the processing module and the monitoring assembly;

the communication module is used for receiving the satellite signal and sending the satellite signal to the positioning module; and sending the first positioning information or the second positioning information determined by the processing module to the monitoring component.

5. The system of claim 4, wherein the monitoring component comprises: the system comprises a database module, a management module and a display module; the management module is electrically connected with the database module and the display module respectively; wherein the content of the first and second substances,

the database module is used for receiving the first positioning information or the second positioning information; storing the first positioning information or the second positioning information;

the management module is used for acquiring login information of a user and sending query information to the data module based on the login information; receiving positioning information sent by the database module based on the query information, and determining running information of the train based on the positioning information; respectively transmitting the driving information to the database module and the display module;

The display module is used for obtaining the running information of the train and displaying the running information on a preset map.

6. The system of claim 5, further comprising: the early warning component is electrically connected with the database module and the display module respectively;

the early warning component is used for sending a first query request to the database module; receiving the running information of the train sent by the database module based on the first query request, and judging whether the related parameters of the train meet a second preset condition based on the running information; and respectively sending early warning reminding information to the display module and the database module under the condition that the related parameters do not meet the second preset condition.

7. The system of claim 6, wherein the early warning component comprises a distance early warning module, a speed early warning module, and a position early warning module; wherein the content of the first and second substances,

the distance early warning module is used for receiving the distance between the train and the adjacent train on the same track sent by the database module based on the first query request and judging whether the distance is smaller than or equal to a preset warning distance or not; under the condition that the distance is larger than the preset alarm distance, first early warning reminding information is respectively sent to the display module and the database module;

The speed early warning module is used for receiving the speed of the train sent by the database module based on the first query request and judging whether the speed is within a preset speed range; under the condition that the speed is not within the preset speed range, second early warning reminding information is respectively sent to the display module and the database module;

the position early warning module is used for receiving the parking position of the train sent by the database module based on the first query request and judging whether the parking position is in a preset parking area; and under the condition that the parking position is not in the preset parking area, respectively sending third early warning reminding information to the display module and the database module.

8. The system of claim 5, wherein the database modules include a first database module, a second database module, and a third database module; the first database module is connected with the communication module; wherein the content of the first and second substances,

the first database module is used for receiving a second query request sent by the management module; inquiring the first positioning information or the second positioning information based on the second inquiry request, obtaining a positioning inquiry result, and sending the positioning inquiry result to the management module;

The second database module is used for receiving the train editing information input by the management module; storing the train editing information;

the third database module is used for receiving the early warning reminding information sent by the early warning component; storing the early warning reminding information; and receiving a third query request sent by the management module, querying the early warning reminding information based on the third query request, obtaining an early warning reminding information query result, and sending the early warning reminding information query to the management module.

9. The system of claim 8, wherein the management module comprises a first query module, an edit module, and a second query module; wherein the content of the first and second substances,

the first query module is used for obtaining login information of a user, sending the second query request to the first database module based on the login information, and receiving the positioning query result sent by the first database module; sending the positioning query result to the display module;

the editing module is used for inputting train editing information and sending the train editing information to the second database module;

the second query module is used for sending a third query request to the third database module; receiving the early warning reminding information query result sent by the third database module; and sending the early warning reminding information inquiry result to the display module.

10. The system of claim 9, wherein the display modules comprise a first display module, a second display module, and a third display module; wherein the content of the first and second substances,

the first display module is configured to receive the positioning query result sent by the first query module, and display current information of the train on the preset map based on the positioning query result;

the second display module is used for receiving the positioning query result sent by the first query module and displaying the historical information of the train on the preset map based on the positioning query result;

and the third display module is used for receiving the early warning reminding information sent by the early warning assembly and displaying the early warning information of the train on the preset map based on the early warning reminding information.

11. A train positioning monitoring method, which is applied to the train positioning monitoring system according to any one of claims 1 to 10; the method comprises the following steps:

obtaining a satellite signal; judging whether the satellite signal meets a first preset condition or not;

under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train;

Under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train;

determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map.

12. The method of claim 11, wherein the determining whether the satellite signal satisfies a first predetermined condition; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train, wherein the method comprises the following steps:

determining the number of observation satellites to which the satellite signals belong based on the satellite signals;

Judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not;

under the condition that the number of the observation satellites is larger than or equal to the preset threshold value, determining first motion information of the train based on the satellite signals, and determining first positioning information of the train according to the first motion information and the second motion information;

and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second positioning information of the train according to the third motion information and the second motion information.

13. The method of claim 12, wherein said determining first motion information of said train based on said satellite signals in case said number of observed satellites is greater than or equal to said preset threshold, determining first positioning information of said train from said first motion information and said second motion information comprises:

and under the condition that the number of the observed satellites is larger than or equal to the preset threshold value, determining first motion information of the train based on the satellite signals, determining first motion error information according to the first motion information and the second motion information, correcting the second motion information based on the first motion error information, and determining first positioning information of the train.

14. The method of claim 13, wherein said determining second positioning information for said train based on said third motion information and said second motion information if said number of observed satellites is less than said preset threshold comprises:

and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, and determining second positioning information of the train.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 11 to 14.

Background

With the continuous increase of the running speed of trains in China, the requirements of the national railway department on the railway running safety are also continuously increased. In order to meet the requirement of high-efficiency and safe operation of high-speed railways in China, a train control system with more advanced technology becomes a necessary approach. Train positioning is one of key technologies in a train control system, is a basis for guaranteeing safe operation of a train, and provides train position information for an Automatic Train Protection (ATP) system in the train control system. The vehicle-mounted ATP calculates the safe separation distance of the train according to the position, speed and other information of the train and generates a corresponding speed control curve, guides a driver to carry out operations such as acceleration, deceleration, stopping and the like, monitors the running speed of the train in real time, and outputs alarm or brake when the speed of the train exceeds the allowable speed, so that the safety accidents such as collision, fork squeezing, rear-end collision and the like of the train are prevented.

The CTCS-3 grade train control system is adopted for the railways with the Chinese high-speed rail above 300-350 km/h, the system adopts a ground transponder to assist a wheel sensor to acquire the position information state of the train, and a track circuit is utilized to realize the train occupancy check. However, the train positioning mode causes the defects of large workload of ground equipment maintenance, higher cost of vehicle-mounted equipment and the like. In addition to the above problems, the current train control system only records the position of the train through mileage, ignores the topographic features along the railway, and cannot visually reflect important related infrastructure around the train. This results in railway managers not knowing the characteristics of buildings and geological environments along the railway, which is not conducive to quickly making a suitable rescue plan when the train breaks down or the railway is affected by a disaster. In addition, when the distance between the current rear trains exceeds the safe distance or the running speed of the trains is lower than the designed value, the current system cannot give early warning in time, which brings hidden danger to the safe running of the trains. No effective solution to this problem exists.

Disclosure of Invention

In order to solve the existing technical problem, embodiments of the present invention provide a train positioning monitoring system, method and storage medium.

In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:

the embodiment of the invention provides a train positioning monitoring system, which comprises: the positioning assembly is arranged on the train, and the monitoring assembly is arranged on the monitoring platform; wherein the content of the first and second substances,

In the above scheme, the positioning assembly comprises a positioning module, a sensor module, an inertial navigation module and a processing module; the processing module is electrically connected with the positioning module, the sensor module and the inertial navigation module respectively; wherein the content of the first and second substances,

the positioning module is used for receiving the satellite signals;

the inertial navigation module is used for outputting second motion information of the train;

the sensor module is used for outputting third motion information of the train;

In the above scheme, the processing module is further configured to determine first motion information of the train based on the satellite signal, determine first motion error information according to the first motion information and the second motion information, correct the second motion information based on the first motion error information, and determine first positioning information of the train when the number of observed satellites is greater than or equal to the preset threshold; and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, and determining second positioning information of the train.

In the above aspect, the positioning assembly further includes: the communication module is respectively connected with the positioning module, the processing module and the monitoring assembly;

In the above aspect, the monitoring component includes: the system comprises a database module, a management module and a display module; the management module is electrically connected with the database module and the display module respectively; wherein the content of the first and second substances,

the database module is used for receiving the first positioning information or the second positioning information; storing the first positioning information or the second positioning information;

The display module is used for obtaining the running information of the train and displaying the running information on a preset map.

In the above solution, the system further includes: the early warning component is electrically connected with the database module and the display module respectively;

In the scheme, the early warning assembly comprises a distance early warning module, a speed early warning module and a position early warning module; wherein the content of the first and second substances,

In the above scheme, the database module includes a first database module, a second database module and a third database module; the first database module is connected with the communication module; wherein the content of the first and second substances,

The second database module is used for receiving the train editing information input by the management module; storing the train editing information;

In the above scheme, the management module includes a first query module, an editing module and a second query module; wherein the content of the first and second substances,

the editing module is used for inputting train editing information and sending the train editing information to the second database module;

In the above solution, the display module includes a first display module, a second display module and a third display module; wherein the content of the first and second substances,

The embodiment of the invention provides a train positioning monitoring method, which is applied to the train positioning monitoring system; the method comprises the following steps:

obtaining a satellite signal; judging whether the satellite signal meets a first preset condition or not;

determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map.

In the above scheme, the judging whether the satellite signal meets a first preset condition is performed; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train, wherein the method comprises the following steps:

determining the number of observation satellites to which the satellite signals belong based on the satellite signals;

judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not;

Under the condition that the number of the observation satellites is larger than or equal to the preset threshold value, determining first motion information of the train based on the satellite signals, and determining first positioning information of the train according to the first motion information and the second motion information;

In the foregoing solution, the determining first motion information of the train based on the satellite signal and determining first positioning information of the train according to the first motion information and the second motion information when the number of the observation satellites is greater than or equal to the preset threshold includes:

In the foregoing solution, determining second positioning information of the train according to the third motion information and the second motion information when the number of the observed satellites is smaller than the preset threshold includes:

The invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, performs any of the steps of the method described above.

The embodiment of the invention provides a train positioning monitoring system, a train positioning monitoring method and a storage medium, wherein the train positioning monitoring system comprises: the positioning assembly is arranged on the train, and the monitoring assembly is arranged on the monitoring platform; wherein the positioning component is used for obtaining satellite signals; judging whether the satellite signal meets a first preset condition or not; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train; the monitoring component is used for acquiring the first positioning information or the second positioning information; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map. By adopting the technical scheme of the embodiment of the invention, under the condition that the satellite signal meets the first preset condition, the first motion information of the train is determined based on the satellite signal, and the first positioning information of the train is determined according to the first motion information and the second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map to realize combined positioning in different modes, wherein the positioning precision is higher; and the topographic features along the line are visually displayed, and the railway management department is facilitated to manage and maintain the railway and make more comprehensive train rescue measures.

Drawings

Fig. 1 is a schematic diagram of a train positioning monitoring system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of another train positioning monitoring system provided in the embodiment of the present invention;

fig. 3 is a schematic diagram of another train positioning and monitoring system provided in the embodiment of the present invention;

fig. 4 is a schematic diagram of another train positioning monitoring system provided in the embodiment of the present invention;

fig. 5 is a schematic diagram of another train positioning and monitoring system provided in the embodiment of the present invention;

fig. 6 is a schematic view of an application scenario of a train positioning and monitoring system according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a display module in a train positioning monitoring system showing train running information according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a display module in a train positioning monitoring system showing a text early warning according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a display module in a train positioning monitoring system showing a historical travel track of a train according to an embodiment of the present invention;

fig. 10 is a schematic flow chart illustrating an implementation of a train positioning monitoring method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes specific technical solutions of the present invention in further detail with reference to the accompanying drawings in the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The embodiment of the invention provides a train positioning monitoring system, and fig. 1 is a schematic diagram of the train positioning monitoring system provided by the embodiment of the invention; fig. 2 is a schematic diagram of another train positioning monitoring system provided in the embodiment of the present invention; fig. 3 is a schematic diagram of another train positioning and monitoring system provided in the embodiment of the present invention; fig. 4 is a schematic diagram of another train positioning monitoring system provided in the embodiment of the present invention; fig. 5 is a schematic diagram of another train positioning and monitoring system provided in the embodiment of the present invention; as described below in conjunction with fig. 1, 2, 3, 4, and 5, the system 10 includes: a positioning component 101 arranged on the train and a monitoring component 102 arranged on a monitoring platform; wherein the content of the first and second substances,

the positioning component 101 is used for obtaining satellite signals; judging whether the satellite signal meets a first preset condition or not; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train;

The monitoring component 102 is configured to obtain the first positioning information or the second positioning information; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map.

It should be noted that, in the embodiment of the present invention, a train positioning monitoring system may be a combined train positioning monitoring system, and specifically, may be a train positioning monitoring system based on a combination of multiple sensors and a high-precision map.

The monitoring platform can be a networked computer of a monitoring center; the monitoring component arranged on the monitoring platform can be a monitoring component arranged on a networked computer of the monitoring center.

The satellite signals include at least GNSS satellite signals and differential signals. Judging whether the satellite signal meets a first preset condition or not; the first preset condition may be a positioning condition of a satellite signal; the positioning condition represents the strength of the satellite signal; in practical application, the strength of the satellite signal can be represented by the number of observation satellites to which the satellite signal belongs, and the more the number of general satellites is, the stronger the satellite signal is; the fewer the number of satellites, the weaker the satellite signal;

Under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, determining first positioning information of the train according to the first motion information and second motion information of the train, wherein the first positioning information of the train can be determined based on the satellite signal under the condition that the satellite signal represents that the satellite signal is strong, and determining first positioning information of the train according to the first motion information and the second motion information of the train; the satellite signal representing the satellite signal strength can be understood as that the satellite signal is better or better, and can be continuously positioned; the first motion information may include at least first position information, first velocity information. As an example, the first location information may be a three-dimensional location of the train at different times and a median error; the first speed information can be three-dimensional movement speed and a medium error; determining first motion information of the train based on the satellite signal can be calculating three-dimensional positions, medium errors, three-dimensional motion speeds and medium errors of the train at different times through cycle slip detection and restoration, integer ambiguity fixation and dynamic relative positioning processes according to a distance observation value, a carrier phase observation value, a navigation message and difference information in the satellite signal; the first positioning information can be real-time position information and speed information of trains at different times; the second motion information at least comprises second position information, second speed information and attitude information of the vehicle carrier; determining the first positioning information of the train according to the first motion information and the second motion information of the train may be determining error information according to the first motion information and the second motion information, and correcting the second motion information based on the error information to obtain corrected motion information, which is accurate positioning information. As an example, the satellite signal representing the strength of the satellite signal may be that the number of observation satellites to which the satellite signal belongs is greater than a preset threshold; the preset threshold may be determined according to an actual situation, and is not determined here, and as an example, the preset threshold may be 4.

Obtaining third motion information of the train under the condition that the number of the observation satellites is smaller than the preset threshold value, determining second positioning information of the train according to the third motion information and the obtained second motion information of the train, wherein the third motion information of the train can be obtained under the condition that the satellite signals represent that the satellite signals are weak, and determining the second positioning information of the train according to the third motion information and the obtained second motion information of the train; wherein, the satellite signal is characterized that the satellite signal is weak, which can be understood as that the satellite signal is not good or not good, and continuous positioning is not possible; the third motion information may include at least third speed information; the second positioning information can be real-time position information and speed information of the train at different times; determining the second positioning information of the train according to the third motion information and the obtained second motion information of the train may be determining error information according to the third motion information and the second motion information, and correcting the second motion information based on the error information to obtain corrected motion information, which is accurate positioning information. As an example, the satellite signal representing the satellite signal weakness may be that the number of observation satellites to which the satellite signal belongs is less than or equal to a preset threshold; the preset threshold may be determined according to an actual situation, and is not determined here, and as an example, the preset threshold may be 4.

Determining the running information of the train based on the first positioning information or the second positioning information, wherein the displaying of the running information on a preset map may be determining the running information of the train based on the first positioning information, and displaying the running information on the preset map; or determining the running information of the train based on the second positioning information, and displaying the running information on a preset map; determining running information of the train in real time according to different positioning modes, and displaying the running information on a preset map in real time; the preset map can be an electronic map; the electronic map can be a high-precision orthophotomap made by aerial photography along the road; as an example, the electronic map may be a high-precision rail electronic map, which may be a high-precision orthophotomap made by aerial photography along a railway, and marks important railway facilities such as rails, bridges, tunnels, stations, and the like, and also marks parking available areas with electronic fences; the running information at least comprises train name information, speed information, position information and track name information.

In an alternative embodiment of the present invention, the positioning assembly 101 includes a positioning module 1011, a sensor module 1012, an inertial navigation module 1013, and a processing module 1014; the processing module 1014 is electrically connected to the positioning module 1011, the sensor module 1012 and the inertial navigation module 1013, respectively; wherein the content of the first and second substances,

the positioning module 1011 is configured to receive the satellite signal;

the inertial navigation module 1013 is configured to output second motion information of the train;

the sensor module 1012 is configured to output third motion information of the train;

the processing module 1014 is configured to determine, based on the satellite signal, the number of observation satellites to which the satellite signal belongs; judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not; under the condition that the number of the observation satellites is larger than or equal to the preset threshold value, determining first motion information of the train based on the satellite signals, and determining first positioning information of the train according to the first motion information and the second motion information; and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second positioning information of the train according to the third motion information and the second motion information.

It should be noted that, as an example, the positioning module 1011 may be a GNSS positioning module, and at least may receive satellite signals; the sensor module 1012 may be a speed sensor that may output at least third speed information of the train; the inertial navigation module 1013 may be an Inertial Navigation System (INS) module, and may output at least second position information, second speed information, and attitude information of the train; the processing module 1014 may be a data processing module, which may be, as an example, a combined navigation data processing module.

Determining the number of observation satellites to which the satellite signals belong based on the satellite signals may be determining the number of observation satellites to which the satellite signals belong based on GNSS signals and differential signals in the satellite signals; wherein the differential signals comprise at least pseudorange observations, carrier phase observations, and reference station coordinates of a GNSS reference station. As an example, determining the number of observation satellites to which the satellite signal belongs based on the GNSS signal and the differential signal in the satellite signal may be performing ranging code decoding and carrier phase demodulation processing on the GNSS signal to obtain a pseudo-range observation value, a carrier phase observation value and a navigation message between the GNSS satellite and a GNSS receiver antenna; determining the number of observation satellites to which the pseudo-range observation value and the carrier phase observation value belong through cycle slip detection and restoration, integer ambiguity fixation and dynamic relative positioning processes based on the pseudo-range observation value, the carrier phase observation value, the navigation message and the differential information; the number of observation satellites can be understood as the number of satellites.

Judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not; the preset threshold may be determined according to an actual situation, and is not limited herein. As an example, the preset threshold may be 4; judging whether the number of the observation satellites is greater than or equal to a first preset threshold value or not can be used for judging whether the number of satellites to which the pseudo-range observation value and the carrier phase observation value belong is greater than or equal to 4 or not; determining first motion information of the train based on the satellite signals under the condition that the number of observation satellites is greater than or equal to the preset threshold, determining first positioning information of the train according to the first motion information and the second motion information, and determining the first motion information of the train based on the satellite signals under the condition that the number of satellites to which the pseudo-range observation values and the carrier phase observation values belong is greater than or equal to 4, and determining the first positioning information of the train according to the first motion information and the second motion information; when the number of observation satellites is smaller than the preset threshold, determining second positioning information of the train according to the third motion information and the second motion information may be determining the second positioning information of the train according to the third motion information and the second motion information when the number of satellites to which the pseudo-range observation value and the carrier-phase observation value belong is less than or equal to 4.

In an optional embodiment of the present invention, the processing module 1014 is further configured to determine first motion information of the train based on the satellite signal, determine first motion error information according to the first motion information and the second motion information, modify the second motion information based on the first motion error information, and determine first positioning information of the train, if the number of observed satellites is greater than or equal to the preset threshold; and under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, and determining second positioning information of the train.

It should be noted that the processing module 1014 may be a data processing module, and as an example, the data processing module may be a combined navigation data processing module.

Under the condition that the number of the observed satellites is larger than or equal to the first preset threshold value, determining first motion information of the train based on the satellite signals, determining first motion error information according to the first motion information and the second motion information, correcting the second motion information based on the first motion error information, and determining first positioning information of the train; wherein the first motion information at least comprises first position information and first speed information; the determining of the first movement information of the train based on the satellite signal may be determining of a first position information, a first speed information of the train from the satellite signal.

The second movement information at least comprises second position information, first speed information and attitude information of the train; determining first motion error information according to the first motion information and the second motion information may be to perform kalman filter algorithm processing on the first motion information and the second motion information to determine the first motion error information of the first motion information and the second motion information; wherein the first motion error information comprises at least a first position error, a first velocity error; the first position error characterizes a deviation between the first position information and the second position information; the first speed error characterizes a deviation between the first speed information and the second speed information.

Correcting the second motion information based on the first motion error information, determining that the first positioning information of the train can be obtained by correcting the second motion information based on a first position error and a first speed error in the first motion error information, and taking the corrected second motion information as the first positioning information of the train; the process can be understood as combined navigation positioning of a positioning module and an inertial navigation module, and can also be referred to as positioning of the system in a GNSS/inertial navigation combined mode.

In practical application, a kalman filtering algorithm may be used to iteratively calculate an error correction number corresponding to the second position information and an error correction number corresponding to the second speed information from the first position information and the first speed information in the first motion information of the train and from the second position information, the second speed information, and the attitude information in the second motion information of the train, and then the corresponding error correction numbers are subtracted from the second position information and the second speed information output by the INS to obtain more accurate train position information and speed information.

And under the condition that the number of the observed satellites is smaller than the preset threshold value, determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, and determining second positioning information of the train. The second motion information at least comprises second position information, second speed information and attitude information of the train; the third motion information includes at least third speed information of the train; determining second motion error information according to the third motion information and the second motion information may be to perform kalman filter algorithm processing on the first motion information and the second motion information to determine the second motion error information of the third motion information and the second motion information. Wherein the second motion error information comprises at least second position error information and second velocity error information; the second position error information characterizes a deviation between the third position information and the second position information; the second speed error information characterizes a deviation between the third speed information and the second speed information. Specifically, kalman filter algorithm processing may be performed on second position information, second velocity information, attitude information, and third velocity information in the third motion information in the second motion information, so as to determine second motion error information of the third motion information and the second motion information.

Determining second motion error information according to the third motion information and the second motion information, correcting the second motion information based on the second motion error information, determining that the second positioning information of the train can be obtained by correcting the second motion information based on a second position error and a second speed error in the second motion error information, and using the corrected second motion information as the second positioning information of the train; the process can be understood as the combined navigation positioning of the sensor module and the inertial navigation module, and can also be referred to as the positioning of the system in a sensor/inertial navigation combined mode.

In practical application, the error correction number corresponding to the second position information and the error correction number corresponding to the second speed information may be iteratively calculated from the third speed information in the third motion information of the train and the second position information, the second speed information, and the attitude information in the second motion information of the train by using a kalman filter algorithm, and then the second position information and the second speed information output by the INS are respectively subtracted by the corresponding error correction numbers to obtain more accurate train position information and speed information, which is the second positioning information of the train.

In an optional embodiment of the present invention, the positioning assembly 101 further comprises: a communication module 1015, wherein the communication module 1015 is respectively connected to the positioning module 1011, the processing module 1014 and the monitoring assembly 102;

the communication module 1015 is configured to receive the satellite signal, and send the satellite signal to the positioning module 1011; and sending the first positioning information or the second positioning information determined by the processing module 1014 to the monitoring component 102.

It should be noted that the communication module 1015 is respectively connected to the positioning module 1011, the processing module 1014 and the monitoring component 102, and the connection may be a wired connection; that is, the communication module 1015 is respectively connected with the positioning module 1011, the processing module 1014 and the monitoring assembly 102 through wires capable of transmitting data; the connection may also be a wireless connection, which may employ a near field communication technology, such as Bluetooth (Bluetooth), Zigbee (Zigbee), etc.; long-range communication techniques, such as WiFi connections, may also be employed.

The first positioning information or the second positioning information can be understood as real-time position information and speed information of the train determined in different positioning modes. Wherein the first positioning information includes at least first position information and first speed information; the second positioning information includes at least second position information and second velocity information.

In an optional embodiment of the present invention, the monitoring component 102 comprises: a database module 1021, a management module 1022 and a presentation module 1023; the management module 1022 is electrically connected with the database module 1021 and the display module 1023 respectively; wherein the content of the first and second substances,

the database module 1021 is used for receiving the first positioning information or the second positioning information; storing the first positioning information or the second positioning information;

the management module 1022 is configured to obtain login information of a user, and send query information to the data module 1021 based on the login information; receiving positioning information sent by the database module 1021 based on the query information, and determining running information of the train based on the positioning information; transmitting the driving information to the database module 1021 and the display module 1023 respectively;

the display module 1023 is used for obtaining the running information of the train and displaying the running information on a preset map.

In the embodiment of the present invention, the storing of the first positioning information or the second positioning information may be storing of real-time position information and speed information of the train in different positioning modes. As an example, the train position, speed and location module codes of the corresponding time points may be stored, and at the same time, the track position, name, and position of the point for marking the geometry of the parking available area on the map, etc. are stored.

The management module 1022 is a train management module, and the train management module is used for facilitating an administrator to check all train information and working states through the database module 1021.

The login information of the user can be train information of the installation positioning assembly, and at least can comprise a train name, a serial number and a corresponding positioning module identification code.

Display module 1023 can be the information display module, as an example, the information display module can be for train information display module that traveles, and train information display module that traveles has the coordinate system the same with the orientation module, predetermines the map and in addition to mark the important architectural facilities along the railway, still audio-visual demonstration railway topography along the line, for railway operation daily management and engineering control provide more information sources, help formulating more detailed rescue measures for the train.

In an alternative embodiment of the present invention, the system 10 further comprises: the early warning component 103 is electrically connected with the database module 1021 and the display module 1023 respectively;

the early warning component 103 is configured to send a first query request to the database module 1021; receiving the running information of the train sent by the database module 1021 based on the first query request, and judging whether the related parameters of the train meet a second preset condition based on the running information; and under the condition that the related parameters do not meet the second preset condition, sending early warning reminding information to the display module 1023 and the database module 1021 respectively.

In the embodiment of the present invention, the early warning component 103 may be an early warning module, and the early warning module may be used to ensure safe and effective operation of a train and prevent a train rear-end collision.

The first query request represents and queries running information updated in real time by all trains running on the same track; the travel information includes at least position information and speed information. Judging whether the related parameters of the train meet a second preset condition based on the running information can be judging whether the related parameters of the train meet a preset safety range according to the running information; in the case that the related parameter does not satisfy the second preset condition, sending early warning reminder information to the display module 1023 and the database module 1021 respectively may be sending early warning reminder information to the display module 1023 and the database module 1021 respectively in the case that the related parameter does not satisfy the preset safety range. The early warning reminding information can be character early warning reminding information and voice early warning reminding information.

As an example, the relevant parameter of the train may be a real-time distance between the train and an adjacent train, a real-time speed of the train, a parking position of the train, and the like; the preset safety range may be a preset safety interval range, a preset safety speed range, a preset safety parking position, and the like. Judging whether the related parameters of the train meet a second preset condition based on the running information may be judging whether the real-time distance between the train and an adjacent train meets a preset safe distance range based on the running information, and respectively sending a distance early warning text prompt and a voice alarm to the display module 1023 and the database module 1021 under the condition that the real-time distance does not meet the preset safe distance range; judging whether the real-time speed of the train meets a preset safe speed range or not based on the running information, and respectively sending an overspeed early warning text prompt and a voice alarm to the display module 1023 and the database module 1021 under the condition that the real-time speed does not meet the preset safe speed range; whether the parking position of the train meets a preset safe parking position is judged based on the running information, and under the condition that the parking position of the train does not meet the preset safe parking position, a position early warning text prompt and a sound alarm are respectively sent to the display module 1023 and the database module 1021.

In an optional embodiment of the present invention, the early warning component 103 includes a distance early warning module 1031, a speed early warning module 1032, and a location early warning module 1033; wherein the content of the first and second substances,

the distance early warning module 1031 is configured to receive a distance between the train and an adjacent train on the same track sent by the database module 1021 based on the first query request, and determine whether the distance is less than or equal to a preset warning distance; under the condition that the distance is larger than the preset alarm distance, first early warning reminding information is respectively sent to the display module and the database module;

the speed early warning module 1032 is configured to receive the speed of the train sent by the database module 1021 based on the first query request, and determine whether the speed is within a preset speed range; under the condition that the speed is not within the preset speed range, second early warning reminding information is respectively sent to the display module and the database module;

the position early warning module 1033 is configured to receive the parking position of the train sent by the database module 1021 based on the first query request, and determine whether the parking position is within a preset parking area; and under the condition that the parking position is not in the preset parking area, third early warning reminding information is respectively sent to the display module 1023 and the database module 1021.

In this embodiment, the distance warning module 1031 may be referred to as distance warning for short; the preset alarm distance can be determined according to actual conditions, and is not limited herein. The first early warning reminding information can be determined according to actual conditions, and is not limited herein; as an example, the first warning reminding information may be a distance warning text prompt and an audio alarm.

The speed early warning module 1032 may be referred to as speed early warning for short; the preset speed range may be determined according to actual conditions, and is not limited herein. The second early warning reminding information can be determined according to actual conditions, and is not limited herein; as an example, the first warning reminding information may be a speeding warning text prompt and an audio alarm.

The location early warning module 1033 may be referred to as location early warning; the preset parking area may be determined according to actual conditions, and is not limited herein. The third early warning reminding information can be determined according to actual conditions, and is not limited herein; as an example, the third warning reminding information may be a location warning text prompt and an audio alarm.

In an alternative embodiment of the present invention, the database module 1021 includes a first database module 10211, a second database module 10212, and a third database module 10213; the first database module 10211 is connected to the communication module 1015; wherein the content of the first and second substances,

the first database module 10211 is configured to receive the second query request sent by the management module 1022; inquiring the first positioning information or the second positioning information based on the second inquiry request, obtaining a positioning inquiry result, and sending the positioning inquiry result to the management module;

the second database module 10212 is configured to receive train editing information input by the management module 1022; storing the train editing information;

the third database module 10213 is configured to receive the warning reminding information sent by the warning component 103; storing the early warning reminding information; and receiving a third query request sent by the management module 1022, querying the early warning prompting information based on the third query request, obtaining an early warning prompting information query result, and sending the early warning prompting information query to the management module 1022.

It should be noted that the first database module 10211 may be an update database module, and may store the updated train position, speed, and location module identification code in real time, or may store the running information of the train in real time for short. As an example, the update database module may be a location and speed database, and may specifically be a train location and speed database, which may store updated train location, speed, and location module identification codes.

The second database module 10212 may be a train basic information database, and may store basic information of all trains.

The third database module 10213 may be an early warning information database, and may store the early warning text prompt displayed by the train movement information display module at the corresponding time.

In an alternative embodiment of the present invention, the management module 1022 includes a first query module 10221, an edit module 10222, and a second query module 10223; wherein the content of the first and second substances,

the first query module 10221 is configured to obtain login information of a user, send the second query request to the first database module 10211 based on the login information, and receive the positioning query result sent by the first database module 10211; sending the positioning query result to the display module 1023;

the editing module 10222 is configured to input train editing information and send the train editing information to the second database module 10212;

the second query module 10223 is configured to send a third query request to the third database module 10213; receiving the early warning reminding information query result sent by the third database module 10213; and sending the early warning reminding information inquiry result to the display module 1023.

It should be noted that the first query module 10221 may be a location and speed query module, which may be referred to as location and speed query for short; automatically inquiring the updated train position, speed and positioning module identification codes in real time from a train position and speed database by sending an inquiry request, and determining the train name according to the positioning module identification codes; according to the train position and the track position on the map, the distance between the train and the two tracks is calculated, the track occupied by the train is judged according to the shortest distance, the train name, the speed, the position and the occupied track name are sent to a train motion information display module, and the occupied track name of the train is stored in a train position and speed database. The train position and speed database is used for inquiring the running information of the designated train name in the selected time range, including the historical position and speed, and sending the running information to the train movement information display module;

the editing module 10222 may be a train information editing module, which may be referred to as train information editing for short; the basic information of the train, including the train name, the train number and the corresponding positioning module identification code, can be added, deleted or modified from the train basic information database.

The second query module 10223 may be an early warning information query module, which may be referred to as early warning information query for short; as an example, the warning information query module may query the warning information in a selected time range from a warning information database, including distance warning information, speed warning information, and parking warning information.

In an alternative embodiment of the present invention, the display module 1023 comprises a first display module 10231, a second display module 10232 and a third display module 10233; wherein the content of the first and second substances,

the first displaying module 10231 is configured to receive the positioning query result sent by the first querying module 10221, and display current information of the train on the preset map based on the positioning query result;

the second displaying module 10232 is configured to receive the positioning query result sent by the first querying module 10221, and display history information of the train on the preset map based on the positioning query result;

the third display module 10233 is configured to receive the early warning reminding information sent by the early warning module 103, and display the early warning information of the train on the preset map based on the early warning reminding information.

It should be noted that the first displaying module 10231 may be a train real-time running information displaying module, which may be referred to as train real-time running information displaying for short, and may receive the track name occupied by the train name, speed, and position sent by the train information management module, determine the position of the train on the map according to the train position, and display the train name, speed, and lane on the map in a dotted manner.

The second display module 10232 may be a train historical driving information display module, which may be referred to as train historical driving information display for short, receives the train name sent by the train information management module and the train speed value and position within the past specified time range, displays the position of the train at each time point on a map in a dotted manner, and represents the train historical driving track on the map. .

The third display module 10233 can be an early warning information display module, can be called early warning information display for short, can receive character early warning information sent by the early warning module, displays the character early warning information on an electronic map, and simultaneously gives an alarm along with voice.

In the train positioning and monitoring system provided by the embodiment of the invention, under the condition that the satellite observation signal meets the first preset condition, the third motion information of the train carrier is determined according to the satellite observation signal, and the train carrier is positioned based on the first motion information and the third motion information; under the condition that the satellite observation signal does not meet the first preset condition, positioning the vehicle carrier based on the first motion information and the second motion information so as to realize that the system is positioned in a GNSS/inertial navigation combined mode when the GNSS signal meets the first preset condition; when the GNSS signal does not meet the first preset condition, the system is positioned in a mileometer/inertial navigation combined mode, and compared with the traditional GNSS combined navigation positioning system, the carrier positioning precision is higher under the condition that the GNSS system cannot work normally.

For better understanding, the invention is illustrated as a schematic diagram of an actual application scenario, and fig. 6 is a schematic diagram of an application scenario of a train positioning monitoring system according to an embodiment of the invention; as shown in fig. 6; the train positioning monitoring system is taken as a train positioning monitoring system based on a GNSS multi-sensor and high-precision digital track map combination for illustration, and the positioning module 1011 is a GNSS positioning module; the inertial navigation module 1013 is an INS; the sensor module 1012 is a speed sensor; the processing module 1014 is an integrated navigation data processing module; the first database module 10211 is a position and speed database; the second database module 10212 is a train basic information database; the third database module 10213 is an early warning information database; the first query module 10221 queries for position and velocity; the editing module 10222 edits train information; the second query module 10223 queries the early warning information; the first display module 10231 displays real-time running information of the train; the second display module 10232 displays the historical train running information; the third display module 10233 displays the warning information.

In practical application, the GNSS positioning module, the INS, and the speed sensor are used for performing combined positioning on the train. The GNSS positioning module receives satellite signals including GNSS satellite signals and differential information, and then calculates the position, the speed and the medium error of the train through the processes of cycle slip detection and repair, integer ambiguity fixation, real-time dynamic relative positioning and the like. The INS is used for acquiring train position, speed and attitude information. The speed sensor is used for acquiring the speed information of the train. When the number of the satellites observed by the GNSS positioning module is more than 4, the GNSS positioning module works normally and inputs the position, the speed and the mean error of the train to the combined navigation data processing module, and the speed sensor does not work at the moment; when the number of the satellites observed by the GNSS positioning module is less than 4, the GNSS positioning module stops inputting data to the integrated navigation data processing module, and the speed sensor starts to work. And the positioning module leads the position speed output by the GNSS positioning module, the position speed and attitude information output by the INS and the train speed output by the speed sensor into the integrated navigation data processing module. And the integrated navigation data processing module iteratively calculates error correction numbers of the position and the speed by adopting a Kalman filtering algorithm by using the input information, and then subtracts the corresponding error correction numbers from the position and the speed output by the INS to obtain the more accurate position and speed of the train. And finally, the positioning module transmits the position, the speed and the positioning module identification code of the train to a train position and speed database in the database module in real time through a communication module on the train. And the communication module is further used for receiving differential information sent by the GNSS reference station, wherein the differential information comprises coordinates, pseudo-range and carrier phase observed values of the GNSS reference station.

The train running information display module is provided with a coordinate system the same as that of the positioning module. Besides marking important building facilities along the railway, the map also visually shows the landform and the landform along the railway, provides more information sources for daily management and engineering control of railway operation, and is favorable for making a more detailed rescue scheme for the train. And, the train information display module of traveling still has following function: receiving character early warning information sent by an early warning module, displaying the character early warning information on an electronic map, and simultaneously giving an alarm along with voice; receiving the names, speeds and track names occupied by the positions of the trains sent by the train information management module, determining the positions of the trains on the map according to the positions of the trains, displaying the positions on the map in a dotted manner, and simultaneously displaying the names, the speed values and the lanes of the trains; and thirdly, receiving the train name sent by the train information management module and the train speed value and position of the train within the past specified time range, and displaying the position of the train at each time point on a map in a dotted manner to show the historical running track of the train on the map. In addition, the user can also select to dynamically display the train running track, namely, the positions of the trains at each time point are sequentially displayed in a dot shape on the map according to the time sequence, and the positions displayed in the past are stored on the map, so that the train runs on the map, and the running track is left.

The early warning module is used for guaranteeing safe and effective operation of the train and preventing rear-end accidents of the train. The module has the following early warning functions: distance early warning: the speed and the position of the train running on the same track updated in real time are inquired from the train position and speed database, when the distance between adjacent trains on the same track reaches a preset early warning distance, the early warning module makes a distance early warning text prompt and a sound alarm on the train running information display module, and the distance early warning information is input into the early warning information database. Speed early warning: the method comprises the steps of carrying out speed early warning according to the running speed of a train, when the speed exceeds the set maximum value, making overspeed early warning character prompt and sound alarm by an early warning module at a train running information display module, similarly, when the speed is lower than the preset minimum value, making low-speed early warning character prompt and sound alarm by the early warning module at the train running information display module, and simultaneously inputting speed early warning information into an early warning information database. Position early warning: the early warning module judges whether the train stops in the parking area according to the position of the train when the train stops, if the train stops outside the parking area, the early warning module gives out position early warning text prompt and sound alarm on the train running information display module, and meanwhile, the position early warning information is input into an early warning information database.

The train position and speed database in the database module is used for storing train position, speed and positioning module codes of corresponding time points, and simultaneously storing track positions, names and positions of points used for marking geometric figures of the stoppable areas on the map; the train basic information database is used for storing train information edited by the train management module, including train names, train numbers and positioning module identification codes corresponding to the train names and the train numbers, judging whether the train working state is 'working' or 'non-working' according to whether the train position and speed information is updated at the current time, and storing the train working state into the train basic information database.

The train management module is used for facilitating a manager to check all train information and working states through the database module. The specific functions include: automatically inquiring updated train position, speed and positioning module identification codes in real time from a train position and speed database, and determining train names according to the positioning module identification codes; according to the train position and the track position on the map, the distance between the train and the two tracks is calculated, the track occupied by the train is judged according to the shortest distance, the train name, the speed, the position and the occupied track name are sent to a train motion information display module, and the occupied track name of the train is stored in a train position and speed database. Inquiring the running information of the designated train name in the selected time range from the train position and speed database, wherein the running information comprises historical positions and speeds, and sending the running information to a train motion information display module; inquiring early warning information in a selected time range from an early warning information database, wherein the early warning information comprises distance early warning information, speed early warning information and parking early warning information; and fourthly, adding, deleting or modifying the basic information of the train from the basic information database of the train, wherein the basic information comprises the train name, the train number and the corresponding positioning module identification code. The work flow of each component module of the system is shown in fig. 2.

For better understanding, the present invention illustrates another practical application scenario.

Firstly, a positioning module is installed on a train operated in a current road section, and a monitoring and early warning platform located in a railway bureau monitoring center is logged in. Train information of the positioning module is input to a train basic information database through a train information management module, wherein the train information comprises train names, serial numbers and corresponding positioning module identification codes.

And secondly, when the train is started, the positioning module starts to work and receives differential information broadcast by a nearby CORS station. When the number of the satellites observed by the GNSS positioning module is more than 4, the GNSS positioning module works normally and inputs the position, the speed and the mean error of the train to the combined navigation data processing module, and the speed sensor does not work at the moment; when the number of the satellites observed by the GNSS positioning module is less than 4, the GNSS positioning module stops inputting data to the integrated navigation data processing module, and the speed sensor starts to work. And the INS and the integrated navigation data processing module always keep working states. And the positioning module leads the position speed output by the GNSS positioning module, the position speed and attitude information output by the INS and the train speed output by the speed sensor into the integrated navigation data processing module. And the integrated navigation data processing module iteratively calculates error correction numbers of the position and the speed by adopting a Kalman filtering algorithm by using the input information, and then subtracts the corresponding error correction numbers from the position and the speed output by the INS to obtain the more accurate position and speed of the train. And finally, the positioning module transmits the position, the speed and the positioning module identification code of the train to a train position and speed database in the database module in real time through a communication module on the train.

And thirdly, the system database receives the train position, speed and identification code input by the positioning module in real time and stores the train position, speed and identification code in the train position and speed database. Meanwhile, the train management module inquires the updated train position and speed information in the train position and speed database in real time, determines the name of the track where the train is located, stores the name into the train position and speed database, displays the latest train running information comprising the train name, speed, position and track name on a train running information display module, namely a high-precision electronic map, and updates the stored train working state into 'working'. As an example, fig. 7 illustrates a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention displays train running information, and fig. 7 is a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention displays train running information, as shown in fig. 7.

And fourthly, the early warning module inquires the running information of all trains on the same track from the train position and speed database, calculates the distance between adjacent trains on the same track and the early warning module, and displays characters and performs voice early warning and reminding through the train running information display module when the distance is larger than the safe distance. And the early warning module judges whether the speed is within a preset speed range according to the real-time speed of the train, and when the speed is not within the preset speed range, the words are displayed and the voice early warning prompt is given through the train running information display module. In addition, when the train parks, the early warning module judges whether the train is located in a parking area (such as a station) on the map according to the position of the train, and otherwise, the words are displayed and the voice early warning prompt is given through the train running information display module. The above character early warning information is stored in an early warning information database in the database. As an example, fig. 8 illustrates a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention shows a text early warning, and fig. 8 is a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention shows a text early warning, as shown in fig. 8.

And fifthly, when the previous running information of the train needs to be inquired, clicking a locomotive management button on the monitoring platform, clicking track inquiry in a pull-down option, setting the name, the starting time and the ending time of the train in a pop-up list frame, clicking the inquiry, displaying the position of the train at each time point in a selected time period on an electronic map, clicking play in the list frame, enabling the track obtained through inquiry to disappear, simultaneously displaying the position and the speed of the train on the map in sequence according to the time sequence in a dynamic mode, representing the running direction of the train through an arrow, and reserving the position displayed in the past to form the running track of the train. As an example, fig. 9 illustrates a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention shows a historical travel track of a train, and fig. 9 is a schematic diagram that a display module in a train positioning monitoring system according to an embodiment of the present invention shows a historical travel track of a train, as shown in fig. 9.

Based on the train positioning monitoring system 10, the present invention further provides a train positioning monitoring method, which is applied to the train positioning monitoring system, and fig. 10 is a schematic diagram of an implementation process of the train positioning monitoring method according to an embodiment of the present invention, as shown in fig. 10, the method includes:

Step S201, obtaining satellite signals; and judging whether the satellite signal meets a first preset condition or not.

Step S202, under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train.

Step S203, obtaining third motion information of the train under the condition that the number of the observation satellites is smaller than the preset threshold value, and determining second positioning information of the train according to the third motion information and the obtained second motion information of the train.

Step S204, determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map.

It should be noted that the satellite signals at least include GNSS satellite signals and differential signals. Judging whether the satellite signal meets a first preset condition or not; the first preset condition may be a positioning condition of a satellite signal; the positioning condition represents the strength of the satellite signal; in practical application, the strength of the satellite signal can be represented by the number of observation satellites to which the satellite signal belongs, and the more the number of general satellites is, the stronger the satellite signal is; the fewer the number of satellites, the weaker the satellite signal;

In an optional embodiment of the present invention, the determining whether the satellite signal satisfies a first preset condition; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train, wherein the method comprises the following steps:

determining the number of observation satellites to which the satellite signals belong based on the satellite signals;

judging whether the number of the observation satellites is greater than or equal to a preset threshold value or not;

The determining of the number of observation satellites to which the satellite signal belongs based on the satellite signal may be determining the number of observation satellites to which the satellite signal belongs based on a GNSS signal and a differential signal in the satellite signal; wherein the differential signals comprise at least pseudorange observations, carrier phase observations, and reference station coordinates of a GNSS reference station. As an example, determining the number of observation satellites to which the satellite signal belongs based on the GNSS signal and the differential signal in the satellite signal may be performing ranging code decoding and carrier phase demodulation processing on the GNSS signal to obtain a pseudo-range observation value, a carrier phase observation value and a navigation message between the GNSS satellite and a GNSS receiver antenna; determining the number of observation satellites to which the pseudo-range observation value and the carrier phase observation value belong through cycle slip detection and restoration, integer ambiguity fixation and dynamic relative positioning processes based on the pseudo-range observation value, the carrier phase observation value, the navigation message and the differential information; the number of observation satellites can be understood as the number of satellites.

In an optional embodiment of the present invention, in a case that the number of the observation satellites is greater than or equal to the preset threshold, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and the second motion information includes:

When the number of the observation satellites is greater than or equal to the first preset threshold, determining first motion information of the train based on the satellite signals, determining first motion error information according to the first motion information and the second motion information, correcting the second motion information based on the first motion error information, and determining first positioning information of the train; wherein the first motion information at least comprises first position information and first speed information; the determining of the first movement information of the train based on the satellite signal may be determining of a first position information, a first speed information of the train from the satellite signal.

In an optional embodiment of the present invention, said determining second positioning information of the train according to the third motion information and the second motion information in the case that the number of the observed satellites is less than the preset threshold includes:

It should be noted that, when the number of the observed satellites is smaller than the preset threshold, second motion error information is determined according to the third motion information and the second motion information, and the second motion information is corrected based on the second motion error information to determine second positioning information of the train. The second motion information at least comprises second position information, second speed information and attitude information of the train; the third motion information includes at least third speed information of the train; determining second motion error information according to the third motion information and the second motion information may be to perform kalman filter algorithm processing on the first motion information and the second motion information to determine the second motion error information of the third motion information and the second motion information. Wherein the second motion error information comprises at least second position error information and second velocity error information; the second position error information characterizes a deviation between the third position information and the second position information; the second speed error information characterizes a deviation between the third speed information and the second speed information. Specifically, kalman filter algorithm processing may be performed on second position information, second velocity information, attitude information, and third velocity information in the third motion information in the second motion information, so as to determine second motion error information of the third motion information and the second motion information.

The embodiment of the invention provides a train positioning monitoring method, wherein satellite signals are obtained; judging whether the satellite signal meets a first preset condition or not; under the condition that the satellite signal meets the first preset condition, determining first motion information of the train based on the satellite signal, and determining first positioning information of the train according to the first motion information and second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map. By adopting the technical scheme of the embodiment of the invention, under the condition that the satellite signal meets the first preset condition, the first motion information of the train is determined based on the satellite signal, and the first positioning information of the train is determined according to the first motion information and the second motion information of the train; under the condition that the number of the observation satellites is smaller than the preset threshold value, third motion information of the train is obtained, and second positioning information of the train is determined according to the third motion information and the obtained second motion information of the train; determining the running information of the train based on the first positioning information or the second positioning information, and displaying the running information on a preset map to realize combined positioning in different modes, wherein the positioning precision is higher; and the topographic features along the line are visually displayed, and the railway management department is facilitated to manage and maintain the railway and make more comprehensive train rescue measures.

Embodiments of the present invention further provide a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the above method embodiments, and the foregoing storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The method steps in the above-mentioned apparatus according to the embodiments of the present invention may also be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on this understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium, or in a part that contributes to the prior art. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The method disclosed by the embodiment of the invention can be applied to a processor or realized by the processor. The processor may be an integrated circuit chip having signal processing capabilities. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium having a memory and a processor reading the information in the memory and combining the hardware to perform the steps of the method.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

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Train positioning monitoring system, method and storage medium

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