WO2017020667A1

WO2017020667A1 - Method and system for positioning locomotive

Info

Publication number: WO2017020667A1
Application number: PCT/CN2016/087605
Authority: WO
Inventors: 欧盛芬; 吴俊亮; 阳亦斌; 唐国平; 叶理辉; 朱咏嘉; 曾垂周; 龙卫华; 何见坤; 邓国知
Original assignee: 株洲中车时代电气股份有限公司
Priority date: 2015-07-31
Filing date: 2016-06-29
Publication date: 2017-02-09
Also published as: CN105059325B; ZA201708327B; CN105059325A

Abstract

Disclosed are a method and system for positioning a locomotive, the method comprising: determining a current state of a positioning environment (S101); if an LKJ is in a monitoring state and a satellite signal is found, acquiring LKJ position data and GPS/BD position data, and correcting deviation of the position using an LKJ positioning method as a main method and using a GPS positioning method as an auxiliary method (S102); if the LKJ is in the monitoring state and the satellite signal is not found, acquiring the LKJ position data using the LKJ positioning method (S103); if the LKJ is in a non-monitoring state and the satellite signal is found, acquiring a predetermined number of GPS coordinate data of the locomotive continuously, and positioning the locomotive according to the GPS coordinate data (S104); and if the LKJ is in the non-monitoring state and the satellite signal is not found, positioning the locomotive using a positioning method based on speed measurement and a dead reckoning method (S105). The present invention combines the LKJ positioning method and the GPS positioning method to solve the problem in which the locomotive cannot be accurately positioned throughout the course, and the positioning of the present invention is continuous and has high precision.

Description

Locomotive positioning method and system

The present application claims priority to Chinese Patent Application No. 201510465133.0, entitled "A locomotive positioning method and system", filed on July 31, 2015, the entire contents of which is incorporated herein by reference. .

Technical field

The invention relates to the field of train operation positioning control in the railway industry, in particular to a locomotive positioning method and system.

Background technique

At present, the application information system and dispatching system of the railway system have greatly improved the train dispatching level, and various train positioning methods have emerged, such as the track circuit potential method, the train operation monitoring device LKJ position data positioning method and the satellite positioning method.

However, in the above train positioning method, the positioning accuracy of the track circuit positioning method depends on the length of the track circuit, which is inaccurate. In order to achieve more accurate positioning, other methods are needed to supplement; the LKJ position data positioning method is in the train (locomotive) operation process, LKJ position data cannot be obtained when LKJ is in non-monitoring mode. For example, when LKJ is in degraded or shunting mode, train (locomotive) positioning cannot be performed; satellite positioning method is used in satellite positioning system, GPS or Beidou BD accuracy. Basically equivalent, the civilian satellite receiver module has a positioning accuracy of 10-20 meters, and is susceptible to such factors as weather factors, electrical electromagnetic interference, shelters (buildings, valleys, canyons, tunnels). Positioning, therefore, the application information system has poor timeliness and is not comprehensive enough for the train operation information. It lacks real-time monitoring during the operation of the train (locomotive), so that it is impossible to issue an accurate scheduling plan, and it is impossible to refine the train operation. . At present, there is still no precise positioning method in the railway industry to realize real-time precise positioning of the train (locomotive) running process.

Summary of the invention

In order to solve the above technical problems, an object of the present invention is to provide a locomotive positioning method and system to achieve precise positioning during locomotive operation.

To this end, the embodiments of the present invention provide the following technical solutions:

A locomotive positioning method includes:

Determine the current positioning environment status;

When the LKJ is in the monitoring state and receives the satellite signal, acquiring LKJ position data and GPS/BD position data, and locating the position of the locomotive step by step according to the LKJ position data by using a positioning matching algorithm, and using the GPS/BD position data pair Correcting the position of the locomotive;

When the LKJ is in the monitoring state and does not receive the satellite signal, acquiring LKJ position data, and positioning the position of the locomotive step by step according to the LKJ position data by using a positioning matching algorithm;

When the LKJ is in the non-monitoring state and receives the satellite signal, acquiring a preset preset number of GPS coordinate data of the locomotive, and locating the location of the locomotive according to the GPS coordinate data;

When the LKJ is in a non-monitoring state and does not receive the satellite signal, acquiring coordinate data of the last positioning of the target locomotive, the running speed of the locomotive, the running direction, and the time from the last positioning of the locomotive, according to the locomotive The coordinate data of one positioning, the running speed of the locomotive, the running direction, and the time from the last positioning of the locomotive locate the position of the current locomotive.

Preferably, the LKJ location data includes: line information, uplink and downlink information, kilometer information, TIMS station information, key point information, and collection point information between key points.

Preferably, the positioning of the locomotive by the positioning matching algorithm according to the LKJ position data includes:

And positioning the locomotive to a corresponding direction on the corresponding line according to the line information and the uplink and downlink information in the LKJ location data;

And positioning the locomotive to a section of the corresponding TIMS station according to the determined TIMS station information in a corresponding direction on the corresponding line;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points In the interval;

And determining, according to the determined collection point information in the corresponding two key point intervals, the collection point closest to the locomotive, and locating the position of the locomotive according to the location information of the nearest collection point and the km mark information.

Preferably, correcting the position of the locomotive by using the GPS/BD position data comprises:

When the offset of the position of the locomotive exceeds a preset range, calculating and determining respectively according to the determined collection point information in the corresponding two key point intervals and the current position information of the locomotive in the GPS/BD position data The distance between each collection point in the corresponding two key point intervals and the locomotive;

Determining a target collection point corresponding to the distance in the distance, correcting the position of the locomotive to the position of the target collection point.

Preferably, the positioning of the locomotive according to the GPS coordinate data comprises:

Determining a midpoint of each adjacent two GPS coordinates in the preset number according to the continuous preset number of GPS coordinates of the locomotive;

Determining a target range surface according to each of the midpoints;

Obtaining line information in the target range plane, and determining a line corresponding to the locomotive in the target range plane;

And positioning a corresponding line of the locomotive in the target range surface according to the acquired last number of GPS coordinates of the locomotive and the line corresponding to the locomotive in the target range plane The location on the top.

The invention also provides a locomotive positioning system, comprising:

a determining module for determining a current positioning environment state;

a first positioning module for positioning the locomotive when the LKJ is in a monitoring state and searching for a satellite signal;

a second positioning module for positioning the locomotive when the LKJ is in the monitoring state and no satellite signal is searched;

a third positioning module that locates the locomotive when the LKJ is in a non-monitored state and searches for satellite signals;

a fourth positioning module for positioning the locomotive when the LKJ is in a non-monitoring state and no satellite signal is searched;

The first positioning module includes: a first acquiring sub-module for acquiring LKJ position data and GPS/BD position data, and a first LKJ positioning sub-module for locating the position of the locomotive step by step according to the LKJ position data by a positioning matching algorithm The GPS/BD position data is for the locomotive a correcting sub-module for correcting the position;

The second positioning module includes: a second acquiring sub-module for acquiring LKJ position data; and a second LKJ positioning sub-module for locating the position of the locomotive step by step according to the LKJ position data by a positioning matching algorithm;

The third positioning module includes: a third acquiring sub-module for acquiring a preset preset number of GPS coordinate data of the locomotive; and a GPS positioning sub-module for locating the position of the locomotive according to the GPS coordinate data;

The fourth positioning module includes: acquiring coordinate data of a previous positioning of the locomotive, a running speed of the locomotive, a running direction, and a fourth acquiring sub-module from a time of the locomotive last positioning, according to the last positioning of the locomotive The coordinate data, the running speed of the locomotive, the running direction, and the time of the last positioning of the locomotive locate the current position measuring sub-module of the locomotive.

Preferably, the first LKJ positioning submodule comprises:

And locating the locomotive to a first line matching sub-module in a corresponding direction on the corresponding line according to the line information in the LKJ location data and the uplink and downlink information;

And positioning the locomotive to the first interval matching sub-module in the jurisdiction of the corresponding TMIS station according to the determined TIMS station information in the corresponding direction on the corresponding line;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points The first key point matching submodule in the interval;

Determining a collection point closest to the locomotive according to the determined collection point information in the corresponding two key point intervals, and positioning the first collection of the locomotive position according to the location information of the nearest collection point and the km mark information Point matching submodules.

Preferably, the second LKJ positioning submodule comprises:

And locating the locomotive to a second line matching sub-module of a corresponding direction on the corresponding line according to the line information in the LKJ location data and the uplink and downlink information;

According to the determined TIMS station information in the corresponding direction on the corresponding line, Locating the locomotive to a second interval matching sub-module in the jurisdiction of the corresponding TMIS station;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points The second key point matching sub-module in the interval;

Determining, according to the determined collection point information in the corresponding two key point intervals, the collection point closest to the locomotive, and locating the second collection of the position of the locomotive according to the location information of the nearest collection point and the km mark information Point matching submodules.

Preferably, the correcting submodule comprises:

When the offset of the position of the locomotive exceeds a preset range, calculating and determining respectively according to the determined collection point information in the corresponding two key point intervals and the current position information of the locomotive in the GPS/BD position data a distance calculation sub-module of each of the two key point intervals in the corresponding two key point intervals and the distance of the locomotive;

Determining a target collection point corresponding to the distance in the distance, correcting the position of the locomotive to a correction sub-module at the location of the target collection point.

Preferably, the GPS positioning submodule comprises:

Determining, according to the continuous preset number of GPS coordinates of the locomotive, a midpoint determination sub-module of each of the adjacent two GPS coordinate midpoints;

Determining a sub-module of the range surface of the target range surface according to each of the midpoints;

Obtaining line information in the target range plane, and determining a line matching submodule of the locomotive corresponding line in the target range plane;

And positioning a corresponding line of the locomotive in the target range surface according to the acquired last number of GPS coordinates of the locomotive and the line corresponding to the locomotive in the target range plane The position determination submodule of the upper position.

Compared with the prior art, the above technical solution has the following advantages:

The locomotive positioning method and system provided by the invention are used to determine the current positioning environment state. When the LKJ is in the monitoring state and has satellite signals, the LKJ position data and the GPS/BD position data are acquired, and the LKJ positioning mode is mainly used, and the GPS positioning is performed. Auxiliary correction position; when LKJ is in the monitoring state and there is no satellite signal, the LKJ position data is acquired and positioned in LKJ mode; when LKJ is in When there is a satellite signal in the non-monitoring state, a continuous preset number of GPS coordinate data of the locomotive is acquired, and the position of the locomotive is located according to the GPS coordinate data; when the LKJ is in a non-monitoring state and there is no satellite signal, The speed positioning method and the dead reckoning algorithm are used to locate the locomotive. Combining the LKJ positioning method with the GPS positioning method solves the problem that the position of the locomotive cannot be accurately located in the whole process, and the positioning is continuous and the precision is high.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a flow chart of a first embodiment of a locomotive positioning method according to the present invention;

2 is a schematic structural diagram of Embodiment 1 of a locomotive positioning method according to the present invention;

3 is a flow chart of a second embodiment of a locomotive positioning method according to the present invention;

4 is a schematic diagram of line collection of a second embodiment of a locomotive positioning method according to the present invention;

5 is a logic flow chart of a second embodiment of a locomotive positioning method according to the present invention;

6 is a flow chart of a third embodiment of a locomotive positioning method according to the present invention;

7 is a flow chart of a fourth embodiment of a locomotive positioning method according to the present invention;

8 is a schematic diagram of the principle of the fourth embodiment of the locomotive positioning method of the present invention;

9 is a schematic diagram of the principle of the fourth embodiment of the locomotive positioning method of the present invention;

10 is a schematic diagram of the principle of the fourth embodiment of the locomotive positioning method of the present invention;

11 is a schematic diagram of the principle of the fourth embodiment of the locomotive positioning method of the present invention;

FIG. 12 is a schematic structural view of Embodiment 5 of the locomotive positioning system of the present invention.

detailed description

In order to achieve precise positioning during locomotive operation, an embodiment of the present invention provides a locomotive Positioning method and system.

Embodiment 1:

The present invention provides a locomotive positioning method, and FIG. 1 is a flow chart showing a first embodiment of the locomotive positioning method of the present invention, including:

Step S101: determining a current positioning environment state;

It is determined whether the LKJ of the target locomotive currently required to be positioned is in the monitoring state, and whether the vehicle GPA/BD positioning device can search for satellite signals for GPS/BD positioning, and the GPS/BD positioning is compatible with GPS positioning and Beidou positioning.

Step S102: When the LKJ is in the monitoring state and the satellite signal is searched, the LKJ position data and the GPS/BD position data are acquired, and the position of the locomotive is gradually located by the positioning matching algorithm according to the LKJ position data, and the GPS/BD is adopted. Position data corrects the position of the locomotive;

When LKJ is in the monitoring state and there is satellite signal, LKJ is mainly positioned, GPS positioning is used to correct the deviation, and the target LKJ position data and target GPS/BD position data are acquired. The LKJ position data includes: line information, kilometer mark, TIMS station Information on stocks, signals, bridges, tunnels, crossings, and split points, according to these LKJ position data information, the positioning of the locomotive is located in a position on the line segment between the corresponding key points of the corresponding route. Because LKJ is mainly used for car control, and measures such as insulation section correction are adopted, the position data provided by LKJ is very precise, and its positioning accuracy is very high. However, it is necessary to consider the semi-automatic interval in the actual line, the long and short chain in the line, and the idling skating of the locomotive during the driving process. Therefore, the received GPS/BD latitude and longitude information and the LKJ position information are compared with the GIS map data. , complete the correction of the position of the locomotive.

Step S103: When the LKJ is in the monitoring state and the satellite signal is not searched, the LKJ position data is acquired, and the position of the locomotive is gradually ranked by the positioning matching algorithm according to the LKJ position data;

When the LKJ is in the monitoring state but there is no satellite signal, only the LKJ positioning method is used to locate the position of the target locomotive.

Step S104: When the LKJ is in the non-monitoring state and the satellite signal is searched, acquiring a preset preset number of GPS coordinate data of the locomotive, and positioning the locomotive position according to the GPS coordinate data;

When the LKJ is in the non-monitoring state but has satellite signals, the general locomotive is in the dispatching state and the running speed is lower, so the GPS has higher precision. The linear approaching method can accurately position the locomotive on the corresponding running track.

Step S105: When the LKJ is in the non-monitoring state and the satellite signal is not searched, the coordinate data of the last positioning of the locomotive, the running speed of the locomotive, the running direction, and the time from the last positioning of the locomotive are obtained, according to the The coordinate data of the last positioning of the locomotive, the running speed of the locomotive, the running direction, and the time of the last positioning of the locomotive locate the position of the current locomotive.

The locomotive may have no satellite signal in the non-monitoring state in a short time. At this time, using the speed positioning method and the dead reckoning algorithm, the locomotive is accumulated from the last positioning to the current time according to the last positioned train coordinate position and traveling direction. Distance to get the current locomotive position, the running distance can be calculated by the speed and time of the locomotive.

2 shows a preferred implementation of the above method, implemented by an in-vehicle device and a ground server, the in-vehicle device comprising a LAIS vehicle host, an LKJ device and a GPS/BD positioning device, the ground server comprising a MTUP platform, a communication server, a correction module and data The server, the LAIS vehicle host, ie the wireless data transmission vehicle (TSC), is an important component of the train operation status information (LAIS). It is responsible for communicating with other LKJ vehicles and collecting LKJ operating status information in real time through the wireless mobile communication network. Transfer to the ground system.

The locomotive positioning method provided by the embodiment is used to determine the current positioning environment state. When the LKJ is in the monitoring state and there is a satellite signal, the LKJ position data and the GPS/BD position data are acquired, and the LKJ positioning mode is mainly used, and the GPS positioning auxiliary correction is performed. Position; when the LKJ is in the monitoring state and there is no satellite signal, the LKJ position data is acquired and positioned in the LKJ mode; when the LKJ is in the non-monitoring state and there is a satellite signal, a continuous preset number of GPS coordinates of the locomotive is acquired. Data, the location of the locomotive is located according to the GPS coordinate data; when the LKJ is in a non-monitoring state and there is no satellite signal, the locomotive positioning is performed by using the speed positioning method and the dead reckoning algorithm. Combining the LKJ positioning method with the GPS positioning method solves the problem that the position of the locomotive cannot be accurately located in the whole process, and the positioning is continuous and the precision is high.

Embodiment 2:

FIG. 3 is a flowchart of Embodiment 2 of the present invention, corresponding to Embodiment 1, according to the foregoing The positioning of the LKJ position data by the positioning matching algorithm to position the target locomotive step by step specifically includes:

Step S201: Locating the locomotive to a corresponding direction on the corresponding line according to the line information and the uplink and downlink information in the LKJ location data;

Step S202: locating the locomotive to the jurisdiction area of the corresponding TIMS station according to the determined TIMS station information in the corresponding direction on the corresponding line;

Step S203: Acquire the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the jurisdiction area of the corresponding TIMS station, and locate the locomotive to the corresponding In the two key points interval;

Step S204: Determine, according to the determined collection point information in the corresponding two key point intervals, the collection point closest to the locomotive, and locate the location of the locomotive according to the location information of the nearest collection point and the km mark information.

The target LKJ location data in this embodiment includes: line information, uplink and downlink information, kilometer information, TMS station information of the railway transportation management information system, key point information, and collection point information between key points, and the key point is a signal machine. The location is taken as an example. As shown in FIG. 4, the uplink and downlink lines are respectively arranged, and a preset number of collection points are arranged between the two signals on the line, as shown in FIG. 5, which is a logic flow chart of the positioning matching algorithm. Position the locomotive position step by step, and finally accurately locate the locomotive position based on the location of the nearest collection point and the km mark information.

Embodiment 3:

FIG. 6 is a flowchart of Embodiment 3 of the present invention. Corresponding to the first embodiment, correcting the position of the target locomotive by using the target GPS/BD position data includes:

Step S301: When the offset of the position of the locomotive exceeds a preset range, according to the determined collection point information in the corresponding two key point intervals, and the current position information of the locomotive in the GPS/BD position data, Calculating, respectively, a distance between each of the determined two key point intervals and the locomotive;

In the LKJ state, a signal can be uniquely determined by line number, station number, uplink and downlink, and signal number; the distance between two points is calculated by: GPS point coordinates (MLonA, MLatA), and acquisition point coordinates (MLonA, MLatA) , the distance between two points:

C=sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB)

Distance=R*Arccos(C)*Pi/180

Step S302: Determine a target collection point corresponding to the distance in the distance, and correct the position of the locomotive to the position of the target collection point.

When encountering LKJ instantaneous idle skating and other special circumstances, the positioning coordinate points are corrected according to the current GPS position information, and the position is corrected to the nearest collection point in the same collection point as the locomotive GPS position signal.

Embodiment 4:

FIG. 7 is a flowchart of Embodiment 4 of the present invention. Corresponding to Embodiment 1, the location of the target locomotive according to the GPS coordinate data specifically includes:

Step S401: Determine a midpoint of each adjacent two GPS coordinates in the preset quantity according to the continuous preset number of GPS coordinates of the locomotive;

As shown in FIG. 8 and FIG. 9, the midpoints of adjacent coordinates in successive GPS coordinates are found.

Step S402: determining a target range surface according to each of the midpoints;

Step S403: Acquire line information in the target range surface, and determine a line corresponding to the locomotive in the target range surface;

As shown in FIG. 10, the corresponding line of the locomotive in the target range plane is determined.

Step S404: Positioning the locomotive in the target range surface according to the obtained last GPS coordinate of the preset number of GPS coordinates of the locomotive and the line corresponding to the locomotive in the target range surface. The location on the corresponding line.

As shown in FIG. 11, the position of the current locomotive is calculated based on the last GPS coordinates and the determined line.

Embodiment 5:

The present invention also provides a locomotive positioning system, and FIG. 12 is a schematic structural view of a fifth embodiment of the locomotive positioning system of the present invention, including:

Determining a current positioning environment state determination module 101;

a first positioning module 102 for positioning a locomotive when the LKJ is in a monitoring state and searching for a satellite signal;

a second positioning module 103 for positioning the locomotive when the LKJ is in the monitoring state and searching for satellite signals;

a third positioning module 104 for positioning the locomotive when the LKJ is in an unsupervised state and searching for a satellite signal;

a fourth positioning module 105 for positioning the locomotive when the LKJ is in a non-monitoring state and searching for a satellite signal;

The first positioning module 102 includes: a first acquiring submodule 201 for acquiring LKJ position data and GPS/BD position data, and a first LKJ positioning submodule for locating the position of the locomotive by a positioning matching algorithm according to the LKJ position data. 202 and a corrective sub-module 203 for correcting the position of the locomotive by the GPS/BD position data;

The second positioning module 103 includes: a second obtaining sub-module 301 for acquiring LKJ position data and a second LKJ positioning sub-module 302 for locating the position of the locomotive step by step according to the LKJ position data by a positioning matching algorithm;

The third positioning module 104 includes: a third acquisition sub-module 401 for acquiring a preset preset number of GPS coordinate data of the locomotive; and a GPS positioning sub-module 402 for locating the position of the locomotive according to the GPS coordinate data;

The fourth positioning module 105 includes: acquiring coordinate data of a last positioning of the locomotive, a running speed of the locomotive, a running direction, and a fourth obtaining sub-module 501 from a time of the last positioning of the locomotive, according to the locomotive The coordinate data of the positioning, the running speed of the locomotive, the running direction, and the time of the last positioning of the locomotive locate the current position measuring sub-module 502 of the locomotive.

The target LKJ location data in this embodiment may include: line information, uplink and downlink information, kilometer information, TIMS station information, key point information, and collection point information between key points, and the locomotive positioning provided by the embodiment. The system determines the current positioning environment state. When the LKJ is in the monitoring state and has satellite signals, the LKJ position data and the GPS/BD position data are acquired, and the LKJ positioning mode is mainly used, and the GPS positioning assists the correction position; when the LKJ is in the monitoring state When there is no satellite signal, the LKJ position data is acquired and positioned in the LKJ mode; when the LKJ is in the non-monitoring state and there is a satellite signal, a continuous preset number of GPS coordinate data of the locomotive is acquired, according to the GPS coordinates. The position of the data positioning locomotive; when the LKJ is in the non-monitoring state and there is no satellite signal, the locomotive positioning is carried out by using the speed positioning method and the dead reckoning algorithm. Combine LKJ positioning method with GPS positioning method, It solves the problem that the position of the locomotive cannot be accurately located in the whole process, and the positioning is continuous and the precision is high.

Example 6:

Corresponding to the fifth embodiment, the first LKJ positioning submodule includes:

Example 7:

Corresponding to the sixth embodiment, the second LKJ positioning submodule includes:

And positioning the locomotive to the second interval matching sub-module in the jurisdiction of the corresponding TMIS station according to the determined TIMS station information in the corresponding direction on the corresponding line;

Example 8:

Corresponding to the seventh embodiment, the correcting submodule includes:

When the offset of the position of the locomotive exceeds a preset range, according to the determined two corresponding keys The collection point information in the point interval, and the position information of the current locomotive in the GPS/BD position data, respectively calculating a distance calculation sub-module of each of the determined two key point intervals and the locomotive distance ;

Example 9:

Corresponding to the eighth embodiment, the GPS positioning submodule includes:

It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the embodiments are referred to each other. can. For the system class embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

Finally, it should also be noted that in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities. There is any such actual relationship or order between operations. Furthermore, the term "comprises" or "comprises" or "comprises" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. In the absence of more restrictions, elements defined by the phrase "comprising a ..." are not excluded from the process, method, article or There are additional identical elements in the device.

The method and system provided by the present invention are described in detail above, and the principles and embodiments of the present invention are described in the following. The description of the above embodiments is only for helping to understand the method and core idea of the present invention. At the same time, the description of the present invention is not limited to the scope of the present invention.

Claims

A locomotive positioning method, comprising:

Determine the current positioning environment status;

When the LKJ is in the monitoring state and receives the satellite signal, acquiring LKJ position data and GPS/BD position data, and locating the position of the locomotive step by step according to the LKJ position data by using a positioning matching algorithm, and using the GPS/BD position data pair Correcting the position of the locomotive;

When the LKJ is in the monitoring state and does not receive the satellite signal, acquiring LKJ position data, and positioning the position of the locomotive step by step according to the LKJ position data by using a positioning matching algorithm;

When the LKJ is in the non-monitoring state and receives the satellite signal, acquiring a preset preset number of GPS coordinate data of the locomotive, and locating the location of the locomotive according to the GPS coordinate data;

When the LKJ is in a non-monitoring state and does not receive the satellite signal, acquiring coordinate data of the last positioning of the target locomotive, the running speed of the locomotive, the running direction, and the time from the last positioning of the locomotive, according to the locomotive The coordinate data of one positioning, the running speed of the locomotive, the running direction, and the time from the last positioning of the locomotive locate the position of the current locomotive.
The locomotive positioning method according to claim 1, wherein the LKJ location data comprises: line information, uplink and downlink information, kilometer information, TIMS station information, key point information, and collection point information between key points.
The locomotive positioning method according to claim 2, wherein the positioning of the locomotive by the positioning matching algorithm according to the LKJ position data comprises:

And positioning the locomotive to a corresponding direction on the corresponding line according to the line information and the uplink and downlink information in the LKJ location data;

And positioning the locomotive to a section of the corresponding TIMS station according to the determined TIMS station information in a corresponding direction on the corresponding line;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points In the interval;

And determining, according to the determined collection point information in the corresponding two key point intervals, the collection point closest to the locomotive, and locating the position of the locomotive according to the location information of the nearest collection point and the km mark information.
The locomotive positioning method according to claim 2, wherein the correcting the position of the locomotive by the GPS/BD position data comprises:

When the offset of the position of the locomotive exceeds a preset range, calculating and determining respectively according to the determined collection point information in the corresponding two key point intervals and the current position information of the locomotive in the GPS/BD position data The distance between each collection point in the corresponding two key point intervals and the locomotive;

Determining a target collection point corresponding to the distance in the distance, correcting the position of the locomotive to the position of the target collection point.
The locomotive positioning method according to claim 2, wherein the positioning of the locomotive according to the GPS coordinate data comprises:

Determining a midpoint of each adjacent two GPS coordinates in the preset number according to the continuous preset number of GPS coordinates of the locomotive;

Determining a target range surface according to each of the midpoints;

Obtaining line information in the target range plane, and determining a line corresponding to the locomotive in the target range plane;

And positioning a corresponding line of the locomotive in the target range surface according to the acquired last number of GPS coordinates of the locomotive and the line corresponding to the locomotive in the target range plane The location on the top.
A locomotive positioning system, comprising:

a determining module for determining a current positioning environment state;

a first positioning module for positioning the locomotive when the LKJ is in a monitoring state and searching for a satellite signal;

a second positioning module for positioning the locomotive when the LKJ is in the monitoring state and no satellite signal is searched;

a third positioning module that locates the locomotive when the LKJ is in a non-monitored state and searches for satellite signals;

a fourth positioning module for positioning the locomotive when the LKJ is in a non-monitoring state and no satellite signal is searched;

The first positioning module includes: acquiring LKJ location data and GPS/BD location data. a first obtaining submodule, a first LKJ positioning submodule for locating the position of the locomotive by a positioning matching algorithm according to the LKJ position data, and a rectifying submodule for correcting the position of the locomotive by using the GPS/BD position data ;

The second positioning module includes: a second acquiring sub-module for acquiring LKJ position data; and a second LKJ positioning sub-module for locating the position of the locomotive step by step according to the LKJ position data by a positioning matching algorithm;

The third positioning module includes: a third acquiring sub-module for acquiring a preset preset number of GPS coordinate data of the locomotive; and a GPS positioning sub-module for locating the position of the locomotive according to the GPS coordinate data;

The fourth positioning module includes: acquiring coordinate data of a previous positioning of the locomotive, a running speed of the locomotive, a running direction, and a fourth acquiring sub-module from a time of the locomotive last positioning, according to the last positioning of the locomotive The coordinate data, the running speed of the locomotive, the running direction, and the time of the last positioning of the locomotive locate the current position measuring sub-module of the locomotive.
The locomotive positioning system according to claim 6, wherein the LKJ location data comprises: line information, uplink and downlink information, kilometer information, TIMS station information, key point information, and collection point information between key points.
The locomotive positioning system according to claim 7, wherein the first LKJ positioning sub-module comprises:

And locating the locomotive to a first line matching sub-module in a corresponding direction on the corresponding line according to the line information in the LKJ location data and the uplink and downlink information;

And positioning the locomotive to the first interval matching sub-module in the jurisdiction of the corresponding TMIS station according to the determined TIMS station information in the corresponding direction on the corresponding line;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points The first key point matching submodule in the interval;

Determining a collection point closest to the locomotive according to the determined collection point information in the corresponding two key point intervals, and positioning the first collection of the locomotive position according to the location information of the nearest collection point and the km mark information Point matching submodules.
The locomotive positioning system according to claim 7, wherein the second LKJ positioning sub-module comprises:

And locating the locomotive to a second line matching sub-module of a corresponding direction on the corresponding line according to the line information in the LKJ location data and the uplink and downlink information;

And positioning the locomotive to the second interval matching sub-module in the jurisdiction of the corresponding TMIS station according to the determined TIMS station information in the corresponding direction on the corresponding line;

Obtaining the last key point that the locomotive has passed and the next key point that has not passed according to the determined key point information in the section of the corresponding TIMS station, and positioning the locomotive to the corresponding two key points The second key point matching sub-module in the interval;

Determining, according to the determined collection point information in the corresponding two key point intervals, the collection point closest to the locomotive, and locating the second collection of the position of the locomotive according to the location information of the nearest collection point and the km mark information Point matching submodules.
The locomotive positioning system according to claim 7, wherein the correcting submodule comprises:

When the offset of the position of the locomotive exceeds a preset range, calculating and determining respectively according to the determined collection point information in the corresponding two key point intervals and the current position information of the locomotive in the GPS/BD position data a distance calculation sub-module of each of the two key point intervals in the corresponding two key point intervals and the distance of the locomotive;

Determining a target collection point corresponding to the distance in the distance, correcting the position of the locomotive to a correction sub-module at the location of the target collection point.
The locomotive positioning system according to claim 7, wherein the GPS positioning sub-module comprises:

Determining, according to the continuous preset number of GPS coordinates of the locomotive, a midpoint determination sub-module of each of the adjacent two GPS coordinate midpoints;

Determining a sub-module of the range surface of the target range surface according to each of the midpoints;

Obtaining line information in the target range plane, and determining a line matching submodule of the locomotive corresponding line in the target range plane;

According to the obtained preset number of the last GPS in the GPS coordinates of the locomotive And a coordinate determining a sub-module corresponding to the locomotive in the target range surface, and positioning the locomotive at a position on a corresponding line in the target range surface.