CN111077558A - Positioning system of rail vehicle and rail transit system - Google Patents
Positioning system of rail vehicle and rail transit system Download PDFInfo
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- CN111077558A CN111077558A CN201911360579.1A CN201911360579A CN111077558A CN 111077558 A CN111077558 A CN 111077558A CN 201911360579 A CN201911360579 A CN 201911360579A CN 111077558 A CN111077558 A CN 111077558A
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- 238000012545 processing Methods 0.000 claims description 16
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- 230000005540 biological transmission Effects 0.000 description 3
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- 238000012986 modification Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- 238000009420 retrofitting Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to the field of rail transit positioning, and provides a positioning system of a rail vehicle, which comprises: a ground differential station configured to acquire real-time satellite positioning information and to calculate differential information based on the real-time satellite positioning information; and a vehicle-mounted mobile station mounted on the rail vehicle and configured to receive the difference information and calculate real-time position information of the rail vehicle based on the difference information and real-time satellite positioning information received by the vehicle-mounted mobile station. The invention aims to provide a positioning system of a rail vehicle and a rail transit system, so as to at least realize accurate positioning of the rail vehicle.
Description
Technical Field
The invention relates to the field of rail transit positioning, in particular to a positioning system of a rail vehicle and a rail transit system.
Background
In the current field of rail transit positioning, transponders are a more common device. The transponder is a transmission device capable of sending message information to the vehicle-mounted subsystem, can transmit fixed information and can be connected with a trackside unit to transmit variable information, is an indispensable part in the whole signal safety system, and is widely applied to rail transit at present.
In the current rail transit positioning process, necessary driving information needs to be provided by means of the line transponders. But the method needs to be explored according to the field environment, and the engineering quantity is large, so that a brand-new vehicle positioning method needs to be explored.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a positioning system for rail vehicles and a rail transit system, so as to at least realize the accurate positioning of rail vehicles.
According to a first aspect of embodiments of the present invention, there is provided a positioning system of a rail vehicle, comprising: a ground differential station configured to acquire real-time satellite positioning information and to calculate differential information based on the real-time satellite positioning information; and a vehicle-mounted mobile station mounted on the rail vehicle and configured to receive the difference information and calculate real-time position information of the rail vehicle based on the difference information and real-time satellite positioning information received by the vehicle-mounted mobile station.
According to the embodiment of the invention, the vehicle-mounted mobile station comprises at least one Beidou positioning module, and each Beidou positioning module is provided with a Beidou antenna for receiving real-time satellite positioning information.
According to the embodiment of the invention, the vehicle-mounted mobile station comprises at least two Beidou positioning modules, and the Beidou positioning modules are different in model number from one another.
According to the embodiment of the invention, the Beidou positioning module is carried in a first VOBC cabinet of the railway vehicle.
According to an embodiment of the present invention, the positioning system of a rail vehicle further comprises a data reception processing module, which is mounted in the second VOBC cabinet of the rail vehicle and configured to receive and process real-time position information of the rail vehicle.
According to an embodiment of the invention, the ground differential station comprises: at least one set of differential station antennas configured to acquire real-time satellite positioning information; a differential board card configured to receive real-time satellite positioning information and calculate differential information based on the real-time satellite positioning information; a switch configured to transmit the differential information.
According to the embodiment of the invention, the differential board card is carried in a ground network cabinet, the differential station antenna is connected with the ground network cabinet through an antenna feeder, and the ground network cabinet is connected with the switch through a network cable.
According to the embodiment of the invention, the ground differential station comprises at least two sets of differential station antennas.
According to the second aspect of the embodiment of the present invention, there is also provided a rail transit system including a rail vehicle, a dispatch control center, and the positioning system as described above, wherein the vehicle-mounted mobile station is mounted on the rail vehicle, and the ground difference station is installed in the dispatch control center.
According to an embodiment of the invention, the rail vehicle comprises a railway train.
The invention has the beneficial effects that:
in the positioning system of the railway vehicle provided by the invention, the ground differential station can acquire the real-time satellite positioning information and calculate the differential information based on the real-time satellite positioning information, and the vehicle-mounted mobile station carried on the railway vehicle can receive the differential information and calculate the real-time position information of the railway vehicle based on the differential information and the real-time satellite positioning information received by the vehicle-mounted mobile station. In this way, it is thus possible to achieve a precise positioning of the rail vehicle with substantially no or little use of transponders.
Further, in the rail transit system provided by the invention, the positioning system is adopted, so that the rail transit system also has the advantages as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
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 description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an exemplary architecture of a ground differential station in the positioning system of the present invention;
FIG. 2 is a schematic diagram of an exemplary architecture of an in-vehicle mobile station in the location system of the present invention;
fig. 3 is a schematic diagram of data transmission in the positioning system of the present invention.
Reference numerals:
102: a ground differential station; 104: a vehicle-mounted mobile station; 106: a rail vehicle; 108: a Beidou positioning module; 110: a Beidou antenna; 112: a first VOBC cabinet; 114: a data receiving and processing module; 116: a second VOBC cabinet; 118: a differential station antenna; 120: a switch; 122: a ground network cabinet.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Referring now to fig. 1-3, embodiments of the present invention will be described. It should be understood that the following description is only exemplary embodiments of the present invention and does not constitute any particular limitation of the present invention.
As shown in fig. 1 to 3, an embodiment of the present invention provides a positioning system of a railway vehicle. Specifically, the positioning system may include a terrestrial difference station 102 and a vehicular mobile station 104. Among other things, the ground differential station 102 is configured to acquire real-time satellite positioning information and calculate differential information based on the acquired real-time satellite positioning information. Further, the mobile station 104 may be mounted on the rail vehicle 106, and the mobile station 104 may be configured to receive the difference information calculated by the ground differential station 102 and calculate real-time position information of the rail vehicle 106 based on the difference information and real-time satellite positioning information received by the mobile station 104 itself. In this way, the invention makes it possible to achieve precise positioning of the rail vehicle with substantially no or little use of transponders.
It should be understood herein that the rail vehicle 106 carried by the on-board mobile station 104 as described above may be, for example, any suitable type of rail vehicle, such as a railroad train, a light rail train, or the like. That is, the present invention may be applied to any suitable rail vehicle, rail train. In other words, the type of the rail vehicle 106 does not constitute any particular limitation in the present invention.
Further, in one embodiment of the present invention, the vehicular mobile station 104 may include at least one Beidou positioning module 108. Specifically, each Beidou positioning module 108 may be configured with a Beidou antenna 110 for receiving real-time satellite positioning information. According to the embodiment, the Beidou positioning module 108 based Beidou positioning scheme is adopted in the practical application process, and the engineering period can be effectively shortened on the basis of realizing the product function and finishing the high-precision positioning of the vehicle.
In the embodiment as described above, further, the vehicular mobile station 104 may include at least two beidou positioning modules 108, and the beidou positioning modules 108 are different in model from each other. Specifically, in the embodiment shown in the figure, the vehicle-mounted mobile station 104 is equipped with two Beidou positioning modules 108 of different manufacturers and different models, and in this way, the heterogeneous design of the vehicle-mounted mobile station 104 is realized. In a specific application process, for example, if one of the beidou positioning modules 108 fails or positioning is abnormal, positioning operation can be performed through the other beidou positioning module 108, so that the vehicle-mounted mobile station 104 is prevented from being incapable of operating normally. For another example, when both the two north-fighting positioning modules 108 can be used normally, the two north-fighting positioning modules 108 can be used for positioning at the same time, so that the accuracy of the positioning information can be further improved. In other words, first, the number of the beidou positioning modules 108 adopted in the present invention can be determined according to specific needs and use cases, and does not limit the present invention at all; secondly, the combined use or the independent use of the beidou positioning module 108 in the application process can be set according to specific situations, so that the invention is not limited to a certain specific implementation mode or specific implementation modes.
As shown in fig. 2, in one embodiment of the invention, the beidou locating module 108 may be mounted in a first VOBC (vehicle on-board controller) cabinet 112 of the rail vehicle 106. When the in-vehicle mobile station 104 employs a plurality of beidou positioning modules 108, all of the beidou positioning modules 108 may be mounted in the first VOBC cabinet 112. In this way, the big dipper positioning module 108 is not required to be installed or mounted in a cabinet or a server, but is directly loaded in the first VOBC cabinet 112 to achieve installation and operation, thereby occupying no large space and requiring no substantial modification of any existing equipment.
Further, in an embodiment of the present invention, the positioning system may further include a data receiving processing module 114. Specifically, the data reception processing module 114 may be mounted in a second VOBC cabinet 116 of the rail vehicle 106, and the data reception processing module 114 may be configured to receive and process real-time position information of the rail vehicle 106, i.e., accurate real-time position information of the rail vehicle calculated by the in-vehicle mobile station 104. Similar to the beidou positioning module 108, the data reception processing module 114 can be similarly integrated into the second VOBC cabinet 116, i.e., can be installed and operated, thereby not occupying a large space and not requiring substantial retrofitting of any existing equipment.
In practical applications, the data receiving and processing module 114 may perform various processes after receiving the real-time location information. For example, the data receiving and processing module 114 may directly store the information in the inside, so as to call out the position information for use when calling is needed; for another example, the data receiving and processing module 114 may directly transmit the real-time location information to the control center for vehicle real-time status monitoring and the like after receiving the real-time location information; for another example, the data receiving and processing module 114 may perform various appropriate processes on the information after receiving the real-time location information, and then feed back the processing result to the control center; in addition, the data receiving and processing module 114 may process the information for use by the vehicle itself in operations, monitoring, adjustments, etc., after receiving the real-time location information. Therefore, the data receiving processing module 114 can have various suitable functions, and the invention is not limited to a certain function or certain specific functions, i.e., the data receiving processing module 114 does not constitute any particular limitation to the invention.
Referring again to fig. 1, in one embodiment of the invention, for the ground differential station 102, it may include at least one set of differential station antennas 118, differential boards, and a switch 120. Specifically, at least one set of the differential station antennas 118 may be configured to acquire real-time satellite positioning information, the differential board may be configured to receive the real-time satellite positioning information as described above and calculate the aforementioned differential information based on the real-time satellite positioning information, and the switch 120 may be configured to transmit the differential information to the mobile station in a vehicle. As further shown in fig. 1, in one embodiment of the invention, the differential board may be mounted in a land network cabinet 122, the differential station antenna 118 may be connected to the land network cabinet 122 through an antenna feeder, and the land network cabinet 122 may be connected to the switch 120 through a network cable.
Similar to the above description regarding the vehicle-mounted mobile station 104, in the application process, for example, the differential board may also adopt a heterogeneous design, and the differential board is directly integrated in the ground network cabinet 122, so that the effects that a larger space is not occupied and any existing equipment does not need to be substantially modified can also be achieved, and in addition, two or more sets of the differential station antennas 118 may also be adopted, for example, so as to achieve more accurate information acquisition. It should also be understood that the above description is illustrative of the present invention and is not intended to limit the invention to any particular or particular form.
The embodiment of fig. 3 shows a data transmission diagram of the present invention. Specifically, for the vehicle-mounted mobile station 104, two Beidou mobile station board cards are added in a host box of a vehicle-mounted controller, and a single board card receives 2 paths of differential information input and outputs 1 path of real-time positioning information. For the ground differential station 102, differential station boards may be arranged in a ground network cabinet, and a single board outputs 2 paths of differential positioning information. It should be understood, of course, that FIG. 3 is only one exemplary embodiment of the invention and is not intended to limit the invention to any particular or particular form.
Further, in one embodiment, the present invention, when in application, may be implemented using, for example, an RTK (Real-time-kinematic) positioning method. Specifically, the ground differential station 102 calculates differential information based on the acquired real-time satellite positioning information to give differential coordinate information, and transmits to the in-vehicle mobile station 104 through the vehicle-ground network. After the vehicle-mounted mobile station 104 receives the differential positioning information, differential calculation is performed by combining the positioning information acquired by the Beidou positioning module 108 from the Beidou satellite, so that high-precision coordinates are obtained. Next, the in-vehicle mobile station 104 sends the obtained coordinates to an in-vehicle host (e.g., the data reception processing module 114), and the host performs 2-fetch calculation to determine whether there is an abnormality in the data, thereby determining the availability of the data. Then, the data is mapped into an on-board electronic map for vehicle positioning, and the vehicle position is sent to ground equipment (for example, fed back to a dispatching control center and the like) through a vehicle-ground network.
More specifically, the ground differential station 102 may mount the receiver antenna (e.g., the differential station antenna 118) in a fixed location, which remains stationary throughout use. Meanwhile, the precise coordinates of the known survey station and the received satellite information are sent to the in-vehicle mobile station 104 (corresponding to the point to be located) directly or in real time after being processed. The receiver of the vehicle-mounted mobile station 104 receives the satellite observation value and also receives the information of the reference station, and performs RTK positioning calculation to realize RTK high-precision positioning, so that centimeter (cm) or millimeter (mm) level positioning precision is achieved. In addition, the vehicle-mounted mobile station 104 receives the difference correction number information of the reference station in real time, and simultaneously receives the satellite signal to perform RTK positioning solution, so that RTK high-precision positioning is realized. The receiver can adaptively identify the port and format of the RTCM data input.
The RTK rover station (i.e. the vehicle-mounted rover station 104) receives the difference correction number information sent by the reference station in real time, receives satellite signals at the same time, performs RTK positioning calculation, realizes RTK high-precision positioning, and achieves centimeter (cm) or millimeter (mm) level positioning precision. The instructions may set a receiver RTK solution mode, which includes two: static mode and dynamic mode. The in-vehicle rover station 104 is considered stationary when the static mode RTK is resolved. In one embodiment, the receiver defaults to the RTK solution mode as the dynamic solution mode. And any serial port is accessed into the RTCM differential correction number, and the receiver automatically starts RTK positioning solution.
It should be understood herein that RTK is also known as carrier phase differential, i.e., the reference station transmits its carrier observations along with station coordinate information to the subscriber station over the data link in time. The user station receives the carrier phase of the GPS satellite and the carrier phase from the reference station, and forms a phase difference observation value to be processed in time, so that a centimeter (cm) level positioning result can be given in time.
It should also be appreciated that RTK measurements utilize carrier phase differential GPS techniques for real-time positioning, and that dynamic positioning accuracy can reach the centimeter (cm) level by using both differential correction and carrier phase ranging measurements. The differential GPS technique utilizes spatial correlation between the ground differential station 102 and the mobile station 104 to perform differential correction, thereby mitigating errors in positioning. The standard differential GPS principle is that a reference station is erected on a high-precision known control point, the position coordinate of the reference station is determined through single-point positioning of the reference station, and then the coordinate measured through real-time positioning is compared with the coordinate of the control point, so that the positioning error of the differential station is determined.
In the above embodiments, the so-called RTK algorithm means that the distance corrections from the reference station to the satellites are calculated from the precise coordinates known to the reference station and transmitted by the reference station in real time. The user not only receives the GPS signal, but also receives the correction number of the reference station and corrects the positioning result to provide the positioning precision. The Differential GPS (DGPS-Differential GPS) is a method for improving the accuracy of measurement and positioning by another GPS receiver (mobile station) within a certain range by measuring a GPS measurement positioning error using a GPS receiver provided at a point (reference station) whose coordinates are known.
It is to be understood that the foregoing is only illustrative of the present invention and that other suitable methods or embodiments may be employed without departing from the scope of the invention.
Further, the embodiment of the invention also provides a rail transit system. Specifically, the rail transit system may include a rail vehicle on which a vehicle-mounted mobile station may be mounted, a dispatch control center in which a ground differential station may be installed, and a positioning system as described above. Further, according to the above embodiment, the rail vehicle may include a railway train; it should be understood, however, that the type of rail vehicle is not subject to any particular limitation in the present invention. The rail transit system has the advantages and benefits as described above due to the positioning system.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning system for a rail vehicle, comprising:
a ground differential station configured to acquire real-time satellite positioning information and to calculate differential information based on the real-time satellite positioning information; and
and a vehicle-mounted mobile station mounted on the rail vehicle and configured to receive the difference information and calculate real-time position information of the rail vehicle based on the difference information and real-time satellite positioning information received by the vehicle-mounted mobile station.
2. The rail vehicle positioning system of claim 1, wherein the on-board mobile station comprises at least one Beidou positioning module, each Beidou positioning module being configured with a Beidou antenna for receiving real-time satellite positioning information.
3. The railway vehicle positioning system as claimed in claim 2, wherein the vehicle-mounted mobile station comprises at least two Beidou positioning modules, and the Beidou positioning modules are different in model from each other.
4. The rail vehicle positioning system of claim 2, wherein the Beidou positioning module is mounted in a first VOBC cabinet of the rail vehicle.
5. The rail vehicle positioning system according to claim 4, further comprising a data reception processing module mounted in a second VOBC cabinet of the rail vehicle and configured to receive and process real-time position information of the rail vehicle.
6. The rail vehicle positioning system of claim 1, wherein the ground differential station comprises:
at least one set of differential station antennas configured to acquire real-time satellite positioning information;
a differential board card configured to receive real-time satellite positioning information and calculate differential information based on the real-time satellite positioning information;
a switch configured to transmit the differential information.
7. The rail vehicle positioning system of claim 6, wherein the differential board is mounted in a ground network cabinet, the differential station antenna is connected to the ground network cabinet through an antenna feeder, and the ground network cabinet is connected to the switch through a network cable.
8. The railway vehicle positioning system of claim 6, wherein the ground differential station comprises at least two sets of the differential station antennas.
9. A rail transit system comprising a rail vehicle, a dispatch control center, and the positioning system of any one of claims 1 to 8, wherein the on-board mobile station is mounted on the rail vehicle, and the ground differentiating station is installed in the dispatch control center.
10. The rail transit system of claim 9, wherein the rail vehicle comprises a railroad train.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911360579.1A CN111077558A (en) | 2019-12-25 | 2019-12-25 | Positioning system of rail vehicle and rail transit system |
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| CN201911360579.1A CN111077558A (en) | 2019-12-25 | 2019-12-25 | Positioning system of rail vehicle and rail transit system |
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Cited By (4)
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| CN111703474A (en) * | 2020-05-29 | 2020-09-25 | 广州南方卫星导航仪器有限公司 | Rail vehicle dispatching system and method based on high-precision GNSS navigation system |
| CN115453588A (en) * | 2022-08-02 | 2022-12-09 | 国能朔黄铁路发展有限责任公司 | A Differential Positioning System |
| US11662477B2 (en) * | 2018-11-16 | 2023-05-30 | Westinghouse Air Brake Technologies Corporation | System and method for determining vehicle position by triangulation |
| CN119401510A (en) * | 2024-10-30 | 2025-02-07 | 国网江苏省电力有限公司经济技术研究院 | Gravity energy storage method, controller, system and product based on load-carrying trolley |
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