CN-121977540-A - Method, device, computer equipment, readable storage medium and program product for locating anti-slip skate

CN121977540ACN 121977540 ACN121977540 ACN 121977540ACN-121977540-A

Abstract

The present application relates to a method, apparatus, computer device, computer readable storage medium and computer program product for locating a roll-off prevention skate. The method comprises the steps of obtaining acceleration data and angular velocity data of the iron shoe based on an inertial measurement unit which is fixed relative to the iron shoe, obtaining first position data of the iron shoe based on a satellite navigation system, conducting average removal processing on the acceleration data in each axial direction respectively, determining first speed data and first course data of the iron shoe based on the acceleration data and the angular velocity data, correcting the first speed data based on the first position data to obtain second speed data, correcting the first course data to obtain second course data, and determining second position data of the iron shoe based on the second speed data and the second course data. The method can improve the accuracy of positioning the iron shoe.

Inventors

XU BINGFENG
CHANG XUESONG
WANG DUJUAN
LIU CHUNCHENG
SUN JIE
JIA CHONGBIAO
LIU JUNZE
YAN HAIYING
WANG MING

Assignees

中铁高新工业股份有限公司

Dates

Publication Date: 20260505
Application Date: 20241025

Claims (10)

1. A method of locating an anti-slip skate, the method comprising: Acquiring acceleration data and angular velocity data of the skate based on an inertial measurement unit fixed relative to the skate, and acquiring first position data of the skate based on a satellite navigation system; Respectively carrying out average value removal processing on the acceleration data of each axial direction, and determining first speed data and first heading data of the iron shoe based on the acceleration data and the angular speed data; Correcting the first speed data based on the first position data to obtain second speed data, and correcting the first heading data to obtain second heading data; Second position data for the skate is determined based on the second speed data and the second heading data.
2. The method of claim 1, wherein the acceleration data for each axis comprises acceleration data for a first axis, acceleration data for a second axis, and acceleration data for a third axis, the first axis, the second axis, and the third axis being perpendicular to each other, the first axis being directed from a toe of the skate toward a hand of the skate, the averaging the acceleration data for each axis respectively comprising: Determining the average value of the acceleration corresponding to each axial direction based on the acceleration data of each axial direction obtained in a historical time period, wherein the historical time period comprises at least one swing period of the iron shoe; And respectively carrying out averaging removal on the acceleration data of each axial direction based on the acceleration average value corresponding to each axial direction in response to the acceleration average value corresponding to the second axial direction and/or the acceleration average value corresponding to the third axial direction being different from zero.
3. The method of claim 1, wherein modifying the first speed data based on the first position data to obtain second speed data comprises: Determining reference speed data based on the first position data at the current time and the first position data at the historical time; and carrying out data fusion on the reference speed data and the first speed data to obtain second speed data.
4. The method of claim 1, wherein determining second location data for the skate based on the second speed data and the second heading data, then comprises: And under the condition that the course variation of the iron shoe is determined to be larger than a preset angle threshold value based on the first position data at the current moment and the first position data at the historical moment, smoothing the second position data and outputting the second position data.
5. The method of claim 1, wherein prior to said determining second location data for the skate based on the second speed data and the second heading data, comprising: And under the condition that the first speed data and/or the second speed data are/is smaller than a preset speed threshold value, clustering processing is carried out on the first position data to obtain updated first position data.
6. The method of claim 1, wherein the step of separately performing a de-averaging process on the acceleration data in each axial direction and determining the first speed data and the first heading data of the skate based on the acceleration data and the angular speed data comprises: And determining a swing period of the skate based on a zero point of target angular velocity data, wherein the target angular velocity data comprises angular velocity data of a pitching angle, and the swing period is used for determining first velocity data of the skate.
7. A positioning device for an anti-running shoe, the device comprising: The data acquisition module is used for acquiring acceleration data and angular velocity data of the iron shoe based on an inertial measurement unit which is relatively fixed with the iron shoe, and acquiring first position data of the iron shoe based on a satellite navigation system; The first data processing module is used for respectively carrying out average value removal processing on the acceleration data in each axial direction and determining first speed data and first course data of the iron shoe based on the acceleration data and the angular speed data; the second data processing module is used for correcting the first speed data based on the first position data to obtain second speed data, and correcting the first course data to obtain second course data; and the positioning determining module is used for determining second position data of the iron shoe based on the second speed data and the second heading data.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Method, device, computer equipment, readable storage medium and program product for locating anti-slip skate Technical Field The present application relates to the field of railway technology, and in particular, to a method, an apparatus, a computer device, a computer readable storage medium and a computer program product for locating a running-preventing skate. Background A skate is a braking device for preventing a train from sliding down, typically placed under the wheels of the train, to ensure that the train remains stable while parked. Since there are multiple tracks in the scene where the train stops, it is important to accurately judge whether the iron shoes are correctly placed on the designated tracks. In the related art, a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) is used for positioning. GNSS is a satellite-based positioning system, covers various navigation satellite systems, and has the characteristics of high precision, strong real-time performance, wide coverage range and the like. Moreover, by means of mathematical algorithms, the GNSS is able to solve for the three-dimensional coordinates (longitude, latitude and altitude) of the object to be positioned. However, when the iron shoes are placed on the stock way, the iron shoes can be shielded by the wheels, and in the process of being placed under the wheels of the train from the storage cabinet, the iron shoes can pass through non-open scenes such as carriages and the like, so that the accuracy of positioning the iron shoes in the prior art is low. Disclosure of Invention In view of the foregoing, it is desirable to provide a method, apparatus, computer device, computer readable storage medium, and computer program product for locating a cleated article of footwear that improves accuracy in locating. In a first aspect, the present application provides a method for locating an anti-running shoe, comprising: Acquiring acceleration data and angular velocity data of the skate based on an inertial measurement unit fixed relative to the skate, and acquiring first position data of the skate based on a satellite navigation system; Respectively carrying out average value removal processing on the acceleration data of each axial direction, and determining first speed data and first heading data of the iron shoe based on the acceleration data and the angular speed data; Correcting the first speed data based on the first position data to obtain second speed data, and correcting the first heading data to obtain second heading data; Second position data for the skate is determined based on the second speed data and the second heading data. In one embodiment, the acceleration data of each axial direction includes acceleration data of a first axial direction, acceleration data of a second axial direction and acceleration data of a third axial direction, the first axial direction, the second axial direction and the third axial direction are perpendicular to each other, the first axial direction points to the hand-held part of the iron shoe from the toe cap of the iron shoe, and the averaging processing of the acceleration data of each axial direction includes: Determining the average value of the acceleration corresponding to each axial direction based on the acceleration data of each axial direction obtained in a historical time period, wherein the historical time period comprises at least one swing period of the iron shoe; And respectively carrying out averaging removal on the acceleration data of each axial direction based on the acceleration average value corresponding to each axial direction in response to the acceleration average value corresponding to the second axial direction and/or the acceleration average value corresponding to the third axial direction being different from zero. In one embodiment, the correcting the first speed data based on the first position data, to obtain second speed data includes: Determining reference speed data based on the first position data at the current time and the first position data at the historical time; and carrying out data fusion on the reference speed data and the first speed data to obtain second speed data. In one embodiment, after said determining second position data for said skate based on said second speed data and said second heading data, comprising: And under the condition that the course variation of the iron shoe is determined to be larger than a preset angle threshold value based on the first position data at the current moment and the first position data at the historical moment, smoothing the second position data and outputting the second position data. In one embodiment, before said determining second position data for said skate based on said second speed data and said second heading data comprises: And under the condition that the first speed data and/or the second speed data are/is smaller than a preset speed threshold value, clustering processing is ca