CN115856981B

CN115856981B - Accurate locomotive positioning method based on Beidou satellite

Info

Publication number: CN115856981B
Application number: CN202310176948.1A
Authority: CN
Inventors: 张雪宁; 张移山
Original assignee: Beijing Lantian Duowei Technology Co ltd
Current assignee: Beijing Lantian Duowei Technology Co ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-04-28
Anticipated expiration: 2043-02-28
Also published as: CN115856981A

Abstract

The invention relates to the technical field of radio navigation positioning, in particular to a locomotive accurate positioning method based on Beidou satellites, which comprises the following steps: acquiring an initial position corresponding to each target locomotive based on Beidou satellites; determining the relative position and the positioning effect index of the target locomotives through the initial positions corresponding to each preset number of target locomotives; determining the position precision corresponding to the target locomotive; determining a reference locomotive; determining a correction position corresponding to the reference locomotive and other locomotive position error sets; determining a correction position corresponding to the target locomotive; and carrying out preset number of position corrections on the target locomotive, and determining the corrected position determined by the last position correction as an accurate position. According to the invention, based on the Beidou satellite, the target locomotives are subjected to positioning correction through the position relation among all the target locomotives in the target locomotive set, so that the accuracy of locomotive positioning is improved, and the method is applied to locomotive positioning.

Description

Accurate locomotive positioning method based on Beidou satellite

Technical Field

The invention relates to the technical field of radio navigation positioning, in particular to a locomotive accurate positioning method based on Beidou satellites.

Background

BDS (BeiDou Navigation Satellite System, beidou satellite navigation system) is a global satellite navigation system developed by china, and is also the third mature satellite navigation system following GPS (Global Positioning System ), GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, global satellite navigation system). With the continuous maturity of the Beidou satellite navigation system, the Beidou satellite navigation system continuously provides all-weather and all-day real-time positioning services for various industries. For example, the position of the locomotive can be determined directly according to the Beidou satellite signals received by the locomotive, so that the locomotive is positioned.

When the position of the locomotive is determined directly according to the Beidou satellite signals received by the locomotive, only the Beidou satellite signals received by the locomotive are often considered, however, the Beidou satellite signals are often easily affected by various factors such as environment, for example, the accuracy of the Beidou satellite signals on some road sections may be low, and when the locomotive is positioned, if only the Beidou satellite signals received by the locomotive are considered, the accuracy of positioning the locomotive is often low.

Disclosure of Invention

The summary of the invention is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

In order to solve the technical problem of low accuracy in locomotive positioning, the invention provides a locomotive accurate positioning method based on Beidou satellites.

The invention provides a locomotive accurate positioning method based on Beidou satellites, which comprises the following steps:

acquiring an initial position corresponding to each target locomotive in the target locomotive set based on the Beidou satellite;

for each target locomotive in the target locomotive set, determining the relative position and the positioning effect index of the target locomotive through the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining a relative position set and a positioning effect index set corresponding to the target locomotive;

determining the position accuracy corresponding to each target locomotive in the target locomotive set according to the initial position, the relative position set and the positioning effect index set corresponding to the target locomotive;

determining a target locomotive with the maximum position precision corresponding to the target locomotive set as a reference locomotive;

determining a correction position corresponding to the reference locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to the reference locomotive;

Determining other locomotive position error sets corresponding to the reference locomotive according to the corrected position, the relative position set and the positioning effect index set corresponding to the reference locomotive;

determining a corresponding correction position of each target locomotive except the reference locomotive in the target locomotive set according to the other locomotive position error sets;

updating the initial position corresponding to each target locomotive in the target locomotive set to be a correction position, repeatedly carrying out position correction for the target locomotives for a preset number of times, and determining the correction position corresponding to each target locomotive determined by the last position correction to be the accurate position corresponding to each target locomotive.

Further, determining the relative position and the positioning effect index of the target locomotive according to the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, to obtain a relative position set and a positioning effect index set corresponding to the target locomotive, including:

determining the relative position of the target locomotive through the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set to obtain a relative position set corresponding to the target locomotive;

Determining the average distance between the target locomotive and each preset number of target locomotives except the target locomotive according to the initial position corresponding to the target locomotive and the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining an average distance set corresponding to the target locomotive;

connecting the target locomotive with initial positions corresponding to each preset number of target locomotives except the target locomotive to obtain a connecting line group set corresponding to the target locomotive;

determining an average included angle between each connecting line in each connecting line group in the connecting line group set corresponding to the target locomotive to obtain an average included angle set corresponding to the target locomotive;

and determining a positioning effect index set corresponding to the target locomotive according to the average distance set and the average included angle set corresponding to the target locomotive.

Further, the determining the positioning effect index set corresponding to the target locomotive according to the average distance set and the average included angle set corresponding to the target locomotive includes:

determining the ratio of a preset target numerical value larger than 0 to each average distance in an average distance set corresponding to the target locomotive as a target distance index to obtain a target distance index set corresponding to the target locomotive;

And determining the product of each target distance index and a target included angle in the target distance index set corresponding to the target locomotive as a positioning effect index to obtain the positioning effect index set corresponding to the target locomotive, wherein the target included angle is an average included angle in the average included angle set corresponding to the target distance index, and the average included angle set corresponding to the target distance index is an average included angle set corresponding to the target locomotive.

Further, the determining the position accuracy corresponding to the target locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to each target locomotive in the target locomotive set includes:

normalizing the positioning effect indexes in the positioning effect index set corresponding to the target locomotive to obtain a normalization effect index set corresponding to the target locomotive;

determining a relative position vector according to the initial position corresponding to the target locomotive and each relative position in the relative position set to obtain a relative position vector set corresponding to the target locomotive;

determining the product of each normalization effect index in the normalization effect index set corresponding to the target locomotive and a target position vector as a difference vector to obtain a difference vector set corresponding to the target locomotive, wherein the target position vector is a relative position vector in a relative position vector set corresponding to the normalization effect index, and the relative position vector set corresponding to the normalization effect index is a relative position vector set corresponding to the target locomotive;

Determining the sum of all the difference vectors in the difference vector set corresponding to the target locomotive as a target difference vector corresponding to the target locomotive;

determining a model of a target difference vector corresponding to the target locomotive as a position difference index corresponding to the target locomotive;

constructing a relative position set corresponding to the target locomotive as a relative position cluster corresponding to the target locomotive;

determining the distance average value from each relative position in the relative position cluster corresponding to the target locomotive to the clustering center as the clustering distance average value corresponding to the target locomotive;

determining a product of a position difference index corresponding to the target locomotive and a clustering distance mean value as a first position accuracy index corresponding to the target locomotive;

and carrying out negative correlation on the first position accuracy index corresponding to the target locomotive, and normalizing to obtain the position accuracy corresponding to the target locomotive.

Further, the determining the corrected position corresponding to the reference locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to the reference locomotive includes:

and translating the initial position corresponding to the reference locomotive along the direction of the target difference vector corresponding to the reference locomotive, and determining the translated position as the corrected position corresponding to the reference locomotive, wherein the target length is a model of the target difference vector corresponding to the reference locomotive.

Further, the determining the other locomotive position error set corresponding to the reference locomotive according to the corrected position, the relative position set and the positioning effect index set corresponding to the reference locomotive includes:

determining the distance between the corrected position corresponding to the reference locomotive and each relative position in the relative position set as a relative distance error, and obtaining a relative distance error set corresponding to the reference locomotive;

determining the difference value of each normalization effect index in the normalization effect index set corresponding to the reference locomotive as a system error weight to obtain a system error weight set corresponding to the reference locomotive;

determining the product of each system error weight in the system error weight set corresponding to the reference locomotive and a target relative error as a system error to obtain a system error set corresponding to the reference locomotive, wherein the target relative error is a relative distance error in a relative distance error set corresponding to the system error weight, and the relative distance error set corresponding to the system error weight is a relative distance error set corresponding to the reference locomotive;

and determining the difference value of each relative distance error in the relative distance error set corresponding to the reference locomotive and the target system error as other locomotive position errors to obtain other locomotive position error sets corresponding to the reference locomotive, wherein the target system error is a system error in the system error set corresponding to the relative distance error, and the system error set corresponding to the relative distance error is a system error weight set corresponding to the reference locomotive.

Further, the determining, according to the set of other locomotive position errors, a corrected position corresponding to each target locomotive in the set of target locomotives except the reference locomotive includes:

determining a target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set according to the other locomotive position error sets;

and determining the correction position corresponding to each target locomotive according to the target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set.

Further, the determining, according to the set of other locomotive position errors, a target position error corresponding to each target locomotive in the set of target locomotives except the reference locomotive includes:

constructing an objective function corresponding to the other locomotive position errors according to each other locomotive position error in the other locomotive position error set, wherein the objective function corresponding to the other locomotive position errors is the sum of the objective position errors corresponding to the preset number of objective locomotives corresponding to the other locomotive position errors, the other locomotive position errors are dependent variables of the objective function corresponding to the other locomotive position errors, and the objective position errors corresponding to the preset number of objective locomotives corresponding to the other locomotive position errors are preset number of independent variables of the objective function corresponding to the other locomotive position errors;

And determining the target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set through the target function corresponding to each other locomotive position error in the other locomotive position error set.

Further, the determining, according to the target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set, a corrected position corresponding to the target locomotive includes:

and starting from the initial position corresponding to the target locomotive, translating the distance corresponding to the target position error, and determining the translated position as the corrected position corresponding to the target locomotive.

The invention has the following beneficial effects:

according to the accurate locomotive positioning method based on the Beidou satellite, the positioning correction is carried out on the target locomotives based on the Beidou satellite through the position relation among all the target locomotives in the target locomotive set, so that the technical problem of low locomotive positioning accuracy is solved, and locomotive positioning accuracy is improved. First, based on Beidou satellite, obtaining an initial position corresponding to each target locomotive in a target locomotive set. Because the Beidou satellite is easily influenced by various factors such as environment, the initial position corresponding to the determined target locomotive cannot be used for accurately positioning the target locomotive, so that the target locomotive is positioned and corrected through the position relation among all target locomotives in the target locomotive set, and the positioning accuracy can be improved. And then, for each target locomotive in the target locomotive set, determining the relative position and the positioning effect index of the target locomotive according to the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining a relative position set and a positioning effect index set corresponding to the target locomotive. Because the position relationship often exists among all the target locomotives in the target locomotive set, one relative position and positioning effect index of the target locomotives are determined through each preset number of target locomotives, a plurality of relative position and positioning effect indexes corresponding to the target locomotives can be obtained, and the positioning condition of the target locomotives can be conveniently analyzed. And then, determining the position accuracy corresponding to each target locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to each target locomotive in the target locomotive set. The initial position, the relative position set and the positioning effect index set corresponding to the target locomotive are comprehensively considered, the position precision corresponding to the target locomotive is determined, and the accuracy of position precision determination can be improved. Then, the target locomotive having the greatest positional accuracy among the target locomotive sets is determined as the reference locomotive. The corresponding target locomotive with the maximum position accuracy is often the target locomotive with the best primary positioning effect in the target locomotive set, and the target locomotive is determined to be the reference locomotive, so that the positioning condition of the target locomotives except the reference locomotive in the target locomotive set can be conveniently analyzed. And then, determining the correction position corresponding to the reference locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to the reference locomotive. The initial position, the relative position set and the positioning effect index set corresponding to the reference locomotive are comprehensively considered, the correction position corresponding to the reference locomotive is determined, and the accuracy of determining the correction position corresponding to the reference locomotive can be improved. And continuously determining other locomotive position error sets corresponding to the reference locomotive according to the corrected position, the relative position set and the positioning effect index set corresponding to the reference locomotive. The correction position, the relative position set and the positioning effect index set corresponding to the reference locomotive are comprehensively considered, and the position error set of other locomotives corresponding to the reference locomotive is determined, so that the accuracy of determining the position error set of other locomotives corresponding to the reference locomotive can be improved. And determining a corrected position corresponding to each target locomotive except the reference locomotive in the target locomotive set according to the other locomotive position error sets. The accuracy of the correction position determination corresponding to the target locomotive can be improved. And finally, updating the initial position corresponding to each target locomotive in the target locomotive set to be a correction position, repeatedly carrying out the position correction for the target locomotives for a preset number of times, and determining the correction position corresponding to each target locomotive determined by the last position correction to be the accurate position corresponding to each target locomotive. The target locomotive is repeatedly subjected to position correction for a preset number of times, so that the accuracy of positioning the target locomotive can be improved. Therefore, the invention carries out positioning correction on the target locomotives based on the Beidou satellite through the position relation among all the target locomotives in the target locomotive set, and improves the accuracy of positioning the target locomotives compared with the method which only considers the Beidou satellite.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a precise locomotive positioning method based on Beidou satellite according to the invention.

Detailed Description

In order to further describe the technical means and effects adopted by the present invention to achieve the preset purpose, the following detailed description is given below of the specific implementation, structure, features and effects of the technical solution according to the present invention with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

for each target locomotive in the target locomotive set, determining the relative position and the positioning effect index of the target locomotive according to the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining the relative position set and the positioning effect index set corresponding to the target locomotive;

determining the position accuracy corresponding to the target locomotives according to the initial position, the relative position set and the positioning effect index set corresponding to each target locomotive in the target locomotive set;

determining a target locomotive with the maximum position precision corresponding to the position precision in the target locomotive set as a reference locomotive;

Determining a correction position corresponding to each target locomotive except the reference locomotive in the target locomotive set according to the other locomotive position error sets;

updating the initial position corresponding to each target locomotive in the target locomotive set to be a correction position, repeatedly carrying out the position correction for the target locomotives for a preset number of times, and determining the correction position corresponding to each target locomotive determined by the last position correction to be the accurate position corresponding to each target locomotive.

The following detailed development of each step is performed:

referring to FIG. 1, a flow chart of some embodiments of a Beidou satellite-based locomotive precise positioning method in accordance with the present invention is shown. The accurate locomotive positioning method based on the Beidou satellite comprises the following steps of:

step S1, acquiring an initial position corresponding to each target locomotive in a target locomotive set based on Beidou satellites.

In some embodiments, the initial position corresponding to each target locomotive in the set of target locomotives may be obtained based on Beidou satellites.

Wherein, big dipper satellite can be used for the position location. The target locomotive in the target locomotive consist may be the locomotive to be located. The number of target locomotives in the target locomotive consist may be greater than 3. The initial position corresponding to the target locomotive may be the position of the target locomotive determined by the Beidou satellite. The target locomotives in the target locomotive consist may be locomotives of different road segments. That is, there may be a spatial distance and angle between the target locomotives in the target locomotive consist. For example, the target locomotives in the target locomotive consist may be locomotives on an expressway, a primary highway, and a secondary highway, respectively.

It should be noted that, when the locomotive is positioned based on the beidou satellite, the differential positioning is mainly performed based on the beidou satellite signal, for example, the common method is as follows: and carrying out differential positioning by using pseudo-range information in the Beidou satellite signals. Therefore, when the locomotive is positioned based on the Beidou satellite, the Beidou satellite signals are often required to be received, wherein a device for receiving the Beidou satellite signals is called a receiver. Therefore, a receiver for receiving the signals of the beidou satellites is often required to be installed on the target locomotive, and generally, the same receiver is often required to simultaneously receive the signals of at least 3 beidou satellites. After the Beidou satellite signals are obtained, the Beidou satellite signals are often required to be preprocessed, namely, coarse differences of the signals are removed, for example, kalman filtering can be adopted for pseudo-range information, original pseudo-range information is input, and pseudo-range signals with coarse differences removed are output. The pseudo-range information in the Beidou satellite signals can represent the distance between the Beidou satellite and the receiver.

As an example, when positioning each target locomotive in the target locomotive set based on the beidou satellite, a generally adopted method is standard single-point positioning based on pseudo range, and real-time pseudo range information is utilized to determine the initial position corresponding to the target locomotive in real time.

For example, using standard single point positioning based on pseudoranges, positioning each target locomotive in a set of target locomotives may include the steps of:

the first step, pseudo-range information in signals of a preset number of Beidou satellites is received through a receiver installed on a target locomotive.

The pseudo-range information may characterize a range between the Beidou satellite and the receiver. The distances between different Beidou satellites and the receiver tend to be different. The preset number may be a preset number. For example, the preset number may be greater than or equal to 3.

And secondly, determining the position of the receiver by using pseudo-range information in the received signals of the preset number of Beidou satellites, and determining the position of the receiver as an initial position corresponding to the target locomotive.

For example, when the preset number is 3, taking 3 Beidou satellites as sphere centers, respectively taking distances (pseudo-range information) from the 3 Beidou satellites to the receiver as radii to form three spheres in space, and taking an intersection point of the three spheres in space as the position of the receiver, namely the initial position corresponding to the target locomotive.

It should be noted that, since the beidou satellite is easily affected by various factors such as environment, the initial position corresponding to the determined target locomotive cannot be used for accurately positioning the target locomotive, so that the positioning correction is performed on the target locomotive through the position relationship among all target locomotives in the target locomotive set, and the positioning accuracy can be improved.

Step S2, for each target locomotive in the target locomotive set, determining the relative position and the positioning effect index of the target locomotive according to the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining the relative position set and the positioning effect index set corresponding to the target locomotive.

In some embodiments, for each target locomotive in the target locomotive set, the relative position and the positioning effect index of the target locomotive may be determined through initial positions corresponding to each preset number of target locomotives in the target locomotive set, except for the target locomotive, so as to obtain a relative position set and a positioning effect index set corresponding to the target locomotive.

The preset number may be a preset number. For example, the preset number may be greater than or equal to 3. The corresponding relative position of the target locomotive may be a position of the target locomotive determined by a preset number of target locomotives other than the target locomotive. The target locomotive's positioning effect index may characterize the effect of positioning the target locomotive by a predetermined number of target locomotives other than the target locomotive.

As an example, this step may include the steps of:

the first step, determining the relative position of the target locomotive through the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, and obtaining the relative position set corresponding to the target locomotive.

For example, by using standard single point positioning for the initial positions corresponding to each preset number of target locomotives in the target locomotive set except the target locomotive, determining the relative position of the target locomotive may include the following sub-steps:

the first sub-step, determining the distance between the target locomotive and the target locomotives of the preset number outside the target locomotive through electromagnetic wave ranging.

For example, an electromagnetic wave transmitting device and an electromagnetic wave receiving device may be mounted on the target locomotive. The distance between the electromagnetic wave receiving device on the first target locomotive and the electromagnetic wave transmitting device on the second target locomotive can be determined as the distance between the first target locomotive and the second target locomotive by using the electromagnetic wave ranging of the electromagnetic wave transmitted by the electromagnetic wave receiving device on the first target locomotive and the electromagnetic wave transmitting device on the second target locomotive.

And a second sub-step of determining the relative position corresponding to the target locomotive by using the determined distance between the target locomotive and a preset number of target locomotives outside the target locomotive.

For example, when the preset number is 3, the electromagnetic wave emitting devices on the 3 target locomotives except the target locomotive are taken as sphere centers, the distances from the 3 target locomotives except the target locomotive to the target locomotive are taken as radii to form three spheres in the space, and the intersection point of the three spheres in the space is the corresponding relative position of the target locomotive.

As another example, the set of target locomotives may be { first target locomotive, second target locomotive, third target locomotive, fourth target locomotive, fifth target locomotive }. When the preset number is 3, for the first target locomotive, first, 1 relative position corresponding to the first target locomotive may be determined through the second target locomotive, the third target locomotive and the fourth target locomotive. Next, 1 relative position for the first target locomotive may be determined by the second, third and fifth target locomotives. Then, 1 relative position corresponding to the first target locomotive may be determined by the second target locomotive, the fourth target locomotive, and the fifth target locomotive. And finally, determining 1 relative position corresponding to the first target locomotive through the third target locomotive, the fourth target locomotive and the fifth target locomotive, and obtaining 4 relative positions corresponding to the first target locomotive. The number of the relative positions in the relative position set corresponding to the first target locomotive is 4.

And a second step of determining the average distance between the target locomotive and each preset number of target locomotives except the target locomotive according to the initial position corresponding to the target locomotive and the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, so as to obtain an average distance set corresponding to the target locomotive.

The average distance between the target locomotive and the preset number of target locomotives outside the target locomotive may be an average value of distances between the target locomotive and the preset number of target locomotives outside the target locomotive.

And thirdly, connecting the target locomotive with initial positions corresponding to each preset number of target locomotives except the target locomotive to obtain a connection group set corresponding to the target locomotive.

And the connecting lines between the target locomotives and a preset number of target locomotives outside the target locomotives form a connecting line group.

And step four, determining the average included angle between each connecting line in each connecting line group in the connecting line group set corresponding to the target locomotive, and obtaining the average included angle set corresponding to the target locomotive.

The average included angle between the wires in the wire group may be an average value of included angles between the wires. For example, when the preset number is 3, the connection group may be { the first connection line, the second connection line, the third connection line }. The included angle between the first connecting line and the second connecting line is a first included angle. The included angle between the first connecting line and the third connecting line is a second included angle. The included angle between the second connecting line and the third connecting line is a third included angle. The average value of the first included angle, the second included angle, and the third included angle may be an average included angle between each connection in the connection group.

And fifthly, determining a positioning effect index set corresponding to the target locomotive according to the average distance set and the average included angle set corresponding to the target locomotive.

For example, determining the set of location effect indicators corresponding to the target locomotive according to the set of average distances and the set of average angles corresponding to the target locomotive may include the sub-steps of:

and a first sub-step, determining the ratio of a preset target value larger than 0 to each average distance in the average distance set corresponding to the target locomotive as a target distance index, and obtaining a target distance index set corresponding to the target locomotive.

The target value may be a preset value. For example, the target value may be 1.

And a second sub-step, determining the product of each target distance index and the target included angle in the target distance index set corresponding to the target locomotive as a positioning effect index, and obtaining the positioning effect index set corresponding to the target locomotive.

The target included angle may be an average included angle in an average included angle set corresponding to the target distance index. The average included angle set corresponding to the target distance index may be an average included angle set corresponding to the target locomotive. The average included angle in the average included angle set corresponding to the target distance index may be: and determining an average included angle through a preset number of target locomotives adopted in the process of determining the target distance index.

For example, the formula for determining the positioning effect index may be:

，

wherein,,

is the first locomotive in the target locomotive setiThe first positioning effect index set corresponding to each target locomotivejAnd (5) positioning effect indexes.iIs the serial number of the target locomotive in the target locomotive consist. />

Is the first locomotive in the target locomotive setiThe first target distance index set corresponding to each target locomotivejAnd (5) target distance indexes. />

Is a target value. For example, a->

May be 1./>

Is the first locomotive in the target locomotive setiThe first of the average distance sets corresponding to the target locomotivesjAverage distance.

Is the first locomotive in the target locomotive setiThe first of the average included angle sets corresponding to the target locomotivesjAverage included angles. />

Is the first locomotive in the target locomotive setiThe first link group set corresponding to each target locomotivejThe number of included angles between the individual links in the set of links. />

Is the first locomotive in the target locomotive setiThe first link group set corresponding to each target locomotivejThe first line of the included angles between the lines in the line groupvAnd an included angle.

By in addition to the firstiA preset number of target locomotives out of the target locomotives, determining the firstiThe corresponding first target locomotivejIndex of positioning effect, first jTarget distance index, firstjAverage distance of (a)jAverage included angle sum ofjAnd a group of links. Due to the firstiThe number of elements in the positioning effect index set, the target distance index set, the average distance set, the average included angle set and the link group set corresponding to each target locomotive is equal, and the elements in the corresponding positions are determined by the same preset number of target locomotives, so that the firstiThe sequence numbers of the elements in the positioning effect index set, the target distance index set, the average distance set, the average included angle set and the connecting line set corresponding to each target locomotive can be usedjAnd (3) representing.

It should be noted that, the further the distance between the target locomotive and the other preset number of target locomotives is, the lower the accuracy of positioning the target locomotive by using the other preset number of target locomotives is. I.e.

The bigger the->

The smaller is adopted

Corresponding preset number of target locomotives, corresponding to the firstiThe less effective the individual target locomotives are in locating, i.e. +.>

The smaller. The greater the angle between the target locomotive and the further preset number of target locomotives, the greater the accuracy of locating the target locomotive with the further preset number of target locomotives, i.e., when + - >

The greater the +.>

The larger is, adopt +.>

Corresponding preset number of target locomotives, corresponding to the firstiThe better the effect of locating the individual target locomotives, i.e. +.>

The larger.

And step S3, determining the position accuracy corresponding to the target locomotives according to the initial position, the relative position set and the positioning effect index set corresponding to each target locomotive in the target locomotive set.

In some embodiments, the location accuracy corresponding to each target locomotive in the set of target locomotives may be determined according to an initial location, a set of relative locations, and a set of location effect indicators corresponding to the target locomotive.

The position accuracy corresponding to the target locomotive can represent the accuracy of positioning the target locomotive.

As an example, this step may include the steps of:

the first step, normalizing the positioning effect indexes in the positioning effect index set corresponding to the target locomotive to obtain a normalization effect index set corresponding to the target locomotive.

The positioning effect indexes in the positioning effect index set can be normalized in the existing normalization mode. For example, a maximum and minimum normalization method may be adopted to normalize the positioning effect indexes in the positioning effect index set corresponding to each target locomotive in the target locomotive set, so as to obtain normalized effect indexes corresponding to the positioning effect indexes. Wherein, the value range of the normalization effect index can be [0,1].

And a second step of determining a relative position vector according to the initial position corresponding to the target locomotive and each relative position in the relative position set, and obtaining the relative position vector set corresponding to the target locomotive.

For example, determining the relative position vector from the initial position and the relative position corresponding to the target locomotive may include the sub-steps of:

and a first sub-step, determining the distance between the initial position corresponding to the target locomotive and the relative position as the magnitude of the relative position vector.

And a second sub-step of determining a direction pointing to the relative position from the initial position corresponding to the target locomotive as a direction of the relative position vector.

And thirdly, determining the product of each normalization effect index in the normalization effect index set corresponding to the target locomotive and the target position vector as a difference vector to obtain a difference vector set corresponding to the target locomotive.

The target position vector may be a relative position vector in the relative position vector set corresponding to the normalization effect index. The set of relative position vectors corresponding to the normalization effect indicator may be a set of relative position vectors corresponding to the target locomotive. The relative position vector in the relative position vector set corresponding to the normalization effect index may be: and determining the relative position vector by determining a preset number of target locomotives adopted when the normalization effect index is obtained.

And fourthly, determining the sum of all the difference vectors in the difference vector set corresponding to the target locomotive as the target difference vector corresponding to the target locomotive.

And fifthly, determining a model of the target difference vector corresponding to the target locomotive as a position difference index corresponding to the target locomotive.

And sixthly, constructing a relative position set corresponding to the target locomotive into a relative position cluster corresponding to the target locomotive.

For example, the set of relative positions corresponding to the target locomotive may be used as the relative position cluster corresponding to the target locomotive, and the cluster center of the relative position cluster may be determined. And determining the relative position as a clustering center when the total distance from each relative position in the relative position set corresponding to the target locomotive to a certain relative position is minimum.

And seventh, determining the distance average value from each relative position in the relative position cluster corresponding to the target locomotive to the clustering center as the clustering distance average value corresponding to the target locomotive.

The cluster distance average value corresponding to the target locomotive may be an average value of distances from each relative position in the relative position cluster corresponding to the target locomotive to a cluster center.

And eighth, determining the product of the position difference index corresponding to the target locomotive and the clustering distance mean value as a first position accuracy index corresponding to the target locomotive.

And ninth, carrying out negative correlation on the first position accuracy index corresponding to the target locomotive, and normalizing to obtain the position accuracy corresponding to the target locomotive.

For example, the formula for determining the position accuracy corresponding to the target locomotive may be:

，

wherein,,

is the first locomotive in the target locomotive setiAnd the position accuracy corresponding to each target locomotive.iIs the serial number of the target locomotive in the target locomotive consist.eIs a natural constant. />

Is the first locomotive in the target locomotive setiAnd a first position accuracy index corresponding to each target locomotive. />

Is the first locomotive in the target locomotive setiThe model of the target difference vector corresponding to each target locomotive is the firstiAnd the position difference indexes corresponding to the target locomotives.

Is the first locomotive in the target locomotive setiCorresponding to each target locomotiveIs defined in the specification. />

Is the first locomotive in the target locomotive setiThe number of elements in the difference vector set, the normalization effect index set, the relative position vector set or the relative position cluster corresponding to each target locomotive. Wherein the first locomotive in the target locomotive set iThe number of elements in the difference vector set, the normalization effect index set, the relative position vector set and the relative position cluster corresponding to each target locomotive are equal. />

Is the first locomotive in the target locomotive setiThe first effect index set corresponding to each target locomotivejThe result index is normalized. />

Is the first locomotive in the target locomotive setiThe first relative position vector set corresponding to each target locomotivejA relative position vector. />

Is the first locomotive in the target locomotive setiCluster distance average value corresponding to each target locomotive. />

Is the first locomotive in the target locomotive setiThe first relative position cluster corresponding to each target locomotivejThe distance of the relative position to the cluster center.

By in addition to the firstiA preset number of target locomotives out of the target locomotives, determining the firstiThe corresponding first target locomotivejThe first normalization effect indexjA relative position vector ofjDistance of relative position to cluster center, the firstjIndex of positioning effect, firstjTarget distance index, firstjAverage distance of (a)jAverage included angle sum ofjAnd a group of links. Due to the firstiPositioning effect index set, target distance index set, average distance set, average included angle set and connecting line set corresponding to each target locomotive The number of elements in the set, the normalization effect index set, the relative position vector set and the relative position cluster are equal, and the elements of the corresponding positions are determined by the same preset number of target locomotives, thus, the firstiThe sequence numbers of elements in the positioning effect index set, the target distance index set, the average distance set, the average included angle set, the connection group set, the normalization effect index set, the relative position vector set and the relative position cluster corresponding to each target locomotive can be usedjAnd (3) representing.

Note that, the firstiThe first effect index set corresponding to each target locomotivejIndex of normalized effect

As the firstiThe first relative position vector set corresponding to each target locomotivejRelative position vector->

Is a weight of (2). Due to the firstjThe normalization effect index can be used for representing the adoption of the firstjA preset number of target locomotives corresponding to the normalization effect indexes, corresponding to the first locomotiveiAnd positioning the target locomotives. First, thejThe relative position vector can be characterized by adopting the firstjA preset number of target locomotives corresponding to the relative position vectors, and the determined relative position and the first locomotiveiThe difference between the initial positions corresponding to the individual target locomotives. First, thejA preset number of target locomotives and a first target locomotive corresponding to the normalization effect index jThe preset number of target locomotives corresponding to the relative position vectors are the same preset number of target locomotives. Therefore (S)>

The difference in position between the relative position and the initial position can be characterized. Thus (S)>

The larger the tends to illustrate the first determined by the positional relationship between the target locomotivesiThe greater the difference between the respective relative positions of the respective target locomotives and the initial position determined by the Beidou satelliteOften describe the firstiThe lower the accuracy of the positioning of the individual target locomotives, i.e. +.>

The smaller. />

Smaller, tend to account for the first determined by the positional relationship between the target locomotivesiThe more similar the relative positions of the target locomotives are, the more often the description is made of the firstiThe higher the accuracy of the positioning of the individual target locomotives, i.e. +.>

The larger.

And S4, determining a target locomotive with the maximum position precision corresponding to the target locomotive set as a reference locomotive.

In some embodiments, a target locomotive with the maximum position accuracy corresponding to the target locomotive set may be determined as a reference locomotive.

As an example, the maximum position accuracy may be selected from the position accuracies corresponding to the respective target locomotives in the target locomotive aggregate, and the target locomotive corresponding to the maximum position accuracy may be determined as the reference locomotive.

The target locomotive with the maximum position accuracy is often the target locomotive with the best primary positioning effect in the target locomotive set, and the target locomotive is determined to be the reference locomotive, so that the positioning condition of the target locomotives except the reference locomotive in the target locomotive set can be conveniently analyzed.

And S5, determining a correction position corresponding to the reference locomotive according to the initial position, the relative position set and the positioning effect index set corresponding to the reference locomotive.

In some embodiments, the corrected position corresponding to the reference locomotive may be determined according to the initial position, the set of relative positions, and the set of positioning effect indicators corresponding to the reference locomotive.

The corrected position corresponding to the reference locomotive may be a position obtained by correcting the positioning of the reference locomotive.

As an example, the initial position corresponding to the reference locomotive may be translated by a target length along the direction of the target difference vector corresponding to the reference locomotive, and the translated position may be determined as the corrected position corresponding to the reference locomotive.

The target length may be a modulus of a target difference vector corresponding to the reference locomotive.

It should be noted that, the target length may represent the error distance of the reference locomotive, so that translating the initial position corresponding to the reference locomotive along the direction of the target difference vector corresponding to the reference locomotive, so as to eliminate part of errors in positioning the reference locomotive, and then carrying out preset number of position corrections on the target locomotive, so that errors in positioning the target locomotive can be more accurately eliminated.

And S6, determining other locomotive position error sets corresponding to the reference locomotive according to the corrected positions, the relative position sets and the positioning effect index sets corresponding to the reference locomotive.

In some embodiments, the set of other locomotive position errors corresponding to the reference locomotive may be determined based on the set of corrected positions, the set of relative positions, and the set of positioning effect indicators corresponding to the reference locomotive.

Wherein each other locomotive position error in the set of other locomotive position errors corresponding to the reference locomotive may be a sum of position errors of a preset number of target locomotives other than the reference locomotive.

As an example, this step may include the steps of:

and determining the distance between the corrected position corresponding to the reference locomotive and each relative position in the relative position set as a relative distance error to obtain a relative distance error set corresponding to the reference locomotive.

And secondly, determining a difference value of each normalization effect index in the normalization effect index set corresponding to the reference locomotive as a system error weight to obtain a system error weight set corresponding to the reference locomotive.

And thirdly, determining the product of each systematic error weight in the systematic error weight set corresponding to the reference locomotive and the target relative error as the systematic error to obtain the systematic error set corresponding to the reference locomotive.

The target relative error may be a relative distance error in the relative distance error set corresponding to the system error weight. The set of relative distance errors corresponding to the system error weights may be a set of relative distance errors corresponding to the reference locomotive. The relative distance error in the relative distance error set corresponding to the system error weight may be: and determining the relative distance error by determining a preset number of target locomotives adopted in the system error weight.

For example, the formula for determining the correspondence of the systematic error may be:

，

wherein,,

is the first of the corresponding system error sets of the reference locomotivetAnd a systematic error. />

Is the first in the system error weight set corresponding to the reference locomotivetAnd the system error weight. />

Is the first of the corresponding relative distance error sets of the reference locomotivetA relative distance error.

The first locomotive may be determined by a predetermined number of target locomotives other than the reference locomotivetSystematic error, the firsttSum of individual systematic error weightstA relative distance error. Because the number of elements in the system error set, the system error weight set and the relative distance error set corresponding to the reference locomotive is equal, and the elements in the corresponding positions are determined by the same preset number of target locomotives, the reference locomotive pairs The sequence numbers of the elements in the corresponding system error set, the system error weight set and the relative distance error set can be usedtAnd (3) representing.

The first relative distance error set of the reference locomotivetThe relative distance error can be characterized bytTotal error for each target locomotive consist. First, thetThe total error for each target locomotive consist of the systematic error and other locomotive position errors. The systematic error may be an error due to signal transmission calculations, among other things. Other locomotive position errors may be errors due to possible inaccuracy in other target locomotive positions when the target locomotive is positioned with other target locomotives. Due to

Can be characterized as adopting the firsttEach target locomotive combination, determining the normalization effect of the relative position corresponding to the reference locomotive, therefore, < ->

Other locomotive position errors can be characterized, +.>

The systematic error can be characterized. Wherein, the firsttThe target locomotive can be combined bytError of relative distance ortAnd a preset number of target locomotives corresponding to the system error weights. First, thetSum of relative distance errorstThe predetermined number of target locomotives corresponding to the individual systematic error weights may be the same predetermined number of target locomotives.

And step four, determining the difference value between each relative distance error in the relative distance error set corresponding to the reference locomotive and the target system error as the position error of other locomotives to obtain the position error set of other locomotives corresponding to the reference locomotive.

The target systematic error may be a systematic error in a set of systematic errors corresponding to the above-mentioned relative distance errors. The set of systematic errors corresponding to the relative distance errors may be a set of systematic error weights corresponding to the reference locomotive. The systematic errors in the set of systematic errors corresponding to the relative distance errors may be: and determining a systematic error by determining a preset number of target locomotives adopted in the relative distance error.

For example, the formula for determining the correspondence of other locomotive position errors may be:

，

wherein,,

is the first locomotive position error set corresponding to the reference locomotivetAnd other locomotive position errors. />

Is the first of the corresponding relative distance error sets of the reference locomotivetA relative distance error. />

Is the first of the corresponding system error sets of the reference locomotivetAnd a systematic error.

The first locomotive may be determined by a predetermined number of target locomotives other than the reference locomotive tPosition error of other locomotivestA relative distance error oftSum of systematic errorstAnd the system error weight. Because the number of elements in the position error set, the system error weight set and the relative distance error set of the other locomotives corresponding to the reference locomotive is equal, and the elements in the corresponding positions are determined by the same preset number of target locomotives, the sequence numbers of the elements in the position error set, the system error weight set and the relative distance error set of the other locomotives corresponding to the reference locomotive can be usedtAnd (3) representing.

The first relative distance error set of the reference locomotivetThe relative distance error can be characterized bytTotal error for each target locomotive consist. First, thetThe total error of each target locomotive combination can be calculated by the system error and other locomotive positionsAnd the error is set. The systematic error may be an error due to signal transmission calculations, among other things. Other locomotive position errors may be errors due to possible inaccuracy in other target locomotive positions when the target locomotive is positioned with other target locomotives. Thus, the first and second substrates are bonded together,

other locomotive position errors may be characterized. Wherein, the first tThe target locomotive can be combined bytError of relative distance ortAnd a preset number of target locomotives corresponding to the system error weights. First, thetSum of relative distance errorstThe predetermined number of target locomotives corresponding to the individual systematic error weights may be the same predetermined number of target locomotives.

And S7, determining the corresponding correction position of each target locomotive except the reference locomotive in the target locomotive set according to the position error sets of other locomotives.

In some embodiments, the corrected position for each target locomotive in the set of target locomotives other than the reference locomotive may be determined based on the set of other locomotive position errors.

The corrected position corresponding to the target locomotive may be a position obtained by correcting the positioning of the target locomotive.

As an example, this step may include the steps of:

first, determining a target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set according to the other locomotive position error sets.

For example, determining a target position error for each target locomotive in the set of target locomotives other than the reference locomotive based on the set of other locomotive position errors may include the sub-steps of:

A first sub-step of constructing an objective function corresponding to each other locomotive position error in the set of other locomotive position errors.

The objective function corresponding to the position error of the other locomotive may be that the position error of the other locomotive is equal to the sum of the target position errors corresponding to the preset number of target locomotives corresponding to the position error of the other locomotive. The predetermined number of target locomotives corresponding to the other locomotive position errors may be the predetermined number of target locomotives used in determining the other locomotive position errors. The other locomotive position error may be a dependent variable of an objective function corresponding to the other locomotive position error. The target position errors corresponding to the preset number of target locomotives corresponding to the position errors of the other locomotives may be preset number of independent variables of the target function corresponding to the position errors of the other locomotives.

And a second sub-step of determining a target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set by using an objective function corresponding to each other locomotive position error in the other locomotive position error set.

Wherein, since the dependent variable (other locomotive position error) of the objective function has been determined, when the number of the objective functions is greater than or equal to the number of the objective locomotives other than the reference locomotive, the objective position error corresponding to each of the objective locomotives other than the reference locomotive can be determined, and correction of the positioning of each of the objective locomotives other than the reference locomotive can be achieved. In practical situations, when more target locomotives are available, the more target locomotives are available in combination, the more target functions are constructed, and the more target functions are more likely to be larger than the target locomotives. For example, when the number of target locomotives is 5 and the preset number is 3, there are 4 target locomotives except the reference locomotive, 4 target locomotives can be combined, and the number of the objective functions is 4, and at this time, the number of the objective functions is equal to the number of target locomotives except the reference locomotive, and the 4 objective functions are combined, so that the target position errors corresponding to the target locomotives except the reference locomotive can be determined. Similarly, when the number of target locomotives is 6 and the preset number is 3, there are 5 target locomotives except the reference locomotive, the combination of 3 target locomotives that can be combined is 60, the number of the objective functions constructed is 60, at this time, the number of the objective functions is larger than the number of target locomotives except the reference locomotive, and the 60 objective functions are combined, so that the target position errors corresponding to the target locomotives except the reference locomotive can be determined.

And a second step of determining a corrected position corresponding to the target locomotive according to a target position error corresponding to each target locomotive except the reference locomotive in the target locomotive set.

For example, the initial position corresponding to the target locomotive may be shifted by a distance corresponding to the target position error, and the shifted position may be determined as the corrected position corresponding to the target locomotive.

It should be noted that, since the error is transitive, that is, when the position of the reference locomotive is determined by the position of the preset number of target locomotives, the position error of the preset number of target locomotives often affects the determination of the position of the reference locomotive. The other locomotive position error may be equal to the sum of the target position errors for the predetermined number of target locomotives corresponding to the other locomotive position error. Thus, when the number of objective functions constructed is greater than or equal to the number of target locomotives minus 1, the position error of each target locomotive, i.e., the corresponding target position error of the target locomotive, may be determined. The distance corresponding to the target position error can represent the error distance of the target locomotive, so that the part of errors for positioning the target locomotive can be eliminated by translating the distance corresponding to the target position error from the initial position corresponding to the target locomotive, and the errors for positioning the target locomotive can be eliminated more accurately by carrying out the position correction on the target locomotive for a preset number of times.

And S8, updating the initial position corresponding to each target locomotive in the target locomotive set to be a correction position, repeatedly carrying out position correction on the target locomotives for a preset number of times, and determining the correction position corresponding to each target locomotive determined by the last position correction to be the accurate position corresponding to each target locomotive.

In some embodiments, the initial position corresponding to each target locomotive in the target locomotive set may be updated to be a corrected position, the target locomotives may be repeatedly corrected by a preset number of times, and the corrected position corresponding to each target locomotive determined by the last time of position correction may be determined to be an accurate position corresponding to each target locomotive.

Wherein the preset number may be a preset number. For example, the preset number may be 5.

As an example, when the preset number is greater than 0, updating the initial position corresponding to each target locomotive in the target locomotive set to be a corrected position, executing steps S2 to S7, updating the preset number to be the preset number minus 1, when the preset number is greater than 0, repeating the steps until the preset number is not greater than 0, and when the preset number is not greater than 0, determining the corrected position corresponding to the last obtained target locomotive to be the accurate position corresponding to the target locomotive.

It should be noted that, the position correction is repeatedly performed for the target locomotive for a preset number of times, so that the accuracy of positioning the target locomotive can be improved.

In summary, firstly, since the Beidou satellite is easily affected by various factors such as environment, the initial position corresponding to the determined target locomotive cannot be used for accurately positioning the target locomotive, so that the positioning correction is performed on the target locomotive through the position relationship among all target locomotives in the target locomotive set, and the positioning accuracy can be improved. Then, because the position relation often exists among all the target locomotives in the target locomotive set, one relative position and positioning effect index of the target locomotive is determined through each preset number of target locomotives, a plurality of relative position and positioning effect indexes corresponding to the target locomotive can be obtained, and the positioning condition of the target locomotive can be conveniently analyzed. The accuracy of the position corresponding to the target locomotive may then characterize the accuracy of locating the target locomotive. Therefore, the positioning accuracy corresponding to the target locomotive is determined, and the positioning condition of the target locomotive can be conveniently analyzed. Then, the target locomotive with the maximum position accuracy is often the target locomotive with the best initial positioning effect in the target locomotive set, and the target locomotive is determined to be the reference locomotive, so that the positioning condition of the target locomotives except the reference locomotive in the target locomotive set can be conveniently analyzed. Then, the target length can represent the error distance of the reference locomotive, so that the initial position corresponding to the reference locomotive is translated along the direction of the target difference vector corresponding to the reference locomotive, partial errors for positioning the reference locomotive can be eliminated, and the errors for positioning the target locomotive can be eliminated more accurately by carrying out preset number of position corrections on the target locomotive. Furthermore, the positioning correction of the reference locomotive can be facilitated by analyzing the position error set, the relative distance error set and the system error set of other locomotives corresponding to the reference locomotive. Continuing, by analyzing the target position error corresponding to the target locomotive, positioning corrections can be facilitated for the target locomotives other than the reference locomotive. And finally, repeatedly carrying out the position correction for the target locomotive for a preset number of times, so that the accuracy of positioning the target locomotive can be improved. Therefore, the invention carries out positioning correction on the target locomotives based on the Beidou satellite through the position relation among all the target locomotives in the target locomotive set, and improves the accuracy of positioning the target locomotives compared with the method which only considers the Beidou satellite.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the scope of the embodiments of the present application, and are intended to be included within the scope of the present application.

Claims

1. The accurate locomotive positioning method based on the Beidou satellite is characterized by comprising the following steps of:

2. The accurate positioning method of a Beidou satellite-based locomotive according to claim 1, wherein the determining, by the initial positions corresponding to each preset number of target locomotives except the target locomotive in the target locomotive set, the relative position and the positioning effect index of the target locomotive to obtain the relative position set and the positioning effect index set corresponding to the target locomotive includes:

3. The accurate positioning method of a locomotive based on Beidou satellite according to claim 2, wherein determining the set of positioning effect indexes corresponding to the target locomotive according to the set of average distances and the set of average included angles corresponding to the target locomotive comprises:

4. The accurate positioning method of a vehicle based on Beidou satellite according to claim 1, wherein determining the position accuracy corresponding to each target vehicle in the target vehicle set according to the initial position, the relative position set and the positioning effect index set corresponding to the target vehicle comprises:

5. The method for precisely positioning a locomotive based on a Beidou satellite according to claim 4, wherein determining the corrected position corresponding to the reference locomotive according to the initial position, the set of relative positions and the set of positioning effect indexes corresponding to the reference locomotive comprises:

6. The method for precisely positioning a locomotive based on Beidou satellite according to claim 4, wherein determining the set of other locomotive position errors corresponding to the reference locomotive according to the corrected position, the set of relative positions and the set of positioning effect indexes corresponding to the reference locomotive comprises:

7. The method for precisely positioning a locomotive based on Beidou satellite according to claim 1, wherein determining a corrected position corresponding to each target locomotive in the set of target locomotives except the reference locomotive according to the set of other locomotive position errors comprises:

8. The method for precisely positioning a locomotive based on Beidou satellite according to claim 7, wherein determining a target position error corresponding to each target locomotive in the target locomotive set except the reference locomotive according to the other locomotive position error set comprises:

9. The method for precisely positioning a locomotive based on Beidou satellite according to claim 7, wherein determining a corrected position corresponding to each target locomotive except the reference locomotive in the target locomotive set according to a target position error corresponding to the target locomotive comprises: