Urban rail vehicle positioning method, device and equipment

The invention provides an urban rail vehicle positioning method, device and equipment, and the method comprises the steps: building a virtual line-of-sight link between a first rail vehicle and a second rail vehicle based on a plurality of elements in RIS; based on the virtual line-of-sight link, obtaining a receiving signal received by the processor for the transmitting signal at the current moment; determining Doppler frequency shift at the current moment according to the frequency of the received signal and the frequency of the transmitted signal; correcting the driving direction of the first rail vehicle based on the Doppler frequency shift, and determining the horizontal correction speed and the vertical correction speed of the first rail vehicle; and determining a second positioning position of the first rail vehicle at the current moment according to the first positioning position, the horizontal correction speed, the vertical correction speed and the time difference between the current moment and the