The embodiment of the invention provides a combined positioning method and device, electronic equipment, a readable storage medium and a vehicle, and belongs to the technical field of rail transit. The method comprises the following steps: acquiring latitude and longitude data and track electronic map data; according to the latitude and longitude data and the orbit electronic map data, performing kilometer post conversion calculation to obtain satellite positioning kilometer post data; pulse frequency data, wheel speed signal panel resolution data and wheel radius data are obtained, the pulse frequency data are obtained through pulse signals output by a wheel speed sensor, and the wheel speed signal panel resolution data and the wheel radius data are obtained through train attributes; calculating according to the pulse frequency data, the wheel speed signal panel resolution data and the wheel radius data to obtain unit time mileage data; performing combined positioning calculation according to the satellite positioning kilometer post data, the unit time mileage data and a combined positioning algorithm to obtain train positioning data; and determining the train position according to the train positioning data. The method is applied to the train positioning process, and train positioning precision is improved.
本发明实施例提供了一种组合定位方法、装置、电子设备、可读存储介质及车辆,属于轨道交通技术领域。所述方法包括:获取经纬度数据和轨道电子地图数据;根据所述经纬度数据和所述轨道电子地图数据,进行公里标转化计算,得到卫星定位公里标数据;获取脉冲频率数据、轮速信号盘分辨率数据和车轮半径数据,其中,所述脉冲频率数据由轮速传感器输出的脉冲信号获得,所述轮速信号盘分辨率数据和所述车轮半径数据由列车属性获得;根据所述脉冲频率数据、所述轮速信号盘分辨率数据和所述车轮半径数据进行计算,得到单位时间里程数据;根据所述卫星定位公里标数据、所述单位时间里程数据和组合定位算法进行组合定位计算,得到列车定位数据;根据所述列车定位数据确定列车位置。应用于列车定位过程中,提高列车定位的精度。
Combined positioning method and device, electronic equipment, readable storage medium and vehicle
组合定位方法、装置、电子设备、可读存储介质及车辆
2023-02-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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