The invention discloses a multi-sensor fusion maglev train ground speed measurement method and system. The method comprises the steps that S1, detection results of two ultrasonic speed measurement radars installed on the ground on a maglev train are fused to obtain radar speed measurement data of the maglev train; s2, fusing maglev train picture data acquired by a binocular camera mounted on the ground to obtain camera speed data of the maglev train; and S3, fusing the radar speed measurement data and the camera speed data in a complementary filtering mode to obtain the actual speed of the maglev train. According to the invention, the original data is acquired by adopting the speed measuring device with relatively low precision and relatively low frequency, and relatively high-precision and relatively high-frequency speed acquisition is realized through a multi-time data fusion mode, so that system requirements are met. Other devices do not need to be additionally arranged on the maglev train, the maglev train does not need to be changed at all, the maglev train does not need to transmit data back to the ground in a wireless communication mode or other modes, and operation safety of the maglev train is guaranteed.
本申请公开了一种多传感器融合磁浮列车地面测速方法和系统,所述方法包括步骤:S1、将安装于地面两个超声波测速雷达对磁浮列车的检测结果融合得到磁浮列车的雷达测速数据;S2、根据安装于地面的双目相机采集得到的磁浮列车图片数据融合得到磁浮列车的相机速度数据;S3、采用互补滤波方式对所述雷达测速数据和相机速度数据进行融合,得到磁浮列车的实际速度。本申请通过采用较低精度、较低频率的测速装置采集原始数据,通过多次数据融合方式实现较高精度、较高频率速度采集,满足系统需求。无需在磁浮列车上加装其他装置,不需要对磁浮列车进行任何改动,也不需要磁浮列车通过无线通信等方式向地面回传数据,保证了磁浮列车运营安全。
Multi-sensor fusion maglev train ground speed measurement method and system
一种多传感器融合磁浮列车地面测速方法和系统
2023-07-25
Patent
Elektronische Ressource
Chinesisch
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