The invention relates to a subway train autonomous positioning device, system and method based on multivariate information fusion, belongs to the technical field of railways, and solves the problem that an existing train positioning system depends on trackside equipment. The device comprises inertial navigation equipment used for carrying out autonomous navigation positioning on a subway train andcalculating inertial navigation positioning information; visual equipment used for monitoring an image beacon arranged at a fixed position beside a subway line track and calculating visual positioning information; and data processing equipment used for receiving the reported information of the inertial navigation equipment and the visual equipment, carrying out information fusion to obtain fusedpositioning information, sending the fused positioning information to an ATP system of the subway train, and carrying out auxiliary control on each stage including train leaving, inter-station operation, train pull-in station/garage and train stop-in station/storage. Common-cause failure caused by positioning equipment with the same principle and characteristics is avoided, and the amplification problem in the positioning precision transmission process and the influence of failure of subordinate equipment on the positioning precision of superior equipment are prevented.

    本发明涉及一种基于多元信息融合的地铁列车自主定位装置、系统及方法,属于铁路技术领域,解决现有列车定位系统依赖轨旁设备的问题;装置包括惯导设备,用于对地铁列车进行自主导航定位,计算惯导定位信息;视觉设备,用于监测设置在地铁线路轨旁固定位置的图像信标,计算视觉定位信息;数据处理设备,用于接收惯导设备和视觉设备的上报信息,进行信息融合,得到融合定位信息,发送到地铁列车的ATP系统,对包括列车出库、站间运行、列车进站/库和列车停站/库在内的各阶段进行辅助控制。本发明避免相同原理和特性的定位设备造成的共因失效,防止定位精度传递过程中的放大问题以及下级设备失效对上级设备定位精度的影响。


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    Title :

    Subway train autonomous positioning device, system and method based on multivariate information fusion


    Additional title:

    基于多元信息融合的地铁列车自主定位装置、系统及方法


    Contributors:
    LIN YUNZHI (author) / ZHOU YAN (author) / NAN FEI (author) / YANG BIN (author) / TANG KAN (author) / LIU XIAO (author)

    Publication date :

    2020-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



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