The invention discloses a train positioning method and device based on a laser radar. The train positioning method comprises the steps of creating a three-dimensional point cloud map; performing pointcloud thinning on the three-dimensional point cloud map to create a structured feature map; and performing feature matching on the structural features extracted from the current scanning data of thelaser radar and the structural feature map to calculate the current position of the train. According to the method, the position and orientation of the train can be monitored in real time, and the accurate position of the train is provided for a train control system in real time, so that the positioning accuracy is improved, and the construction cost and maintenance cost of train positioning are effectively reduced.
本发明公开了一种基于激光雷达的列车定位方法及装置,列车定位方法包括:创建三维点云地图;对所述三维点云地图进行点云抽稀,以创建出结构化特征地图;以及,将从激光雷达的当前扫描数据中提取到的结构化特征与所述结构化特征地图进行特征匹配,以解算出列车的当前位置。本发明能够实现对列车位置和朝向的实时监测,为列车控制系统实时提供列车的精准位置,从而提升了定位准确度,有效地降低了列车定位的施工成本和维护成本。
Train positioning method and device based on laser radar
基于激光雷达的列车定位方法及装置
2021-03-09
Patent
Electronic Resource
Chinese
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