The invention discloses a train positioning method, device and equipment in a subway tunnel and a storage medium, and the method comprises the steps: collecting environment data information in the subway tunnel, and obtaining a high-precision point cloud picture in the subway tunnel through calculation based on the environment data information; extracting target object features from the high-precision point cloud atlas to construct a structured point cloud atlas; acquiring target object features and first inertial navigation data acquired in real time when the train runs, matching the target object features acquired in real time with target object features in the structured point cloud atlas, and acquiring real-time position information of the train based on a matching result and the first inertial navigation data; and acquiring data information of the hectometer mark in the tunnel, which is acquired in real time when the train runs, and calibrating the real-time position information through calculation based on the data information of the hectometer mark to obtain the position information of the train. According to the technical scheme, the train positioning method is low in cost, high in precision and high in practicability.

    本发明公开一种地铁隧道内的列车定位方法、装置、设备及存储介质,该方法包括:采集地铁隧道内的环境数据信息,基于环境数据信息通过计算得到所述地铁隧道内的高精点云图;通过从高精点云图中提取目标物体特征构建结构化点云图;获取列车运行时实时采集到的目标物体特征和第一惯导数据,并将实时采集到的目标物体特征与结构化点云图中的目标物体特征进行匹配,基于匹配结果和第一惯导数据获取列车的实时位置信息;获取列车运行时实时采集到的隧道内的百米标的数据信息,基于百米标的数据信息通过计算对实时位置信息进行校准,得到列车的位置信息。本发明提供的技术方案是一种成本低、精度高、实用性强的列车定位方法。


    Access

    Download


    Export, share and cite



    Title :

    Method, device and equipment for positioning train in subway tunnel and storage medium


    Additional title:

    一种地铁隧道内的列车定位方法、装置、设备及存储介质


    Contributors:
    HOU ZHICHAO (author) / PAN WENBO (author) / YUAN XIWEN (author) / HUANG WENYU (author) / LI CHENG (author) / HU YUNQING (author)

    Publication date :

    2023-04-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



    Visual positioning device, method and equipment for train in tunnel and medium

    CHEN SHUOHAO / CHANG MING / WANG XUCHAO et al. | European Patent Office | 2025

    Free access

    Train positioning method and device, storage medium and electronic equipment

    CHANG QIUYUN / ZHI QIUCHEN / ZHANG SHUO et al. | European Patent Office | 2024

    Free access

    Train positioning method and device, electronic equipment and storage medium

    CHEN YI / GUO JIA / WANG ZICHENG et al. | European Patent Office | 2021

    Free access

    Train positioning method, device and equipment and readable storage medium

    LI QI / ZHANG JIANDONG / YAO YUJIN et al. | European Patent Office | 2023

    Free access

    Train positioning method and device, storage medium and electronic equipment

    CHEN CHAOLU / ZHU XIANGHUA / XIE PEIJIN et al. | European Patent Office | 2023

    Free access