The invention discloses a train visual positioning method and system based on visual inertial navigation. The positioning method comprises the following steps: S1, acquiring image data acquired by a binocular camera in real time and IMU data acquired by an IMU sensor in real time; s2, preprocessing the image data to obtain motion information of the train; s3, synchronous alignment processing of timestamps is carried out on the image data and the IMU data, and pre-integration is carried out on the IMU data after synchronous alignment processing to obtain motion information of the train; s4, performing data fusion processing on the train motion information obtained by preprocessing and the train motion information obtained by pre-integration to obtain the train motion information; and S5, correcting the motion information of the train in the step S4 through a correction method. According to the invention, information such as train speed, mileage and the like is accurately calculated, and accurate and real-time speed measurement and positioning functions during train operation are realized.

    本发明公开了一种基于视觉惯导的列车视觉定位方法及系统,定位方法包括以下步骤:步骤S1,获取双目相机实时采集的图像数据、IMU传感器实时采集的IMU数据;步骤S2,对图像数据进行预处理获取列车的运动信息;步骤S3,对图像数据、IMU数据进行时间戳的同步对齐处理,并对同步对齐处理后的IMU数据进行预积分获取列车的运动信息;步骤S4,对预处理获取列车的运动信息和预积分获取列车的运动信息进行数据融合处理,得到列车的运动信息;步骤S5,通过修正方法修正步骤S4中列车的运动信息。本发明精确解算列车速度、里程等信息,实现列车运行时精确实时的测速和定位功能。


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    Title :

    Train visual positioning method and system based on visual inertial navigation


    Additional title:

    一种基于视觉惯导的列车视觉定位方法及系统


    Contributors:
    WU PINGPING (author) / HAN XINYU (author) / CAO YUAN (author) / XIA YITAO (author) / MIAO WENLI (author) / ZHANG WEI (author) / ZHANG XIAOHONG (author) / LU YUHAO (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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