The invention provides a train positioning and mapping method and device. The train positioning and mapping method comprises the following steps: acquiring first point cloud data of a train on a running line; based on the length of the running line, multiple pieces of second point cloud data of the train on the running line are obtained at the target sampling frequency, data aggregation processing is conducted on the first point cloud data based on the multiple pieces of second point cloud data, and a target point cloud picture is obtained; and performing multi-target registration on the target point cloud picture and the off-line map of the running line to obtain a high-precision map. According to the method, the accurate position of the train can be obtained after the train control system is powered on, equipment such as a navigation satellite or a transponder is not needed, and the real-time positioning efficiency of the train is improved.
本发明提供一种列车定位建图方法及装置,该列车定位建图方法包括:获取列车在运行线路上的第一点云数据;基于运行线路长度,以目标采样频率获取列车在运行线路上的多个第二点云数据,基于多个第二点云数据对第一点云数据进行数据聚合处理,得到目标点云图;将目标点云图与运行线路的离线地图进行多目标配准,得到高精度地图。所述方法列车控制系统上电后即能获知列车的精确位置,无需借助导航卫星或应答器等设备,提高了列车实时定位的效率。
Train positioning mapping method and device
列车定位建图方法及装置
2024-03-05
Patent
Electronic Resource
Chinese
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