The invention relates to the technical field of rail transit, in particular to a high-precision positioning pose supervision method, device and equipment for a rail vehicle and a medium. According to the invention, the first supervision result is obtained through the continuous multi-frame attitude information, the second supervision result is obtained through the continuous multi-frame point cloud information, and the high-precision positioning pose supervision result is determined through the environment information, so that the supervision result judgment is carried out in combination with the continuous frame information without introducing additional sensing equipment, and the accuracy of the supervision result judgment is improved. The method has better adaptability to the running scene of the railway vehicle, the supervision effect on the high-precision positioning module is improved, and the running safety and reliability of the railway vehicle are further improved.
本发明涉及轨道交通技术领域,尤其涉及一种轨道车辆高精度定位位姿监督方法、装置、设备及介质。本发明通过连续多帧的姿态信息获取第一监督结果,通过连续多帧的点云信息获取第二监督结果,通过环境信息确定高精度定位位姿监督结果,实现不引入额外的感知设备的情况下,结合连续帧信息进行监督结果判断,对轨道车辆运行的场景具有更好的适应性,提高对高精度定位模块监督效果,进而提高了轨道车辆运行的安全性和可靠性。
Railway vehicle high-precision positioning pose supervision method, device, equipment and medium
轨道车辆高精度定位位姿监督方法、装置、设备及介质
2024-03-22
Patent
Electronic Resource
Chinese
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