The invention discloses a multi-modal fusion-based high-precision positioning method and equipment for a railway vehicle and a medium. The method comprises the following steps of: 1, positioning and initializing an initial position of a train; 2, based on the step 1, image features are extracted, and accurate repositioning is conducted on the train at the platform position; step 3, acquiring the train speed by processing millimeter wave radar data; 4, based on the step 3, the more accurate train speed is obtained through the two steps of prediction and calibration; step 5, collecting point cloud data by using a laser radar; and step 6, correcting the accumulative error by adopting point cloud matching, namely matching the current frame point cloud with the local point cloud map. According to the method, more comprehensive and accurate environment characteristics can be obtained by fusing information of multiple modes, so that positioning of the rail vehicle is more accurate and reliable, and powerful guarantee is provided for safety and efficiency of rail traffic.
本发明的一种基于多模态融合的轨道车辆高精度定位方法、设备及介质,包括步骤1:对列车的初始位置进行定位和初始化;步骤2:基于步骤1,提取图像特征,对列车在站台位置的精确重定位;步骤3:通过对毫米波雷达数据处理来获取列车车速;步骤4:基于步骤3,利用预测和校准两个步骤来获取更精确的列车速度;步骤5:利用激光雷达采集点云数据;步骤6:采用点云匹配即当前帧点云和局部点云地图进行匹配的方式来对累计误差进行修正。本发明该方法通过融合多种模态的信息,能够获取更加全面、精准的环境特征,从而确保轨道车辆的定位更加精确、可靠,为轨道交通的安全与效率提供有力保障。
Railway vehicle high-precision positioning method and device based on multi-modal fusion and medium
基于多模态融合的轨道车辆高精度定位方法、设备及介质
2024-09-06
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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