The invention relates to the technical field of vehicles, in particular to a train attitude sensing method and device, electronic equipment and a storage medium, and the method comprises the following steps: acquiring attitude sensing data of a train at a previous moment and attitude sensing data of the train at a current moment; obtaining an attitude quaternion predicted value at the current moment according to the attitude sensing data at the previous moment, calculating an observed value at the current moment according to the attitude sensing data at the current moment, and updating the attitude quaternion predicted value at the current moment according to the observed value at the current moment to obtain an attitude quaternion at the current moment; and obtaining the attitude angle data of the train according to the attitude quaternion at the current moment. Therefore, the problem that the train safety and the operation efficiency cannot be guaranteed due to the fact that the train cannot conduct three-dimensional attitude sensing is solved, the attitude angle of the train can be autonomously recognized through intelligent attitude sensing, and therefore anomaly detection, trend analysis and predictive maintenance are conducted according to the attitude angle, and driving safety is guaranteed to the maximum extent.

    本申请涉及车辆技术领域,特别涉及一种列车的姿态感知方法、装置、电子设备及存储介质,其中,方法包括:获取列车上一时刻的姿态感知数据和当前时刻的姿态感知数据;根据上一时刻的姿态感知数据得到当前时刻的姿态四元数预测值,并根据当前时刻的姿态感知数据计算当前时刻的观测值,并根据当前时刻的观测值更新当前时刻的姿态四元数预测值得到当前时刻的姿态四元数;根据当前时刻的姿态四元数得到列车的姿态角数据。由此,解决列车无法进行三维姿态感知导致的无法保证列车安全性和运行效率的问题,本申请可以通过智能姿态感知,对列车的姿态角进行自主识别,从而根据姿态角进行异常检测、趋势分析和预测性维护,最大限度地保障行车安全。


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    Title :

    Train attitude sensing method and device, electronic equipment and storage medium


    Additional title:

    列车的姿态感知方法、装置、电子设备及存储介质


    Contributors:
    ZHAO AN'AN (author) / LUO ZHENGXIN (author) / YUAN CHONGYANG (author) / ZHU BO (author) / ZENG CHONGYANG (author) / ZHANG NANQIAO (author) / PENG CHAOYANG (author) / YANG YANJING (author) / YU LEI (author) / ZHANG CHEN (author)

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



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