The invention discloses a train positioning correction method and device based on high-precision map track prior. A train is provided with a positioning sensor. The method comprises the following steps: acquiring a train running track under a sensor coordinate system according to positioning data of a positioning sensor; marking on a high-precision map of a train operation environment to obtain an actual track center line under a map coordinate system; converting a first pose of a positioning point of the train running track into a second pose of a corresponding point of an actual track center line according to a space conversion relation between the calibrated train running track and the actual track center line; according to the second pose and the actual track center line, a nearest neighbor search algorithm is utilized to obtain a second optimized pose; and correcting the train running track according to the second optimized pose and the space conversion relation. Train positioning is corrected by combining the high-precision map and the prior track of the train, train positioning jitter can be eliminated, and the train positioning precision is improved.
本发明公开了一种基于高精度地图轨迹先验的列车定位修正方法和装置,列车配置有定位传感器;所述方法包括依据定位传感器的定位数据,获取传感器坐标系下的列车运行轨迹;在列车运行环境高精度地图上,标注获得地图坐标系下的实际轨道中心线;依据标定的列车运行轨迹和实际轨道中心线之间的空间转换关系,将列车运行轨迹的定位点的第一位姿转换为实际轨道中心线的对应点的第二位姿;依据第二位姿和实际轨道中心线,利用最近邻搜索算法,获得第二优化位姿;依据第二优化位姿和空间转换关系,修正列车运行轨迹。本发明通过将高精度地图与列车先验轨迹相结合修正列车定位,可消除列车定位抖动,提升列车定位精度。
Train positioning correction method and device based on high-precision map track prior
一种基于高精度地图轨迹先验的列车定位修正方法和装置
2024-06-04
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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