The invention discloses a metro train mileage positioning method based on multi-sensor data fusion and related equipment, the metro train mileage is positioned through vehicle vibration, the problem that metro train mileage positioning cannot be conducted through GNSS due to the fact that a metro train cannot receive GPS signals is solved, a vehicle vibration signal is obtained through an intelligent sensing terminal, and the metro train mileage positioning accuracy is improved. The problem that Doppler radar and ultra-wideband radio technologies are high in cost and not suitable for large-range metro train mileage positioning is solved; a data fusion method is adopted to carry out fusion estimation on the estimated speed of the train, integration is carried out on the weighted estimated value of the speed of the subway train obtained through fusion estimation, the mileage position is obtained, and compared with the prior art in which direct integration calculation is carried out on the accelerated speed obtained by an IMU sensor, the method is not influenced by inertial drift, and the accuracy of the mileage position is improved. The accuracy of the finally obtained metro train mileage position is higher, and the problem that the train mileage position has an error of hundreds of meters due to inertial drift is solved.
本发明公开了多传感器数据融合的地铁列车里程定位方法及相关设备,利用车辆振动对地铁列车里程进行定位,克服地铁列车无法接收GPS信号导致的无法应用GNSS进行地铁列车里程定位的问题、利用智能传感终端获取车辆振动信号,克服了多普勒雷达和超宽带无线电技术成本高不适用于大范围的地铁列车里程定位的问题;采用数据融合的方法将列车估计速度进行融合估计,并对融合估计得到的地铁列车速度加权估计值进行积分,得到里程位置,相较于现有技术采用对IMU传感器所获取的加速度进行直接积分计算,本发明不受惯性漂移的影响,最终得到的地铁列车里程位置准确性更高,克服了由于惯性漂移所造成的列车里程位置存在几百米误差的问题。
Multi-sensor data fusion metro train mileage positioning method and related equipment
多传感器数据融合的地铁列车里程定位方法及相关设备
2025-04-11
Patent
Electronic Resource
Chinese
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