基于单目视觉和可见光成像通信的地铁列车定位

Subway Train Positioning Based on Monocular Vision and Optical Camera Communication

精确的位置信息是基于通信的列车控制(CBTC)系统保证列车安全运行的关键因素。因此,提出了一种基于可见光成像通信与单目视觉测量的高精度列车定位方法,旨在为列车提供一种精度高、成本低、维护量小且不易受干扰的定位方案。使用单目相机捕捉发光二极管(LED)的光源图像,利用惯性测量单元测量相机的三维姿态角。采用可见光成像通信技术获取LED光源的坐标和形状信息。运用相机成像原理及几何关系得到相机与LED光源的相对坐标,实现列车定位。以实际线路数据以及列车参数为依据的测试结果表明,该方法的最大定位误差为35.56 cm,最小定位误差为1.78 cm,平均定位误差为12.26 cm,能够满足CBTC系统对列车定位精度的要求。

Accurate location information is absolutely vital for communications-based train control(CBTC)systems to ensure safe train running.For the present purposes,a high-precision approach to train positioning is proposed in this paper using optical camera communication and monocular vision measurement,which could present an effective solution to train positioning with high precision,low cost,low maintenance and anti-interference.The images of light emitting diode(LED)lamps are captured by a monocular camera,and the three-dimensional attitude angle of camera is measured by an inertial measurement unit.The coordinates and shape information of LED lamps are obtained by optical camera communication technology.The relative coordinates of the camera and LED lamps are acquired through the imaging principle and geometric relationship to realize the train positioning.According to the real-life line data and train parameters,experimental studies suggest that the maximum error of train positioning in the proposed method is 35.56 cm,the minimum is 1.78 cm,and the average is 12.26 cm,which can meet the requirements of train positioning accuracy for CBTC systems.