Urban rail transit high-precision positioning method combined with confidence selection

Abstract

The invention relates to the technical field of intelligent positioning, in particular to an urban rail transit high-precision positioning method combined with confidence selection, which comprises the following steps of: constructing a wireless signal screening model, estimating a distance according to received signal strength values of a base station node and a satellite node, and screening a signal source; calculating a geometric precision factor based on the estimated distance and the received signal strength value in the previous step, evaluating the positioning precision of the signal source through the geometric precision factor, and dynamically adjusting the weight of each node to generate a preliminary positioning result; the sensor data and the screened wireless signals are utilized, and the multi-source information constraint optimization equipment position is fused through a factor graph framework; and iteratively optimizing the attitude track of the equipment in the factor graph framework, and minimizing the positioning error. According to the urban rail transit high-precision positioning method combined with confidence selection, by integrating multi-source information and a factor graph optimization algorithm, the calculation complexity is reduced while high-precision positioning is ensured, so that the real-time positioning requirement of a rail transit system is met.

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