Research on Train Positioning Technology of Urban Rail Transit Based on Lidar

As the backbone of urban public transport, urban rail transit has gradually become the core of urban comprehensive transportation network, which is an important means to alleviate traffic congestion and save land resources and energy. Therefore, the safety of urban rail operation is very important, and the wrong positioning of the track will cause serious personal casualties and property losses. In order to realize the accurate positioning of urban rail transit, this thesis adopts the research of laser radar on train positioning. Combined with the laser point cloud matching algorithm, this thesis puts forward the train positioning technology scheme of Urban Rail Transit Based on Lidar. This thesis proposes the point cloud registration algorithm based on feature matching. After preprocessing the collected point cloud data, the point cloud registration algorithm estimate the motion state of Lidar and obtain the global map and the location of the train.