Train positioning method and system based on inertial navigation/vision odometer

The invention provides a train positioning method and system based on an inertial navigation/vision odometer. The method comprises the following steps: acquiring inertial sensor data and image data, and resolving respectively to obtain movement information of a train; fusing the movement information of the train, which is resolved through two sensors, by adopting a fusion algorithm, so as to obtain fused movement information of the train; and after outputting the fused movement information of the train, carrying out error correction by utilizing a wayside kilometer sign. By adopting the trainpositioning method and system, provided by the invention, the problem that the positioning precision is reduced under the condition that a satellite signal is influenced can be solved, the arrangementquantity of wayside responding devices also can be reduced and the engineering cost is reduced. 本发明提供种基于惯导/视觉里程计的列车定位方法及系统，其中的方法包括：采集惯性传感器数据和图像数据，并分别进行解算获得列车的运动信息；将两种传感器解算的列车的运动信息采取融合算法进行融合，获得融合后的列车的运动信息；输出融合后的列车运动信息，并利用轨旁公里标