Precise positioning method based on port container sideline feature recognition and extraction

The invention belongs to the technical field of navigation and positioning, and discloses a precise positioning method based on port container sideline feature recognition and extraction. The method comprises the following steps: obtaining a platform task and global positioning of an unmanned container truck, and enabling the unmanned container truck to automatically drive to the vicinity of a target container; according to the target storage yard information of the container, the left or right laser radar is selected to scan the container, and the laser point cloud of the container is obtained; calculating the curvature through a curvature calculation formula based on the laser point cloud, and dividing the point set into angular points and plane points according to the curvature; extracting vertical side line characteristics of the container; selecting two vertical side lines of the target container from the extracted vertical side line features; calculating the distance from the unmanned container truck to