Vehicle-mounted detection terminal data processing method and device

The invention discloses a vehicle-mounted detection terminal data processing method and device. The method comprises the following steps: synchronizing data acquired by a plurality of vehicle-mounted detection terminals; carrying out abnormal value elimination on the speed of the train; according to the vehicle body acceleration and the vehicle body angular velocity, solving the time lag of different vehicle-mounted detection terminals, calculating the vehicle speed of multi-terminal vibration signal time delay estimation based on the time lag and the vehicle speed without the abnormal value, and compensating the abnormal value to obtain the compensated vehicle speed estimation; according to the nodding angle of the vehicle body and the compensated vehicle speed estimation, inertial integral vehicle speed correction based on Kalman filtering is carried out, and a state estimation matrix is obtained; according to the state estimation matrix and the longitude and latitude coordinates of the train measured by th