Fig. 1. Subway train positioning system based on OCC

Fig. 2. Functions of the OCC positioning system

Fig. 3. Principle of generating MA

Fig. 4. Subway tunnel scenario with fast train running

Fig. 5. Train positioning in the scenario of arch tunnel

Fig. 6. Structure of the sending data frame

Fig. 7. Forming principle of images with bright and dark stripes. (a) Principle of the progressive exposure of camera line by lin; (b) images with bright and dark stripes

Fig. 8. Structure of the train positioning system based on OCC

Fig. 9. Principle of the keyhole imaging

Fig. 10. Projection of LED lamps on the imaging plane

Fig. 11. Projection model of LED lamps under the titled conditions

Fig. 12. Solving principle of the subtense AB

Fig. 13. Experimental environment and equipment. (a) Experimental environment; (b) experimental equipment

Fig. 14. Changing principle of the field of view

Fig. 15. Schematic diagram of the train positioning unit

Fig. 16. Experiment results. (a) Experiment results in the positioning unit; (b) experiment results for different camera positions and postures; (c) experiment results at different heights

Fig. 17. Simulation results when the train is running. (a) Simulation results; (b) positioning error