Abstract: A set of container positioning system based on the laser radar measurement technology was

designed and realized to solve the problems of long service time，low efficiency and high labor intensity in the

railway freight yard which caused by the manual operation of crane spreader alignment. The overall architecture

and functional modules of the positioning system were determined，and the 2D laser radar was applied to collect the container data points. A method based on statistical distribution was applied to remove the interference points，and the measurement of container position was realized by the conversion of parallel coordinate system. Finally，the crane was positioned accurately by integrating with the reliable measurement methods and applying the trajectory planning and speed adjustment algorithm of fuzzy adaptive PID control. It is shown in the actual project verification that the system solution is feasible，the automatic operation of crane spreader alignment can be realized，labor intensity of the operators can be reduced and the operation efficiency can be increased by 15%.

      Key words: laser radar；container positioning；parallel coordinate system；automation