Track inspection vehicle position and attitude measurement system and method based on optical/inertia combination

Abstract

The invention provides a track inspection vehicle position and attitude measurement system and method based on optical / inertia combination. The system comprises an optical imaging positioning system, an inertial measurement unit, an odometer, a track measurement frame, a data acquisition board and a central computer. The optical imaging positioning system calculates the position of the track measurement frame; the inertial measurement unit is used measuring motion angular velocity and accelerated velocity of the track measurement frame; the odometer is used for measuring running mileage of the track measurement frame; the data acquisition board is used for collecting the data of the optical imaging positioning system, the data of the inertial measurement unit and the data of the odometer, and sending the data to the central computer; and the central computer receives and utilizes the data of the inertial measurement unit and the data of the odometer to carry out navigation position recursion, and utilizes the position and attitude data of the optical imaging positioning system and the navigation position recursion data to carry out forward iteration convergence based on Kalman filtering to obtain track inspection vehicle position and attitude information. The method and system can realize continuous dynamic high-precision measurement of the rack inspection vehicle position and attitude information, and are suitable for measurement of geometric parameters of railway tracks.

Description

technical field [0001] The invention relates to a position and attitude measurement system of a rail inspection vehicle based on optical inertial combination, which is suitable for the measurement of geometric parameters and deformation detection of railway tracks. Background technique [0002] At present, with the rapid development of my country's economy, rail transit has developed rapidly. At the same time, the train runs fast and the long mileage puts forward higher and higher requirements for the safe operation of the train. Safe operation is of great significance, and track inspection equipment is an important equipment to ensure the safety of railway operation. [0003] At present, orbit detection equipment is mainly divided into two types: optical detection equipment based on total station and inertial detection equipment based on gyroscope. Optical detection equipment has high precision, but low efficiency; inertial detection equipment has high detection efficiency,...

AI Technical Summary

Problems solved by technology

A patent proposes a method and system for three-dimensional positioning and attitude determination of a track detection platform in a dynamic environment. The application number is: 201610010650.3. Combining filtering, smoothing and interpolation processing to obtain the position and attitude of the track detection platform. This patent uses a binocular stereo camera to take pictures of multiple CPIII control points to obtain multiple control point pictures. This process needs to be completed in a static state, and The position and attitude of the binocular stereo camera are obtained according to the stereo post-intersection. This patented method has a large amount of data calculation, low positioning accuracy of the stereo post-intersection, and cannot realize continuous dynamic measurement without static; the two obtained by loose combination filtering, smoothing and interpolation processing The position and attitude accuracy of the orbit detection platform in the middle position of the secondary combination is low

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