Three-dimensional positioning and attitude determining method for rail detection platform under dynamic environment

Abstract

The invention discloses a three-dimensional positioning and attitude determining method for a rail detection platform under dynamic environment. The method comprises the following steps that: A: calibrating the relative spatial position attitude of a left camera and a right camera of a binocular stereo camera; B: calibrating a relative position attitude parameter between the binocular stereo camera and inertial navigation; C: according to the binocular stereo camera, photographing a CPIII control point to obtain multiple control point pictures, and according to stereo rear intersection, obtaining the position and the attitude of the binocular stereo camera; D: taking the position and the attitude of the binocular stereo camera as an observation value with weight to be input into an INS (Inertial Navigation System) / OD (ODometer) navigation system, and carrying out filtering, smoothening and interpolation processing to obtain the position and the attitude of the rail detection platform,wherein the INS / OD navigation system is an inertial navigation system / odometer navigation system. The method aims to solve the problems in the prior art that blocking formed by urban subway tunnel environment on a GNSS (Global Navigation Satellite System) signal enables the combined positioning and attitude determining method of the GNSS / INS is greatly affected and the accuracy and efficiency requirements of the detection system can not be met.

Description

technical field [0001] The invention relates to the technical field of surveying and mapping, in particular to a method for three-dimensional positioning and attitude determination of a track detection platform in a dynamic environment. Background technique [0002] At present, with the rapid economic development and the acceleration of urbanization, urban rail transit has also entered a period of great development. At present, urban rail transit is developing rapidly, with long mileage, high train speed and high density. The safety requirements for train operation are getting higher and higher. It is of great significance to improve the rapidity, accuracy and efficiency of urban rail transit detection. Tracks and tunnels are two important factors that affect the safety of train operation. Therefore, using track inspection equipment to accurately and quickly measure and detect the state and disease of railways and tunnels is a necessary way to ensure train operation safety. ...

AI Technical Summary

Problems solved by technology

[0006] In view of the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a method and system for three-dimensional positioning and attitude determination of a track detection platform in a dynamic environment, aiming at solving the occlusion of GNSS signals by the urban subway tunnel environment in the prior art , so that the combined positioning and attitude determination method of GNSS / INS is greatly affected, which cannot meet the accuracy and efficiency requirements of the detection system

Images