Method and system for acquiring railway track data based on railway track detection device

Abstract

The embodiment of the present invention provides a method and system for acquiring railway track data based on a railway track detection device, which belongs to the field of non-contact detection of rail transit. Target balls are arranged at different positions on the inner side of the track of the railway track to be tested. The method includes: acquiring posture data in a combined navigation coordinate system, contour data in a laser scanner coordinate system, and calibration parameters between multiple laser scanners, converting the contour data in the laser scanner coordinate system to the combined navigation coordinate system, and fusing the combined posture data to obtain the coordinate data of the railway track. In this way, the calibration parameters are determined by arranging the center of the target ball at different positions on the inner side of the track in the area to be tested, and synchronization between multiple laser scanners is achieved based on the calibration parameters, thereby avoiding coordinate deviations between multiple scanners, improving the correlation and accuracy between contour data in the laser scanner coordinate system, and obtaining more accurate coordinate data of the railway track.

Description

Technical Field

[0001] The present invention relates to the technical field of non-contact detection of rail transit, and in particular to a method and system for acquiring railway track data based on a railway track detection device. Background Art

[0002] With the development of railway transportation, railway intelligent detection and monitoring facilities are built to realize online monitoring, remote diagnosis and intelligent maintenance of the service status of key facilities such as EMUs, locomotives, vehicle carrying equipment, tracks, bridges and tunnels, and large passenger stations.

[0003] Laser scanners are widely used in non-contact inspection sites. However, in the prior art, when multiple laser scanners are used to restore heavy-duty railway scene data, the heavy-duty railway scene data cannot be quickly and accurately obtained due to the deviation between the coordinate systems of multiple laser scanning data in the heavy-duty railway track inspection device. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a method and system for acquiring railway track data based on a railway track detection device, so as to solve the technical problems existing in the above-mentioned prior art.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a method for obtaining railway track data based on a railway track detection device, wherein the railway track detection device includes multiple laser scanners and a combined navigation system, and target balls are arranged at different positions inside the track of the railway track to be tested area. The method includes: obtaining the posture data of the railway track detection device in the combined navigation coordinate system collected by the combined navigation system, the contour data of the railway track to be tested area in the laser scanner coordinate system collected by the multiple laser scanners, and the calibration parameters between the multiple laser scanners, wherein the calibration parameters are determined according to the centers of the target balls arranged at different positions inside the track of the railway track to be tested area;

[0006] The contour data of the railway track to be measured area in the laser scanner coordinate system collected by the multiple laser scanners after the calibration parameters are converted to the combined navigation coordinate system, and the posture data of the railway track detection device collected by the combined navigation system are integrated to obtain the coordinate data of the railway track.

[0007] Optionally, the posture data includes at least one of position, speed and posture information of the railway track detection device.

[0008] Optionally, the railway track detection device further includes a synchronization control board, and the method further includes:

[0009] Acquire GNSS time data collected by the synchronization control board;

[0010] Based on the GNSS time data, the contour data of the railway track to be measured area collected by the multiple laser scanners in the laser scanner coordinate system and the posture data of the railway track detection device collected by the combined navigation system in the combined navigation coordinate system are synchronized, so that the collected contour data and the posture data are located on the same time basis.

[0011] Optionally, before synchronizing the position data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system based on the GNSS time data, the method further includes:

[0012] According to the GNSS time data, construct a GNSS time index of the position and posture data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system, and obtain the position and posture data with the GNSS time index;

[0013] A bilinear interpolation algorithm is used to upsample the pose data with the GNSS time index so that the pose data covers the railway track area to be measured.

[0014] Optionally, the target balls arranged inside the railroad track in the area to be tested have different heights, and the calibration parameters between the multiple line laser scanners are obtained, including:

[0015] Acquire the point cloud data of each target sphere collected by the multiple laser scanners, and respectively extract the center point cloud data of each target sphere to obtain a target sphere center point cloud data set;

[0016] The target sphere center point cloud data set is fitted using a random sampling consensus method, and a calibration model is constructed based on the fitted target sphere center point cloud data set;

[0017] The center point cloud data of the same target sphere collected by the multiple laser scanners are input into the calibration model to obtain the calibration parameters.

[0018] Optionally, constructing a calibration model based on the fitted target sphere center point cloud data set includes:

[0019] Determining the spatial errors between the multiple laser scanners based on the center point cloud data of the same target sphere collected by the multiple laser scanners;

[0020] Based on the spatial error, the calibration model is constructed.

[0021] Optionally, the spatial error between the multiple laser scanners is determined according to the following formula:

[0022]

[0023] Where L(P,Q) represents the spatial error, p i With q i Represents the center point cloud data of the same target sphere collected by two laser scanners, ‖·‖ 2 represents the Euclidean distance.

[0024] Optionally, the calibration model is constructed according to the following formula:

[0025]

[0026] Where ε is the cumulative error between the target sphere center point cloud data sets in the point cloud data of each target sphere collected by the two laser scanners after calibration calculation, and p i With q i represents the center point cloud data of the same target sphere collected by two laser scanners, R and T represent the rotation and translation parameters in the calibration model, respectively. 2 represents the Euclidean distance.

[0027] Optionally, converting the contour data of the railway track to-be-measured area in the laser scanner coordinate system collected by the multiple laser scanners after the calibration parameters are calibrated to the combined navigation coordinate system includes:

[0028] Acquire spatial position parameters between the multiple laser scanners and the integrated navigation system, wherein the spatial position parameters include translation parameters between the multiple laser scanners and the integrated navigation system and a rotation matrix for converting the laser scanner coordinate system to the integrated navigation coordinate system;

[0029] Based on the spatial position parameters, the contour data of the railway track to-be-measured area in the laser scanner coordinate system collected by the multiple laser scanners after being calibrated with the calibration parameters are converted into the combined navigation coordinate system.

[0030] Optionally, the coordinate data of the railway track is determined according to the following formula:

[0031]

[0032] In the formula Represents the coordinates of the object in the Earth-centered Earth-fixed coordinate system. represents the coordinates of the origin of the local horizontal coordinate system in the Earth-centered Earth-fixed coordinate system, The rotation matrix representing the transformation of the laser scanner coordinate system to the integrated navigation coordinate system; The rotation matrix representing the transformation of the integrated navigation coordinate system to the local horizontal coordinate system; represents the rotation matrix from the local horizontal coordinate system to the Earth-centered Earth-fixed coordinate system, Represents the translation parameters between the laser scanner coordinate system and the integrated navigation coordinate system.

[0033] On the other hand, the present invention provides a system for acquiring railway track data based on a railway track detection device, comprising: a memory; and a processor, configured to execute the above-mentioned method.

[0034] Through the above technical scheme, the calibration parameters between multiple laser scanners are determined according to the center of the target balls arranged at different positions on the inner side of the track in the area to be tested of the railway track, and the synchronization between the multiple laser scanners is achieved based on the calibration parameters, thereby avoiding the deviation of the coordinates between the multiple scanners, and improving the correlation and accuracy between the contour data in the laser scanner coordinate system collected by the multiple laser scanners. Then, the contour data in the laser scanner coordinate system is converted to the combined navigation coordinate system, and the posture data of the railway track detection device collected by the combined navigation system is integrated to obtain more accurate coordinate data of the railway track.

[0035] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0037] Figure 1 is an implementation flow chart of a method for acquiring railway track data based on a railway track detection device provided by an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the layout of target balls inside a railway track to be tested area provided by an embodiment of the present invention;

[0039] Figure 3 It is a flowchart of another method for obtaining railway track data based on a railway track detection device provided by an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a data fusion process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0042] See also Figure 1 As shown, it is a flowchart of an implementation of a method for obtaining railway track data based on a railway track detection device provided by an embodiment of the present invention, wherein the railway track detection device includes multiple laser scanners and a combined navigation system, and target balls are arranged at different positions inside the track of the railway track to be tested area. The flowchart includes the following execution steps:

[0043] Step 100: Acquire the pose data of the railway track detection device in the combined navigation coordinate system collected by the combined navigation system, the contour data of the railway track test area in the laser scanner coordinate system collected by the multiple laser scanners, and the calibration parameters between the multiple laser scanners.

[0044] The calibration parameters are determined according to the centers of target balls arranged at different positions inside the track of the railway track to be tested.

[0045] Optionally, the posture data includes at least one of position, speed and posture information of the railway track detection device.

[0046] In some embodiments, the railway track detection device further includes a synchronization control board, and the following steps may be further performed when executing step 100:

[0047] S1001: Acquire GNSS time data collected by the synchronization control board;

[0048] S1002: Taking the GNSS time data as a reference, synchronize the contour data of the railway track area to be measured collected by the multiple laser scanners in the laser scanner coordinate system and the posture data of the railway track detection device collected by the combined navigation system in the combined navigation coordinate system, so that the collected contour data and the posture data are in the same time reference.

[0049] In some implementations, when executing step S1002, the following steps may also be performed:

[0050] Step A: Based on the GNSS time data, construct a GNSS time index of the posture data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system, and obtain the posture data with the GNSS time index.

[0051] Step B: upsampling the pose data with the GNSS time index using a bilinear interpolation algorithm so that the pose data covers the railway track area to be measured.

[0052] In some embodiments, the specific principle of the bilinear interpolation upsampling algorithm is as follows: Assume that there are two adjacent integrated navigation data points P1(t1, x1, y1) and P2(t2, x2, y2) in the GNSS time index, and t1 < t2. For any GNSS time t3, when t3 satisfies t1 < t3 < t2, the coordinate calculation method of the navigation data point P3(t3, x3, y3) at time t3 is as follows:

[0053]

[0054]

[0055] In some embodiments, refer to Figure 2 As shown, it is a layout schematic diagram of the target balls on the inner side of the railway track in the area to be measured provided by the embodiment of the present invention; the heights of the target balls arranged on the inner side of the railway track in the area to be measured are different.

[0056] In some embodiments, aiming at the problems of the small ranging range of the line laser scanner and the high sensitivity of the line laser light reflection, target balls with a diameter size of 30 mm to 65 mm are designed. The target balls are painted in matte gray and brown, and magnetic suction seats with different heights are designed to achieve a differential layout of different target ball heights. Based on the standard track of heavy-haul railways, a laser calibration field is built, and target balls of different sizes and heights are arranged according to the area covered by the line laser to realize the construction of the heavy-haul railway calibration field.

[0057] In this way, by setting target balls with different heights, it is ensured that the centers of the target balls to be collected are not collinear, so that the calibration parameters obtained based on the centers of the target balls are more accurate, and further improve the accuracy of system calibration.

[0058] In some embodiments, the heights of the target balls arranged on the inner side of the railway track in the area to be measured are different. When obtaining the calibration parameters between the multiple line laser scanners in step 100, the following steps can be performed:

[0059] Step 1: Obtain the point cloud data of each target ball collected by the multiple laser scanners, and respectively extract the center point cloud data of each target ball to obtain a set of target ball center point cloud data.

[0060] In some embodiments, a line laser scanner can be selected as the laser scanner.

[0061] Step 2: Use the random sample consensus method to fit the obtained set of target ball center point cloud data, and build a calibration model based on the fitted set of target ball center point cloud data.

[0062] In some embodiments, when executing step 2, the spatial errors between the multiple laser scanners can be determined based on the center point cloud data of the same target sphere collected by the multiple laser scanners; and the calibration model can be constructed based on the spatial errors.

[0063] In some implementations, the target sphere point cloud center sets collected by any two laser scanners are respectively expressed as: The spatial error between the multiple laser scanners can be determined according to the following formula:

[0064]

[0065] Where L(P,Q) represents the spatial error, p i With q i Represents the center point cloud data of the same target sphere collected by two laser scanners, ‖·‖ 2 represents the Euclidean distance.

[0066] In some implementations, the calibration model may be constructed according to the following formula:

[0067]

[0068] Where ε is the cumulative error between the target sphere center point cloud data sets in the point cloud data of each target sphere collected by the two laser scanners after calibration calculation, and p i With q i represents the center point cloud data of the same target sphere collected by two laser scanners, R and T represent the rotation and translation parameters in the calibration model, respectively. 2 represents the Euclidean distance.

[0069] Step 3: Input the center point cloud data of the same target sphere collected by the multiple laser scanners into the calibration model to obtain the calibration parameters.

[0070] In some implementations, in order to minimize the error ε of the calibration model, it is necessary to obtain the optimal calibration parameters R and T based on the center set of each target sphere point cloud in the point cloud data collected by the two laser scanners. The specific steps are:

[0071] Assuming that the calibration error is 0, for any target sphere point cloud center coordinate p in the two laser scanning point cloud data i (p i =[X i Y i Z i ] T ),q i (q i =[x i y i z i ]T ) is:

[0072]

[0073] Similarly, the target ball point cloud center coordinates p j (p j =[X j Y j Z j ] T ),q j (q j =[x j y j z j ] T ) is:

[0074]

[0075] Subtracting the above two equations can eliminate the translation matrix:

[0076]

[0077] Since the rotation matrix R is an orthogonal matrix, R is expressed as:

[0078] R=(I+S)(IS) -1

[0079] Where I is the third-order unit matrix, S is an antisymmetric matrix composed of three independent parameters, and the specific expression is:

[0080]

[0081] In the formula, a, b, c are constants to be determined.

[0082] Expanding I and S, R can be expressed as:

[0083]

[0084] In the formula, Δ=1+a 2 +b 2 +c 2

[0085] R R Bring in p j ,q j and p i ,q i The relationship is then organized into equations about a, b, and c:

[0086]

[0087] For any two target sphere point cloud center sets P and Q collected by laser scanners, (n-1) sets of relationship equations related to R can be formed:

[0088] AX=L+ε

[0089] Where: ε is the error.

[0090]

[0091]

[0092]

[0093] In order to minimize ε, solve the unknown number X according to the least squares principle:

[0094] X=(A T A) T L

[0095] After solving a, b, and c, they are brought into the calibration model to solve for the translation parameter T. At this time, the calibration parameter [RT] is used to complete the spatial calibration of multiple laser scanning instruments in the heavy-duty railway track inspection device.

[0096] Compared with the prior art, when multiple laser scanners are used in a heavy-duty railway track detection device to truly restore the heavy-duty railway scene data, the following problems still exist: due to factors such as the laser scanner placement error, the combined navigation system error and the laser scanner's own error, there are deviations between the coordinate systems of the multiple laser scanning data in the heavy-duty railway track detection device, and it is still difficult to quickly and accurately fuse the multiple laser scanning data. This solution calibrates multiple laser scanners by determining calibration parameters, so that there is no error between the multiple laser scanners. Based on the synchronization between the multiple laser scanners, the data scanned by the multiple laser scanners can be fused more quickly and accurately.

[0097] Step 101: Convert the contour data of the railway track to be measured area in the laser scanner coordinate system collected by the multiple laser scanners after the calibration parameters to the combined navigation coordinate system, and integrate the posture data of the railway track detection device collected by the combined navigation system to obtain the coordinate data of the railway track.

[0098] In some embodiments, the following steps may be performed to convert the contour data of the railway track to-be-measured area in the laser scanner coordinate system collected by the multiple laser scanners after the calibration parameters are calibrated into the combined navigation coordinate system in step 101:

[0099] S1010: Acquire spatial position parameters between the multiple laser scanners and the integrated navigation system, wherein the spatial position parameters include translation parameters between the multiple laser scanners and the integrated navigation system and a rotation matrix for converting the laser scanner coordinate system to the integrated navigation coordinate system.

[0100] S1011: Based on the spatial position parameters, the contour data of the railway track area to be measured collected by the multiple laser scanners after being calibrated with the calibration parameters in the laser scanner coordinate system is converted into the combined navigation coordinate system.

[0101] In some implementations, based on the above steps S1010-S1011, is the coordinate of the object in the laser scanner coordinates, the posture is r, p, y, the position is B, L, h, the calibration parameters are lx, ly, lz, ω, Φ, k, and the coordinate data of the railway track is determined according to the following formula:

[0102]

[0103] In the formula Represents the coordinates of the object in the Earth-centered Earth-fixed coordinate system. represents the coordinates of the origin of the local horizontal coordinate system in the Earth-centered Earth-fixed coordinate system, The rotation matrix representing the transformation of the laser scanner coordinate system to the integrated navigation coordinate system; The rotation matrix representing the transformation of the integrated navigation coordinate system to the local horizontal coordinate system; represents the rotation matrix from the local horizontal coordinate system to the Earth-centered Earth-fixed coordinate system, Represents the translation parameters between the laser scanner coordinate system and the integrated navigation coordinate system.

[0104] In some embodiments, The matrix form can be specifically expressed as:

[0105]

[0106]

[0107]

[0108]

[0109] Where Rx, Ry and Rz represent the rotation matrices in the X, Y and Z directions respectively.

[0110] In some implementations, subsequent scan line point cloud data are continuously read and fused until the end of the file, ultimately obtaining high-precision spatial three-dimensional data of the track and components.

[0111] See also Figure 3 As shown, it is a flowchart of another method for obtaining railway track data based on a railway track detection device provided by an embodiment of the present invention, which specifically includes the following steps:

[0112] S300: Reading high-frequency position and posture data of the device acquired by the integrated navigation system carried by the heavy-duty railway track detection device.

[0113] S301: Read the GNSS time data of the synchronization control board in the heavy-duty railway track detection device.

[0114] S302: Read the scanning line data of the line laser scanner.

[0115] S303: Synchronize the data of multiple line laser scanners according to the GNSS time data of the synchronization control board to achieve multi-view scanning data fusion of the track and components.

[0116] S304: Retrieve the integrated navigation data according to the GNSS time of the synchronization control board, and construct a GNSS time index of the integrated navigation data.

[0117] S305: Taking the combined navigation data with GNSS time index in step S304 as a reference, a bilinear interpolation algorithm is used to upsample the reference combined navigation data so that the combined navigation data covers the orbit of the measured area as much as possible.

[0118] S306: Calculate the three-dimensional coordinates of the laser point on the track scan line according to the posture data and the spatial position parameters between the laser scanner and the integrated navigation system.

[0119] S307: Continue to read subsequent scan lines and perform fusion processing until the end of the file, and finally obtain high-precision and complete spatial three-dimensional data of the track and components.

[0120] In some embodiments, see Figure 4As shown, it is a schematic diagram of a data fusion process provided by an embodiment of the present invention, based on a heavy-duty railway track detection device, the detection device includes multiple laser scanners, an integrated navigation system and a synchronous control board, firstly, the laser scanner is calibrated, and the calibration of the laser scanner includes: firstly, a target ball difference design is performed, and then a laser calibration field is built based on the track and the target ball, and multiple laser scanners are used to collect point cloud data of the target ball in the laser calibration field, and the center of the target ball is determined, and calibration parameters (including calibration parameters between multiple laser scanners and spatial calibration parameters between multiple laser scanners and the integrated navigation system) are obtained based on the center of the target ball. The sensor data fusion includes: obtaining laser scanning data, synchronous control board data and combined navigation data after the laser scanner calibration is completed, fusing the laser scanning data and the synchronous control board data to obtain multi-view scanning data fusion, fusing the synchronous control board data and the combined navigation data, constructing the GNSS time index of the combined navigation data, up-sampling the combined navigation data based on the time index, and further fusing with the multi-view scanning data and the spatial calibration parameters between multiple laser scanners and the combined navigation system to obtain the three-dimensional data of the heavy-duty railway track with real coordinates.

[0121] Through the above technical scheme, the calibration parameters between multiple laser scanners are determined according to the center of the target balls arranged at different positions on the inner side of the track in the area to be tested of the railway track, and the synchronization between the multiple laser scanners is achieved based on the calibration parameters, thereby avoiding the deviation of the coordinates between the multiple scanners, and improving the correlation and accuracy between the contour data in the laser scanner coordinate system collected by the multiple laser scanners. Then, the contour data in the laser scanner coordinate system is converted to the combined navigation coordinate system, and the posture data of the railway track detection device collected by the combined navigation system is integrated to obtain more accurate coordinate data of the railway track.

[0122] On the other hand, the present invention further provides a system for acquiring railway track data based on a railway track detection device, comprising: a memory; and a processor, configured to execute the method described in any of the above embodiments.

[0123] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0129] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0131] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for obtaining railway track data based on a railway track detection device, characterized in that: The railway track detection device includes multiple laser scanners and a combined navigation system, and target balls are arranged at different positions inside the track of the railway track to be tested. The method includes: Acquire the pose data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system, the contour data of the railway track to be measured area in the laser scanner coordinate system collected by the multiple laser scanners, and the calibration parameters between the multiple laser scanners, wherein the calibration parameters are determined according to the centers of target balls arranged at different positions inside the track of the railway track to be measured area; Convert the contour data of the railway track to be measured area in the laser scanner coordinate system collected by the multiple laser scanners after the calibration parameters to the integrated navigation coordinate system, and fuse the position data of the railway track detection device collected by the integrated navigation system to obtain the coordinate data of the railway track; Wherein, the railway track detection device further includes a synchronization control board, and the method further includes: Acquire GNSS time data collected by the synchronization control board; Based on the GNSS time data, the contour data of the railway track to-be-tested area collected by the multiple laser scanners in the laser scanner coordinate system and the posture data of the railway track detection device collected by the integrated navigation system in the integrated navigation coordinate system are synchronized, so that the collected contour data and the posture data are located in the same time reference; Before synchronizing the position data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system based on the GNSS time data, the method further includes: According to the GNSS time data, construct a GNSS time index of the position and posture data of the railway track detection device in the integrated navigation coordinate system collected by the integrated navigation system, and obtain the position and posture data with the GNSS time index; Using a bilinear interpolation algorithm to upsample the pose data with the GNSS time index so that the pose data covers the railway track area to be measured; The target balls arranged inside the rails of the railway track to be tested have different heights, and calibration parameters between the multiple laser scanners are obtained, including: Acquire the point cloud data of each target sphere collected by the multiple laser scanners, and respectively extract the center point cloud data of each target sphere to obtain a target sphere center point cloud data set; The target sphere center point cloud data set is fitted using a random sampling consensus method, and a calibration model is constructed based on the fitted target sphere center point cloud data set; Inputting the center point cloud data of the same target sphere collected by the multiple laser scanners into the calibration model to obtain the calibration parameters; The method of constructing a calibration model based on the fitted target sphere center point cloud data set includes: Determining the spatial errors between the multiple laser scanners based on the center point cloud data of the same target sphere collected by the multiple laser scanners; Based on the spatial error, the calibration model is constructed.

2. The method according to claim 1, characterized in that The posture data includes at least one of the position, speed and posture information of the railway track detection device.

3. The method according to claim 1, characterized in that The spatial error between the multiple laser scanners is determined according to the following formula: In the formula, represents the spatial error, and It represents the center point cloud data of the same target sphere collected by two laser scanners. represents the Euclidean distance.

4. The method according to claim 1, characterized in that: The calibration model is constructed according to the following formula: In the formula, is the cumulative error between the target sphere center point cloud data sets in the point cloud data of each target sphere collected by the two laser scanners after calibration calculation, and It represents the center point cloud data of the same target sphere collected by two laser scanners. They represent the rotation and translation parameters in the calibration model respectively, represents the Euclidean distance.

5. The method according to claim 1, characterized in that The method converts the contour data of the railway track to-be-measured area in the laser scanner coordinate system collected by the plurality of laser scanners after the calibration parameters are calibrated into the combined navigation coordinate system, including: Acquire spatial position parameters between the multiple laser scanners and the integrated navigation system, wherein the spatial position parameters include translation parameters between the multiple laser scanners and the integrated navigation system and a rotation matrix for converting the laser scanner coordinate system to the integrated navigation coordinate system; Based on the spatial position parameters, the contour data of the railway track to-be-measured area in the laser scanner coordinate system collected by the multiple laser scanners after being calibrated with the calibration parameters are converted into the combined navigation coordinate system.

6. The method according to claim 5, characterized in that The coordinate data of the railway track is determined according to the following formula: In the formula Represents the coordinates of the object in the Earth-centered Earth-fixed coordinate system. represents the coordinates of the origin of the local horizontal coordinate system in the Earth-centered Earth-fixed coordinate system, The rotation matrix representing the transformation of the laser scanner coordinate system to the integrated navigation coordinate system; The rotation matrix representing the transformation of the integrated navigation coordinate system to the local horizontal coordinate system; represents the rotation matrix from the local horizontal coordinate system to the Earth-centered Earth-fixed coordinate system, Represents the translation parameters between the laser scanner coordinate system and the integrated navigation coordinate system.

7. A system for acquiring railway track data based on a railway track detection device, characterized in that: include: Memory; as well as A processor configured to execute the method according to any one of claims 1 to 6.

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