Relative attitude measurement method, device and system and rail vehicle

Abstract

The invention discloses a relative attitude measurement method, device and equipment and a rail vehicle, and relates to the technical field of rail transit. The scheme is realized based on a measurement system comprising a plurality of measurement subsystems; the measuring subsystem is composed of three stay wire type displacement sensors, and excellent environmental factor interference resistance can be achieved under the condition of low sensor cost. When the relative posture of the two measured end faces is determined, a first local coordinate value and a second local coordinate value of each stay wire collection point are determined according to the displacement measurement value of each stay wire type displacement sensor, namely, the spatial decoupling of a displacement result is realized, and the basic position information between the first measured end face and the second measured end face is determined; and then space attitude transformation is executed based on the first local coordinate value and the second local coordinate value, and the space attitude angle is solved, so that the relative attitude is finally determined, the limitation of qualitative analysis of the existing attitude test method is overcome, and the problem of accurate measurement of the relative attitude between the parts during the operation of the railway vehicle is solved.

Description

Technical Field

[0001] The present application relates to the field of rail transportation technology, and in particular to a relative attitude measurement method, device, equipment and rail vehicle. Background Art

[0002] As rail vehicles increase in speed, their dynamic behavior under the influence of track excitation, strong wind loads, and centrifugal forces on curves becomes more complex, affecting the quality of train operation. Accurately acquiring the real-time posture of the vehicle during operation is of great significance for driving control and the optimized design of key vehicle components.

[0003] Currently, vehicle component attitude testing primarily relies on laser displacement sensors, wire-type displacement sensors, and gyroscopes. However, laser displacement sensors are susceptible to environmental influences and can only perform qualitative analysis, failing to accurately measure relative spatial motion attitude. While gyroscopes can provide attitude measurements, they are sensitive to ambient temperature, vibration, and shock, leading to decreased measurement accuracy over extended periods of operation and high cost.

[0004] In view of the above, how to solve the current rail vehicle component posture testing methods, which have limitations in qualitative analysis, large environmental impact, decreased measurement accuracy over long periods of time, and high costs, is an urgent problem that needs to be solved by technicians in this field. Summary of the Invention

[0005] The purpose of this application is to provide a relative attitude measurement method, device, equipment and rail vehicle to solve the problems of current rail vehicle component attitude testing methods, such as qualitative analysis limitations, large environmental impact, decreased measurement accuracy over long periods of time and high cost.

[0006] To solve the above technical problems, the present application provides a relative posture measurement method, which is applied to a measurement system including multiple measurement subsystems; the measurement subsystems include three draw-wire displacement sensors, and the output ends of each draw-wire displacement sensor are converged at the same convergence point; wherein each measurement subsystem is arranged on a first measured end face, and the convergence point corresponding to each measurement subsystem is arranged on a second measured end face, and the convergence points are not collinear; the method comprises:

[0007] Determine, based on the displacement measurement values ​​and installation position information of each wire-type displacement sensor in each measurement subsystem, a first local coordinate value of each convergence point in a first local coordinate system and a second local coordinate value in a second local coordinate system; wherein the first local coordinate system is pre-established based on the first measured end surface, and the second local coordinate system is pre-established based on the second measured end surface;

[0008] performing a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix;

[0009] The spatial attitude angle is solved using a three-dimensional spatial rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

[0010] On the one hand, the number of measurement subsystems is three; the measurement subsystems include a first draw-wire displacement sensor, a second draw-wire displacement sensor, and a third draw-wire displacement sensor; correspondingly, the construction process of the first local coordinate system includes:

[0011] Determining the absolute position of each wire-type displacement sensor on the first measured end surface;

[0012] Constructing a coordinate system corresponding to each measurement subsystem according to each absolute position; wherein the specific process of constructing the coordinate system corresponding to each measurement subsystem includes: setting the position of the first draw-wire displacement sensor as the origin of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first draw-wire displacement sensor and the second draw-wire displacement sensor are located as the y-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first draw-wire displacement sensor and the third draw-wire displacement sensor are located as the z-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line passing through the origin and perpendicular to the yz plane as the x-axis direction of the coordinate system corresponding to the measurement subsystem;

[0013] A first local coordinate system is selected from the coordinate systems corresponding to each measurement subsystem.

[0014] On the other hand, the convergence points include a first convergence point, a second convergence point, and a third convergence point; correspondingly, the construction process of the second local coordinate system includes:

[0015] Set the first convergence point as the origin of the second local coordinate system;

[0016] Set the straight line between the first convergence point and the second convergence point as the y-axis direction of the second local coordinate system;

[0017] Set the straight line passing through the origin of the second local coordinate system and perpendicular to the y-axis direction of the second local coordinate system as the z-axis direction of the second local coordinate system;

[0018] A straight line passing through the origin of the second local coordinate system and perpendicular to the yz plane of the second local coordinate system is set as the x-axis direction of the second local coordinate system.

[0019] In another aspect, performing a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix includes:

[0020] Determine, based on each of the first local coordinate values ​​and each of the second local coordinate values, a first centroid coordinate value of the centroid of each convergence point in the first local coordinate system and a second centroid coordinate value in the second local coordinate system;

[0021] Determine a first coordinate value of each convergence point in a first centroid coordinate system and a second coordinate value in a second centroid coordinate system according to each first local coordinate value, each second local coordinate value, the first centroid coordinate value, and the second centroid coordinate value;

[0022] Determine, based on each first coordinate value and each second coordinate value, a covariance matrix of each convergence point in a first centroid coordinate system and a second centroid coordinate system;

[0023] Perform singular value decomposition on the covariance matrix to determine the corresponding orthogonal matrix;

[0024] The three-dimensional space rotation matrices of the first mass center coordinate system and the second mass center coordinate system are determined according to the orthogonal matrix.

[0025] On the other hand, the three-dimensional space rotation matrix is ​​used to solve the spatial attitude angle, including:

[0026] Determine the pitch angle based on the three-dimensional space rotation matrix and Euler angle method;

[0027] Determine the yaw and roll angles based on the pitch angle.

[0028] On the other hand, after using the three-dimensional space rotation matrix to solve the spatial attitude angle, it also includes:

[0029] Determine a spatial translation matrix between the first mass center coordinate system and the second mass center coordinate system according to the first mass center coordinate value, the second mass center coordinate value and the three-dimensional space rotation matrix;

[0030] Determine a conversion matrix between the first mass center coordinate system and the second mass center coordinate system according to the three-dimensional space rotation matrix and the space translation matrix;

[0031] Determine the spatial relative position of the first target point and the second target point according to the transformation matrix;

[0032] The first target point is located in a first centroid coordinate system, and the second target point is located in a second centroid coordinate system.

[0033] On the other hand, determining the spatial relative position of the first target point and the second target point according to the transformation matrix includes:

[0034] Determine a first target point coordinate value of the first target point in the first centroid coordinate system;

[0035] Determine a second target point coordinate value of the second target point in the second centroid coordinate system;

[0036] Convert the coordinate value of the second target point into homogeneous coordinate form;

[0037] Converting the coordinate value of the second target point in the form of homogeneous coordinates into the coordinate value of the third target point in the form of homogeneous coordinates in the first centroid coordinate system according to the conversion matrix;

[0038] extracting the three-dimensional component of the coordinate value of the third target point in the form of homogeneous coordinates;

[0039] The spatial relative position of the first target point and the second target point is determined according to the coordinate value of the first target point and the three-dimensional component.

[0040] To solve the above technical problems, the present application further provides a relative posture measurement device, which is applied to a measurement system including multiple measurement subsystems; the measurement subsystems include three draw-wire displacement sensors, and the output ends of each draw-wire displacement sensor are converged at the same convergence point; wherein each measurement subsystem is arranged on a first measured end face, and the convergence point corresponding to each measurement subsystem is arranged on a second measured end face, and the convergence points are not collinear; the device includes:

[0041] a measurement and solution module, configured to determine, based on the displacement measurement values ​​and installation position information of each wire-type displacement sensor in each measurement subsystem, a first local coordinate value of each convergence point in a first local coordinate system and a second local coordinate value in a second local coordinate system; wherein the first local coordinate system is pre-established based on the first measured end surface, and the second local coordinate system is pre-established based on the second measured end surface;

[0042] a posture transformation module for performing a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix;

[0043] The solving module is used to solve the spatial attitude angle by using the three-dimensional space rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

[0044] To solve the above technical problems, the present application further provides a relative attitude measurement device, comprising:

[0045] Memory for storing computer programs;

[0046] A processor is used to implement the steps of the relative posture measurement method when executing a computer program.

[0047] In order to solve the above technical problems, the present application also provides a rail vehicle, including a relative attitude measurement device.

[0048] The relative posture measurement method provided in the present application is implemented based on a measurement system including multiple measurement subsystems; wherein the measurement subsystem is composed of three draw-wire displacement sensors, which can achieve excellent resistance to interference from environmental factors at a lower sensor cost; when determining the relative posture between the first measured end face and the second measured end face, the first local coordinate value of each draw-wire convergence point in the first local coordinate system is determined according to the displacement measurement value and installation position information of each draw-wire displacement sensor in each measurement subsystem, and the second local coordinate value of each draw-wire convergence point in the second local coordinate system is determined, that is, the spatial decoupling of the displacement results is achieved by utilizing the displacement measurement values ​​of multiple draw-wire displacement sensors, and the basic position information between the first measured end face and the second measured end face is determined; then, based on each first local coordinate value and each second local coordinate value, a spatial posture transformation is performed and the spatial posture angle is solved, thereby realizing the determination of the relative posture between the first measured end face and the second measured end face, overcoming the limitations of the qualitative analysis of the current existing posture test method, and solving the problem of accurate measurement of the relative posture between components during the operation of rail vehicles.

[0049] In addition, the present application also provides a relative attitude measurement device, equipment and rail vehicle, with the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1 A schematic diagram of an arrangement of a measurement system provided in an embodiment of the present application;

[0052] Figure 2 A flow chart of a relative posture measurement method provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of the installation position of a wire-type displacement sensor in a measurement subsystem provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of the location of the convergence point on the second measured end face provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of the spatial position relationship of the first convergence point P1 in the measurement subsystem 1 provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of the spatial position relationship of the second convergence point P3 in the measurement subsystem 2 provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of the spatial position relationship of the third convergence point P4 in the measurement subsystem 3 provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of a relative posture measurement device provided in an embodiment of the present application;

[0059] Figure 9 A schematic diagram of a relative posture measurement device provided in an embodiment of the present application.

[0060] Among them, 5 is the test system and 6 is the test subsystem. DETAILED DESCRIPTION

[0061] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] The core of this application is to provide a relative attitude measurement method, device, equipment and rail vehicle to solve the problems of current rail vehicle component attitude testing methods such as qualitative analysis limitations, large environmental impact, decreased measurement accuracy over long periods of time and high cost.

[0063] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0064] Figure 1 This is a schematic diagram of the arrangement of a measurement system provided in an embodiment of the present application. It should be noted that the relative posture measurement method provided in this application is applied to the measurement system. Figure 1 As shown, the measurement system 5 includes multiple measurement subsystems 6, each consisting of three draw-wire displacement sensors. Within a measurement subsystem, the output terminals of the three draw-wire displacement sensors converge at a common convergence point. Each measurement subsystem is located on the first measured end face, and the corresponding convergence point for each measurement subsystem is located on the second measured end face, with the convergence points being non-collinear.

[0065] It is worth noting that the first measured end face and the second measured end face are two independent planes whose relative postures need to be determined. In the present application, there is no restriction on the type of objects to which the first measured end face and the second measured end face belong; for example, when measuring the relative postures of the body spaces of adjacent vehicles on a rail train, the first measured end face and the second measured end face are two planes relative to each other between the bodies of the adjacent vehicles. At the same time, in this embodiment, there is no restriction on the specific number of measuring subsystems, there is no restriction on the specific position of each measuring subsystem on the first measured end face, and there is no restriction on the specific setting method of the three pull-wire displacement sensors in the measuring subsystem. It is only necessary to ensure that the layout positions of the three pull-wire displacement sensors are not collinear. The best setting method is to place them perpendicular to each other, which depends on the specific implementation situation. In addition, in this embodiment, there is no restriction on the specific position of the convergence point corresponding to each measuring subsystem on the second measured end face. It is only necessary to ensure that the convergence points are not collinear.

[0066] Figure 2 This is a flow chart of a relative posture measurement method provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0067] S10: Determine the first local coordinate value of each convergence point in the first local coordinate system and the second local coordinate value in the second local coordinate system according to the displacement measurement value and installation position information of each wire-type displacement sensor in each measurement subsystem.

[0068] The first local coordinate system is pre-constructed based on the first measured end surface, and the second local coordinate system is pre-constructed based on the second measured end surface.

[0069] In order to determine the relative posture between the first measured end face and the second measured end face, in the specific implementation, it is first necessary to obtain the displacement measurement value of each wire-type displacement sensor in each measurement subsystem. It should be noted that after the measurement system is arranged, the initial displacement of each wire-type displacement sensor needs to be recorded. When it is necessary to obtain the displacement measurement value, read the current dynamic displacement value of each wire-type displacement sensor. Finally, add each initial displacement value and the corresponding dynamic displacement value to obtain the displacement measurement value of each wire-type displacement sensor. On this basis, it is also necessary to determine the installation position information of each wire-type displacement sensor on the first measured end face, so as to clarify its absolute position.

[0070] Subsequently, based on the displacement measurement values ​​and installation position information of each draw-wire displacement sensor in each measurement subsystem, the first local coordinate value of each convergence point in the first local coordinate system and the second local coordinate value in the second local coordinate system are determined by trigonometric conversion. It should be noted that the first local coordinate system is pre-constructed based on the first measured end face, and the second local coordinate system is pre-constructed based on the second measured end face. In other words, in this embodiment, the displacement measurement values ​​of multiple draw-wire displacement sensors are used to achieve spatial decoupling of the displacement results, determine the basic position information between the first measured end face and the second measured end face, so as to facilitate the subsequent determination of the relative posture between the two measured end faces.

[0071] It should be noted that in this embodiment, there is no restriction on the construction process of the first local coordinate system and the second local coordinate system, and there is no restriction on the calculation process of the first local coordinate value and the second local coordinate value, which depends on the specific implementation situation.

[0072] S11: Performing a spatial posture transformation based on each first local coordinate value and each second local coordinate value to determine a three-dimensional spatial rotation matrix.

[0073] S12: Calculating the spatial attitude angle using the three-dimensional spatial rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

[0074] Furthermore, a spatial attitude transformation is performed based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix between the two measured end faces. Finally, the spatial attitude angle is solved using the three-dimensional spatial rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

[0075] It should be noted that in this embodiment, there is no restriction on the specific process of generating the three-dimensional space rotation matrix, and there is no restriction on the specific process of solving the space attitude angle, which depends on the specific implementation situation.

[0076] In this embodiment, the relative posture measurement method is implemented based on a measurement system including multiple measurement subsystems; wherein the measurement subsystem is composed of three draw-wire displacement sensors, which can achieve excellent resistance to interference from environmental factors at a lower sensor cost; when determining the relative posture between the first measured end face and the second measured end face, the first local coordinate value of each draw-wire convergence point in the first local coordinate system is determined according to the displacement measurement value and installation position information of each draw-wire displacement sensor in each measurement subsystem, and the second local coordinate value of each draw-wire convergence point in the second local coordinate system is determined, that is, the displacement measurement values ​​of multiple draw-wire displacement sensors are used to achieve spatial decoupling of the displacement results, and the basic position information between the first measured end face and the second measured end face is determined; then, based on each first local coordinate value and each second local coordinate value, a spatial posture transformation is performed and the spatial posture angle is solved, thereby realizing the determination of the relative posture between the first measured end face and the second measured end face, overcoming the limitations of the qualitative analysis of the current existing posture test method, and solving the problem of accurate measurement of the relative posture between components during the operation of the rail vehicle.

[0077] In order to save sensor costs, reduce the complexity of relative posture calculation, and improve measurement efficiency, based on the above embodiment, in some embodiments, the number of measurement subsystems can be specifically set to three, and the measurement subsystems include a first draw-wire displacement sensor, a second draw-wire displacement sensor, and a third draw-wire displacement sensor. Correspondingly, the process of constructing the first local coordinate system includes:

[0078] S101: Determine the absolute position of each wire-type displacement sensor on the first measured end surface.

[0079] S102: Constructing a coordinate system corresponding to each measurement subsystem according to each absolute position.

[0080] Among them, the specific process of constructing the coordinate system corresponding to each measurement subsystem includes: setting the position of the first pull-wire displacement sensor as the origin of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first pull-wire displacement sensor and the second pull-wire displacement sensor are located as the y-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first pull-wire displacement sensor and the third pull-wire displacement sensor are located as the z-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line passing through the origin and perpendicular to the yz plane as the x-axis direction of the coordinate system corresponding to the measurement subsystem.

[0081] S103: Selecting a first local coordinate system from the coordinate systems corresponding to each measurement subsystem.

[0082] Specifically, first determine the absolute position of each wire-type displacement sensor on the first measured end face, and then construct the coordinate system corresponding to each measurement subsystem based on each absolute position. The following is a method for installing the wire-type displacement sensor in the measurement subsystem:

[0083] Figure 3 This is a schematic diagram of the installation position of a wire-type displacement sensor in a measurement subsystem provided in an embodiment of the present application. Figure 3 As shown, the installation positions of the first, second, and third draw-wire displacement sensors in each measurement subsystem can form a right triangle; at the same time, the three measurement subsystems are distributed parallel to the first measured end face. Based on this, the specific process of constructing the coordinate system corresponding to each measurement subsystem includes: setting the position of the first draw-wire displacement sensor as the origin of the coordinate system corresponding to the measurement subsystem; setting the straight line on which the first and second draw-wire displacement sensors lie as the y-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line on which the first and third draw-wire displacement sensors lie as the z-axis direction of the coordinate system corresponding to the measurement subsystem; and setting the straight line passing through the origin and perpendicular to the yz plane as the x-axis direction of the coordinate system corresponding to the measurement subsystem.

[0084] Therefore, for Figure 3 For the measurement subsystem 1 in the diagram, the first draw-wire displacement sensor S1 is located at the origin O1 of its coordinate system; the straight line where the first draw-wire displacement sensor S1 and the second draw-wire displacement sensor S2 are located is the y1-axis direction of the corresponding coordinate system; the straight line where the first draw-wire displacement sensor S1 and the third draw-wire displacement sensor S3 are located is the z1-axis direction of the corresponding coordinate system, and the straight line passing through the origin O1 and perpendicular to the y1z1 plane is the x1-axis direction. Figure 3 For the measurement subsystem 2 in the example, the first draw-wire displacement sensor S7 is located at the origin O2 of its coordinate system; the straight line where the first draw-wire displacement sensor S7 and the second draw-wire displacement sensor S8 are located is the y2-axis direction of the corresponding coordinate system; the straight line where the first draw-wire displacement sensor S7 and the third draw-wire displacement sensor S9 are located is the z2-axis direction of the corresponding coordinate system, and the straight line passing through the origin O2 and perpendicular to the y2z2 plane is the x2-axis direction. Figure 3 For the measurement subsystem 3 in the diagram, the first draw-wire displacement sensor S4 is located at the origin O3 of its coordinate system; the straight line where the first draw-wire displacement sensor S4 and the second draw-wire displacement sensor S5 are located is the y3-axis direction of the corresponding coordinate system; the straight line where the first draw-wire displacement sensor S4 and the third draw-wire displacement sensor S6 are located is the z3-axis direction of the corresponding coordinate system, and the straight line passing through the origin O3 and perpendicular to the y3z3 plane is the x3-axis direction.

[0085] In addition, in order to facilitate the subsequent calculation of the first local coordinate value, after the installation of each wire-type displacement sensor is completed, the installation position information of each wire-type displacement sensor in the measurement subsystem needs to be recorded, including the distance between each wire-type displacement sensor, and the relative position relationship between the coordinate systems of each measurement subsystem needs to be recorded. Figure 3As shown, the coordinate systems O1-x1y1z1, O2-x2y2z2 and O3-x3y3z3 of each measuring subsystem of the first measured end face are equidistantly distributed laterally, the lateral spacing is denoted as l1, and the horizontal coordinate axes are on the same horizontal line; the distance between the two sensors in the y-axis direction within the measuring subsystem is denoted as l2, and the distance between the two sensors in the z-axis direction is denoted as l3.

[0086] Finally, a first local coordinate system is selected from the coordinate systems corresponding to each measurement subsystem. That is, any one coordinate system is selected from the coordinate systems corresponding to measurement subsystem 1, measurement subsystem 2, and measurement subsystem 3 as the first local coordinate system, thereby realizing the construction of the first local coordinate system.

[0087] Figure 4 Schematic diagram of the position of the convergence point on the second measured end face provided in the embodiment of the present application. Based on the above embodiment, in some embodiments, such as Figure 4 As shown, the convergence points include the first convergence point, the second convergence point, and the third convergence point. For ease of calculation, the three convergence points can be respectively the vertices of an isosceles triangle. Correspondingly, the construction process of the second local coordinate system includes:

[0088] S111: Setting the first convergence point as the origin of the second local coordinate system.

[0089] S112: Setting the straight line where the first convergence point and the second convergence point are located as the y-axis direction of the second local coordinate system.

[0090] S113: Setting a straight line passing through the origin of the second local coordinate system and perpendicular to the y-axis direction of the second local coordinate system as the z-axis direction of the second local coordinate system.

[0091] S114: Setting a straight line passing through the origin of the second local coordinate system and perpendicular to the yz plane of the second local coordinate system as the x-axis direction of the second local coordinate system.

[0092] First, the corresponding relationship between the measurement subsystems and the convergence points is explained. The outgoing wire ends of the first draw-wire displacement sensor S1, the second draw-wire displacement sensor S2, and the third draw-wire displacement sensor S3 of the measurement subsystem 1 converge at the first convergence point P1 on the second measured end surface; the outgoing wire ends of the first draw-wire displacement sensor S7, the second draw-wire displacement sensor S8, and the third draw-wire displacement sensor S9 of the measurement subsystem 2 converge at the second convergence point P3 on the second measured end surface, and the outgoing wire ends of the first draw-wire displacement sensor S4, the second draw-wire displacement sensor S5, and the third draw-wire displacement sensor S6 of the measurement subsystem 3 converge at the third convergence point P4 on the second measured end surface. It can be seen that the first convergence point P1, the second convergence point P3, and the third convergence point P4 are not collinear.

[0093] Therefore, when constructing the second local coordinate system, the first convergence point P1 is specifically set as the origin of the second local coordinate system, the straight line between the first convergence point P1 and the second convergence point P3 is set as the y-axis direction of the second local coordinate system, the straight line passing through the origin of the second local coordinate system and perpendicular to the y-axis direction of the second local coordinate system is set as the z-axis direction of the second local coordinate system, and the straight line passing through the origin of the second local coordinate system and perpendicular to the yz plane of the second local coordinate system is set as the x-axis direction of the second local coordinate system. In this way, the second local coordinate system is constructed.

[0094] In addition, in order to facilitate the subsequent calculation of the second local coordinate value, the relative position relationship between the convergence points is also required. Specifically, Figure 4 As shown, the first convergence point P1, the second convergence point P3 and the third convergence point P4 on the second measured end face are also distributed equidistantly laterally, and the lateral spacing is also l1; the vertical distance between the third convergence point P4 and the center position P2 of the first convergence point P1 and the second convergence point P3 is recorded as l4.

[0095] The calculation process of the first local coordinate value and the second local coordinate value is described below with reference to the first local coordinate system and the second local coordinate system constructed in the above embodiment:

[0096] Figure 5 This is a schematic diagram of the spatial position relationship of the first convergence point P1 in the measurement subsystem 1 provided in the embodiment of the present application. Figure 5 As shown in the figure, s1 、l s2 and l s3 are the absolute distances (the sum of the initial displacement and the measured dynamic displacement) of the first convergence point P1 relative to the first draw-wire displacement sensor S1, the second draw-wire displacement sensor S2, and the third draw-wire displacement sensor S3, respectively. Point A1 is the vertical projection of the first convergence point P1 on the y1z1 plane. Points A2 and A3 are the feet of perpendicular lines drawn from the first convergence point P1 to the y1 and z1 axes, respectively. In the coordinate system O1-x1y1z1 of measurement subsystem 1, the coordinates of the first convergence point P1 are calculated as follows:

[0097] ;

[0098] in, is the ordinate value of the first convergence point P1, is the horizontal coordinate value of the first convergence point P1, is the vertical coordinate value of the first convergence point P1.

[0099] Figure 6 Schematic diagram of the spatial position relationship of the second convergence point P3 in the measurement subsystem 2 provided in the embodiment of the present application. The calculation method of the first local coordinate value of the first convergence point P1 is similar to that of the second convergence point P3. Figure 6 As shown in the figure, s7 、l s8 and l s9 are the absolute distances (the sum of the initial displacement and the measured dynamic displacement) of the second convergence point P3 relative to the first draw-wire displacement sensor S7, the second draw-wire displacement sensor S8, and the third draw-wire displacement sensor S9, respectively. Point A7 is the vertical projection of the second convergence point P3 on the y2z2 plane. Points A8 and A9 are the feet of perpendicular lines drawn from the second convergence point P3 to the y2 and z2 axes, respectively. In the coordinate system O2-x2y2z2 of measurement subsystem 2, the coordinates of the second convergence point P3 are calculated as follows:

[0100] ;

[0101] in, is the ordinate value of the second convergence point P3, is the horizontal coordinate value of the second convergence point P3, is the vertical coordinate value of the second convergence point P3.

[0102] Figure 7 This is a schematic diagram of the spatial position relationship of the third convergence point P4 in the measurement subsystem 3 provided in the embodiment of the present application. The calculation method of the first local coordinate value of the first convergence point P1 is similar to that of the first convergence point P1. Figure 7 As shown, the calculation method of the first local coordinate value of the first convergence point P1 is the same as that of the first convergence point P1, as shown in FIG. Figure 6 As shown in the figure, s4 、l s5 and l s6 are the absolute distances (the sum of the initial displacement and the measured dynamic displacement) of the third convergence point P4 relative to the first draw-wire displacement sensor S4, the second draw-wire displacement sensor S5, and the third draw-wire displacement sensor S6, respectively. Point A4 is the vertical projection of the third convergence point P4 on the y3z3 plane. Points A5 and A6 are the feet of perpendicular lines drawn from the third convergence point P4 to the y3 and z3 axes, respectively. In the coordinate system O3-x3y3z3 of measurement subsystem 3, the coordinates of the third convergence point P4 are calculated as follows:

[0103] ;

[0104] in, is the ordinate value of the third convergence point P4, is the abscissa value of the third convergence point P4, is the vertical coordinate value of the third convergence point P4.

[0105] Furthermore, through coordinate translation transformation, the first local coordinate values ​​of the first convergence point P1, the second convergence point P3, and the third convergence point P4 in the first local coordinate system can be calculated. Taking the coordinate system O1-x1y1z1 as an example, the calculation formula for the first local coordinate value is as follows:

[0106] ;

[0107] in, is the first local coordinate value of the first convergence point P1, is the first local coordinate value of the second convergence point P3, is the first local coordinate value of the third convergence point P4.

[0108] Finally, in the second local coordinate system O4-x4y4z4 with the first convergence point P1 as the origin on the second measured end surface, the second local coordinate values ​​of the first convergence point P1, the second convergence point P3 and the third convergence point P4 are calculated as follows:

[0109] ;

[0110] in, is the second local coordinate value of the first convergence point P1, is the second local coordinate value of the second convergence point P3, is the second local coordinate value of the third convergence point P4.

[0111] Based on the above embodiment, in some embodiments, performing a spatial posture transformation based on each first local coordinate value and each second local coordinate value to determine a three-dimensional spatial rotation matrix includes:

[0112] S121: Determine, based on each first local coordinate value and each second local coordinate value, a first centroid coordinate value of the centroid of each convergence point in the first local coordinate system and a second centroid coordinate value in the second local coordinate system.

[0113] S122: Determine the first coordinate value of each convergence point in the first centroid coordinate system and the second coordinate value in the second centroid coordinate system according to each first local coordinate value, each second local coordinate value, the first centroid coordinate value, and the second centroid coordinate value.

[0114] S123: Determine the covariance matrix of each convergence point in the first centroid coordinate system and the second centroid coordinate system according to each first coordinate value and each second coordinate value.

[0115] S124: Perform singular value decomposition on the covariance matrix to determine a corresponding orthogonal matrix.

[0116] S125: Determine the three-dimensional space rotation matrix of the first centroid coordinate system and the second centroid coordinate system according to the orthogonal matrix.

[0117] Specifically, based on the first local coordinate values ​​and the second local coordinate values ​​of the first convergence point P1, the second convergence point P3, and the third convergence point P4, the first centroid coordinate value of the centroid of each convergence point in the first local coordinate system and the second centroid coordinate value in the second local coordinate system are determined respectively, and the formula is as follows:

[0118] ;

[0119] in, is the coordinate value of the first centroid, is the coordinate value of the second center of mass.

[0120] Subsequently, the first coordinate value of each convergence point in the first centroid coordinate system and the second coordinate value in the second centroid coordinate system are determined based on the first local coordinate value and the second local coordinate value, the first centroid coordinate value and the second centroid coordinate value of the first convergence point P1, the second convergence point P3, and the third convergence point P4. The specific formula is as follows:

[0121] ;

[0122] in, is the first coordinate value of the first convergence point P1, is the first coordinate value of the second convergence point P3, is the first coordinate value of the third convergence point P4.

[0123] ;

[0124] in, is the second coordinate value of the first convergence point P1, is the second coordinate value of the second convergence point P3, is the second coordinate value of the third convergence point P4.

[0125] Furthermore, based on each first coordinate value and each second coordinate value, the covariance matrix of each convergence point in the first centroid coordinate system and the second centroid coordinate system is determined, and the formula is as follows:

[0126] ;

[0127] in, is the covariance matrix, is transposed.

[0128] Perform singular value decomposition on the covariance matrix to determine the corresponding orthogonal matrix. The formula is as follows:

[0129] ;

[0130] in, and is an orthogonal matrix, is a diagonal matrix.

[0131] Finally, the three-dimensional space rotation matrix of the first mass center coordinate system and the second mass center coordinate system is determined according to the orthogonal matrix. The formula is as follows:

[0132] ;

[0133] in, is the three-dimensional space rotation matrix, for The determinant of .

[0134] In summary, the calculation of the three-dimensional space rotation matrix of the two centroid coordinate systems is realized, so that the relative posture of the two measured end faces can be solved based on the rotation matrix.

[0135] Based on the above embodiments, in some embodiments, using a three-dimensional space rotation matrix to solve the space attitude angle includes:

[0136] S131: Determine the pitch angle according to the three-dimensional space rotation matrix and the Euler angle method.

[0137] S132: Determine the yaw angle and the roll angle according to the pitch angle.

[0138] In order to calculate the spatial attitude angle of the two centroid coordinate systems, this embodiment takes the Euler angle method as an example, and stipulates that the rotation is carried out in the order of ZYX. According to the three-dimensional space rotation matrix Calculate the yaw angle, pitch angle, and roll angle. First calculate the pitch angle, the formula is as follows:

[0139] ;

[0140] in, is the pitch angle, It is the projection component of the new Z axis on the original X axis after rotation.

[0141] Then calculate the yaw angle and roll angle, the formula is as follows:

[0142] ;

[0143] ;

[0144] in, is the yaw angle, is the roll angle, is the four-quadrant inverse tangent function, is the projection component of the new Z axis on the original Y axis after rotation, is the projection component of the new Z axis after rotation in the direction of the original Z axis, is the projection component of the new Y axis on the original X axis after rotation, It is the projection component of the new X-axis in the direction of the original X-axis after rotation.

[0145] In summary, the yaw angle, pitch angle, and roll angle are determined, that is, the relative posture of the first measured end surface and the second measured end surface is determined.

[0146] In order to calculate the relative position of any two points in space, based on the above embodiment, in some embodiments, after solving the spatial attitude angle using the three-dimensional space rotation matrix, the following is further included:

[0147] S141: Determine a spatial translation matrix between the first mass center coordinate system and the second mass center coordinate system according to the first mass center coordinate value, the second mass center coordinate value, and the three-dimensional space rotation matrix;

[0148] S142: Determine a transformation matrix between the first mass center coordinate system and the second mass center coordinate system according to the three-dimensional space rotation matrix and the space translation matrix;

[0149] S143: Determine the spatial relative position of the first target point and the second target point according to the transformation matrix;

[0150] The first target point is located in a first centroid coordinate system, and the second target point is located in a second centroid coordinate system.

[0151] Specifically, according to the first centroid coordinate value, the second centroid coordinate value and the three-dimensional space rotation matrix, the spatial translation matrix between the first centroid coordinate system and the second centroid coordinate system is determined. The formula is as follows:

[0152] ;

[0153] in, is the spatial translation matrix.

[0154] Furthermore, according to the three-dimensional space rotation matrix and the space translation matrix, the transformation matrix between the first mass center coordinate system and the second mass center coordinate system is determined. The specific formula is as follows:

[0155] ;

[0156] in, is the transformation matrix.

[0157] Finally, the spatial relative positions of the first target point and the second target point are determined based on the transformation matrix. It should be noted that the first target point is located in the first centroid coordinate system, and the second target point is located in the second centroid coordinate system. The following describes in detail the specific process of determining the spatial relative positions of the first target point and the second target point based on the transformation matrix, which includes:

[0158] S151: Determine the coordinate value of the first target point in the first centroid coordinate system.

[0159] S152: Determine the coordinate value of the second target point in the second centroid coordinate system.

[0160] S153: Convert the coordinate value of the second target point into a homogeneous coordinate format.

[0161] S154: According to the conversion matrix, the coordinate value of the second target point in the form of homogeneous coordinates is converted into the coordinate value of the third target point in the form of homogeneous coordinates in the first centroid coordinate system.

[0162] S155: Extract the three-dimensional components of the coordinate values ​​of the third target point in the form of homogeneous coordinates.

[0163] S156: Determine the spatial relative position of the first target point and the second target point according to the coordinate value and the three-dimensional component of the first target point.

[0164] Specifically, for the first target point and the second target point, first determine the coordinate value of the first target point in the first centroid coordinate system , and determine the coordinate value of the second target point in the second centroid coordinate system Then convert the coordinates of the second target point into homogeneous coordinates .

[0165] Furthermore, according to the conversion matrix, the coordinate value of the second target point in the form of homogeneous coordinates is converted into the coordinate value of the third target point in the form of homogeneous coordinates in the first centroid coordinate system. The specific formula is as follows:

[0166] ;

[0167] in, The coordinate value of the third target point in homogeneous coordinate form.

[0168] Then the calculated coordinate value of the third target point in homogeneous coordinate form is converted into non-homogeneous coordinate form, that is, the three-dimensional component of the coordinate value of the third target point in homogeneous coordinate form is extracted. Finally, the spatial relative position of the first target point and the second target point is determined based on the coordinate value and three-dimensional components of the first target point. The specific formula is as follows:

[0169] ;

[0170] in, is the spatial relative position of the first target point and the second target point.

[0171] In the above embodiments, the relative posture measurement method is described in detail. The present application also provides corresponding embodiments of the relative posture measurement device.

[0172] Figure 8 This is a schematic diagram of a relative posture measurement device provided in an embodiment of the present application. The device is applied to a measurement system comprising multiple measurement subsystems; the measurement subsystems include three draw-wire displacement sensors, the output ends of each draw-wire displacement sensor converge at the same convergence point; wherein each measurement subsystem is arranged on the first measured end face, and the convergence point corresponding to each measurement subsystem is arranged on the second measured end face, and the convergence points are not collinear; Figure 8 As shown, the device includes:

[0173] The measurement and solution module 10 is used to determine the first local coordinate value of each convergence point in the first local coordinate system and the second local coordinate value in the second local coordinate system based on the displacement measurement value and installation position information of each wire-type displacement sensor in each measurement subsystem; wherein the first local coordinate system is pre-constructed based on the first measured end face, and the second local coordinate system is pre-constructed based on the second measured end face.

[0174] The posture transformation module 11 is configured to perform a spatial posture transformation based on each first local coordinate value and each second local coordinate value to determine a three-dimensional spatial rotation matrix.

[0175] The solving module 12 is used to solve the spatial attitude angle using the three-dimensional space rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

[0176] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0177] Figure 9 This is a schematic diagram of a relative posture measurement device provided in an embodiment of the present application. Figure 9 As shown, the relative attitude measurement equipment includes:

[0178] Memory 20, for storing computer programs;

[0179] The processor 21 is configured to implement the steps of the relative posture measurement method mentioned in the above embodiment when executing the computer program.

[0180] The relative posture measurement device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0181] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented in at least one hardware form: a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is responsible for processing computing operations related to machine learning.

[0182] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the relative posture measurement method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to data involved in the relative posture measurement method.

[0183] In some embodiments, the relative attitude measurement device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0184] Those skilled in the art will understand that Figure 9 The structure shown in the figure does not constitute a limitation to the relative attitude measurement device, and may include more or fewer components than shown in the figure.

[0185] In addition, the present application also provides a rail vehicle, which includes the above-mentioned relative attitude measurement device.

[0186] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiment.

[0187] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0188] The above is a detailed introduction to a relative attitude measurement method, device, equipment and rail vehicle provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0189] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A relative attitude measurement method, characterized in that: The invention is applied to a measurement system including multiple measurement subsystems; the measurement subsystems include three draw-wire displacement sensors, and the output ends of the draw-wire displacement sensors are converged at the same convergence point; wherein each of the measurement subsystems is arranged on a first measured end face, the convergence points corresponding to each of the measurement subsystems are arranged on a second measured end face, and the convergence points are not collinear; the method comprises: Determine, based on the displacement measurement values ​​and installation position information of each of the wire-type displacement sensors in each of the measurement subsystems, a first local coordinate value of each of the convergence points in a first local coordinate system and a second local coordinate value in a second local coordinate system; wherein the first local coordinate system is pre-constructed based on the first measured end surface, and the second local coordinate system is pre-constructed based on the second measured end surface; performing a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix; The three-dimensional space rotation matrix is ​​used to solve the spatial attitude angle to determine the relative attitude between the first measured end face and the second measured end face.

2. The relative posture measurement method according to claim 1, characterized in that: The number of the measurement subsystems is three; the measurement subsystems include a first draw-wire displacement sensor, a second draw-wire displacement sensor, and a third draw-wire displacement sensor; correspondingly, the construction process of the first local coordinate system includes: Determining the absolute position of each of the draw-wire displacement sensors on the first measured end surface; Constructing a coordinate system corresponding to each of the measurement subsystems according to each of the absolute positions; wherein the specific process of constructing the coordinate system corresponding to each of the measurement subsystems includes: setting the position of the first draw-wire displacement sensor as the origin of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first draw-wire displacement sensor and the second draw-wire displacement sensor are located as the y-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line where the first draw-wire displacement sensor and the third draw-wire displacement sensor are located as the z-axis direction of the coordinate system corresponding to the measurement subsystem; setting the straight line passing through the origin and perpendicular to the yz plane as the x-axis direction of the coordinate system corresponding to the measurement subsystem; The first local coordinate system is selected from the coordinate systems corresponding to the measurement subsystems.

3. The relative posture measurement method according to claim 2, characterized in that: The convergence points include a first convergence point, a second convergence point, and a third convergence point; correspondingly, the construction process of the second local coordinate system includes: Setting the first convergence point as the origin of the second local coordinate system; Set the straight line between the first convergence point and the second convergence point as the y-axis direction of the second local coordinate system; Set a straight line passing through the origin of the second local coordinate system and perpendicular to the y-axis direction of the second local coordinate system as the z-axis direction of the second local coordinate system; A straight line passing through the origin of the second local coordinate system and perpendicular to the yz plane of the second local coordinate system is set as the x-axis direction of the second local coordinate system.

4. The relative posture measurement method according to claim 1, characterized in that: Performing a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix includes: Determine, based on each of the first local coordinate values ​​and each of the second local coordinate values, a first centroid coordinate value of the centroid of each of the convergence points in the first local coordinate system and a second centroid coordinate value in the second local coordinate system; Determine, according to each of the first local coordinate values, each of the second local coordinate values, the first centroid coordinate value, and the second centroid coordinate value, a first coordinate value of each of the convergence points in a first centroid coordinate system and a second coordinate value in a second centroid coordinate system; Determining, according to each of the first coordinate values ​​and each of the second coordinate values, a covariance matrix of each of the convergence points in the first centroid coordinate system and the second centroid coordinate system; Performing singular value decomposition on the covariance matrix to determine a corresponding orthogonal matrix; The three-dimensional space rotation matrix of the first barycentric coordinate system and the second barycentric coordinate system is determined according to the orthogonal matrix.

5. The relative posture measurement method according to claim 4, characterized in that: Solving the spatial attitude angle using the three-dimensional spatial rotation matrix includes: Determine the pitch angle according to the three-dimensional space rotation matrix and the Euler angle method; A yaw angle and a roll angle are determined based on the pitch angle.

6. The relative posture measurement method according to claim 4 or 5, characterized in that: After solving the spatial attitude angle using the three-dimensional spatial rotation matrix, the method further includes: Determine a spatial translation matrix between the first mass center coordinate system and the second mass center coordinate system according to the first mass center coordinate value, the second mass center coordinate value, and the three-dimensional space rotation matrix; Determining a transformation matrix between the first mass center coordinate system and the second mass center coordinate system according to the three-dimensional space rotation matrix and the space translation matrix; determining a spatial relative position of a first target point and a second target point according to the transformation matrix; The first target point is located in the first centroid coordinate system, and the second target point is located in the second centroid coordinate system.

7. The relative posture measurement method according to claim 6, characterized in that: Determining the spatial relative position of the first target point and the second target point according to the transformation matrix includes: Determining a first target point coordinate value of the first target point in the first centroid coordinate system; Determining a second target point coordinate value of the second target point in the second centroid coordinate system; Converting the coordinate value of the second target point into homogeneous coordinate form; converting the coordinate value of the second target point in the form of homogeneous coordinates into the coordinate value of the third target point in the form of homogeneous coordinates in the first centroid coordinate system according to the conversion matrix; extracting the three-dimensional components of the coordinate values ​​of the third target point in the form of homogeneous coordinates; The spatial relative positions of the first target point and the second target point are determined according to the coordinate value of the first target point and the three-dimensional component.

8. A relative attitude measurement device, characterized in that: Applicable to a measurement system comprising multiple measurement subsystems; the measurement subsystems include three draw-wire displacement sensors, the output ends of each draw-wire displacement sensor converge at the same convergence point; wherein each measurement subsystem is arranged on a first measured end face, the convergence point corresponding to each measurement subsystem is arranged on a second measured end face, and the convergence points are not collinear; the device comprises: a measurement and solution module, configured to determine, based on the displacement measurement values ​​and installation position information of each of the wire-type displacement sensors in each of the measurement subsystems, a first local coordinate value of each of the convergence points in a first local coordinate system and a second local coordinate value of each of the convergence points in a second local coordinate system; wherein the first local coordinate system is pre-established based on the first measured end surface, and the second local coordinate system is pre-established based on the second measured end surface; a posture transformation module, configured to perform a spatial posture transformation based on each of the first local coordinate values ​​and each of the second local coordinate values ​​to determine a three-dimensional spatial rotation matrix; A solving module is used to solve a spatial attitude angle using the three-dimensional space rotation matrix to determine the relative attitude between the first measured end face and the second measured end face.

9. A relative attitude measurement device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the steps of the relative posture measurement method according to any one of claims 1 to 7 when executing the computer program.

10. A rail vehicle, characterized in that: Includes relative attitude measurement equipment.

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