The invention discloses a railway comprehensive inspection
system. An
attitude determination and
positioning system acquires GNSS, IMU and DMI data of a comprehensive inspection vehicle, a
laser radar acquires three-dimensional coordinates of a measured object, and a panoramic camera acquires panoramic image data. And the time-space
synchronization system provides
clock synchronization for the three-dimensional coordinates, the IMU, the DMI and the panoramic image data according to GNSS time service. And the storage /
control system stores the three-dimensional coordinates, the IMU, the DMI and the panoramic image data after
clock synchronization in real time. The
point cloud processing system firstly uses GNSS, IMU and DMI data to fuse and calculate POS data, then uses the POS data and
laser radar data to jointly calculate
point cloud data, and carries out fusion
processing on the
point cloud and panoramic image data to obtain a real scene point cloud. And the comprehensive inspection analysis
system performs railway infrastructure detection analysis by taking the point cloud and the panoramic image as a
data source. The technical problems that an existing system is high in complexity and labor cost and large in
data processing difficulty can be solved.