Three-dimensional positioning and attitude-determining method and system for track detection platform in dynamic environment

Abstract

The invention provides a three-dimensional positioning and attitude-determining method and a system for a track detection platform in a dynamic environment. The method comprises the steps of calibrating the relative spatial positions and attitudes of the left and right cameras of a binocular stereo camera; calibrating the relative position and attitude parameters of the binocular stereo camera relative to the laser inertial navigation; taking the photos of a CPIII control point by means of the binocular stereo camera to obtain multiple photos of the control point; obtaining the position and the attitude of the binocular stereo camera through the stereo intersection process; adopting the position and the attitude of the binocular stereo camera as weighted observation values and inputting the weighted observation values into an INS / OD navigation system for filtering, smoothing and interpolating treatments so as to obtain the positioning and the attitude of the track detection platform. According to the technical scheme of the invention, the data of a track line high-precision control network and the data of an inertial navigation meter / speedometer are fused based on visual techniques, and the combined resolving method is adopted. In this way, the continuous and high-precision positioning and attitude-determining effect of the dynamic track detection platform is realized. The method and the system can be widely applied to the track detection of high-speed rails and subways, and the mobile road measurement.

Description

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

AI Technical Summary

Problems solved by technology

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

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