Study On Kinematical Reference System For Vehicular Measurement Of Railway Complete Profile

Kinematical reference system for vehicular measurement of railway complete profile is an important and difficult subsystem of the scheme for vehicular kinematical measurement system of railway complete profile. Monitoring the status and the trend of railway complete profile is the base of the safe operation of the railway. More and more attention is paid to the technology of vehicular kinematical measurement for its high efficiency and little influence to normal operation. But when the detection is kinematical, there will be six degree of freedom uncertainty caused by the vibration of the measurement equipment, which can seriously affect the measurement accuracy. So the measurement error must be compensated by the kinematical reference system for vehicular measurement to realize the accurate measure of the complete profile.This paper made full use of the statistic characteristics of the railway line and the vibration characteristics of the vehicle to establish models of the line excitation and the vehicle vibration, and then combined with the measurement model of the sensors to form the integrated system model. Kalman Filter and Unscented Kalman Filter were used to evaluate the system online according to linear system and nonlinear system to get the attitude information of the vehicle. Through this method, we could improve the accuracy of the system. Then, we used the attitude information to compensate the data from the complete profile measurement equipment to get the accurate dimension of the complete profile.