Study On Pose Measurement System Of Road-Rail Integrated Inspection Vehicle

The road-rail integrated inspection vehicle can realize real time, rapid and integrated detection of rail complete profile and clearance, railway geometric parameters, line environment, which is of great importance to guarantee the security operation of rail traffic. However, the uncertainty of the vehicle pose caused by vibration during running of the car brings about the loss of measurement accuracy problem to line condition detection system. So the rapid and precise pose measurement of the integrated inspection vehicle is significant to raise the accuracy of the line condition detection.The pose measurement system of the integrated inspection vehicle is based on non-contact measurement, which employs multiple 2-D laser scanners to acquire the rail profile simultaneously. Through the registration of acquired rail profile and the standard rail profile, the relative position between the vehicle and the rail reference can be calculated, and then instantaneous pose of the vehicle can be got.At the beginning, this thesis brings up the pose measurement principle and its implementation of the integrated inspection vehicle. On the basis of introduction of detailed system schematic design, the thesis focused on the design of the synchronization signal generation system, the design of the vehicle pose calculation algorithm and the design of the software acquisition system. At the end, the static experiment result under the laboratory environment is displayed.The pose measurement system developed in the research process had been successfully applied to the road-rail integrated inspection vehicle developed by Beijing Jiaotong University. The test on line indicates that the system can well implement the rail profile detection and vehicle pose compensation, and the system is of high accuracy and resistance of ambience light.